2025-01-08T19:34:15.549Z,1736364855.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T19:34:15.550Z,1736364855.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:15.557Z,1736364855.557 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs 2025-01-08T19:34:15.557Z,1736364855.557 [lineCaptureHoming:BA.Execute] Stopped 2025-01-08T19:34:15.557Z,1736364855.557 [lineCaptureHoming:InitialDive] Running Loop=1 2025-01-08T19:34:15.557Z,1736364855.557 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive 2025-01-08T19:34:15.557Z,1736364855.557 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-01-08T19:34:15.557Z,1736364855.557 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize. 2025-01-08T19:34:15.557Z,1736364855.557 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-01-08T19:34:15.557Z,1736364855.557 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize. 2025-01-08T19:34:15.558Z,1736364855.558 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1 2025-01-08T19:34:15.558Z,1736364855.558 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize. 2025-01-08T19:34:15.578Z,1736364855.578 [CommandExec](IMPORTANT): got command restart logs 2025-01-08T19:34:15.796Z,1736364855.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:15.914Z,1736364855.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T19:34:15.914Z,1736364855.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:15.953Z,1736364855.953 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-01-08T19:34:15.953Z,1736364855.953 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-01-08T19:34:16.048Z,1736364856.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:16.300Z,1736364856.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:16.418Z,1736364856.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T19:34:16.418Z,1736364856.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:16.552Z,1736364856.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:16.804Z,1736364856.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:16.822Z,1736364856.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T19:34:16.822Z,1736364856.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:17.056Z,1736364857.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:17.304Z,1736364857.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:17.308Z,1736364857.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:17.560Z,1736364857.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:17.742Z,1736364857.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:17.812Z,1736364857.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:18.064Z,1736364858.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:18.256Z,1736364858.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:18.316Z,1736364858.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:18.505Z,1736364858.505 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:34:18.568Z,1736364858.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:18.701Z,1736364858.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:18.820Z,1736364858.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:19.072Z,1736364859.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:19.109Z,1736364859.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:19.324Z,1736364859.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:19.576Z,1736364859.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:19.828Z,1736364859.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:19.892Z,1736364859.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:34:19.893Z,1736364859.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:20.082Z,1736364860.082 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:20.332Z,1736364860.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:20.441Z,1736364860.441 [NAL9602](INFO): SBD MO Status=0, MOMSN=46738, MT Status=0, MTMSN=0 2025-01-08T19:34:20.441Z,1736364860.441 [NAL9602](INFO): No messages in MT queue 2025-01-08T19:34:20.493Z,1736364860.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T19:34:20.493Z,1736364860.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:20.585Z,1736364860.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:20.836Z,1736364860.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:20.977Z,1736364860.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.9 s old, using for 20.0 s. 2025-01-08T19:34:20.977Z,1736364860.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:21.089Z,1736364861.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:21.340Z,1736364861.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:21.481Z,1736364861.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T19:34:21.481Z,1736364861.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:21.592Z,1736364861.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:21.772Z,1736364861.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.7 s old, using for 20.0 s. 2025-01-08T19:34:21.772Z,1736364861.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:21.844Z,1736364861.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:22.096Z,1736364862.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:22.176Z,1736364862.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.1 s old, using for 20.0 s. 2025-01-08T19:34:22.176Z,1736364862.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:22.348Z,1736364862.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:22.550Z,1736364862.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.4 s old, using for 20.0 s. 2025-01-08T19:34:22.550Z,1736364862.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:22.600Z,1736364862.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:22.860Z,1736364862.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:22.969Z,1736364862.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.9 s old, using for 20.0 s. 2025-01-08T19:34:22.969Z,1736364862.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:23.113Z,1736364863.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:23.364Z,1736364863.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:23.568Z,1736364863.568 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:34:23.607Z,1736364863.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T19:34:23.607Z,1736364863.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:23.616Z,1736364863.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:23.868Z,1736364863.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:23.999Z,1736364863.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T19:34:23.999Z,1736364863.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:24.120Z,1736364864.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:24.372Z,1736364864.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:24.381Z,1736364864.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T19:34:24.382Z,1736364864.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:24.624Z,1736364864.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:24.794Z,1736364864.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T19:34:24.794Z,1736364864.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:24.876Z,1736364864.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:25.130Z,1736364865.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:25.358Z,1736364865.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:25.380Z,1736364865.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:25.632Z,1736364865.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:25.676Z,1736364865.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:25.884Z,1736364865.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:26.060Z,1736364866.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:26.136Z,1736364866.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:26.388Z,1736364866.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:26.425Z,1736364866.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:26.640Z,1736364866.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:26.856Z,1736364866.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:26.892Z,1736364866.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:27.146Z,1736364867.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:27.384Z,1736364867.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:34:27.385Z,1736364867.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:27.396Z,1736364867.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:27.648Z,1736364867.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:27.712Z,1736364867.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:34:27.713Z,1736364867.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:27.900Z,1736364867.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:28.053Z,1736364868.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:34:28.053Z,1736364868.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:28.152Z,1736364868.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:28.404Z,1736364868.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:28.466Z,1736364868.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T19:34:28.466Z,1736364868.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:28.659Z,1736364868.659 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:28.874Z,1736364868.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T19:34:28.874Z,1736364868.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:28.912Z,1736364868.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:29.172Z,1736364869.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:29.422Z,1736364869.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s. 2025-01-08T19:34:29.422Z,1736364869.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:29.424Z,1736364869.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:29.676Z,1736364869.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:29.706Z,1736364869.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T19:34:29.706Z,1736364869.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:29.928Z,1736364869.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:30.096Z,1736364870.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T19:34:30.097Z,1736364870.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:30.180Z,1736364870.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:30.432Z,1736364870.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:30.505Z,1736364870.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T19:34:30.506Z,1736364870.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:30.684Z,1736364870.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:30.929Z,1736364870.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T19:34:30.930Z,1736364870.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:30.936Z,1736364870.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:31.188Z,1736364871.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:31.414Z,1736364871.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:31.440Z,1736364871.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:31.692Z,1736364871.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:31.750Z,1736364871.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:31.944Z,1736364871.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:32.125Z,1736364872.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:32.196Z,1736364872.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:32.448Z,1736364872.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:32.528Z,1736364872.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:32.700Z,1736364872.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:32.952Z,1736364872.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:32.977Z,1736364872.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:33.205Z,1736364873.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:33.456Z,1736364873.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:33.461Z,1736364873.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:33.708Z,1736364873.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:33.751Z,1736364873.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:33.960Z,1736364873.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:34.127Z,1736364874.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:34.213Z,1736364874.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:34.464Z,1736364874.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:34.540Z,1736364874.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:34.717Z,1736364874.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:34.938Z,1736364874.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:34.968Z,1736364874.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:35.220Z,1736364875.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:35.361Z,1736364875.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:34:35.361Z,1736364875.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:35.474Z,1736364875.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:35.724Z,1736364875.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:35.741Z,1736364875.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:34:35.741Z,1736364875.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:35.976Z,1736364875.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:36.149Z,1736364876.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:34:36.149Z,1736364876.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:36.228Z,1736364876.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:36.480Z,1736364876.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:36.556Z,1736364876.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T19:34:36.556Z,1736364876.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:36.732Z,1736364876.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:36.960Z,1736364876.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T19:34:36.960Z,1736364876.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:36.984Z,1736364876.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:37.236Z,1736364877.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:37.392Z,1736364877.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T19:34:37.392Z,1736364877.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:37.489Z,1736364877.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:37.740Z,1736364877.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:37.769Z,1736364877.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T19:34:37.769Z,1736364877.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:37.992Z,1736364877.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:38.165Z,1736364878.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T19:34:38.165Z,1736364878.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:38.244Z,1736364878.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:38.496Z,1736364878.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:38.577Z,1736364878.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T19:34:38.577Z,1736364878.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:38.748Z,1736364878.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:39.000Z,1736364879.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:39.041Z,1736364879.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T19:34:39.041Z,1736364879.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:39.252Z,1736364879.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:39.465Z,1736364879.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T19:34:39.465Z,1736364879.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:39.504Z,1736364879.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:39.756Z,1736364879.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:39.800Z,1736364879.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T19:34:39.801Z,1736364879.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:40.008Z,1736364880.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:40.207Z,1736364880.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T19:34:40.207Z,1736364880.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:40.260Z,1736364880.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:40.512Z,1736364880.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:40.616Z,1736364880.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T19:34:40.616Z,1736364880.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:40.764Z,1736364880.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:41.016Z,1736364881.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:41.020Z,1736364881.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T19:34:41.021Z,1736364881.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:41.268Z,1736364881.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:41.460Z,1736364881.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:41.520Z,1736364881.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:41.772Z,1736364881.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:41.809Z,1736364881.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:42.024Z,1736364882.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:42.229Z,1736364882.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:42.279Z,1736364882.279 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:42.532Z,1736364882.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:42.624Z,1736364882.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:42.784Z,1736364882.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:43.036Z,1736364883.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:43.040Z,1736364883.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:43.288Z,1736364883.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:43.513Z,1736364883.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:34:43.513Z,1736364883.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:43.540Z,1736364883.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:43.792Z,1736364883.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:43.837Z,1736364883.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:34:43.837Z,1736364883.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:44.045Z,1736364884.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:44.239Z,1736364884.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:34:44.240Z,1736364884.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:44.296Z,1736364884.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:44.548Z,1736364884.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:44.644Z,1736364884.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T19:34:44.644Z,1736364884.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:44.800Z,1736364884.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:45.046Z,1736364885.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T19:34:45.046Z,1736364885.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:45.052Z,1736364885.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:45.304Z,1736364885.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:45.516Z,1736364885.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T19:34:45.517Z,1736364885.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:45.556Z,1736364885.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:45.809Z,1736364885.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:45.872Z,1736364885.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T19:34:45.873Z,1736364885.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:46.064Z,1736364886.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:46.253Z,1736364886.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T19:34:46.254Z,1736364886.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:46.312Z,1736364886.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:46.564Z,1736364886.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:46.684Z,1736364886.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T19:34:46.684Z,1736364886.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:46.816Z,1736364886.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:47.060Z,1736364887.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T19:34:47.060Z,1736364887.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:47.068Z,1736364887.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:47.320Z,1736364887.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:47.550Z,1736364887.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:47.572Z,1736364887.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:47.824Z,1736364887.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:47.869Z,1736364887.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:48.077Z,1736364888.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:48.276Z,1736364888.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:48.328Z,1736364888.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:48.580Z,1736364888.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:48.677Z,1736364888.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:48.759Z,1736364888.759 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250108T182924/Courier0009.lzma 2025-01-08T19:34:48.832Z,1736364888.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:49.085Z,1736364889.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:49.105Z,1736364889.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:49.205Z,1736364889.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:34:49.336Z,1736364889.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:49.336Z,1736364889.336 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:34:49.337Z,1736364889.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:34:49.522Z,1736364889.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:49.588Z,1736364889.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:49.588Z,1736364889.588 [DAT](INFO): DAT read: user:755> 2025-01-08T19:34:49.589Z,1736364889.589 [DAT](INFO): DAT read: Tx time:19:34:48.8116 2025-01-08T19:34:49.590Z,1736364889.590 [DAT](INFO): Ping request sent. 2025-01-08T19:34:49.590Z,1736364889.590 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:34:49.590Z,1736364889.590 [DAT](INFO): publishing transmit ping time 2025-01-08T19:34:49.590Z,1736364889.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721 2025-01-08T19:34:49.762Z,1736364889.762 [DataOverHttps](INFO): Moved sent file to Logs/20250108T182924/Courier0009.lzma.bak 2025-01-08T19:34:49.762Z,1736364889.762 [DataOverHttps](INFO): SBD MOMSN=23885950 2025-01-08T19:34:49.840Z,1736364889.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:49.841Z,1736364889.841 [DAT](INFO): DAT read: TxSync time:19:34:48.8108 2025-01-08T19:34:49.841Z,1736364889.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251810 2025-01-08T19:34:49.885Z,1736364889.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:50.092Z,1736364890.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:50.092Z,1736364890.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502785 2025-01-08T19:34:50.285Z,1736364890.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:50.345Z,1736364890.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:50.346Z,1736364890.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756116 2025-01-08T19:34:50.596Z,1736364890.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:50.597Z,1736364890.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006827 2025-01-08T19:34:50.697Z,1736364890.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:50.767Z,1736364890.767 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:34:50.848Z,1736364890.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:50.849Z,1736364890.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258864 2025-01-08T19:34:51.078Z,1736364891.078 [NAL9602](INFO): Not Powering down - fast GPS 2025-01-08T19:34:51.100Z,1736364891.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:51.102Z,1736364891.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511893 2025-01-08T19:34:51.146Z,1736364891.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:51.357Z,1736364891.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:51.358Z,1736364891.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768317 2025-01-08T19:34:51.593Z,1736364891.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:34:51.594Z,1736364891.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:51.608Z,1736364891.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:51.609Z,1736364891.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018817 2025-01-08T19:34:51.860Z,1736364891.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:51.861Z,1736364891.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271131 2025-01-08T19:34:51.904Z,1736364891.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:34:51.904Z,1736364891.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:52.039Z,1736364892.039 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:34:52.113Z,1736364892.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:52.114Z,1736364892.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524218 2025-01-08T19:34:52.298Z,1736364892.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:34:52.298Z,1736364892.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:52.365Z,1736364892.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:52.366Z,1736364892.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775993 2025-01-08T19:34:52.616Z,1736364892.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:52.616Z,1736364892.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026810 2025-01-08T19:34:52.721Z,1736364892.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T19:34:52.722Z,1736364892.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:52.868Z,1736364892.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:52.869Z,1736364892.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278876 2025-01-08T19:34:53.122Z,1736364893.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:53.124Z,1736364893.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534248 2025-01-08T19:34:53.191Z,1736364893.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T19:34:53.191Z,1736364893.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:53.372Z,1736364893.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:53.372Z,1736364893.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782652 2025-01-08T19:34:53.550Z,1736364893.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:53.624Z,1736364893.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:53.625Z,1736364893.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034826 2025-01-08T19:34:53.876Z,1736364893.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:53.877Z,1736364893.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287550 2025-01-08T19:34:53.929Z,1736364893.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:54.129Z,1736364894.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:54.130Z,1736364894.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540219 2025-01-08T19:34:54.329Z,1736364894.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:54.380Z,1736364894.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:54.381Z,1736364894.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790890 2025-01-08T19:34:54.632Z,1736364894.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:54.632Z,1736364894.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042679 2025-01-08T19:34:54.755Z,1736364894.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:54.884Z,1736364894.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:54.884Z,1736364894.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294727 2025-01-08T19:34:55.084Z,1736364895.084 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:34:55.137Z,1736364895.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:55.140Z,1736364895.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549435 2025-01-08T19:34:55.272Z,1736364895.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:34:55.272Z,1736364895.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:55.388Z,1736364895.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:55.389Z,1736364895.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798842 2025-01-08T19:34:55.568Z,1736364895.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:34:55.568Z,1736364895.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:55.640Z,1736364895.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:55.641Z,1736364895.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051522 2025-01-08T19:34:55.892Z,1736364895.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:55.893Z,1736364895.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303714 2025-01-08T19:34:55.984Z,1736364895.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:34:55.984Z,1736364895.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:56.144Z,1736364896.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:56.144Z,1736364896.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554784 2025-01-08T19:34:56.360Z,1736364896.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T19:34:56.360Z,1736364896.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:56.398Z,1736364896.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:56.398Z,1736364896.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808653 2025-01-08T19:34:56.648Z,1736364896.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:56.649Z,1736364896.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059533 2025-01-08T19:34:56.768Z,1736364896.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T19:34:56.769Z,1736364896.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:56.900Z,1736364896.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:56.900Z,1736364896.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310803 2025-01-08T19:34:57.153Z,1736364897.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:57.156Z,1736364897.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565718 2025-01-08T19:34:57.307Z,1736364897.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T19:34:57.308Z,1736364897.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:57.404Z,1736364897.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:57.405Z,1736364897.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814984 2025-01-08T19:34:57.608Z,1736364897.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T19:34:57.608Z,1736364897.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:57.656Z,1736364897.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:57.657Z,1736364897.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067520 2025-01-08T19:34:57.908Z,1736364897.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:57.908Z,1736364897.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318798 2025-01-08T19:34:57.988Z,1736364897.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T19:34:57.988Z,1736364897.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:58.160Z,1736364898.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:58.160Z,1736364898.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570674 2025-01-08T19:34:58.382Z,1736364898.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T19:34:58.382Z,1736364898.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:58.412Z,1736364898.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:58.413Z,1736364898.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823308 2025-01-08T19:34:58.664Z,1736364898.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:58.665Z,1736364898.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075328 2025-01-08T19:34:58.778Z,1736364898.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T19:34:58.778Z,1736364898.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:58.916Z,1736364898.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:58.916Z,1736364898.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326628 2025-01-08T19:34:59.169Z,1736364899.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:59.171Z,1736364899.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581271 2025-01-08T19:34:59.292Z,1736364899.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:59.420Z,1736364899.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:59.421Z,1736364899.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831304 2025-01-08T19:34:59.586Z,1736364899.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:34:59.672Z,1736364899.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:59.673Z,1736364899.673 [DAT](INFO): Reached modem response timeout 2025-01-08T19:34:59.924Z,1736364899.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:34:59.987Z,1736364899.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:00.176Z,1736364900.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:00.428Z,1736364900.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:00.429Z,1736364900.429 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:35:00.429Z,1736364900.429 [DAT](INFO): response not received 2025-01-08T19:35:00.429Z,1736364900.429 [DAT](ERROR): No response from remote modem. 2025-01-08T19:35:00.445Z,1736364900.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:00.680Z,1736364900.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:00.794Z,1736364900.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:00.933Z,1736364900.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:01.092Z,1736364901.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:35:01.184Z,1736364901.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:01.230Z,1736364901.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:35:01.230Z,1736364901.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:01.436Z,1736364901.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:01.631Z,1736364901.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:35:01.631Z,1736364901.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:01.688Z,1736364901.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:01.940Z,1736364901.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:02.014Z,1736364902.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:35:02.014Z,1736364902.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:02.192Z,1736364902.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:02.429Z,1736364902.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T19:35:02.429Z,1736364902.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:02.454Z,1736364902.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:02.704Z,1736364902.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:02.821Z,1736364902.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T19:35:02.821Z,1736364902.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:02.956Z,1736364902.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:03.208Z,1736364903.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:03.287Z,1736364903.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T19:35:03.287Z,1736364903.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:03.460Z,1736364903.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:03.636Z,1736364903.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T19:35:03.636Z,1736364903.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:03.712Z,1736364903.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:03.964Z,1736364903.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:04.040Z,1736364904.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T19:35:04.040Z,1736364904.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:04.216Z,1736364904.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:04.453Z,1736364904.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T19:35:04.453Z,1736364904.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:04.468Z,1736364904.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:04.720Z,1736364904.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:04.844Z,1736364904.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T19:35:04.844Z,1736364904.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:04.973Z,1736364904.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:05.225Z,1736364905.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:05.307Z,1736364905.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T19:35:05.307Z,1736364905.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:05.477Z,1736364905.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:05.676Z,1736364905.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T19:35:05.676Z,1736364905.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:05.728Z,1736364905.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:05.980Z,1736364905.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:06.065Z,1736364906.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T19:35:06.065Z,1736364906.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:06.232Z,1736364906.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:06.466Z,1736364906.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T19:35:06.466Z,1736364906.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:06.484Z,1736364906.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:06.736Z,1736364906.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:06.862Z,1736364906.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T19:35:06.862Z,1736364906.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:06.988Z,1736364906.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:07.240Z,1736364907.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:07.329Z,1736364907.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:07.492Z,1736364907.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:07.702Z,1736364907.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:07.744Z,1736364907.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:07.996Z,1736364907.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:08.091Z,1736364908.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:08.248Z,1736364908.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:08.485Z,1736364908.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:08.500Z,1736364908.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:08.752Z,1736364908.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:08.877Z,1736364908.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:09.004Z,1736364909.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:09.260Z,1736364909.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:09.305Z,1736364909.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:35:09.305Z,1736364909.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:09.512Z,1736364909.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:09.705Z,1736364909.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:35:09.705Z,1736364909.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:09.766Z,1736364909.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:10.016Z,1736364910.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:10.084Z,1736364910.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:35:10.084Z,1736364910.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:10.269Z,1736364910.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:10.501Z,1736364910.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T19:35:10.501Z,1736364910.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:10.520Z,1736364910.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:10.772Z,1736364910.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:10.896Z,1736364910.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T19:35:10.897Z,1736364910.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:11.024Z,1736364911.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:11.137Z,1736364911.137 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:35:11.280Z,1736364911.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:11.338Z,1736364911.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T19:35:11.338Z,1736364911.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:11.533Z,1736364911.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:11.704Z,1736364911.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T19:35:11.704Z,1736364911.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:11.793Z,1736364911.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:12.044Z,1736364912.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:12.119Z,1736364912.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T19:35:12.119Z,1736364912.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:12.296Z,1736364912.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:12.514Z,1736364912.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T19:35:12.514Z,1736364912.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:12.549Z,1736364912.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:12.800Z,1736364912.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:12.920Z,1736364912.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T19:35:12.920Z,1736364912.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:13.053Z,1736364913.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:13.304Z,1736364913.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:13.349Z,1736364913.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T19:35:13.349Z,1736364913.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:13.557Z,1736364913.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:13.725Z,1736364913.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T19:35:13.725Z,1736364913.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:13.808Z,1736364913.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:14.060Z,1736364914.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:14.129Z,1736364914.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T19:35:14.129Z,1736364914.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:14.312Z,1736364914.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:14.542Z,1736364914.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T19:35:14.542Z,1736364914.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:14.564Z,1736364914.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:14.816Z,1736364914.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:14.954Z,1736364914.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T19:35:14.955Z,1736364914.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:15.068Z,1736364915.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:15.320Z,1736364915.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:15.402Z,1736364915.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:15.572Z,1736364915.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:15.761Z,1736364915.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:15.824Z,1736364915.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:16.076Z,1736364916.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:16.165Z,1736364916.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:16.328Z,1736364916.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:16.573Z,1736364916.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:16.580Z,1736364916.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:16.832Z,1736364916.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:16.976Z,1736364916.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:17.086Z,1736364917.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:17.336Z,1736364917.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:17.428Z,1736364917.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:35:17.428Z,1736364917.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:17.589Z,1736364917.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:17.777Z,1736364917.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:35:17.778Z,1736364917.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:17.840Z,1736364917.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:18.092Z,1736364918.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:18.182Z,1736364918.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:35:18.182Z,1736364918.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:18.344Z,1736364918.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:18.596Z,1736364918.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:18.630Z,1736364918.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T19:35:18.630Z,1736364918.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:18.848Z,1736364918.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:18.987Z,1736364918.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T19:35:18.987Z,1736364918.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:19.100Z,1736364919.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:19.352Z,1736364919.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:19.416Z,1736364919.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:19.604Z,1736364919.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:19.800Z,1736364919.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:19.857Z,1736364919.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:20.108Z,1736364920.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:20.195Z,1736364920.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:20.360Z,1736364920.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:20.613Z,1736364920.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:20.625Z,1736364920.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:20.864Z,1736364920.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:21.003Z,1736364921.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:21.117Z,1736364921.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:21.368Z,1736364921.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:21.425Z,1736364921.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:35:21.426Z,1736364921.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:21.620Z,1736364921.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:21.814Z,1736364921.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:35:21.815Z,1736364921.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:21.872Z,1736364921.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:21.916Z,1736364921.916 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:35:22.124Z,1736364922.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:22.213Z,1736364922.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:35:22.213Z,1736364922.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:22.376Z,1736364922.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:22.628Z,1736364922.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:22.632Z,1736364922.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T19:35:22.632Z,1736364922.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:22.880Z,1736364922.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:23.038Z,1736364923.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T19:35:23.038Z,1736364923.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:23.133Z,1736364923.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:23.384Z,1736364923.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:23.498Z,1736364923.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T19:35:23.498Z,1736364923.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:23.636Z,1736364923.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:23.828Z,1736364923.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T19:35:23.828Z,1736364923.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:23.888Z,1736364923.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:24.141Z,1736364924.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:24.245Z,1736364924.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T19:35:24.245Z,1736364924.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:24.392Z,1736364924.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:24.644Z,1736364924.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:24.689Z,1736364924.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T19:35:24.689Z,1736364924.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:24.896Z,1736364924.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:25.045Z,1736364925.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T19:35:25.045Z,1736364925.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:25.149Z,1736364925.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:25.400Z,1736364925.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:25.501Z,1736364925.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T19:35:25.501Z,1736364925.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:25.652Z,1736364925.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:25.861Z,1736364925.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T19:35:25.861Z,1736364925.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:25.904Z,1736364925.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:26.156Z,1736364926.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:26.277Z,1736364926.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T19:35:26.277Z,1736364926.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:26.413Z,1736364926.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:26.664Z,1736364926.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:26.701Z,1736364926.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T19:35:26.701Z,1736364926.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:26.916Z,1736364926.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:27.078Z,1736364927.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T19:35:27.078Z,1736364927.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:27.169Z,1736364927.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:27.420Z,1736364927.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:27.583Z,1736364927.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s. 2025-01-08T19:35:27.587Z,1736364927.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:27.674Z,1736364927.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:27.893Z,1736364927.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T19:35:27.893Z,1736364927.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:27.928Z,1736364927.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:28.180Z,1736364928.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:28.285Z,1736364928.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T19:35:28.285Z,1736364928.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:28.432Z,1736364928.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:28.684Z,1736364928.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:28.704Z,1736364928.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T19:35:28.704Z,1736364928.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:28.936Z,1736364928.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:29.098Z,1736364929.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T19:35:29.098Z,1736364929.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:29.188Z,1736364929.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:29.440Z,1736364929.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:29.529Z,1736364929.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T19:35:29.529Z,1736364929.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:29.692Z,1736364929.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:29.903Z,1736364929.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T19:35:29.903Z,1736364929.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:29.946Z,1736364929.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:30.196Z,1736364930.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:30.305Z,1736364930.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T19:35:30.305Z,1736364930.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:30.448Z,1736364930.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:30.697Z,1736364930.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T19:35:30.697Z,1736364930.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:30.702Z,1736364930.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:30.956Z,1736364930.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:31.115Z,1736364931.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T19:35:31.115Z,1736364931.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:31.208Z,1736364931.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:31.460Z,1736364931.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:31.558Z,1736364931.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.6 s old, using for 20.0 s. 2025-01-08T19:35:31.558Z,1736364931.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:31.712Z,1736364931.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:31.928Z,1736364931.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s. 2025-01-08T19:35:31.928Z,1736364931.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:31.964Z,1736364931.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:32.216Z,1736364932.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:32.316Z,1736364932.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s. 2025-01-08T19:35:32.317Z,1736364932.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:32.468Z,1736364932.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:32.720Z,1736364932.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:32.722Z,1736364932.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s. 2025-01-08T19:35:32.722Z,1736364932.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:32.972Z,1736364932.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:33.187Z,1736364933.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.2 s old, using for 20.0 s. 2025-01-08T19:35:33.187Z,1736364933.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:33.226Z,1736364933.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:33.476Z,1736364933.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:33.554Z,1736364933.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:33.729Z,1736364933.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:33.935Z,1736364933.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:33.980Z,1736364933.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:34.232Z,1736364934.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:34.333Z,1736364934.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:34.484Z,1736364934.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:34.736Z,1736364934.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:34.749Z,1736364934.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:34.988Z,1736364934.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:35.198Z,1736364935.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:35.240Z,1736364935.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:35.492Z,1736364935.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:35.541Z,1736364935.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:35.744Z,1736364935.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:35.971Z,1736364935.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:35.996Z,1736364935.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:36.248Z,1736364936.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:36.356Z,1736364936.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:36.500Z,1736364936.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:36.752Z,1736364936.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:36.758Z,1736364936.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:37.004Z,1736364937.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:37.206Z,1736364937.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:37.256Z,1736364937.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:37.508Z,1736364937.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:37.569Z,1736364937.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:37.760Z,1736364937.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:37.978Z,1736364937.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:38.020Z,1736364938.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:38.272Z,1736364938.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:38.368Z,1736364938.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:38.524Z,1736364938.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:38.771Z,1736364938.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:38.776Z,1736364938.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:39.029Z,1736364939.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:39.230Z,1736364939.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:39.280Z,1736364939.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:39.532Z,1736364939.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:39.592Z,1736364939.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:39.784Z,1736364939.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:39.986Z,1736364939.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:40.036Z,1736364940.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:40.288Z,1736364940.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:40.391Z,1736364940.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:40.541Z,1736364940.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:40.792Z,1736364940.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:40.812Z,1736364940.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:41.045Z,1736364941.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:41.220Z,1736364941.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:41.296Z,1736364941.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:41.548Z,1736364941.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:41.603Z,1736364941.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:41.800Z,1736364941.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:42.012Z,1736364942.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:42.052Z,1736364942.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:42.304Z,1736364942.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:42.417Z,1736364942.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:42.558Z,1736364942.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:42.808Z,1736364942.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:42.819Z,1736364942.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:43.060Z,1736364943.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:43.247Z,1736364943.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:43.313Z,1736364943.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:43.564Z,1736364943.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:43.625Z,1736364943.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:43.816Z,1736364943.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:44.039Z,1736364944.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:44.068Z,1736364944.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:44.320Z,1736364944.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:44.452Z,1736364944.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:44.572Z,1736364944.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:44.824Z,1736364944.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:44.833Z,1736364944.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:45.076Z,1736364945.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:45.275Z,1736364945.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:45.328Z,1736364945.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:45.581Z,1736364945.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:45.657Z,1736364945.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:45.832Z,1736364945.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:46.069Z,1736364946.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:46.084Z,1736364946.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:46.336Z,1736364946.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:46.451Z,1736364946.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:46.588Z,1736364946.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:46.840Z,1736364946.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:46.860Z,1736364946.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:47.092Z,1736364947.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:47.276Z,1736364947.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:47.344Z,1736364947.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:47.596Z,1736364947.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:47.676Z,1736364947.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:47.848Z,1736364947.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:48.065Z,1736364948.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:48.100Z,1736364948.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:48.352Z,1736364948.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:48.471Z,1736364948.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:48.604Z,1736364948.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:48.856Z,1736364948.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:48.883Z,1736364948.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:49.109Z,1736364949.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:49.308Z,1736364949.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:49.316Z,1736364949.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:35:49.360Z,1736364949.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:49.361Z,1736364949.361 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:35:49.361Z,1736364949.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:35:49.612Z,1736364949.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:49.613Z,1736364949.613 [DAT](INFO): DAT read: user:756> 2025-01-08T19:35:49.614Z,1736364949.614 [DAT](INFO): DAT read: Tx time:19:35:48.8123 2025-01-08T19:35:49.614Z,1736364949.614 [DAT](INFO): Ping request sent. 2025-01-08T19:35:49.614Z,1736364949.614 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:35:49.615Z,1736364949.615 [DAT](INFO): DAT read: TxSync time:19:35:48.8115 2025-01-08T19:35:49.615Z,1736364949.615 [DAT](INFO): publishing transmit ping time 2025-01-08T19:35:49.616Z,1736364949.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001644 2025-01-08T19:35:49.737Z,1736364949.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:49.864Z,1736364949.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:49.865Z,1736364949.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250507 2025-01-08T19:35:50.102Z,1736364950.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:50.117Z,1736364950.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:50.118Z,1736364950.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504010 2025-01-08T19:35:50.368Z,1736364950.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:50.368Z,1736364950.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754341 2025-01-08T19:35:50.494Z,1736364950.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:50.620Z,1736364950.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:50.621Z,1736364950.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006862 2025-01-08T19:35:50.872Z,1736364950.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:50.872Z,1736364950.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258464 2025-01-08T19:35:50.915Z,1736364950.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:51.125Z,1736364951.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:51.128Z,1736364951.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513795 2025-01-08T19:35:51.326Z,1736364951.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:35:51.326Z,1736364951.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:51.377Z,1736364951.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:51.377Z,1736364951.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763342 2025-01-08T19:35:51.628Z,1736364951.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:51.628Z,1736364951.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014461 2025-01-08T19:35:51.720Z,1736364951.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:35:51.720Z,1736364951.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:51.880Z,1736364951.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:51.881Z,1736364951.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266607 2025-01-08T19:35:52.106Z,1736364952.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:35:52.106Z,1736364952.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:52.132Z,1736364952.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:52.132Z,1736364952.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518435 2025-01-08T19:35:52.384Z,1736364952.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:52.385Z,1736364952.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770552 2025-01-08T19:35:52.544Z,1736364952.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T19:35:52.544Z,1736364952.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:52.636Z,1736364952.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:52.636Z,1736364952.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022404 2025-01-08T19:35:52.888Z,1736364952.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:52.888Z,1736364952.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274429 2025-01-08T19:35:52.928Z,1736364952.928 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting. 2025-01-08T19:35:52.940Z,1736364952.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T19:35:52.940Z,1736364952.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:53.141Z,1736364953.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:53.143Z,1736364953.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528647 2025-01-08T19:35:53.355Z,1736364953.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T19:35:53.360Z,1736364953.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:53.392Z,1736364953.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:53.393Z,1736364953.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778789 2025-01-08T19:35:53.644Z,1736364953.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:53.645Z,1736364953.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030627 2025-01-08T19:35:53.728Z,1736364953.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T19:35:53.728Z,1736364953.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:53.896Z,1736364953.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:53.897Z,1736364953.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282538 2025-01-08T19:35:53.928Z,1736364953.928 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:35:54.138Z,1736364954.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T19:35:54.138Z,1736364954.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:54.148Z,1736364954.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:54.148Z,1736364954.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534477 2025-01-08T19:35:54.400Z,1736364954.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:54.401Z,1736364954.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786526 2025-01-08T19:35:54.536Z,1736364954.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T19:35:54.536Z,1736364954.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:54.652Z,1736364954.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:54.653Z,1736364954.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038823 2025-01-08T19:35:54.904Z,1736364954.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:54.905Z,1736364954.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290777 2025-01-08T19:35:54.933Z,1736364954.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T19:35:54.933Z,1736364954.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:55.157Z,1736364955.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:55.162Z,1736364955.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547184 2025-01-08T19:35:55.358Z,1736364955.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T19:35:55.358Z,1736364955.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:55.408Z,1736364955.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:55.408Z,1736364955.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794496 2025-01-08T19:35:55.660Z,1736364955.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:55.661Z,1736364955.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046808 2025-01-08T19:35:55.764Z,1736364955.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T19:35:55.764Z,1736364955.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:55.912Z,1736364955.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:55.913Z,1736364955.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299114 2025-01-08T19:35:56.149Z,1736364956.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T19:35:56.149Z,1736364956.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:56.164Z,1736364956.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:56.164Z,1736364956.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550436 2025-01-08T19:35:56.416Z,1736364956.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:56.416Z,1736364956.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802336 2025-01-08T19:35:56.552Z,1736364956.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T19:35:56.552Z,1736364956.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:56.669Z,1736364956.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:56.670Z,1736364956.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055567 2025-01-08T19:35:56.920Z,1736364956.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:56.920Z,1736364956.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306370 2025-01-08T19:35:56.966Z,1736364956.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T19:35:56.966Z,1736364956.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:57.172Z,1736364957.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:57.172Z,1736364957.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558452 2025-01-08T19:35:57.393Z,1736364957.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T19:35:57.394Z,1736364957.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:57.424Z,1736364957.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:57.425Z,1736364957.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811344 2025-01-08T19:35:57.676Z,1736364957.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:57.677Z,1736364957.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063388 2025-01-08T19:35:57.792Z,1736364957.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T19:35:57.793Z,1736364957.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:57.928Z,1736364957.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:57.928Z,1736364957.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314435 2025-01-08T19:35:58.164Z,1736364958.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T19:35:58.164Z,1736364958.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:58.180Z,1736364958.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:58.181Z,1736364958.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566582 2025-01-08T19:35:58.188Z,1736364958.188 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:35:58.432Z,1736364958.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:58.432Z,1736364958.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818365 2025-01-08T19:35:58.573Z,1736364958.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T19:35:58.573Z,1736364958.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:58.684Z,1736364958.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:58.684Z,1736364958.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070435 2025-01-08T19:35:58.936Z,1736364958.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:58.936Z,1736364958.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322426 2025-01-08T19:35:58.996Z,1736364958.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T19:35:58.996Z,1736364958.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:59.188Z,1736364959.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:59.188Z,1736364959.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574362 2025-01-08T19:35:59.422Z,1736364959.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T19:35:59.422Z,1736364959.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:59.440Z,1736364959.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:59.441Z,1736364959.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826812 2025-01-08T19:35:59.692Z,1736364959.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:35:59.692Z,1736364959.692 [DAT](INFO): Reached modem response timeout 2025-01-08T19:35:59.792Z,1736364959.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T19:35:59.792Z,1736364959.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:35:59.946Z,1736364959.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:00.195Z,1736364960.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T19:36:00.195Z,1736364960.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:00.196Z,1736364960.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:00.448Z,1736364960.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:00.449Z,1736364960.449 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:36:00.449Z,1736364960.449 [DAT](INFO): response not received 2025-01-08T19:36:00.449Z,1736364960.449 [DAT](ERROR): No response from remote modem. 2025-01-08T19:36:00.614Z,1736364960.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T19:36:00.614Z,1736364960.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:00.700Z,1736364960.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:00.952Z,1736364960.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:01.001Z,1736364961.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T19:36:01.001Z,1736364961.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:01.204Z,1736364961.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:01.431Z,1736364961.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s. 2025-01-08T19:36:01.447Z,1736364961.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:01.456Z,1736364961.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:01.708Z,1736364961.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:01.814Z,1736364961.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s. 2025-01-08T19:36:01.814Z,1736364961.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:01.960Z,1736364961.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:02.204Z,1736364962.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s. 2025-01-08T19:36:02.204Z,1736364962.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:02.212Z,1736364962.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:02.464Z,1736364962.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:02.617Z,1736364962.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s. 2025-01-08T19:36:02.618Z,1736364962.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:02.716Z,1736364962.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:02.968Z,1736364962.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:03.019Z,1736364963.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.1 s old, using for 20.0 s. 2025-01-08T19:36:03.019Z,1736364963.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:03.220Z,1736364963.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:03.455Z,1736364963.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:03.472Z,1736364963.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:03.724Z,1736364963.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:03.824Z,1736364963.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:03.976Z,1736364963.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:04.224Z,1736364964.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:04.229Z,1736364964.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:04.480Z,1736364964.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:04.630Z,1736364964.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:04.732Z,1736364964.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:04.984Z,1736364964.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:05.041Z,1736364965.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:05.236Z,1736364965.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:05.477Z,1736364965.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:05.489Z,1736364965.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:05.740Z,1736364965.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:05.848Z,1736364965.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:05.992Z,1736364965.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:06.244Z,1736364966.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:06.267Z,1736364966.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:06.496Z,1736364966.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:06.673Z,1736364966.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:06.748Z,1736364966.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:07.001Z,1736364967.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:07.061Z,1736364967.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:07.252Z,1736364967.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:07.484Z,1736364967.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:07.506Z,1736364967.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:07.756Z,1736364967.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:07.869Z,1736364967.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:08.008Z,1736364968.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:08.260Z,1736364968.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:08.269Z,1736364968.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:08.512Z,1736364968.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:08.683Z,1736364968.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:08.764Z,1736364968.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:09.016Z,1736364969.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:09.078Z,1736364969.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:09.268Z,1736364969.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:09.506Z,1736364969.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:36:09.506Z,1736364969.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:09.520Z,1736364969.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:09.772Z,1736364969.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:09.881Z,1736364969.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:36:09.881Z,1736364969.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:10.024Z,1736364970.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:10.276Z,1736364970.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:10.288Z,1736364970.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:36:10.288Z,1736364970.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:10.528Z,1736364970.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:10.711Z,1736364970.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T19:36:10.711Z,1736364970.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:10.780Z,1736364970.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:11.032Z,1736364971.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:11.097Z,1736364971.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T19:36:11.097Z,1736364971.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:11.284Z,1736364971.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:11.536Z,1736364971.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:11.546Z,1736364971.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T19:36:11.546Z,1736364971.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:11.790Z,1736364971.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:11.908Z,1736364971.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T19:36:11.908Z,1736364971.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:12.040Z,1736364972.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:12.292Z,1736364972.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:12.320Z,1736364972.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T19:36:12.320Z,1736364972.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:12.544Z,1736364972.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:12.737Z,1736364972.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T19:36:12.738Z,1736364972.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:12.796Z,1736364972.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:13.048Z,1736364973.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:13.180Z,1736364973.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T19:36:13.180Z,1736364973.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:13.300Z,1736364973.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:13.549Z,1736364973.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:13.552Z,1736364973.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:13.804Z,1736364973.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:13.931Z,1736364973.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:14.056Z,1736364974.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:14.308Z,1736364974.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:14.324Z,1736364974.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:14.560Z,1736364974.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:14.737Z,1736364974.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:14.812Z,1736364974.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:15.064Z,1736364975.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:15.203Z,1736364975.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:15.316Z,1736364975.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:15.558Z,1736364975.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:15.568Z,1736364975.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:15.820Z,1736364975.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:15.945Z,1736364975.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:16.072Z,1736364976.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:16.328Z,1736364976.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:16.345Z,1736364976.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:16.581Z,1736364976.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:16.753Z,1736364976.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:16.832Z,1736364976.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:17.085Z,1736364977.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:17.205Z,1736364977.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:17.336Z,1736364977.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:17.588Z,1736364977.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:17.602Z,1736364977.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:17.840Z,1736364977.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:17.968Z,1736364977.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:18.092Z,1736364978.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:18.344Z,1736364978.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:18.379Z,1736364978.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:18.544Z,1736364978.544 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:36:18.597Z,1736364978.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:18.772Z,1736364978.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:18.848Z,1736364978.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:19.100Z,1736364979.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:19.225Z,1736364979.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:19.352Z,1736364979.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:19.584Z,1736364979.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:19.606Z,1736364979.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:19.856Z,1736364979.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:20.003Z,1736364980.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:20.108Z,1736364980.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:20.368Z,1736364980.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:20.386Z,1736364980.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:20.612Z,1736364980.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:20.794Z,1736364980.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:20.864Z,1736364980.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:21.036Z,1736364981.036 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.120434 2025-01-08T19:36:21.117Z,1736364981.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:21.220Z,1736364981.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:21.230Z,1736364981.230 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T19:36:21.230Z,1736364981.230 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T19:36:21.230Z,1736364981.230 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T19:36:21.230Z,1736364981.230 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T19:36:21.230Z,1736364981.230 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T19:36:21.231Z,1736364981.231 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T19:36:21.232Z,1736364981.232 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-01-08T19:36:21.368Z,1736364981.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:21.620Z,1736364981.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:21.870Z,1736364981.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:21.872Z,1736364981.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:21.880Z,1736364981.880 [lineCaptureHoming:MicromodemComms] Stopped 2025-01-08T19:36:21.880Z,1736364981.880 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-01-08T19:36:21.880Z,1736364981.880 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T19:36:21.880Z,1736364981.880 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T19:36:21.880Z,1736364981.880 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T19:36:22.040Z,1736364982.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:36:22.124Z,1736364982.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:22.250Z,1736364982.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:22.281Z,1736364982.281 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T19:36:22.281Z,1736364982.281 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T19:36:22.281Z,1736364982.281 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T19:36:22.281Z,1736364982.281 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T19:36:22.281Z,1736364982.281 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T19:36:22.376Z,1736364982.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:22.628Z,1736364982.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:22.798Z,1736364982.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:22.880Z,1736364982.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:23.142Z,1736364983.142 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:23.215Z,1736364983.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:23.388Z,1736364983.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:23.565Z,1736364983.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:23.640Z,1736364983.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:23.893Z,1736364983.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:23.978Z,1736364983.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:24.144Z,1736364984.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:24.371Z,1736364984.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:24.396Z,1736364984.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:24.648Z,1736364984.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:24.780Z,1736364984.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:24.900Z,1736364984.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:25.180Z,1736364985.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:25.218Z,1736364985.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:25.424Z,1736364985.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:25.596Z,1736364985.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:25.676Z,1736364985.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:25.928Z,1736364985.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:25.988Z,1736364985.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:26.180Z,1736364986.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:26.413Z,1736364986.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:26.432Z,1736364986.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:26.684Z,1736364986.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:26.815Z,1736364986.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:26.936Z,1736364986.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:27.188Z,1736364987.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:27.244Z,1736364987.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:27.440Z,1736364987.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:27.633Z,1736364987.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:27.692Z,1736364987.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:27.944Z,1736364987.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:28.016Z,1736364988.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:28.196Z,1736364988.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:28.430Z,1736364988.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:28.448Z,1736364988.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:28.700Z,1736364988.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:28.819Z,1736364988.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:28.952Z,1736364988.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:29.204Z,1736364989.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:29.270Z,1736364989.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:29.456Z,1736364989.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:29.636Z,1736364989.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:29.708Z,1736364989.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:29.960Z,1736364989.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:30.028Z,1736364990.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:30.212Z,1736364990.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:30.429Z,1736364990.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:30.464Z,1736364990.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:30.716Z,1736364990.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:30.835Z,1736364990.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:30.968Z,1736364990.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:31.224Z,1736364991.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:31.269Z,1736364991.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:31.476Z,1736364991.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:31.640Z,1736364991.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:31.730Z,1736364991.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:31.984Z,1736364991.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:32.044Z,1736364992.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:32.236Z,1736364992.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:32.450Z,1736364992.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:32.489Z,1736364992.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:32.740Z,1736364992.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:32.869Z,1736364992.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:32.992Z,1736364992.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:33.244Z,1736364993.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:33.286Z,1736364993.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:33.496Z,1736364993.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:33.669Z,1736364993.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:33.748Z,1736364993.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:33.000Z,1736364994.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:34.085Z,1736364994.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:34.223Z,1736364994.223 [Radio_Surface](INFO): Powering down 2025-01-08T19:36:34.252Z,1736364994.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:34.479Z,1736364994.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:34.504Z,1736364994.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:34.756Z,1736364994.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:34.872Z,1736364994.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:35.008Z,1736364995.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:35.263Z,1736364995.263 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:35.322Z,1736364995.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:35.516Z,1736364995.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:35.688Z,1736364995.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:35.768Z,1736364995.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:36.020Z,1736364996.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:36.094Z,1736364996.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:36.272Z,1736364996.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:36.488Z,1736364996.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:36.524Z,1736364996.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:36.776Z,1736364996.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:36.897Z,1736364996.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:37.028Z,1736364997.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:37.280Z,1736364997.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:37.332Z,1736364997.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:37.532Z,1736364997.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:37.715Z,1736364997.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:37.784Z,1736364997.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:38.036Z,1736364998.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:38.113Z,1736364998.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:38.288Z,1736364998.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:38.507Z,1736364998.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:38.540Z,1736364998.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:38.792Z,1736364998.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:38.929Z,1736364998.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:39.044Z,1736364999.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:39.300Z,1736364999.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:39.362Z,1736364999.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:39.552Z,1736364999.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:39.745Z,1736364999.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:39.804Z,1736364999.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:40.056Z,1736365000.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:40.132Z,1736365000.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:40.308Z,1736365000.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:40.533Z,1736365000.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:40.560Z,1736365000.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:40.812Z,1736365000.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:40.964Z,1736365000.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:41.065Z,1736365001.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:41.320Z,1736365001.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:41.377Z,1736365001.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:41.572Z,1736365001.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:41.748Z,1736365001.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:41.824Z,1736365001.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:42.076Z,1736365002.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:42.169Z,1736365002.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:42.328Z,1736365002.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:42.574Z,1736365002.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:42.581Z,1736365002.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:42.832Z,1736365002.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:42.955Z,1736365002.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:43.086Z,1736365003.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:43.336Z,1736365003.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:43.405Z,1736365003.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:43.588Z,1736365003.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:43.770Z,1736365003.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:43.840Z,1736365003.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:44.093Z,1736365004.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:44.196Z,1736365004.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:44.344Z,1736365004.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:44.576Z,1736365004.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:44.596Z,1736365004.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:44.848Z,1736365004.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:44.981Z,1736365004.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:45.100Z,1736365005.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:45.352Z,1736365005.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:45.435Z,1736365005.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:45.604Z,1736365005.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:45.796Z,1736365005.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:45.856Z,1736365005.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:46.108Z,1736365006.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:46.196Z,1736365006.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:46.360Z,1736365006.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:46.596Z,1736365006.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:46.612Z,1736365006.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:46.864Z,1736365006.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:47.003Z,1736365007.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:47.118Z,1736365007.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:47.368Z,1736365007.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:47.430Z,1736365007.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:47.620Z,1736365007.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:47.807Z,1736365007.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:47.872Z,1736365007.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:48.124Z,1736365008.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:48.214Z,1736365008.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:48.376Z,1736365008.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:48.613Z,1736365008.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:48.628Z,1736365008.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:48.880Z,1736365008.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:49.035Z,1736365009.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:49.135Z,1736365009.135 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:49.412Z,1736365009.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:49.457Z,1736365009.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:49.465Z,1736365009.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:36:49.664Z,1736365009.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:49.665Z,1736365009.665 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:36:49.666Z,1736365009.666 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:36:49.839Z,1736365009.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:49.916Z,1736365009.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:49.916Z,1736365009.916 [DAT](INFO): DAT read: user:757> 2025-01-08T19:36:49.917Z,1736365009.917 [DAT](INFO): DAT read: Tx time:19:36:49.1629 2025-01-08T19:36:49.917Z,1736365009.917 [DAT](INFO): Ping request sent. 2025-01-08T19:36:49.917Z,1736365009.917 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:36:49.918Z,1736365009.918 [DAT](INFO): publishing transmit ping time 2025-01-08T19:36:49.918Z,1736365009.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000718 2025-01-08T19:36:50.169Z,1736365010.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:50.170Z,1736365010.170 [DAT](INFO): DAT read: TxSync time:19:36:49.1622 2025-01-08T19:36:50.172Z,1736365010.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254360 2025-01-08T19:36:50.253Z,1736365010.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:50.420Z,1736365010.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:50.420Z,1736365010.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502775 2025-01-08T19:36:50.640Z,1736365010.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:50.672Z,1736365010.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:50.673Z,1736365010.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755652 2025-01-08T19:36:50.924Z,1736365010.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:50.924Z,1736365010.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006805 2025-01-08T19:36:51.040Z,1736365011.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:51.176Z,1736365011.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:51.178Z,1736365011.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259852 2025-01-08T19:36:51.428Z,1736365011.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:51.429Z,1736365011.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511019 2025-01-08T19:36:51.486Z,1736365011.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:51.680Z,1736365011.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:51.681Z,1736365011.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763682 2025-01-08T19:36:51.849Z,1736365011.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:51.932Z,1736365011.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:51.933Z,1736365011.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015416 2025-01-08T19:36:52.164Z,1736365012.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:36:52.184Z,1736365012.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:52.184Z,1736365012.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266924 2025-01-08T19:36:52.262Z,1736365012.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:52.436Z,1736365012.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:52.436Z,1736365012.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518922 2025-01-08T19:36:52.660Z,1736365012.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:52.688Z,1736365012.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:52.688Z,1736365012.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770933 2025-01-08T19:36:52.940Z,1736365012.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:52.941Z,1736365012.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023069 2025-01-08T19:36:53.052Z,1736365013.052 [NAL9602](INFO): Not Powering down - fast GPS 2025-01-08T19:36:53.062Z,1736365013.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:53.169Z,1736365013.169 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-01-08T19:36:53.169Z,1736365013.169 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:36:53.192Z,1736365013.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:53.192Z,1736365013.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274859 2025-01-08T19:36:53.444Z,1736365013.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:53.445Z,1736365013.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527288 2025-01-08T19:36:53.551Z,1736365013.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:53.696Z,1736365013.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:53.697Z,1736365013.697 [DAT](INFO): DAT read: Rx Time:19:36:52.5125 2025-01-08T19:36:53.697Z,1736365013.697 [DAT](INFO): Rx dataTimestamp_ set to:1736365013.696739 2025-01-08T19:36:53.698Z,1736365013.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780003 2025-01-08T19:36:53.868Z,1736365013.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:53.948Z,1736365013.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:53.948Z,1736365013.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030826 2025-01-08T19:36:54.176Z,1736365014.176 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:36:54.209Z,1736365014.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:54.227Z,1736365014.227 [DAT](INFO): DAT read: 19:36:52.5125 LVL= 17712, 25569, 10786, 24819, AGC= 75, IDX= 317,-0.30,-0.392, 0.748, 2.235, 0.887, PHS=-1.190,-0.092, 1.345, RAW= 235.6, -0.6, CAL= 237.5, -2.0, ROT= 272.5, 2.0 2025-01-08T19:36:54.268Z,1736365014.268 [DAT](INFO): got valid direction response: 19:36:52.5125 LVL= 17712, 25569, 10786, 24819, AGC= 75, IDX= 317,-0.30,-0.392, 0.748, 2.235, 0.887, PHS=-1.190,-0.092, 1.345, RAW= 235.6, -0.6, CAL= 237.5, -2.0, ROT= 272.5, 2.0 2025-01-08T19:36:54.269Z,1736365014.269 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:36:54.269Z,1736365014.269 [DAT](INFO): Received a bad header 2025-01-08T19:36:54.285Z,1736365014.285 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T19:36:54.286Z,1736365014.286 [DAT](INFO): direction in FSK: [0.030972,-0.635296,-0.771647] 2025-01-08T19:36:54.340Z,1736365014.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:54.460Z,1736365014.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:54.686Z,1736365014.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:54.712Z,1736365014.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:54.965Z,1736365014.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:55.101Z,1736365015.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:55.216Z,1736365015.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:55.469Z,1736365015.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:55.505Z,1736365015.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:55.720Z,1736365015.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:55.884Z,1736365015.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:55.972Z,1736365015.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:56.224Z,1736365016.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:56.322Z,1736365016.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:56.476Z,1736365016.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:56.703Z,1736365016.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:56.729Z,1736365016.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:56.980Z,1736365016.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:57.138Z,1736365017.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:57.232Z,1736365017.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:57.484Z,1736365017.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:57.502Z,1736365017.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:57.736Z,1736365017.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:57.908Z,1736365017.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:57.988Z,1736365017.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:58.240Z,1736365018.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:58.344Z,1736365018.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:58.492Z,1736365018.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:58.716Z,1736365018.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:58.744Z,1736365018.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:58.996Z,1736365018.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:59.173Z,1736365019.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:59.248Z,1736365019.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:59.508Z,1736365019.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:59.540Z,1736365019.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:36:59.761Z,1736365019.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:36:59.923Z,1736365019.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:00.012Z,1736365020.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:00.012Z,1736365020.012 [DAT](INFO): Reached modem response timeout 2025-01-08T19:37:00.264Z,1736365020.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:00.376Z,1736365020.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:00.516Z,1736365020.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:00.745Z,1736365020.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:00.768Z,1736365020.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:00.769Z,1736365020.769 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:37:00.769Z,1736365020.769 [DAT](INFO): response not received 2025-01-08T19:37:00.769Z,1736365020.769 [DAT](ERROR): No response from remote modem. 2025-01-08T19:37:01.020Z,1736365021.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:01.182Z,1736365021.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:01.272Z,1736365021.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:01.526Z,1736365021.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:01.573Z,1736365021.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:01.776Z,1736365021.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:01.947Z,1736365021.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:02.028Z,1736365022.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:02.280Z,1736365022.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:02.374Z,1736365022.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:02.532Z,1736365022.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:02.771Z,1736365022.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:02.784Z,1736365022.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:03.036Z,1736365023.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:03.198Z,1736365023.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:03.288Z,1736365023.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:03.544Z,1736365023.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:03.568Z,1736365023.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:03.796Z,1736365023.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:03.972Z,1736365023.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:04.048Z,1736365024.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:04.301Z,1736365024.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:04.394Z,1736365024.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:04.552Z,1736365024.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:04.783Z,1736365024.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:04.804Z,1736365024.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:05.056Z,1736365025.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:05.222Z,1736365025.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:05.308Z,1736365025.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:05.568Z,1736365025.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:05.592Z,1736365025.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:05.820Z,1736365025.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:05.992Z,1736365025.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:06.072Z,1736365026.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:06.324Z,1736365026.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:06.416Z,1736365026.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:06.577Z,1736365026.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:06.801Z,1736365026.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:06.828Z,1736365026.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:07.080Z,1736365027.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:07.267Z,1736365027.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:07.332Z,1736365027.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:07.584Z,1736365027.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:07.632Z,1736365027.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:07.836Z,1736365027.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:08.021Z,1736365028.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:08.092Z,1736365028.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:08.344Z,1736365028.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:08.465Z,1736365028.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:08.598Z,1736365028.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:08.829Z,1736365028.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:08.848Z,1736365028.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:09.100Z,1736365029.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:09.292Z,1736365029.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:09.352Z,1736365029.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:09.604Z,1736365029.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:09.661Z,1736365029.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:09.856Z,1736365029.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:10.049Z,1736365030.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:10.109Z,1736365030.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:10.360Z,1736365030.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:10.487Z,1736365030.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:10.612Z,1736365030.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:10.855Z,1736365030.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:10.864Z,1736365030.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:11.116Z,1736365031.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:11.324Z,1736365031.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:11.368Z,1736365031.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:11.622Z,1736365031.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:11.669Z,1736365031.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:11.872Z,1736365031.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:12.064Z,1736365032.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:12.124Z,1736365032.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:12.376Z,1736365032.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:12.487Z,1736365032.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:12.628Z,1736365032.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:12.880Z,1736365032.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:12.886Z,1736365032.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:13.132Z,1736365033.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:13.333Z,1736365033.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:13.384Z,1736365033.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:13.636Z,1736365033.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:13.700Z,1736365033.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:13.888Z,1736365033.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:14.096Z,1736365034.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:14.140Z,1736365034.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:14.392Z,1736365034.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:14.516Z,1736365034.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:14.646Z,1736365034.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:14.896Z,1736365034.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:14.897Z,1736365034.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:15.148Z,1736365035.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:15.358Z,1736365035.358 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010811382064,35.0, +12.9, 0., 0 2025-01-08T19:37:15.366Z,1736365035.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:37:15.366Z,1736365035.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:15.400Z,1736365035.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:15.652Z,1736365035.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:15.716Z,1736365035.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:37:15.717Z,1736365035.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:15.904Z,1736365035.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:16.104Z,1736365036.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:37:16.105Z,1736365036.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:16.156Z,1736365036.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:16.408Z,1736365036.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:16.540Z,1736365036.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:16.660Z,1736365036.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:16.912Z,1736365036.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:16.938Z,1736365036.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:17.164Z,1736365037.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:17.413Z,1736365037.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:17.416Z,1736365037.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:17.668Z,1736365037.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:17.732Z,1736365037.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:17.920Z,1736365037.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:18.136Z,1736365038.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:18.172Z,1736365038.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:18.424Z,1736365038.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:18.554Z,1736365038.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:18.676Z,1736365038.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:18.928Z,1736365038.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:18.937Z,1736365038.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:19.180Z,1736365039.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:19.400Z,1736365039.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:19.434Z,1736365039.434 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:19.686Z,1736365039.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:19.773Z,1736365039.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:19.936Z,1736365039.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:20.150Z,1736365040.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:20.188Z,1736365040.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:20.440Z,1736365040.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:20.578Z,1736365040.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:20.692Z,1736365040.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:20.944Z,1736365040.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:20.961Z,1736365040.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:21.196Z,1736365041.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:21.422Z,1736365041.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:21.448Z,1736365041.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:21.700Z,1736365041.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:21.795Z,1736365041.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:21.952Z,1736365041.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:22.164Z,1736365042.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:22.204Z,1736365042.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:22.456Z,1736365042.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:22.630Z,1736365042.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:22.708Z,1736365042.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:22.960Z,1736365042.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:22.978Z,1736365042.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:23.212Z,1736365043.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:23.296Z,1736365043.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:37:23.433Z,1736365043.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:23.464Z,1736365043.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:23.716Z,1736365043.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:23.826Z,1736365043.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:23.968Z,1736365043.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:24.185Z,1736365044.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:24.220Z,1736365044.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:24.300Z,1736365044.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:37:24.474Z,1736365044.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:24.617Z,1736365044.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:24.724Z,1736365044.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:24.976Z,1736365044.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:25.018Z,1736365045.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:25.228Z,1736365045.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:25.404Z,1736365045.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:25.481Z,1736365045.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:25.732Z,1736365045.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:25.837Z,1736365045.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:25.984Z,1736365045.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:26.218Z,1736365046.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:26.236Z,1736365046.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:26.489Z,1736365046.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:26.645Z,1736365046.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:26.740Z,1736365046.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:26.996Z,1736365046.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:27.024Z,1736365047.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:27.248Z,1736365047.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:27.435Z,1736365047.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:27.502Z,1736365047.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:27.752Z,1736365047.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:27.866Z,1736365047.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:28.004Z,1736365048.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:28.229Z,1736365048.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:28.256Z,1736365048.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:28.511Z,1736365048.511 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:28.661Z,1736365048.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:28.766Z,1736365048.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:29.020Z,1736365049.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:29.050Z,1736365049.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:29.272Z,1736365049.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:29.439Z,1736365049.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:29.525Z,1736365049.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:29.776Z,1736365049.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:29.889Z,1736365049.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:30.028Z,1736365050.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:30.248Z,1736365050.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:30.280Z,1736365050.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:30.533Z,1736365050.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:30.689Z,1736365050.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:30.784Z,1736365050.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:31.036Z,1736365051.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:31.068Z,1736365051.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:31.288Z,1736365051.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:31.456Z,1736365051.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:31.542Z,1736365051.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:31.792Z,1736365051.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:31.908Z,1736365051.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:32.044Z,1736365052.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:32.269Z,1736365052.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:32.296Z,1736365052.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:32.549Z,1736365052.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:32.721Z,1736365052.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:32.801Z,1736365052.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:32.856Z,1736365052.856 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:37:33.052Z,1736365053.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:33.090Z,1736365053.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:33.304Z,1736365053.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:33.478Z,1736365053.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:33.557Z,1736365053.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:33.809Z,1736365053.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:33.922Z,1736365053.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:34.061Z,1736365054.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:34.307Z,1736365054.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:34.320Z,1736365054.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:34.573Z,1736365054.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:34.719Z,1736365054.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:34.824Z,1736365054.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:35.078Z,1736365055.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:35.109Z,1736365055.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:35.328Z,1736365055.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:35.500Z,1736365055.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:35.581Z,1736365055.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:35.832Z,1736365055.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:35.925Z,1736365055.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:36.084Z,1736365056.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:36.312Z,1736365056.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:36.336Z,1736365056.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:36.588Z,1736365056.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:36.733Z,1736365056.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:36.840Z,1736365056.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:37.097Z,1736365057.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:37.119Z,1736365057.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:37.348Z,1736365057.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:37.518Z,1736365057.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:37.602Z,1736365057.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:37.852Z,1736365057.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:37.917Z,1736365057.917 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010811384297,2.4, 0.0,1498.5, 0 2025-01-08T19:37:37.925Z,1736365057.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:37:37.925Z,1736365057.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:38.105Z,1736365058.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:38.339Z,1736365058.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:37:38.340Z,1736365058.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:38.356Z,1736365058.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:38.609Z,1736365058.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:38.756Z,1736365058.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:38.861Z,1736365058.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:39.112Z,1736365059.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:39.165Z,1736365059.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:39.364Z,1736365059.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:39.537Z,1736365059.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:39.616Z,1736365059.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:39.868Z,1736365059.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:39.967Z,1736365059.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:40.120Z,1736365060.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:40.349Z,1736365060.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:40.372Z,1736365060.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:40.624Z,1736365060.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:40.766Z,1736365060.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:37:40.767Z,1736365060.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:40.876Z,1736365060.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:41.128Z,1736365061.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:41.153Z,1736365061.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:37:41.153Z,1736365061.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:41.380Z,1736365061.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:41.558Z,1736365061.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:37:41.558Z,1736365061.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:41.632Z,1736365061.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:41.884Z,1736365061.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:41.998Z,1736365061.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:42.136Z,1736365062.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:42.371Z,1736365062.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:42.388Z,1736365062.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:42.640Z,1736365062.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:42.819Z,1736365062.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:42.832Z,1736365062.832 [lineCaptureHoming:InitialDive:C.Pitch] Stopped 2025-01-08T19:37:42.834Z,1736365062.834 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive 2025-01-08T19:37:42.834Z,1736365062.834 [lineCaptureHoming:InitialDive] Stopped 2025-01-08T19:37:42.834Z,1736365062.834 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive 2025-01-08T19:37:42.834Z,1736365062.834 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped 2025-01-08T19:37:42.834Z,1736365062.834 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize. 2025-01-08T19:37:42.835Z,1736365062.835 [lineCaptureHoming:InitialDive:B.Mass] Stopped 2025-01-08T19:37:42.835Z,1736365062.835 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize. 2025-01-08T19:37:42.835Z,1736365062.835 [lineCaptureHoming:RepeatHack] Running Loop=1 2025-01-08T19:37:42.835Z,1736365062.835 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack 2025-01-08T19:37:42.835Z,1736365062.835 [lineCaptureHoming:RepeatHack:A] Running Loop=1 2025-01-08T19:37:42.892Z,1736365062.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:43.144Z,1736365063.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:43.202Z,1736365063.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:43.217Z,1736365063.217 [lineCaptureHoming:RepeatHack] Stopped 2025-01-08T19:37:43.217Z,1736365063.217 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack 2025-01-08T19:37:43.217Z,1736365063.217 [lineCaptureHoming:RepeatHack:A] Stopped 2025-01-08T19:37:43.218Z,1736365063.218 [lineCaptureHoming:Lap] Running Loop=1 2025-01-08T19:37:43.218Z,1736365063.218 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap 2025-01-08T19:37:43.218Z,1736365063.218 [lineCaptureHoming:Lap:A] Running Loop=1 2025-01-08T19:37:43.396Z,1736365063.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:43.580Z,1736365063.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:43.605Z,1736365063.605 [lineCaptureHoming:Lap:A] Stopped 2025-01-08T19:37:43.605Z,1736365063.605 [lineCaptureHoming:Lap:B] Running Loop=1 2025-01-08T19:37:43.605Z,1736365063.605 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B 2025-01-08T19:37:43.648Z,1736365063.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:43.900Z,1736365063.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:44.024Z,1736365064.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:44.034Z,1736365064.034 [lineCaptureHoming:LineCapture] Running Loop=1 2025-01-08T19:37:44.034Z,1736365064.034 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture 2025-01-08T19:37:44.034Z,1736365064.034 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-01-08T19:37:44.034Z,1736365064.034 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-01-08T19:37:44.035Z,1736365064.035 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-01-08T19:37:44.035Z,1736365064.035 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-01-08T19:37:44.035Z,1736365064.035 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-01-08T19:37:44.035Z,1736365064.035 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-01-08T19:37:44.035Z,1736365064.035 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-01-08T19:37:44.035Z,1736365064.035 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-01-08T19:37:44.036Z,1736365064.036 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-01-08T19:37:44.036Z,1736365064.036 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-01-08T19:37:44.036Z,1736365064.036 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-01-08T19:37:44.036Z,1736365064.036 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass 2025-01-08T19:37:44.036Z,1736365064.036 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-01-08T19:37:44.036Z,1736365064.036 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-01-08T19:37:44.036Z,1736365064.036 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize. 2025-01-08T19:37:44.036Z,1736365064.036 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-01-08T19:37:44.036Z,1736365064.036 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T19:37:44.036Z,1736365064.036 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-01-08T19:37:44.036Z,1736365064.036 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-01-08T19:37:44.037Z,1736365064.037 [lineCaptureHoming:LineCapture:A] Running Loop=1 2025-01-08T19:37:44.037Z,1736365064.037 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-01-08T19:37:44.037Z,1736365064.037 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-01-08T19:37:44.037Z,1736365064.037 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-01-08T19:37:44.037Z,1736365064.037 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-01-08T19:37:44.038Z,1736365064.038 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-01-08T19:37:44.038Z,1736365064.038 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-01-08T19:37:44.038Z,1736365064.038 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-01-08T19:37:44.038Z,1736365064.038 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-01-08T19:37:44.038Z,1736365064.038 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-01-08T19:37:44.039Z,1736365064.039 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-01-08T19:37:44.039Z,1736365064.039 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-01-08T19:37:44.040Z,1736365064.040 [lineCaptureHoming:LineCapture:A] Stopped 2025-01-08T19:37:44.040Z,1736365064.040 [lineCaptureHoming:LineCapture:B] Running Loop=1 2025-01-08T19:37:44.152Z,1736365064.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:44.385Z,1736365064.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:44.391Z,1736365064.391 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-01-08T19:37:44.391Z,1736365064.391 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T19:37:44.392Z,1736365064.392 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-01-08T19:37:44.393Z,1736365064.393 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 145.000000 m (mode 0.000000 count ). 2025-01-08T19:37:44.394Z,1736365064.394 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-01-08T19:37:44.394Z,1736365064.394 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-01-08T19:37:44.397Z,1736365064.397 [lineCaptureHoming:LineCapture:B] Stopped 2025-01-08T19:37:44.397Z,1736365064.397 [lineCaptureHoming:LineCapture:D] Running Loop=1 2025-01-08T19:37:44.404Z,1736365064.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:44.656Z,1736365064.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:44.830Z,1736365064.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:44.836Z,1736365064.836 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-01-08T19:37:44.836Z,1736365064.836 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-01-08T19:37:44.837Z,1736365064.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:37:44.839Z,1736365064.839 [lineCaptureHoming:LineCapture:D] Stopped 2025-01-08T19:37:44.839Z,1736365064.839 [lineCaptureHoming:LineCapture:E] Running Loop=1 2025-01-08T19:37:44.908Z,1736365064.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:44.908Z,1736365064.908 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:37:44.909Z,1736365064.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:37:45.160Z,1736365065.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:45.160Z,1736365065.160 [DAT](INFO): DAT read: 2025-01-08T19:37:45.161Z,1736365065.161 [DAT](INFO): DAT read: Tx time:19:37:44.3635 2025-01-08T19:37:45.161Z,1736365065.161 [DAT](INFO): Ping request sent. 2025-01-08T19:37:45.161Z,1736365065.161 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:37:45.162Z,1736365065.162 [DAT](INFO): DAT read: TxSync time:19:37:44.3627 2025-01-08T19:37:45.163Z,1736365065.163 [DAT](INFO): publishing transmit ping time 2025-01-08T19:37:45.165Z,1736365065.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003075 2025-01-08T19:37:45.200Z,1736365065.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:45.244Z,1736365065.244 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-01-08T19:37:45.244Z,1736365065.244 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-01-08T19:37:45.246Z,1736365065.246 [lineCaptureHoming:LineCapture:E] Stopped 2025-01-08T19:37:45.246Z,1736365065.246 [lineCaptureHoming:LineCapture:F] Running Loop=1 2025-01-08T19:37:45.412Z,1736365065.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:45.413Z,1736365065.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251516 2025-01-08T19:37:45.616Z,1736365065.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:45.634Z,1736365065.634 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-01-08T19:37:45.635Z,1736365065.635 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T19:37:45.635Z,1736365065.635 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-01-08T19:37:45.635Z,1736365065.635 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T19:37:45.641Z,1736365065.641 [lineCaptureHoming:LineCapture:F] Stopped 2025-01-08T19:37:45.641Z,1736365065.641 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1 2025-01-08T19:37:45.641Z,1736365065.641 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence 2025-01-08T19:37:45.641Z,1736365065.641 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-01-08T19:37:45.641Z,1736365065.641 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-01-08T19:37:45.642Z,1736365065.642 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2025-01-08T19:37:45.642Z,1736365065.642 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-01-08T19:37:45.642Z,1736365065.642 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2025-01-08T19:37:45.642Z,1736365065.642 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-01-08T19:37:45.642Z,1736365065.642 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-01-08T19:37:45.642Z,1736365065.642 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-01-08T19:37:45.643Z,1736365065.643 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T19:37:45.648Z,1736365065.648 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-01-08T19:37:45.648Z,1736365065.648 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T19:37:45.648Z,1736365065.648 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-01-08T19:37:45.648Z,1736365065.648 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-01-08T19:37:45.648Z,1736365065.648 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-01-08T19:37:45.648Z,1736365065.648 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-01-08T19:37:45.649Z,1736365065.649 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-01-08T19:37:45.649Z,1736365065.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-01-08T19:37:45.649Z,1736365065.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T19:37:45.649Z,1736365065.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-01-08T19:37:45.649Z,1736365065.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T19:37:45.649Z,1736365065.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-01-08T19:37:45.649Z,1736365065.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T19:37:45.650Z,1736365065.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-01-08T19:37:45.650Z,1736365065.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-01-08T19:37:45.650Z,1736365065.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-01-08T19:37:45.650Z,1736365065.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T19:37:45.650Z,1736365065.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-01-08T19:37:45.650Z,1736365065.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-01-08T19:37:45.650Z,1736365065.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-01-08T19:37:45.651Z,1736365065.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-01-08T19:37:45.651Z,1736365065.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-01-08T19:37:45.664Z,1736365065.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:45.665Z,1736365065.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503823 2025-01-08T19:37:45.916Z,1736365065.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:45.916Z,1736365065.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755191 2025-01-08T19:37:46.039Z,1736365066.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:46.066Z,1736365066.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-01-08T19:37:46.067Z,1736365066.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T19:37:46.067Z,1736365066.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-01-08T19:37:46.067Z,1736365066.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T19:37:46.067Z,1736365066.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-01-08T19:37:46.067Z,1736365066.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-01-08T19:37:46.071Z,1736365066.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T19:37:46.071Z,1736365066.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-01-08T19:37:46.071Z,1736365066.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-01-08T19:37:46.071Z,1736365066.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-01-08T19:37:46.072Z,1736365066.072 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-01-08T19:37:46.073Z,1736365066.073 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-01-08T19:37:46.073Z,1736365066.073 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-01-08T19:37:46.074Z,1736365066.074 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.384884 m. 2025-01-08T19:37:46.125Z,1736365066.125 [DockingStepper](INFO): Resume 2025-01-08T19:37:46.168Z,1736365066.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:46.168Z,1736365066.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007200 2025-01-08T19:37:46.408Z,1736365066.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:46.420Z,1736365066.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:46.420Z,1736365066.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258973 2025-01-08T19:37:46.494Z,1736365066.494 [DockingStepper](INFO): Resuming 2025-01-08T19:37:46.673Z,1736365066.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:46.674Z,1736365066.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512708 2025-01-08T19:37:46.861Z,1736365066.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:46.868Z,1736365066.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:37:46.923Z,1736365066.923 [DockingStepper](INFO): Start 2025-01-08T19:37:46.924Z,1736365066.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:46.924Z,1736365066.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763077 2025-01-08T19:37:46.925Z,1736365066.925 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-01-08T19:37:47.045Z,1736365067.045 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-01-08T19:37:47.176Z,1736365067.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:47.177Z,1736365067.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015328 2025-01-08T19:37:47.237Z,1736365067.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:47.428Z,1736365067.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:47.429Z,1736365067.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267348 2025-01-08T19:37:47.444Z,1736365067.444 [DockingStepper](INFO): Starting 2025-01-08T19:37:47.636Z,1736365067.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:47.680Z,1736365067.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:47.681Z,1736365067.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519452 2025-01-08T19:37:47.721Z,1736365067.721 [DockingStepper](INFO): Starting 2025-01-08T19:37:47.932Z,1736365067.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:47.932Z,1736365067.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771031 2025-01-08T19:37:48.060Z,1736365068.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:48.144Z,1736365068.144 [DockingStepper](INFO): Starting 2025-01-08T19:37:48.184Z,1736365068.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:48.186Z,1736365068.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024218 2025-01-08T19:37:48.196Z,1736365068.196 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50 2025-01-08T19:37:48.425Z,1736365068.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:48.436Z,1736365068.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:48.436Z,1736365068.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275169 2025-01-08T19:37:48.512Z,1736365068.512 [DockingStepper](INFO): Starting 2025-01-08T19:37:48.688Z,1736365068.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:48.689Z,1736365068.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527278 2025-01-08T19:37:48.924Z,1736365068.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:48.933Z,1736365068.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:37:48.948Z,1736365068.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:48.949Z,1736365068.949 [DAT](INFO): DAT read: Rx Time:19:37:47.7055 2025-01-08T19:37:48.949Z,1736365068.949 [DAT](INFO): Rx dataTimestamp_ set to:1736365068.948943 2025-01-08T19:37:48.950Z,1736365068.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788471 2025-01-08T19:37:49.132Z,1736365069.132 [DockingStepper](INFO): Starting 2025-01-08T19:37:49.200Z,1736365069.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:49.201Z,1736365069.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039277 2025-01-08T19:37:49.264Z,1736365069.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:49.432Z,1736365069.432 [DockingStepper](INFO): Starting 2025-01-08T19:37:49.452Z,1736365069.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:49.453Z,1736365069.453 [DAT](INFO): DAT read: Range 10 to 50 : 703.3 m (Round-trip 937.8 ms) speed 0.1 m/s 2025-01-08T19:37:49.454Z,1736365069.454 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:37:49.455Z,1736365069.455 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:37:49.455Z,1736365069.455 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:37:49.455Z,1736365069.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:37:49.644Z,1736365069.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:49.706Z,1736365069.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:49.708Z,1736365069.708 [DAT](INFO): DAT read: user:759> 2025-01-08T19:37:49.709Z,1736365069.709 [DAT](INFO): DAT read: Tx time:19:37:48.9135 2025-01-08T19:37:49.710Z,1736365069.710 [DAT](INFO): Ping request sent. 2025-01-08T19:37:49.710Z,1736365069.710 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:37:49.711Z,1736365069.711 [DAT](INFO): DAT read: TxSync time:19:37:48.9127 2025-01-08T19:37:49.712Z,1736365069.712 [DAT](INFO): publishing transmit ping time 2025-01-08T19:37:49.712Z,1736365069.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002605 2025-01-08T19:37:49.741Z,1736365069.741 [DockingStepper](INFO): Starting 2025-01-08T19:37:49.768Z,1736365069.768 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2025-01-08T19:37:49.956Z,1736365069.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:49.956Z,1736365069.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246510 2025-01-08T19:37:50.082Z,1736365070.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:50.096Z,1736365070.096 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-01-08T19:37:50.096Z,1736365070.096 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T19:37:50.096Z,1736365070.096 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-01-08T19:37:50.098Z,1736365070.098 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 703.299988 m (mode 0.000000 count ). 2025-01-08T19:37:50.098Z,1736365070.098 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-01-08T19:37:50.098Z,1736365070.098 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-01-08T19:37:50.156Z,1736365070.156 [DockingStepper](INFO): Starting 2025-01-08T19:37:50.208Z,1736365070.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:50.208Z,1736365070.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498594 2025-01-08T19:37:50.455Z,1736365070.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:50.460Z,1736365070.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:50.461Z,1736365070.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751160 2025-01-08T19:37:50.463Z,1736365070.463 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-01-08T19:37:50.464Z,1736365070.464 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-01-08T19:37:50.509Z,1736365070.509 [DockingStepper](INFO): Changing to mode: 3 2025-01-08T19:37:50.509Z,1736365070.509 [DockingStepper](INFO): Detach mode. 2025-01-08T19:37:50.571Z,1736365070.571 [DockingStepper](INFO): Commanding negative:54593 2025-01-08T19:37:50.712Z,1736365070.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:50.714Z,1736365070.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003464 2025-01-08T19:37:50.919Z,1736365070.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:50.925Z,1736365070.925 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-01-08T19:37:50.925Z,1736365070.925 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-01-08T19:37:50.964Z,1736365070.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:50.964Z,1736365070.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254461 2025-01-08T19:37:51.217Z,1736365071.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:51.218Z,1736365071.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508099 2025-01-08T19:37:51.271Z,1736365071.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:51.285Z,1736365071.285 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-01-08T19:37:51.285Z,1736365071.285 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T19:37:51.285Z,1736365071.285 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-01-08T19:37:51.285Z,1736365071.285 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T19:37:51.468Z,1736365071.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:51.468Z,1736365071.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758541 2025-01-08T19:37:51.673Z,1736365071.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:51.720Z,1736365071.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:51.721Z,1736365071.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010935 2025-01-08T19:37:51.972Z,1736365071.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:51.972Z,1736365071.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262580 2025-01-08T19:37:52.120Z,1736365072.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:52.224Z,1736365072.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:52.225Z,1736365072.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514910 2025-01-08T19:37:52.476Z,1736365072.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:52.477Z,1736365072.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767297 2025-01-08T19:37:52.495Z,1736365072.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:52.728Z,1736365072.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:52.728Z,1736365072.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018621 2025-01-08T19:37:52.937Z,1736365072.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:52.980Z,1736365072.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:52.981Z,1736365072.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271196 2025-01-08T19:37:53.232Z,1736365073.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:53.235Z,1736365073.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524341 2025-01-08T19:37:53.300Z,1736365073.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:53.484Z,1736365073.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:53.484Z,1736365073.484 [DAT](INFO): DAT read: Rx Time:19:37:52.2547 2025-01-08T19:37:53.485Z,1736365073.485 [DAT](INFO): Rx dataTimestamp_ set to:1736365073.484671 2025-01-08T19:37:53.485Z,1736365073.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775670 2025-01-08T19:37:53.689Z,1736365073.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:53.736Z,1736365073.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:53.736Z,1736365073.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026657 2025-01-08T19:37:53.988Z,1736365073.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:53.988Z,1736365073.988 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:37:53.989Z,1736365073.989 [DAT](INFO): Received a bad header 2025-01-08T19:37:53.000Z,1736365074.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289733 2025-01-08T19:37:54.127Z,1736365074.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:54.244Z,1736365074.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:54.246Z,1736365074.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535740 2025-01-08T19:37:54.428Z,1736365074.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:37:54.496Z,1736365074.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:54.496Z,1736365074.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786652 2025-01-08T19:37:54.498Z,1736365074.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:54.748Z,1736365074.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:54.748Z,1736365074.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038510 2025-01-08T19:37:54.979Z,1736365074.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:55.000Z,1736365075.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:55.001Z,1736365075.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290929 2025-01-08T19:37:55.252Z,1736365075.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:55.252Z,1736365075.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542513 2025-01-08T19:37:55.335Z,1736365075.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:55.432Z,1736365075.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:37:55.504Z,1736365075.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:55.504Z,1736365075.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794557 2025-01-08T19:37:55.701Z,1736365075.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:55.756Z,1736365075.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:55.757Z,1736365075.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046779 2025-01-08T19:37:56.008Z,1736365076.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:56.009Z,1736365076.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298738 2025-01-08T19:37:56.136Z,1736365076.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:56.260Z,1736365076.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:56.261Z,1736365076.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550780 2025-01-08T19:37:56.512Z,1736365076.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:56.513Z,1736365076.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802734 2025-01-08T19:37:56.514Z,1736365076.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:56.521Z,1736365076.521 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2025-01-08T19:37:56.764Z,1736365076.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:56.764Z,1736365076.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054502 2025-01-08T19:37:56.957Z,1736365076.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:57.016Z,1736365077.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:57.017Z,1736365077.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306787 2025-01-08T19:37:57.268Z,1736365077.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:57.268Z,1736365077.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558597 2025-01-08T19:37:57.347Z,1736365077.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:57.520Z,1736365077.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:57.520Z,1736365077.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810520 2025-01-08T19:37:57.728Z,1736365077.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:57.772Z,1736365077.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:57.773Z,1736365077.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062829 2025-01-08T19:37:58.024Z,1736365078.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:58.024Z,1736365078.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314544 2025-01-08T19:37:58.147Z,1736365078.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:58.276Z,1736365078.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:58.276Z,1736365078.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566636 2025-01-08T19:37:58.528Z,1736365078.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:58.529Z,1736365078.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818921 2025-01-08T19:37:58.548Z,1736365078.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:58.781Z,1736365078.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:58.782Z,1736365078.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072264 2025-01-08T19:37:58.980Z,1736365078.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:59.034Z,1736365079.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:59.034Z,1736365079.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324456 2025-01-08T19:37:59.284Z,1736365079.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:59.285Z,1736365079.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574780 2025-01-08T19:37:59.381Z,1736365079.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:59.536Z,1736365079.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:59.536Z,1736365079.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826607 2025-01-08T19:37:59.753Z,1736365079.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:37:59.788Z,1736365079.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:37:59.789Z,1736365079.789 [DAT](INFO): Reached modem response timeout 2025-01-08T19:38:00.040Z,1736365080.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:00.175Z,1736365080.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:00.292Z,1736365080.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:00.544Z,1736365080.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:00.545Z,1736365080.545 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:38:00.545Z,1736365080.545 [DAT](INFO): response not received 2025-01-08T19:38:00.545Z,1736365080.545 [DAT](ERROR): No response from remote modem. 2025-01-08T19:38:00.554Z,1736365080.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:00.796Z,1736365080.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:00.957Z,1736365080.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:01.050Z,1736365081.050 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:01.300Z,1736365081.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:01.381Z,1736365081.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:01.555Z,1736365081.555 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:01.772Z,1736365081.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:01.808Z,1736365081.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:02.062Z,1736365082.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:02.196Z,1736365082.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:02.314Z,1736365082.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:02.564Z,1736365082.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:02.573Z,1736365082.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:02.816Z,1736365082.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:02.976Z,1736365082.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:03.070Z,1736365083.070 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:03.320Z,1736365083.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:03.404Z,1736365083.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:03.572Z,1736365083.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:03.786Z,1736365083.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:03.824Z,1736365083.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:04.078Z,1736365084.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:04.244Z,1736365084.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:04.328Z,1736365084.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:04.580Z,1736365084.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:04.603Z,1736365084.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:04.832Z,1736365084.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:04.000Z,1736365085.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:05.086Z,1736365085.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:05.336Z,1736365085.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:05.437Z,1736365085.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:05.588Z,1736365085.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:05.812Z,1736365085.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:05.840Z,1736365085.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:06.094Z,1736365086.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:06.224Z,1736365086.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:06.344Z,1736365086.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:06.596Z,1736365086.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:06.619Z,1736365086.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:06.848Z,1736365086.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:07.016Z,1736365087.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:07.102Z,1736365087.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:07.352Z,1736365087.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:07.467Z,1736365087.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:07.605Z,1736365087.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:07.826Z,1736365087.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:07.856Z,1736365087.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:08.109Z,1736365088.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:08.258Z,1736365088.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:08.360Z,1736365088.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:08.613Z,1736365088.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:08.641Z,1736365088.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:08.864Z,1736365088.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:09.036Z,1736365089.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:09.118Z,1736365089.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:09.368Z,1736365089.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:09.469Z,1736365089.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:09.622Z,1736365089.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:09.841Z,1736365089.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:09.873Z,1736365089.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:10.125Z,1736365090.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:10.263Z,1736365090.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:10.376Z,1736365090.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:10.628Z,1736365090.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:10.668Z,1736365090.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:10.880Z,1736365090.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:11.052Z,1736365091.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:11.133Z,1736365091.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:11.384Z,1736365091.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:11.491Z,1736365091.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:11.636Z,1736365091.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:11.860Z,1736365091.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:11.905Z,1736365091.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:12.157Z,1736365092.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:12.289Z,1736365092.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:12.408Z,1736365092.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:12.660Z,1736365092.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:12.708Z,1736365092.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:12.912Z,1736365092.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:13.075Z,1736365093.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:13.165Z,1736365093.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:13.416Z,1736365093.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:13.501Z,1736365093.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:13.668Z,1736365093.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:13.884Z,1736365093.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:13.933Z,1736365093.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:14.186Z,1736365094.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:14.321Z,1736365094.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:14.436Z,1736365094.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:14.689Z,1736365094.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:14.723Z,1736365094.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:14.940Z,1736365094.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:15.091Z,1736365095.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:15.193Z,1736365095.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:15.444Z,1736365095.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:15.554Z,1736365095.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:15.696Z,1736365095.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:15.900Z,1736365095.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:15.948Z,1736365095.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:16.200Z,1736365096.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:16.348Z,1736365096.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:16.452Z,1736365096.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:16.704Z,1736365096.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:16.716Z,1736365096.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:16.726Z,1736365096.726 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 703.30 m. Transitioning docking module to standby. 2025-01-08T19:38:16.956Z,1736365096.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:17.122Z,1736365097.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:17.192Z,1736365097.192 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T19:38:17.193Z,1736365097.193 [DockingStepper](INFO): Standby mode. 2025-01-08T19:38:17.209Z,1736365097.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:17.252Z,1736365097.252 [DockingStepper](INFO): Commanding positive:54586 2025-01-08T19:38:17.460Z,1736365097.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:17.553Z,1736365097.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:17.713Z,1736365097.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:17.939Z,1736365097.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:17.964Z,1736365097.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:18.217Z,1736365098.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:18.364Z,1736365098.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:18.468Z,1736365098.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:18.720Z,1736365098.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:18.729Z,1736365098.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:18.972Z,1736365098.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:19.133Z,1736365099.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:19.224Z,1736365099.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:19.476Z,1736365099.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:19.589Z,1736365099.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:19.728Z,1736365099.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:19.950Z,1736365099.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:19.980Z,1736365099.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:20.232Z,1736365100.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:20.394Z,1736365100.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:20.485Z,1736365100.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:20.736Z,1736365100.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:20.793Z,1736365100.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:20.988Z,1736365100.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:21.169Z,1736365101.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:21.240Z,1736365101.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:21.492Z,1736365101.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:21.582Z,1736365101.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:21.744Z,1736365101.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:21.964Z,1736365101.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:21.996Z,1736365101.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:22.248Z,1736365102.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:22.418Z,1736365102.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:22.500Z,1736365102.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:22.753Z,1736365102.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:22.789Z,1736365102.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:23.004Z,1736365103.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:23.195Z,1736365103.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:23.202Z,1736365103.202 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby. 2025-01-08T19:38:23.256Z,1736365103.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:23.508Z,1736365103.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:23.621Z,1736365103.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:23.634Z,1736365103.634 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2025-01-08T19:38:23.634Z,1736365103.634 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2025-01-08T19:38:23.634Z,1736365103.634 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2025-01-08T19:38:23.760Z,1736365103.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:24.000Z,1736365104.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:24.007Z,1736365104.007 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2025-01-08T19:38:24.008Z,1736365104.008 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2025-01-08T19:38:24.008Z,1736365104.008 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2025-01-08T19:38:24.012Z,1736365104.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:24.048Z,1736365104.048 [DockingStepper](INFO): Pause 2025-01-08T19:38:24.264Z,1736365104.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:24.439Z,1736365104.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:24.447Z,1736365104.447 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2025-01-08T19:38:24.447Z,1736365104.447 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-01-08T19:38:24.447Z,1736365104.447 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2025-01-08T19:38:24.463Z,1736365104.463 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-01-08T19:38:24.464Z,1736365104.464 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-01-08T19:38:24.517Z,1736365104.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:24.768Z,1736365104.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:24.834Z,1736365104.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:24.850Z,1736365104.850 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-01-08T19:38:24.850Z,1736365104.850 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T19:38:24.850Z,1736365104.850 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-01-08T19:38:24.850Z,1736365104.850 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T19:38:24.850Z,1736365104.850 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-01-08T19:38:24.851Z,1736365104.851 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-01-08T19:38:24.851Z,1736365104.851 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-01-08T19:38:24.851Z,1736365104.851 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-01-08T19:38:24.851Z,1736365104.851 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-01-08T19:38:24.852Z,1736365104.852 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-01-08T19:38:24.852Z,1736365104.852 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-01-08T19:38:24.852Z,1736365104.852 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-01-08T19:38:24.855Z,1736365104.855 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg ) 2025-01-08T19:38:24.863Z,1736365104.863 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-01-08T19:38:24.863Z,1736365104.863 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-01-08T19:38:24.864Z,1736365104.864 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-01-08T19:38:24.864Z,1736365104.864 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.903300,-122.119000 2025-01-08T19:38:25.020Z,1736365105.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:25.213Z,1736365105.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:25.221Z,1736365105.221 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.903300,-122.119000 2025-01-08T19:38:25.272Z,1736365105.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:25.524Z,1736365105.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:25.564Z,1736365105.564 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:38:25.640Z,1736365105.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:25.776Z,1736365105.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:26.023Z,1736365106.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:26.028Z,1736365106.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:26.280Z,1736365106.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:26.483Z,1736365106.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:26.532Z,1736365106.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:26.569Z,1736365106.569 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:38:26.784Z,1736365106.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:26.860Z,1736365106.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:27.036Z,1736365107.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:27.230Z,1736365107.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:27.288Z,1736365107.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:27.540Z,1736365107.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:27.704Z,1736365107.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:27.792Z,1736365107.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:28.039Z,1736365108.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:28.044Z,1736365108.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:28.296Z,1736365108.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:28.504Z,1736365108.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:28.548Z,1736365108.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:28.800Z,1736365108.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:28.866Z,1736365108.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:29.052Z,1736365109.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:29.258Z,1736365109.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:29.304Z,1736365109.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:29.556Z,1736365109.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:29.692Z,1736365109.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:29.809Z,1736365109.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:30.055Z,1736365110.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:30.060Z,1736365110.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:30.312Z,1736365110.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:30.518Z,1736365110.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:30.564Z,1736365110.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:30.816Z,1736365110.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:30.888Z,1736365110.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:31.068Z,1736365111.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:31.268Z,1736365111.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:31.320Z,1736365111.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:31.572Z,1736365111.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:31.712Z,1736365111.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:31.824Z,1736365111.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:32.076Z,1736365112.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:32.080Z,1736365112.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:32.329Z,1736365112.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:32.553Z,1736365112.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:32.580Z,1736365112.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:32.832Z,1736365112.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:32.925Z,1736365112.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:33.084Z,1736365113.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:33.291Z,1736365113.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:33.336Z,1736365113.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:33.588Z,1736365113.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:33.750Z,1736365113.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:33.842Z,1736365113.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:34.092Z,1736365114.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:34.102Z,1736365114.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:34.344Z,1736365114.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:34.568Z,1736365114.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:34.596Z,1736365114.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:34.848Z,1736365114.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:34.931Z,1736365114.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:35.100Z,1736365115.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:35.320Z,1736365115.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:35.352Z,1736365115.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:35.604Z,1736365115.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:35.741Z,1736365115.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:35.856Z,1736365115.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:36.108Z,1736365116.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:36.117Z,1736365116.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:36.360Z,1736365116.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:36.578Z,1736365116.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:36.612Z,1736365116.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:36.864Z,1736365116.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:36.971Z,1736365116.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:37.116Z,1736365117.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:37.333Z,1736365117.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:37.368Z,1736365117.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:37.620Z,1736365117.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:37.752Z,1736365117.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:37.872Z,1736365117.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:38.124Z,1736365118.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:38.141Z,1736365118.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:38.376Z,1736365118.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:38.606Z,1736365118.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:38.631Z,1736365118.631 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:38.880Z,1736365118.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:38.974Z,1736365118.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:39.136Z,1736365119.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:39.352Z,1736365119.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:39.388Z,1736365119.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:39.640Z,1736365119.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:39.785Z,1736365119.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:39.892Z,1736365119.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:40.145Z,1736365120.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:40.192Z,1736365120.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:40.397Z,1736365120.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:40.648Z,1736365120.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:40.673Z,1736365120.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:40.900Z,1736365120.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:41.011Z,1736365121.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:41.152Z,1736365121.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:41.404Z,1736365121.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:41.406Z,1736365121.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:41.658Z,1736365121.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:41.832Z,1736365121.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:41.908Z,1736365121.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:42.160Z,1736365122.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:42.222Z,1736365122.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:42.414Z,1736365122.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:42.670Z,1736365122.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:42.700Z,1736365122.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:42.916Z,1736365122.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:43.015Z,1736365123.015 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:38:43.028Z,1736365123.028 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +34.49, , -5.68, 19.56, 0.00 2025-01-08T19:38:43.035Z,1736365123.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.3 s old, using for 20.0 s. 2025-01-08T19:38:43.035Z,1736365123.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:43.168Z,1736365123.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:43.420Z,1736365123.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:43.434Z,1736365123.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.7 s old, using for 20.0 s. 2025-01-08T19:38:43.434Z,1736365123.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:43.674Z,1736365123.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:43.852Z,1736365123.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:43.924Z,1736365123.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:44.178Z,1736365124.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:44.247Z,1736365124.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:44.428Z,1736365124.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:44.681Z,1736365124.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:44.717Z,1736365124.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:44.932Z,1736365124.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:45.124Z,1736365125.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:45.184Z,1736365125.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:45.436Z,1736365125.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:45.538Z,1736365125.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:45.689Z,1736365125.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:45.940Z,1736365125.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:45.992Z,1736365125.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:46.192Z,1736365126.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:46.346Z,1736365126.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:46.444Z,1736365126.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:46.697Z,1736365126.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:46.780Z,1736365126.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:46.948Z,1736365126.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:47.185Z,1736365127.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:47.200Z,1736365127.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:47.452Z,1736365127.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:47.597Z,1736365127.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:47.707Z,1736365127.707 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:47.956Z,1736365127.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:48.040Z,1736365128.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:48.208Z,1736365128.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:48.405Z,1736365128.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:48.461Z,1736365128.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:48.713Z,1736365128.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:48.837Z,1736365128.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:48.964Z,1736365128.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:49.216Z,1736365129.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:49.242Z,1736365129.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:49.248Z,1736365129.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:38:49.468Z,1736365129.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:49.468Z,1736365129.468 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:38:49.469Z,1736365129.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:38:49.620Z,1736365129.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:49.720Z,1736365129.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:49.721Z,1736365129.721 [DAT](INFO): DAT read: 2025-01-08T19:38:49.722Z,1736365129.722 [DAT](INFO): DAT read: Tx time:19:38:48.9142 2025-01-08T19:38:49.723Z,1736365129.723 [DAT](INFO): Ping request sent. 2025-01-08T19:38:49.723Z,1736365129.723 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:38:49.725Z,1736365129.725 [DAT](INFO): DAT read: TxSync time:19:38:48.9134 2025-01-08T19:38:49.726Z,1736365129.726 [DAT](INFO): publishing transmit ping time 2025-01-08T19:38:49.729Z,1736365129.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005445 2025-01-08T19:38:49.972Z,1736365129.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:49.972Z,1736365129.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249632 2025-01-08T19:38:50.055Z,1736365130.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:50.224Z,1736365130.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:50.224Z,1736365130.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501652 2025-01-08T19:38:50.422Z,1736365130.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:50.484Z,1736365130.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:50.485Z,1736365130.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761935 2025-01-08T19:38:50.737Z,1736365130.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:50.740Z,1736365130.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016045 2025-01-08T19:38:50.863Z,1736365130.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:50.988Z,1736365130.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:50.989Z,1736365130.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265938 2025-01-08T19:38:51.240Z,1736365131.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:51.241Z,1736365131.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517889 2025-01-08T19:38:51.246Z,1736365131.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:51.492Z,1736365131.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:51.494Z,1736365131.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770759 2025-01-08T19:38:51.644Z,1736365131.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:51.744Z,1736365131.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:51.745Z,1736365131.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022350 2025-01-08T19:38:51.996Z,1736365131.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:51.996Z,1736365131.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273777 2025-01-08T19:38:52.106Z,1736365132.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:52.249Z,1736365132.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:52.250Z,1736365132.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527022 2025-01-08T19:38:52.480Z,1736365132.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:52.500Z,1736365132.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:52.500Z,1736365132.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777783 2025-01-08T19:38:52.753Z,1736365132.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:52.755Z,1736365132.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032147 2025-01-08T19:38:52.897Z,1736365132.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:53.004Z,1736365133.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:53.005Z,1736365133.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281868 2025-01-08T19:38:53.256Z,1736365133.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:53.257Z,1736365133.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534103 2025-01-08T19:38:53.292Z,1736365133.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:53.508Z,1736365133.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:53.508Z,1736365133.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785765 2025-01-08T19:38:53.689Z,1736365133.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:53.769Z,1736365133.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:53.770Z,1736365133.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047142 2025-01-08T19:38:54.020Z,1736365134.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:54.020Z,1736365134.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297649 2025-01-08T19:38:54.113Z,1736365134.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:54.272Z,1736365134.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:54.273Z,1736365134.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550147 2025-01-08T19:38:54.490Z,1736365134.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:54.524Z,1736365134.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:54.524Z,1736365134.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.801792 2025-01-08T19:38:54.776Z,1736365134.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:54.777Z,1736365134.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.053887 2025-01-08T19:38:54.909Z,1736365134.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:55.028Z,1736365135.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:55.029Z,1736365135.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.306196 2025-01-08T19:38:55.280Z,1736365135.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:55.282Z,1736365135.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.559128 2025-01-08T19:38:55.321Z,1736365135.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:55.532Z,1736365135.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:55.534Z,1736365135.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810996 2025-01-08T19:38:55.711Z,1736365135.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:55.784Z,1736365135.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:55.785Z,1736365135.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.061878 2025-01-08T19:38:56.036Z,1736365136.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:56.036Z,1736365136.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.313630 2025-01-08T19:38:56.143Z,1736365136.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:56.288Z,1736365136.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:56.288Z,1736365136.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.565771 2025-01-08T19:38:56.511Z,1736365136.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:56.540Z,1736365136.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:56.541Z,1736365136.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.817872 2025-01-08T19:38:56.688Z,1736365136.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:38:56.792Z,1736365136.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:56.792Z,1736365136.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.069637 2025-01-08T19:38:56.933Z,1736365136.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:57.044Z,1736365137.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:57.045Z,1736365137.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.322569 2025-01-08T19:38:57.296Z,1736365137.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:57.296Z,1736365137.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.573766 2025-01-08T19:38:57.343Z,1736365137.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:57.549Z,1736365137.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:57.550Z,1736365137.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826923 2025-01-08T19:38:57.691Z,1736365137.691 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:38:57.719Z,1736365137.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:57.800Z,1736365137.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:57.801Z,1736365137.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.077920 2025-01-08T19:38:58.052Z,1736365138.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:58.052Z,1736365138.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.329766 2025-01-08T19:38:58.161Z,1736365138.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:58.306Z,1736365138.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:58.307Z,1736365138.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.584397 2025-01-08T19:38:58.536Z,1736365138.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:58.561Z,1736365138.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:58.561Z,1736365138.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.838701 2025-01-08T19:38:58.812Z,1736365138.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:58.812Z,1736365138.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.089790 2025-01-08T19:38:58.959Z,1736365138.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:59.064Z,1736365139.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:59.064Z,1736365139.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.341759 2025-01-08T19:38:59.316Z,1736365139.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:59.317Z,1736365139.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.593950 2025-01-08T19:38:59.332Z,1736365139.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:59.568Z,1736365139.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:59.568Z,1736365139.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.845768 2025-01-08T19:38:59.748Z,1736365139.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:38:59.820Z,1736365139.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:38:59.820Z,1736365139.820 [DAT](INFO): Reached modem response timeout 2025-01-08T19:39:00.073Z,1736365140.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:00.171Z,1736365140.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:00.324Z,1736365140.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:00.559Z,1736365140.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:00.576Z,1736365140.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:00.577Z,1736365140.577 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:39:00.577Z,1736365140.577 [DAT](INFO): response not received 2025-01-08T19:39:00.578Z,1736365140.578 [DAT](ERROR): No response from remote modem. 2025-01-08T19:39:00.828Z,1736365140.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:00.988Z,1736365140.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:01.080Z,1736365141.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:01.332Z,1736365141.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:01.393Z,1736365141.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:01.584Z,1736365141.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:01.775Z,1736365141.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:01.837Z,1736365141.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:02.088Z,1736365142.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:02.198Z,1736365142.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:02.340Z,1736365142.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:02.592Z,1736365142.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:02.595Z,1736365142.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:02.845Z,1736365142.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:03.021Z,1736365143.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:03.096Z,1736365143.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:03.349Z,1736365143.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:03.398Z,1736365143.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:03.600Z,1736365143.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:03.784Z,1736365143.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:03.856Z,1736365143.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:04.104Z,1736365144.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:04.214Z,1736365144.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:04.356Z,1736365144.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:04.608Z,1736365144.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:04.610Z,1736365144.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:04.860Z,1736365144.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:05.040Z,1736365145.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:05.112Z,1736365145.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:05.364Z,1736365145.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:05.409Z,1736365145.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:05.616Z,1736365145.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:05.807Z,1736365145.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:05.869Z,1736365145.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:06.120Z,1736365146.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:06.240Z,1736365146.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:06.372Z,1736365146.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:06.624Z,1736365146.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:06.630Z,1736365146.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:06.877Z,1736365146.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:07.071Z,1736365147.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:07.128Z,1736365147.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:07.380Z,1736365147.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:07.424Z,1736365147.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:07.633Z,1736365147.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:07.835Z,1736365147.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:07.884Z,1736365147.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:08.136Z,1736365148.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:08.266Z,1736365148.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:08.388Z,1736365148.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:08.641Z,1736365148.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:08.658Z,1736365148.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:08.892Z,1736365148.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:09.095Z,1736365149.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:09.144Z,1736365149.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:09.396Z,1736365149.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:09.452Z,1736365149.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:09.648Z,1736365149.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:09.861Z,1736365149.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:09.912Z,1736365149.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:10.164Z,1736365150.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:10.279Z,1736365150.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:10.416Z,1736365150.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:10.668Z,1736365150.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:10.678Z,1736365150.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:10.920Z,1736365150.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:11.125Z,1736365151.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:11.172Z,1736365151.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:11.424Z,1736365151.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:11.485Z,1736365151.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:11.676Z,1736365151.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:11.897Z,1736365151.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:11.941Z,1736365151.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:12.192Z,1736365152.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:12.306Z,1736365152.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:12.444Z,1736365152.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:12.696Z,1736365152.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:12.731Z,1736365152.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:12.948Z,1736365152.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:13.154Z,1736365153.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:13.200Z,1736365153.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:13.452Z,1736365153.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:13.486Z,1736365153.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:13.704Z,1736365153.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:13.888Z,1736365153.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:13.956Z,1736365153.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:14.208Z,1736365154.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:14.321Z,1736365154.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:14.461Z,1736365154.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:14.707Z,1736365154.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:14.712Z,1736365154.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:14.964Z,1736365154.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:15.153Z,1736365155.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:15.217Z,1736365155.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:15.468Z,1736365155.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:15.548Z,1736365155.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:15.720Z,1736365155.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:15.929Z,1736365155.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:15.972Z,1736365155.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:16.224Z,1736365156.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:16.345Z,1736365156.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:16.476Z,1736365156.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:16.724Z,1736365156.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:16.728Z,1736365156.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:16.980Z,1736365156.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:17.174Z,1736365157.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:17.232Z,1736365157.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:17.484Z,1736365157.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:17.566Z,1736365157.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:17.736Z,1736365157.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:17.942Z,1736365157.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:17.988Z,1736365157.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:18.240Z,1736365158.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:18.369Z,1736365158.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:18.492Z,1736365158.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:18.744Z,1736365158.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:18.771Z,1736365158.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:18.996Z,1736365158.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:19.248Z,1736365159.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:19.272Z,1736365159.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:19.500Z,1736365159.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:19.591Z,1736365159.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:19.752Z,1736365159.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:19.994Z,1736365159.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:20.004Z,1736365160.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:20.256Z,1736365160.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:20.427Z,1736365160.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:20.508Z,1736365160.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:20.760Z,1736365160.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:20.803Z,1736365160.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:21.012Z,1736365161.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:21.268Z,1736365161.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:21.315Z,1736365161.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:21.520Z,1736365161.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:21.629Z,1736365161.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:21.772Z,1736365161.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:22.011Z,1736365162.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:22.024Z,1736365162.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:22.276Z,1736365162.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:22.456Z,1736365162.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:22.529Z,1736365162.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:22.781Z,1736365162.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:22.836Z,1736365162.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:23.032Z,1736365163.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:23.284Z,1736365163.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:23.308Z,1736365163.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:23.536Z,1736365163.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:23.641Z,1736365163.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:23.788Z,1736365163.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:24.040Z,1736365164.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:24.050Z,1736365164.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:24.294Z,1736365164.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:24.467Z,1736365164.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:24.544Z,1736365164.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:24.796Z,1736365164.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:24.845Z,1736365164.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:25.048Z,1736365165.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:25.301Z,1736365165.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:25.305Z,1736365165.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:25.552Z,1736365165.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:25.697Z,1736365165.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:25.808Z,1736365165.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:26.055Z,1736365166.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:26.061Z,1736365166.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:26.313Z,1736365166.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:26.475Z,1736365166.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:26.564Z,1736365166.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:26.816Z,1736365166.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:26.883Z,1736365166.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:27.068Z,1736365167.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:27.309Z,1736365167.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:27.321Z,1736365167.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:27.572Z,1736365167.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:27.746Z,1736365167.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:27.820Z,1736365167.820 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:39:27.824Z,1736365167.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:28.076Z,1736365168.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:28.083Z,1736365168.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:28.330Z,1736365168.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:28.502Z,1736365168.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:28.580Z,1736365168.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:28.824Z,1736365168.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:39:28.832Z,1736365168.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:28.902Z,1736365168.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:29.085Z,1736365169.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:29.288Z,1736365169.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:29.338Z,1736365169.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:29.588Z,1736365169.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:29.740Z,1736365169.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:29.840Z,1736365169.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:30.092Z,1736365170.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:30.100Z,1736365170.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:30.345Z,1736365170.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:30.534Z,1736365170.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:30.596Z,1736365170.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:30.848Z,1736365170.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:30.907Z,1736365170.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:31.100Z,1736365171.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:31.319Z,1736365171.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:31.354Z,1736365171.354 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:31.604Z,1736365171.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:31.728Z,1736365171.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:31.856Z,1736365171.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:32.109Z,1736365172.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:32.128Z,1736365172.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:32.362Z,1736365172.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:32.551Z,1736365172.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:32.612Z,1736365172.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:32.864Z,1736365172.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:32.928Z,1736365172.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:33.116Z,1736365173.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:33.340Z,1736365173.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:33.406Z,1736365173.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:33.656Z,1736365173.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:33.754Z,1736365173.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:33.908Z,1736365173.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:34.136Z,1736365174.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:34.160Z,1736365174.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:34.418Z,1736365174.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:34.564Z,1736365174.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:34.664Z,1736365174.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:34.916Z,1736365174.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:34.963Z,1736365174.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:35.168Z,1736365175.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:35.346Z,1736365175.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:35.421Z,1736365175.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:35.672Z,1736365175.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:35.780Z,1736365175.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:35.924Z,1736365175.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:36.156Z,1736365176.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:36.176Z,1736365176.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:36.430Z,1736365176.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:36.580Z,1736365176.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:36.680Z,1736365176.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:36.932Z,1736365176.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:36.985Z,1736365176.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:37.184Z,1736365177.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:37.367Z,1736365177.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:37.449Z,1736365177.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:37.700Z,1736365177.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:37.808Z,1736365177.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:37.952Z,1736365177.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:38.175Z,1736365178.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:38.204Z,1736365178.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:38.458Z,1736365178.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:38.604Z,1736365178.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:38.708Z,1736365178.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:38.964Z,1736365178.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:38.998Z,1736365178.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:39.216Z,1736365179.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:39.390Z,1736365179.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:39.469Z,1736365179.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:39.720Z,1736365179.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:39.809Z,1736365179.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:39.972Z,1736365179.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:40.200Z,1736365180.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:40.224Z,1736365180.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:40.478Z,1736365180.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:40.634Z,1736365180.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:40.728Z,1736365180.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:40.980Z,1736365180.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:41.006Z,1736365181.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:41.232Z,1736365181.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:41.409Z,1736365181.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:41.486Z,1736365181.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:41.736Z,1736365181.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:41.833Z,1736365181.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:41.988Z,1736365181.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:42.228Z,1736365182.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:42.240Z,1736365182.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:42.492Z,1736365182.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:42.650Z,1736365182.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:42.744Z,1736365182.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:42.996Z,1736365182.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:43.027Z,1736365183.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:43.248Z,1736365183.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:43.436Z,1736365183.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:43.500Z,1736365183.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:43.752Z,1736365183.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:43.857Z,1736365183.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:44.004Z,1736365184.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:44.232Z,1736365184.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:44.256Z,1736365184.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:44.508Z,1736365184.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:44.671Z,1736365184.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:44.766Z,1736365184.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:45.024Z,1736365185.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:45.040Z,1736365185.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:45.276Z,1736365185.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:45.451Z,1736365185.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:45.528Z,1736365185.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:45.780Z,1736365185.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:45.872Z,1736365185.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:46.032Z,1736365186.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:46.273Z,1736365186.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:46.284Z,1736365186.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:46.536Z,1736365186.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:46.699Z,1736365186.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:46.788Z,1736365186.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:47.040Z,1736365187.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:47.064Z,1736365187.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:47.292Z,1736365187.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:47.468Z,1736365187.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:47.545Z,1736365187.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:47.796Z,1736365187.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:47.895Z,1736365187.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:48.048Z,1736365188.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:48.295Z,1736365188.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:48.300Z,1736365188.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:48.552Z,1736365188.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:48.719Z,1736365188.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:48.804Z,1736365188.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:49.056Z,1736365189.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:49.104Z,1736365189.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:49.152Z,1736365189.152 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:39:49.308Z,1736365189.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:49.490Z,1736365189.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:49.498Z,1736365189.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:39:49.562Z,1736365189.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:49.563Z,1736365189.563 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:39:49.563Z,1736365189.563 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:39:49.816Z,1736365189.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:49.817Z,1736365189.817 [DAT](INFO): DAT read: user:761> 2025-01-08T19:39:49.817Z,1736365189.817 [DAT](INFO): DAT read: Tx time:19:39:49.0149 2025-01-08T19:39:49.818Z,1736365189.818 [DAT](INFO): Ping request sent. 2025-01-08T19:39:49.818Z,1736365189.818 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:39:49.818Z,1736365189.818 [DAT](INFO): DAT read: TxSync time:19:39:49.0141 2025-01-08T19:39:49.819Z,1736365189.819 [DAT](INFO): publishing transmit ping time 2025-01-08T19:39:49.819Z,1736365189.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001629 2025-01-08T19:39:49.941Z,1736365189.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:50.068Z,1736365190.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:50.068Z,1736365190.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250568 2025-01-08T19:39:50.294Z,1736365190.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:50.320Z,1736365190.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:50.321Z,1736365190.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502805 2025-01-08T19:39:50.572Z,1736365190.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:50.572Z,1736365190.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754617 2025-01-08T19:39:50.737Z,1736365190.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:50.830Z,1736365190.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:50.831Z,1736365190.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013118 2025-01-08T19:39:51.084Z,1736365191.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:51.085Z,1736365191.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266733 2025-01-08T19:39:51.103Z,1736365191.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:51.337Z,1736365191.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:51.337Z,1736365191.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519608 2025-01-08T19:39:51.513Z,1736365191.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:51.592Z,1736365191.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:51.592Z,1736365191.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774542 2025-01-08T19:39:51.845Z,1736365191.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:51.845Z,1736365191.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027381 2025-01-08T19:39:51.950Z,1736365191.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:52.096Z,1736365192.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:52.096Z,1736365192.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278678 2025-01-08T19:39:52.319Z,1736365192.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:52.349Z,1736365192.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:52.350Z,1736365192.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531997 2025-01-08T19:39:52.600Z,1736365192.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:52.600Z,1736365192.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782566 2025-01-08T19:39:52.806Z,1736365192.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:52.853Z,1736365192.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:52.853Z,1736365192.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035472 2025-01-08T19:39:53.104Z,1736365193.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:53.104Z,1736365193.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286456 2025-01-08T19:39:53.128Z,1736365193.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:53.357Z,1736365193.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:53.358Z,1736365193.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540297 2025-01-08T19:39:53.533Z,1736365193.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:53.608Z,1736365193.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:53.610Z,1736365193.610 [DAT](INFO): DAT read: Rx Time:19:39:52.3159 2025-01-08T19:39:53.611Z,1736365193.611 [DAT](INFO): Rx dataTimestamp_ set to:1736365193.610761 2025-01-08T19:39:53.612Z,1736365193.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793913 2025-01-08T19:39:53.860Z,1736365193.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:53.861Z,1736365193.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.043226 2025-01-08T19:39:53.963Z,1736365193.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:54.112Z,1736365194.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:54.120Z,1736365194.120 [DAT](INFO): DAT read: 19:39:52.3159 LVL= 17472, 32753, 22754, 32755, AGC= 72, IDX= 508, 0.11, 0.191,-1.457,-0.426,-0.536, PHS= 0.814,-0.874, 0.106, RAW= 125.3, -0.6, CAL= 132.0, -9.2, ROT= 18.0, 9.2 2025-01-08T19:39:54.121Z,1736365194.121 [DAT](INFO): got valid direction response: 19:39:52.3159 LVL= 17472, 32753, 22754, 32755, AGC= 72, IDX= 508, 0.11, 0.191,-1.457,-0.426,-0.536, PHS= 0.814,-0.874, 0.106, RAW= 125.3, -0.6, CAL= 132.0, -9.2, ROT= 18.0, 9.2 2025-01-08T19:39:54.122Z,1736365194.122 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:39:54.122Z,1736365194.122 [DAT](INFO): Received a bad header 2025-01-08T19:39:54.137Z,1736365194.137 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T19:39:54.138Z,1736365194.138 [DAT](INFO): direction in FSK: [-0.111006,-0.501809,0.857826] 2025-01-08T19:39:54.339Z,1736365194.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:54.364Z,1736365194.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:54.616Z,1736365194.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:54.814Z,1736365194.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:54.868Z,1736365194.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:55.120Z,1736365195.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:55.141Z,1736365195.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:55.372Z,1736365195.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:55.545Z,1736365195.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:55.624Z,1736365195.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:55.876Z,1736365195.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:55.974Z,1736365195.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:56.128Z,1736365196.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:56.363Z,1736365196.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:56.381Z,1736365196.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:56.632Z,1736365196.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:56.839Z,1736365196.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:56.886Z,1736365196.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:57.140Z,1736365197.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:57.195Z,1736365197.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:57.392Z,1736365197.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:57.568Z,1736365197.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:57.644Z,1736365197.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:57.896Z,1736365197.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:57.000Z,1736365198.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:58.148Z,1736365198.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:58.395Z,1736365198.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:58.400Z,1736365198.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:58.652Z,1736365198.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:58.865Z,1736365198.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:58.904Z,1736365198.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:58.952Z,1736365198.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:39:59.158Z,1736365199.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:59.234Z,1736365199.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:59.408Z,1736365199.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:59.589Z,1736365199.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:39:59.660Z,1736365199.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:59.912Z,1736365199.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:39:59.912Z,1736365199.912 [DAT](INFO): Reached modem response timeout 2025-01-08T19:39:59.956Z,1736365199.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:40:00.014Z,1736365200.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:00.164Z,1736365200.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:00.397Z,1736365200.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:00.416Z,1736365200.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:00.668Z,1736365200.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:00.669Z,1736365200.669 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:40:00.669Z,1736365200.669 [DAT](INFO): response not received 2025-01-08T19:40:00.670Z,1736365200.670 [DAT](ERROR): No response from remote modem. 2025-01-08T19:40:00.873Z,1736365200.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:00.920Z,1736365200.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:01.172Z,1736365201.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:01.215Z,1736365201.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:01.424Z,1736365201.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:01.604Z,1736365201.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:01.676Z,1736365201.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:01.929Z,1736365201.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:02.033Z,1736365202.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:02.180Z,1736365202.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:02.424Z,1736365202.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:02.432Z,1736365202.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:02.684Z,1736365202.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:02.881Z,1736365202.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:02.936Z,1736365202.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:03.188Z,1736365203.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:03.262Z,1736365203.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:03.440Z,1736365203.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:03.629Z,1736365203.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:03.692Z,1736365203.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:03.945Z,1736365203.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:04.061Z,1736365204.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:04.196Z,1736365204.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:04.435Z,1736365204.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:04.448Z,1736365204.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:04.700Z,1736365204.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:04.904Z,1736365204.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:04.952Z,1736365204.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:05.204Z,1736365205.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:05.269Z,1736365205.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:05.456Z,1736365205.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:05.654Z,1736365205.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:05.708Z,1736365205.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:05.960Z,1736365205.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:06.086Z,1736365206.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:06.212Z,1736365206.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:06.460Z,1736365206.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:06.464Z,1736365206.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:06.716Z,1736365206.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:06.902Z,1736365206.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:06.968Z,1736365206.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:07.220Z,1736365207.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:07.289Z,1736365207.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:07.472Z,1736365207.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:07.677Z,1736365207.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:07.724Z,1736365207.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:07.976Z,1736365207.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:08.093Z,1736365208.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:08.228Z,1736365208.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:08.476Z,1736365208.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:08.480Z,1736365208.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:08.732Z,1736365208.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:08.881Z,1736365208.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:08.984Z,1736365208.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:09.236Z,1736365209.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:09.310Z,1736365209.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:09.488Z,1736365209.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:09.694Z,1736365209.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:09.740Z,1736365209.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:09.992Z,1736365209.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:10.115Z,1736365210.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:10.244Z,1736365210.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:10.497Z,1736365210.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:10.523Z,1736365210.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:10.748Z,1736365210.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:10.900Z,1736365210.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:11.001Z,1736365211.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:11.252Z,1736365211.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:11.325Z,1736365211.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:11.504Z,1736365211.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:11.709Z,1736365211.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:11.756Z,1736365211.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:12.008Z,1736365212.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:12.134Z,1736365212.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:12.260Z,1736365212.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:12.513Z,1736365212.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:12.518Z,1736365212.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:12.765Z,1736365212.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:12.925Z,1736365212.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:13.017Z,1736365213.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:13.268Z,1736365213.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:13.355Z,1736365213.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:13.520Z,1736365213.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:13.734Z,1736365213.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:13.772Z,1736365213.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:14.024Z,1736365214.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:14.152Z,1736365214.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:14.280Z,1736365214.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:14.532Z,1736365214.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:14.534Z,1736365214.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:14.784Z,1736365214.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:14.948Z,1736365214.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:15.040Z,1736365215.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:15.292Z,1736365215.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:15.370Z,1736365215.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:15.544Z,1736365215.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:15.752Z,1736365215.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:15.797Z,1736365215.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:16.050Z,1736365216.050 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:16.192Z,1736365216.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:16.300Z,1736365216.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:16.552Z,1736365216.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:16.557Z,1736365216.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:16.805Z,1736365216.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:16.957Z,1736365216.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:17.057Z,1736365217.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:17.308Z,1736365217.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:17.385Z,1736365217.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:17.560Z,1736365217.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:17.808Z,1736365217.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:17.812Z,1736365217.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:18.066Z,1736365218.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:18.195Z,1736365218.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:18.316Z,1736365218.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:18.568Z,1736365218.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:18.581Z,1736365218.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:18.820Z,1736365218.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:18.981Z,1736365218.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:19.096Z,1736365219.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:19.348Z,1736365219.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:19.405Z,1736365219.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:19.600Z,1736365219.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:19.802Z,1736365219.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:19.852Z,1736365219.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:20.105Z,1736365220.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:20.226Z,1736365220.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:20.356Z,1736365220.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:20.601Z,1736365220.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:20.608Z,1736365220.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:20.860Z,1736365220.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:21.004Z,1736365221.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:21.113Z,1736365221.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:21.364Z,1736365221.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:21.435Z,1736365221.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:21.616Z,1736365221.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:21.816Z,1736365221.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:21.868Z,1736365221.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:22.121Z,1736365222.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:22.253Z,1736365222.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:22.372Z,1736365222.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:22.620Z,1736365222.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:22.624Z,1736365222.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:22.876Z,1736365222.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:23.026Z,1736365223.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:23.129Z,1736365223.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:23.380Z,1736365223.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:23.449Z,1736365223.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:23.632Z,1736365223.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:23.833Z,1736365223.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:23.884Z,1736365223.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:24.138Z,1736365224.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:24.249Z,1736365224.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:24.388Z,1736365224.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:24.645Z,1736365224.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:24.652Z,1736365224.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:24.896Z,1736365224.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:25.039Z,1736365225.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:25.149Z,1736365225.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:25.400Z,1736365225.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:25.466Z,1736365225.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:25.652Z,1736365225.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:25.859Z,1736365225.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:25.904Z,1736365225.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:26.157Z,1736365226.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:26.276Z,1736365226.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:26.409Z,1736365226.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:26.661Z,1736365226.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:26.663Z,1736365226.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:26.912Z,1736365226.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:27.056Z,1736365227.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:27.165Z,1736365227.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:27.417Z,1736365227.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:27.497Z,1736365227.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:27.668Z,1736365227.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:27.893Z,1736365227.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:27.920Z,1736365227.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:28.173Z,1736365228.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:28.295Z,1736365228.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:28.424Z,1736365228.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:28.676Z,1736365228.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:28.685Z,1736365228.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:28.928Z,1736365228.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:29.085Z,1736365229.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:29.180Z,1736365229.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:29.432Z,1736365229.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:29.509Z,1736365229.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:29.686Z,1736365229.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:29.895Z,1736365229.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:29.936Z,1736365229.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:30.088Z,1736365230.088 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:40:30.188Z,1736365230.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:30.308Z,1736365230.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:30.440Z,1736365230.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:30.692Z,1736365230.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:30.700Z,1736365230.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:30.944Z,1736365230.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:31.092Z,1736365231.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:40:31.111Z,1736365231.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:31.196Z,1736365231.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:31.448Z,1736365231.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:31.534Z,1736365231.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:31.700Z,1736365231.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:31.909Z,1736365231.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:31.953Z,1736365231.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:32.205Z,1736365232.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:32.352Z,1736365232.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:32.456Z,1736365232.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:32.710Z,1736365232.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:32.720Z,1736365232.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:32.961Z,1736365232.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:33.129Z,1736365233.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:33.212Z,1736365233.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:33.464Z,1736365233.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:33.557Z,1736365233.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:33.716Z,1736365233.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:33.931Z,1736365233.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:33.968Z,1736365233.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:34.220Z,1736365234.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:34.364Z,1736365234.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:34.472Z,1736365234.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:34.724Z,1736365234.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:34.734Z,1736365234.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:34.976Z,1736365234.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:35.138Z,1736365235.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:35.228Z,1736365235.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:35.480Z,1736365235.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:35.564Z,1736365235.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:35.732Z,1736365235.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:35.958Z,1736365235.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:35.984Z,1736365235.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:36.236Z,1736365236.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:36.389Z,1736365236.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:36.488Z,1736365236.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:36.740Z,1736365236.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:36.753Z,1736365236.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:36.992Z,1736365236.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:37.163Z,1736365237.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:37.244Z,1736365237.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:37.496Z,1736365237.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:37.601Z,1736365237.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:37.748Z,1736365237.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:37.986Z,1736365237.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:37.000Z,1736365238.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:38.252Z,1736365238.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:38.433Z,1736365238.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:38.504Z,1736365238.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:38.756Z,1736365238.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:38.773Z,1736365238.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:39.008Z,1736365239.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:39.186Z,1736365239.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:39.260Z,1736365239.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:39.512Z,1736365239.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:39.605Z,1736365239.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:39.764Z,1736365239.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:39.991Z,1736365239.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:40.016Z,1736365240.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:40.268Z,1736365240.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:40.450Z,1736365240.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:40.521Z,1736365240.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:40.773Z,1736365240.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:40.798Z,1736365240.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:41.024Z,1736365241.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:41.217Z,1736365241.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:41.276Z,1736365241.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:41.528Z,1736365241.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:41.640Z,1736365241.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:41.780Z,1736365241.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:42.012Z,1736365242.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:42.032Z,1736365242.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:42.284Z,1736365242.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:42.499Z,1736365242.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:42.536Z,1736365242.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:42.788Z,1736365242.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:42.832Z,1736365242.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:43.040Z,1736365243.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:43.240Z,1736365243.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:43.292Z,1736365243.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:43.544Z,1736365243.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:43.640Z,1736365243.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:43.796Z,1736365243.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:44.028Z,1736365244.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:44.048Z,1736365244.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:44.300Z,1736365244.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:44.507Z,1736365244.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:44.553Z,1736365244.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:44.804Z,1736365244.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:44.836Z,1736365244.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:45.056Z,1736365245.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:45.240Z,1736365245.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:45.308Z,1736365245.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:45.560Z,1736365245.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:45.676Z,1736365245.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:45.812Z,1736365245.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:46.057Z,1736365246.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:46.064Z,1736365246.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:46.316Z,1736365246.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:46.505Z,1736365246.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:46.568Z,1736365246.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:46.820Z,1736365246.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:46.876Z,1736365246.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:47.072Z,1736365247.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:47.268Z,1736365247.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:47.324Z,1736365247.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:47.576Z,1736365247.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:47.700Z,1736365247.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:47.829Z,1736365247.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:48.067Z,1736365248.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:48.080Z,1736365248.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:48.333Z,1736365248.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:48.507Z,1736365248.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:48.585Z,1736365248.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:48.836Z,1736365248.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:48.913Z,1736365248.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:49.088Z,1736365249.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:49.279Z,1736365249.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:49.340Z,1736365249.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:49.592Z,1736365249.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:49.724Z,1736365249.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:49.731Z,1736365249.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:40:49.844Z,1736365249.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:49.845Z,1736365249.845 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:40:49.845Z,1736365249.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:40:50.096Z,1736365250.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:50.096Z,1736365250.096 [DAT](INFO): DAT read: 2025-01-08T19:40:50.097Z,1736365250.097 [DAT](INFO): DAT read: Tx time:19:40:49.3155 2025-01-08T19:40:50.097Z,1736365250.097 [DAT](INFO): Ping request sent. 2025-01-08T19:40:50.097Z,1736365250.097 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:40:50.097Z,1736365250.097 [DAT](INFO): publishing transmit ping time 2025-01-08T19:40:50.098Z,1736365250.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720 2025-01-08T19:40:50.105Z,1736365250.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:50.348Z,1736365250.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:50.349Z,1736365250.349 [DAT](INFO): DAT read: TxSync time:19:40:49.3147 2025-01-08T19:40:50.349Z,1736365250.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251966 2025-01-08T19:40:50.538Z,1736365250.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:50.600Z,1736365250.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:50.600Z,1736365250.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503096 2025-01-08T19:40:50.852Z,1736365250.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:50.852Z,1736365250.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755051 2025-01-08T19:40:50.934Z,1736365250.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:51.104Z,1736365251.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:51.106Z,1736365251.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007984 2025-01-08T19:40:51.303Z,1736365251.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:51.356Z,1736365251.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:51.356Z,1736365251.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259045 2025-01-08T19:40:51.608Z,1736365251.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:51.608Z,1736365251.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510993 2025-01-08T19:40:51.730Z,1736365251.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:51.860Z,1736365251.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:51.862Z,1736365251.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764308 2025-01-08T19:40:52.108Z,1736365252.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:52.112Z,1736365252.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:52.112Z,1736365252.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015177 2025-01-08T19:40:52.364Z,1736365252.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:52.364Z,1736365252.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267134 2025-01-08T19:40:52.514Z,1736365252.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:52.616Z,1736365252.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:52.617Z,1736365252.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519182 2025-01-08T19:40:52.868Z,1736365252.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:52.868Z,1736365252.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771037 2025-01-08T19:40:52.948Z,1736365252.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:53.121Z,1736365253.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:53.122Z,1736365253.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024435 2025-01-08T19:40:53.330Z,1736365253.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:53.374Z,1736365253.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:53.375Z,1736365253.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277509 2025-01-08T19:40:53.624Z,1736365253.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:53.625Z,1736365253.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527279 2025-01-08T19:40:53.738Z,1736365253.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:53.876Z,1736365253.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:53.877Z,1736365253.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779056 2025-01-08T19:40:54.128Z,1736365254.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:54.129Z,1736365254.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031514 2025-01-08T19:40:54.130Z,1736365254.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:54.380Z,1736365254.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:54.380Z,1736365254.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282922 2025-01-08T19:40:54.542Z,1736365254.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:54.632Z,1736365254.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:54.632Z,1736365254.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535102 2025-01-08T19:40:54.884Z,1736365254.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:54.884Z,1736365254.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787109 2025-01-08T19:40:54.965Z,1736365254.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:55.136Z,1736365255.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:55.137Z,1736365255.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039192 2025-01-08T19:40:55.350Z,1736365255.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:55.388Z,1736365255.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:55.389Z,1736365255.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291192 2025-01-08T19:40:55.641Z,1736365255.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:55.644Z,1736365255.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546051 2025-01-08T19:40:55.769Z,1736365255.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:55.892Z,1736365255.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:55.892Z,1736365255.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794982 2025-01-08T19:40:56.143Z,1736365256.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:56.144Z,1736365256.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:56.145Z,1736365256.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048098 2025-01-08T19:40:56.396Z,1736365256.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:56.398Z,1736365256.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300036 2025-01-08T19:40:56.552Z,1736365256.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:56.656Z,1736365256.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:56.657Z,1736365256.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559374 2025-01-08T19:40:56.900Z,1736365256.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:56.900Z,1736365256.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803049 2025-01-08T19:40:57.005Z,1736365257.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:57.152Z,1736365257.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:57.152Z,1736365257.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055132 2025-01-08T19:40:57.374Z,1736365257.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:57.421Z,1736365257.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:57.422Z,1736365257.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.324543 2025-01-08T19:40:57.674Z,1736365257.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:57.676Z,1736365257.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.578227 2025-01-08T19:40:57.825Z,1736365257.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:57.924Z,1736365257.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:57.924Z,1736365257.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.827100 2025-01-08T19:40:58.170Z,1736365258.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:58.176Z,1736365258.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:58.177Z,1736365258.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079111 2025-01-08T19:40:58.430Z,1736365258.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:58.432Z,1736365258.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.334264 2025-01-08T19:40:58.584Z,1736365258.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:58.682Z,1736365258.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:58.682Z,1736365258.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.585163 2025-01-08T19:40:58.932Z,1736365258.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:58.932Z,1736365258.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835080 2025-01-08T19:40:59.029Z,1736365259.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:59.184Z,1736365259.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:59.184Z,1736365259.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.087146 2025-01-08T19:40:59.378Z,1736365259.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:59.436Z,1736365259.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:59.437Z,1736365259.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.339199 2025-01-08T19:40:59.689Z,1736365259.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:59.692Z,1736365259.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.593810 2025-01-08T19:40:59.808Z,1736365259.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:40:59.940Z,1736365259.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:40:59.940Z,1736365259.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842986 2025-01-08T19:41:00.184Z,1736365260.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:00.200Z,1736365260.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:00.200Z,1736365260.200 [DAT](INFO): Reached modem response timeout 2025-01-08T19:41:00.452Z,1736365260.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:00.587Z,1736365260.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:00.706Z,1736365260.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:00.956Z,1736365260.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:00.956Z,1736365260.956 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:41:00.957Z,1736365260.957 [DAT](INFO): response not received 2025-01-08T19:41:00.957Z,1736365260.957 [DAT](ERROR): No response from remote modem. 2025-01-08T19:41:01.047Z,1736365261.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:01.208Z,1736365261.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:01.212Z,1736365261.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:41:01.405Z,1736365261.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:01.460Z,1736365261.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:01.713Z,1736365261.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:01.830Z,1736365261.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:01.964Z,1736365261.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:02.209Z,1736365262.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:02.216Z,1736365262.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:02.217Z,1736365262.217 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:41:02.468Z,1736365262.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:02.608Z,1736365262.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:02.722Z,1736365262.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:02.972Z,1736365262.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:03.052Z,1736365263.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:03.224Z,1736365263.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:03.423Z,1736365263.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:03.476Z,1736365263.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:03.729Z,1736365263.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:03.847Z,1736365263.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:03.980Z,1736365263.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:04.226Z,1736365264.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:04.232Z,1736365264.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:04.485Z,1736365264.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:04.654Z,1736365264.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:04.737Z,1736365264.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:04.988Z,1736365264.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:05.080Z,1736365265.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:05.240Z,1736365265.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:05.442Z,1736365265.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:05.492Z,1736365265.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:05.746Z,1736365265.746 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:05.873Z,1736365265.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:05.996Z,1736365265.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:06.248Z,1736365266.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:06.273Z,1736365266.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:06.500Z,1736365266.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:06.681Z,1736365266.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:06.753Z,1736365266.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:07.004Z,1736365267.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:07.104Z,1736365267.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:07.256Z,1736365267.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:07.469Z,1736365267.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:07.512Z,1736365267.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:07.765Z,1736365267.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:07.892Z,1736365267.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:08.016Z,1736365268.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:08.268Z,1736365268.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:08.270Z,1736365268.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:08.520Z,1736365268.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:08.685Z,1736365268.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:08.774Z,1736365268.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:09.026Z,1736365269.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:09.100Z,1736365269.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:09.276Z,1736365269.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:09.487Z,1736365269.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:09.532Z,1736365269.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:09.784Z,1736365269.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:09.910Z,1736365269.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:10.036Z,1736365270.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:10.288Z,1736365270.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:10.293Z,1736365270.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:10.540Z,1736365270.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:10.704Z,1736365270.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:10.792Z,1736365270.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:11.044Z,1736365271.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:11.122Z,1736365271.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:11.296Z,1736365271.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:11.503Z,1736365271.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:11.548Z,1736365271.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:11.800Z,1736365271.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:11.948Z,1736365271.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:12.052Z,1736365272.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:12.304Z,1736365272.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:12.309Z,1736365272.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:12.556Z,1736365272.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:12.717Z,1736365272.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:12.810Z,1736365272.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:13.060Z,1736365273.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:13.141Z,1736365273.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:13.312Z,1736365273.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:13.530Z,1736365273.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:13.564Z,1736365273.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:13.816Z,1736365273.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:13.965Z,1736365273.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:14.068Z,1736365274.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:14.320Z,1736365274.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:14.329Z,1736365274.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:14.572Z,1736365274.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:14.732Z,1736365274.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:14.824Z,1736365274.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:15.076Z,1736365275.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:15.161Z,1736365275.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:15.328Z,1736365275.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:15.540Z,1736365275.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:15.580Z,1736365275.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:15.832Z,1736365275.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:15.992Z,1736365275.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:16.084Z,1736365276.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:16.336Z,1736365276.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:16.364Z,1736365276.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:16.588Z,1736365276.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:16.760Z,1736365276.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:16.840Z,1736365276.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:17.092Z,1736365277.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:17.177Z,1736365277.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:17.344Z,1736365277.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:17.556Z,1736365277.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:17.599Z,1736365277.599 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:17.848Z,1736365277.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:18.024Z,1736365278.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:18.102Z,1736365278.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:18.352Z,1736365278.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:18.387Z,1736365278.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:18.604Z,1736365278.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:18.774Z,1736365278.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:18.856Z,1736365278.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:19.108Z,1736365279.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:19.326Z,1736365279.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:19.360Z,1736365279.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:19.585Z,1736365279.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:19.612Z,1736365279.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:19.864Z,1736365279.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:20.037Z,1736365280.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:20.118Z,1736365280.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:20.368Z,1736365280.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:20.429Z,1736365280.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:20.620Z,1736365280.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:20.790Z,1736365280.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:20.872Z,1736365280.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:21.124Z,1736365281.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:21.228Z,1736365281.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:21.376Z,1736365281.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:21.601Z,1736365281.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:21.628Z,1736365281.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:21.881Z,1736365281.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:22.092Z,1736365282.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:22.132Z,1736365282.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:22.384Z,1736365282.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:22.411Z,1736365282.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:22.636Z,1736365282.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:22.868Z,1736365282.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:22.889Z,1736365282.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:23.140Z,1736365283.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:23.255Z,1736365283.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:23.392Z,1736365283.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:23.617Z,1736365283.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:23.645Z,1736365283.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:23.896Z,1736365283.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:24.101Z,1736365284.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:24.148Z,1736365284.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:24.400Z,1736365284.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:24.510Z,1736365284.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:24.652Z,1736365284.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:24.896Z,1736365284.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:24.905Z,1736365284.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:25.156Z,1736365285.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:25.313Z,1736365285.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:25.408Z,1736365285.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:25.660Z,1736365285.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:25.695Z,1736365285.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:25.912Z,1736365285.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:26.150Z,1736365286.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:26.164Z,1736365286.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:26.416Z,1736365286.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:26.504Z,1736365286.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:26.669Z,1736365286.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:26.913Z,1736365286.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:26.920Z,1736365286.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:27.172Z,1736365287.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:27.335Z,1736365287.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:27.424Z,1736365287.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:27.676Z,1736365287.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:27.712Z,1736365287.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:27.928Z,1736365287.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:28.175Z,1736365288.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:28.180Z,1736365288.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:28.432Z,1736365288.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:28.526Z,1736365288.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:28.684Z,1736365288.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:28.927Z,1736365288.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:28.936Z,1736365288.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:29.188Z,1736365289.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:29.345Z,1736365289.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:29.441Z,1736365289.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:29.692Z,1736365289.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:29.734Z,1736365289.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:29.946Z,1736365289.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:30.196Z,1736365290.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:30.206Z,1736365290.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:30.448Z,1736365290.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:30.536Z,1736365290.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:30.700Z,1736365290.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:30.946Z,1736365290.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:30.953Z,1736365290.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:31.204Z,1736365291.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:31.376Z,1736365291.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:31.456Z,1736365291.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:31.708Z,1736365291.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:31.764Z,1736365291.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:31.960Z,1736365291.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:32.212Z,1736365292.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:32.239Z,1736365292.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:32.340Z,1736365292.340 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:41:32.465Z,1736365292.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:32.557Z,1736365292.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:32.716Z,1736365292.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:32.968Z,1736365292.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:32.969Z,1736365292.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:33.220Z,1736365293.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:33.344Z,1736365293.344 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:41:33.392Z,1736365293.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:33.472Z,1736365293.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:33.724Z,1736365293.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:33.772Z,1736365293.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:33.976Z,1736365293.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:34.228Z,1736365294.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:34.253Z,1736365294.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:34.480Z,1736365294.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:34.575Z,1736365294.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:34.732Z,1736365294.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:34.984Z,1736365294.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:34.989Z,1736365294.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:35.236Z,1736365295.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:35.406Z,1736365295.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:35.488Z,1736365295.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:35.740Z,1736365295.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:35.795Z,1736365295.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:35.992Z,1736365295.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:36.245Z,1736365296.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:36.267Z,1736365296.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:36.496Z,1736365296.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:36.633Z,1736365296.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:36.748Z,1736365296.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:36.000Z,1736365297.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:37.002Z,1736365297.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:37.252Z,1736365297.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:37.434Z,1736365297.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:37.504Z,1736365297.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:37.756Z,1736365297.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:37.847Z,1736365297.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:38.008Z,1736365298.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:38.262Z,1736365298.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:38.265Z,1736365298.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:38.512Z,1736365298.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:38.669Z,1736365298.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:38.764Z,1736365298.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:39.016Z,1736365299.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:39.030Z,1736365299.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:39.269Z,1736365299.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:39.458Z,1736365299.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:39.520Z,1736365299.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:39.772Z,1736365299.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:39.834Z,1736365299.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:40.024Z,1736365300.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:40.250Z,1736365300.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:40.278Z,1736365300.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:40.528Z,1736365300.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:40.669Z,1736365300.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:40.780Z,1736365300.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:41.032Z,1736365301.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:41.046Z,1736365301.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:41.285Z,1736365301.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:41.489Z,1736365301.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:41.536Z,1736365301.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:41.789Z,1736365301.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:41.864Z,1736365301.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:42.040Z,1736365302.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:42.269Z,1736365302.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:42.294Z,1736365302.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:42.544Z,1736365302.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:42.694Z,1736365302.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:42.796Z,1736365302.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:43.048Z,1736365303.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:43.065Z,1736365303.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:43.301Z,1736365303.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:43.490Z,1736365303.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:43.552Z,1736365303.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:43.804Z,1736365303.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:43.883Z,1736365303.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:44.056Z,1736365304.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:44.274Z,1736365304.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:44.310Z,1736365304.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:44.560Z,1736365304.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:44.722Z,1736365304.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:44.812Z,1736365304.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:45.068Z,1736365305.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:45.093Z,1736365305.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:45.321Z,1736365305.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:45.532Z,1736365305.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:45.572Z,1736365305.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:45.824Z,1736365305.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:45.913Z,1736365305.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:46.076Z,1736365306.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:46.296Z,1736365306.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:46.329Z,1736365306.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:46.580Z,1736365306.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:46.729Z,1736365306.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:46.832Z,1736365306.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:47.084Z,1736365307.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:47.108Z,1736365307.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:47.337Z,1736365307.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:47.534Z,1736365307.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:47.588Z,1736365307.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:47.840Z,1736365307.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:47.923Z,1736365307.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:48.092Z,1736365308.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:48.319Z,1736365308.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:48.345Z,1736365308.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:48.596Z,1736365308.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:48.757Z,1736365308.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:48.848Z,1736365308.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:49.104Z,1736365309.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:49.136Z,1736365309.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:49.356Z,1736365309.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:49.550Z,1736365309.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:49.608Z,1736365309.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:49.860Z,1736365309.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:49.928Z,1736365309.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:49.934Z,1736365309.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:41:50.112Z,1736365310.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:50.112Z,1736365310.112 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:41:50.113Z,1736365310.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:41:50.339Z,1736365310.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:50.364Z,1736365310.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:50.364Z,1736365310.364 [DAT](INFO): DAT read: user:763> 2025-01-08T19:41:50.365Z,1736365310.365 [DAT](INFO): DAT read: Tx time:19:41:49.5662 2025-01-08T19:41:50.366Z,1736365310.366 [DAT](INFO): Ping request sent. 2025-01-08T19:41:50.366Z,1736365310.366 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:41:50.366Z,1736365310.366 [DAT](INFO): DAT read: TxSync time:19:41:49.5654 2025-01-08T19:41:50.367Z,1736365310.367 [DAT](INFO): publishing transmit ping time 2025-01-08T19:41:50.367Z,1736365310.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001634 2025-01-08T19:41:50.616Z,1736365310.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:50.616Z,1736365310.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250658 2025-01-08T19:41:50.761Z,1736365310.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:50.868Z,1736365310.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:50.869Z,1736365310.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503353 2025-01-08T19:41:51.121Z,1736365311.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:51.122Z,1736365311.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755963 2025-01-08T19:41:51.163Z,1736365311.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:51.372Z,1736365311.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:51.375Z,1736365311.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008164 2025-01-08T19:41:51.574Z,1736365311.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:51.625Z,1736365311.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:51.626Z,1736365311.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260177 2025-01-08T19:41:51.876Z,1736365311.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:51.876Z,1736365311.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510634 2025-01-08T19:41:51.956Z,1736365311.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:52.128Z,1736365312.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:52.129Z,1736365312.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763065 2025-01-08T19:41:52.359Z,1736365312.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:52.380Z,1736365312.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:52.381Z,1736365312.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014884 2025-01-08T19:41:52.632Z,1736365312.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:52.633Z,1736365312.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266909 2025-01-08T19:41:52.792Z,1736365312.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:52.884Z,1736365312.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:52.885Z,1736365312.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518905 2025-01-08T19:41:53.136Z,1736365313.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:53.136Z,1736365313.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770731 2025-01-08T19:41:53.187Z,1736365313.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:53.268Z,1736365313.268 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:41:53.388Z,1736365313.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:53.388Z,1736365313.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022758 2025-01-08T19:41:53.600Z,1736365313.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:53.640Z,1736365313.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:53.641Z,1736365313.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275111 2025-01-08T19:41:53.892Z,1736365313.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:53.892Z,1736365313.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526764 2025-01-08T19:41:53.973Z,1736365313.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:54.144Z,1736365314.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:54.146Z,1736365314.146 [DAT](INFO): DAT read: Rx Time:19:41:52.7645 2025-01-08T19:41:54.146Z,1736365314.146 [DAT](INFO): Rx dataTimestamp_ set to:1736365314.146098 2025-01-08T19:41:54.147Z,1736365314.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781261 2025-01-08T19:41:54.396Z,1736365314.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:54.396Z,1736365314.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030735 2025-01-08T19:41:54.496Z,1736365314.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:54.648Z,1736365314.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:54.656Z,1736365314.656 [DAT](INFO): DAT read: 19:41:52.7645 LVL= 19792 20306, 32755, AGC= 69, IDX= 449, 0.28, 0.522,-1.227, 0.318,-0.270, PHS= 0.880,-0.909, 0.585, RAW= 141.2, -6.7, CAL= 147.2, -16.3, ROT= 2.8, 16.3 2025-01-08T19:41:54.657Z,1736365314.657 [DAT](INFO): unknown deviceResponse_: 19:41:52.7645 LVL= 19792 20306, 32755, AGC= 69, IDX= 449, 0.28, 0.522,-1.227, 0.318,-0.270, PHS= 0.880,-0.909, 0.585, RAW= 141.2, -6.7, CAL= 147.2, -16.3, ROT= 2.8, 16.3 2025-01-08T19:41:54.659Z,1736365314.659 [DAT](INFO): DAT read: Range 10 to 50 : 595.6 m (Round-trip 794.2 ms) speed 0.8 m/s 2025-01-08T19:41:54.660Z,1736365314.660 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:41:54.820Z,1736365314.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:54.901Z,1736365314.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:55.152Z,1736365315.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:55.185Z,1736365315.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:55.192Z,1736365315.192 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-01-08T19:41:55.192Z,1736365315.192 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T19:41:55.192Z,1736365315.192 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-01-08T19:41:55.194Z,1736365315.194 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 595.599976 m (mode 0.000000 count ). 2025-01-08T19:41:55.195Z,1736365315.195 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-01-08T19:41:55.195Z,1736365315.195 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-01-08T19:41:55.217Z,1736365315.217 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-01-08T19:41:55.217Z,1736365315.217 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T19:41:55.217Z,1736365315.217 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-01-08T19:41:55.218Z,1736365315.218 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 595.599976 m 2025-01-08T19:41:55.218Z,1736365315.218 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-01-08T19:41:55.218Z,1736365315.218 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-01-08T19:41:55.404Z,1736365315.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:55.633Z,1736365315.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:55.638Z,1736365315.638 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-01-08T19:41:55.639Z,1736365315.639 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-01-08T19:41:55.639Z,1736365315.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:41:55.642Z,1736365315.642 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-01-08T19:41:55.642Z,1736365315.642 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T19:41:55.642Z,1736365315.642 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-01-08T19:41:55.642Z,1736365315.642 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T19:41:55.656Z,1736365315.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:55.657Z,1736365315.657 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:41:55.657Z,1736365315.657 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:41:55.657Z,1736365315.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:41:55.909Z,1736365315.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:55.910Z,1736365315.910 [DAT](INFO): DAT read: user:764> 2025-01-08T19:41:55.912Z,1736365315.912 [DAT](INFO): DAT read: Tx time:19:41:55.1162 2025-01-08T19:41:55.912Z,1736365315.912 [DAT](INFO): Ping request sent. 2025-01-08T19:41:55.912Z,1736365315.912 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:41:55.913Z,1736365315.913 [DAT](INFO): DAT read: TxSync time:19:41:55.1154 2025-01-08T19:41:55.913Z,1736365315.913 [DAT](INFO): publishing transmit ping time 2025-01-08T19:41:55.914Z,1736365315.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001538 2025-01-08T19:41:56.001Z,1736365316.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:56.007Z,1736365316.007 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-01-08T19:41:56.007Z,1736365316.007 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-01-08T19:41:56.007Z,1736365316.007 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-01-08T19:41:56.008Z,1736365316.008 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T19:41:56.008Z,1736365316.008 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-01-08T19:41:56.009Z,1736365316.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-01-08T19:41:56.009Z,1736365316.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T19:41:56.009Z,1736365316.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-01-08T19:41:56.010Z,1736365316.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T19:41:56.010Z,1736365316.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-01-08T19:41:56.010Z,1736365316.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T19:41:56.010Z,1736365316.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-01-08T19:41:56.010Z,1736365316.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-01-08T19:41:56.010Z,1736365316.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-01-08T19:41:56.011Z,1736365316.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T19:41:56.012Z,1736365316.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-01-08T19:41:56.012Z,1736365316.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-01-08T19:41:56.012Z,1736365316.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-01-08T19:41:56.012Z,1736365316.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-01-08T19:41:56.012Z,1736365316.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-01-08T19:41:56.012Z,1736365316.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-01-08T19:41:56.013Z,1736365316.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-01-08T19:41:56.013Z,1736365316.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-01-08T19:41:56.013Z,1736365316.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-01-08T19:41:56.013Z,1736365316.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T19:41:56.013Z,1736365316.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-01-08T19:41:56.013Z,1736365316.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-01-08T19:41:56.013Z,1736365316.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-01-08T19:41:56.014Z,1736365316.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-01-08T19:41:56.014Z,1736365316.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-01-08T19:41:56.014Z,1736365316.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-01-08T19:41:56.014Z,1736365316.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-01-08T19:41:56.015Z,1736365316.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-01-08T19:41:56.015Z,1736365316.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-08T19:41:56.016Z,1736365316.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-01-08T19:41:56.017Z,1736365316.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00. 2025-01-08T19:41:56.017Z,1736365316.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-01-08T19:41:56.017Z,1736365316.017 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-01-08T19:41:56.017Z,1736365316.017 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T19:41:56.017Z,1736365316.017 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-01-08T19:41:56.017Z,1736365316.017 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T19:41:56.018Z,1736365316.018 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-01-08T19:41:56.018Z,1736365316.018 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-01-08T19:41:56.018Z,1736365316.018 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-01-08T19:41:56.018Z,1736365316.018 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-01-08T19:41:56.018Z,1736365316.018 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-01-08T19:41:56.163Z,1736365316.163 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:56.164Z,1736365316.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251508 2025-01-08T19:41:56.398Z,1736365316.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:56.412Z,1736365316.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:56.414Z,1736365316.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501468 2025-01-08T19:41:56.423Z,1736365316.423 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-01-08T19:41:56.423Z,1736365316.423 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T19:41:56.423Z,1736365316.423 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-01-08T19:41:56.424Z,1736365316.424 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T19:41:56.427Z,1736365316.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 595.599976 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-01-08T19:41:56.429Z,1736365316.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.099998 m, bearing: 111.018005 deg, lat: 36.904414 deg, lon: -122.118952 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-01-08T19:41:56.430Z,1736365316.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:41:56.441Z,1736365316.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 576.936279 m, bearing: 275.963223 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 268.608800 deg, new cmd heading: 275.963223 deg. 2025-01-08T19:41:56.442Z,1736365316.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816467 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:41:56.548Z,1736365316.548 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-01-08T19:41:56.550Z,1736365316.550 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-01-08T19:41:56.604Z,1736365316.604 [DockingStepper](INFO): Resume 2025-01-08T19:41:56.665Z,1736365316.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:56.666Z,1736365316.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753498 2025-01-08T19:41:56.826Z,1736365316.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:56.836Z,1736365316.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:41:56.838Z,1736365316.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 576.678528 m, bearing: 275.966664 deg, approach rate: -0.629760 m/s, LOS rate: nan deg/s, cmd heading: 275.963220 deg, new cmd heading: 275.966664 deg. 2025-01-08T19:41:56.839Z,1736365316.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816527 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:41:56.884Z,1736365316.884 [DockingStepper](INFO): Resuming 2025-01-08T19:41:56.916Z,1736365316.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:56.916Z,1736365316.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004192 2025-01-08T19:41:57.168Z,1736365317.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:57.168Z,1736365317.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256048 2025-01-08T19:41:57.212Z,1736365317.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:57.221Z,1736365317.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:41:57.223Z,1736365317.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 576.446472 m, bearing: 275.969765 deg, approach rate: -0.602127 m/s, LOS rate: nan deg/s, cmd heading: 275.966663 deg, new cmd heading: 275.969765 deg. 2025-01-08T19:41:57.224Z,1736365317.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816581 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:41:57.421Z,1736365317.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:57.423Z,1736365317.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510620 2025-01-08T19:41:57.424Z,1736365317.424 [DockingStepper](INFO): Start 2025-01-08T19:41:57.424Z,1736365317.424 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-01-08T19:41:57.549Z,1736365317.549 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-01-08T19:41:57.660Z,1736365317.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:57.684Z,1736365317.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:57.684Z,1736365317.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772135 2025-01-08T19:41:57.702Z,1736365317.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:41:57.708Z,1736365317.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:41:57.715Z,1736365317.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 576.183716 m, bearing: 275.972834 deg, approach rate: -0.539502 m/s, LOS rate: nan deg/s, cmd heading: 275.969777 deg, new cmd heading: 275.972834 deg. 2025-01-08T19:41:57.716Z,1736365317.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816635 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:41:57.785Z,1736365317.785 [DockingStepper](INFO): Starting 2025-01-08T19:41:57.936Z,1736365317.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:57.936Z,1736365317.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024081 2025-01-08T19:41:58.014Z,1736365318.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:58.022Z,1736365318.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:41:58.025Z,1736365318.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 575.975037 m, bearing: 275.975194 deg, approach rate: -0.663814 m/s, LOS rate: nan deg/s, cmd heading: 275.972837 deg, new cmd heading: 275.975194 deg. 2025-01-08T19:41:58.026Z,1736365318.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816676 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:41:58.068Z,1736365318.068 [DockingStepper](INFO): Starting 2025-01-08T19:41:58.188Z,1736365318.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:58.189Z,1736365318.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276279 2025-01-08T19:41:58.419Z,1736365318.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:58.428Z,1736365318.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:41:58.436Z,1736365318.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 575.736145 m, bearing: 275.977870 deg, approach rate: -0.589505 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.977870 deg. 2025-01-08T19:41:58.439Z,1736365318.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816722 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:41:58.452Z,1736365318.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:58.453Z,1736365318.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.540216 2025-01-08T19:41:58.664Z,1736365318.664 [DockingStepper](INFO): Starting 2025-01-08T19:41:58.705Z,1736365318.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:58.706Z,1736365318.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.793330 2025-01-08T19:41:58.709Z,1736365318.709 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50 2025-01-08T19:41:58.872Z,1736365318.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:58.882Z,1736365318.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:41:58.885Z,1736365318.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 575.483032 m, bearing: 275.980392 deg, approach rate: -0.557305 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.980392 deg. 2025-01-08T19:41:58.886Z,1736365318.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816767 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:41:58.956Z,1736365318.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:58.957Z,1736365318.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.044374 2025-01-08T19:41:59.020Z,1736365319.020 [DockingStepper](INFO): Starting 2025-01-08T19:41:59.208Z,1736365319.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:59.208Z,1736365319.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.296083 2025-01-08T19:41:59.269Z,1736365319.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:59.286Z,1736365319.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:41:59.292Z,1736365319.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 575.260010 m, bearing: 275.982516 deg, approach rate: -0.552025 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.982516 deg. 2025-01-08T19:41:59.294Z,1736365319.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816803 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:41:59.350Z,1736365319.350 [DockingStepper](INFO): Starting 2025-01-08T19:41:59.460Z,1736365319.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:59.461Z,1736365319.461 [DAT](INFO): DAT read: Rx Time:19:41:58.3163 2025-01-08T19:41:59.461Z,1736365319.461 [DAT](INFO): Rx dataTimestamp_ set to:1736365319.460895 2025-01-08T19:41:59.463Z,1736365319.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.550284 2025-01-08T19:41:59.696Z,1736365319.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:41:59.702Z,1736365319.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:41:59.704Z,1736365319.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:41:59.707Z,1736365319.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 575.033752 m, bearing: 275.984590 deg, approach rate: -0.540170 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.984590 deg. 2025-01-08T19:41:59.708Z,1736365319.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816840 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:41:59.712Z,1736365319.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:59.713Z,1736365319.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.800605 2025-01-08T19:41:59.750Z,1736365319.750 [DockingStepper](INFO): Starting 2025-01-08T19:41:59.965Z,1736365319.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:41:59.968Z,1736365319.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.054801 2025-01-08T19:42:00.070Z,1736365320.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:00.088Z,1736365320.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:00.091Z,1736365320.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 574.834106 m, bearing: 275.986039 deg, approach rate: -0.519803 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.986039 deg. 2025-01-08T19:42:00.097Z,1736365320.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816865 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:00.126Z,1736365320.126 [DockingStepper](INFO): Starting 2025-01-08T19:42:00.216Z,1736365320.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:00.222Z,1736365320.222 [DAT](INFO): DAT read: 19:41:58.3163 LVL= 23200, 25969, 22290, 32755, AGC= 71, IDX= 467,-0.47,-1.400,-3.079,-1.626,-2.218, PHS= 0.906,-0.814, 0.589, RAW= 140.0, -8.6, CAL= 146.5, -18.6, ROT= 3.5, 18.6 2025-01-08T19:42:00.224Z,1736365320.224 [DAT](INFO): got valid direction response: 19:41:58.3163 LVL= 23200, 25969, 22290, 32755, AGC= 71, IDX= 467,-0.47,-1.400,-3.079,-1.626,-2.218, PHS= 0.906,-0.814, 0.589, RAW= 140.0, -8.6, CAL= 146.5, -18.6, ROT= 3.5, 18.6 2025-01-08T19:42:00.225Z,1736365320.225 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:42:00.225Z,1736365320.225 [DAT](INFO): Received a bad header 2025-01-08T19:42:00.236Z,1736365320.236 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T19:42:00.237Z,1736365320.237 [DAT](INFO): direction in FSK: [0.045142,-0.717300,0.695301] 2025-01-08T19:42:00.240Z,1736365320.240 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:00.240Z,1736365320.240 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:00.240Z,1736365320.240 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:00.464Z,1736365320.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:00.469Z,1736365320.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:00.470Z,1736365320.470 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:00.471Z,1736365320.471 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:00.471Z,1736365320.471 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:00.483Z,1736365320.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:00.486Z,1736365320.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 574.624390 m, bearing: 275.987284 deg, approach rate: -0.533268 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.987284 deg. 2025-01-08T19:42:00.487Z,1736365320.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816887 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:00.566Z,1736365320.566 [DockingStepper](INFO): Starting 2025-01-08T19:42:00.612Z,1736365320.612 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2025-01-08T19:42:00.720Z,1736365320.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:00.720Z,1736365320.720 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:00.720Z,1736365320.720 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:00.720Z,1736365320.720 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:00.893Z,1736365320.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:00.903Z,1736365320.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:00.905Z,1736365320.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 574.403198 m, bearing: 275.988797 deg, approach rate: -0.525685 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.988797 deg. 2025-01-08T19:42:00.906Z,1736365320.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816913 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:00.940Z,1736365320.940 [DockingStepper](INFO): Starting 2025-01-08T19:42:00.972Z,1736365320.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:00.972Z,1736365320.972 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:00.972Z,1736365320.972 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:00.972Z,1736365320.972 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:01.224Z,1736365321.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:01.224Z,1736365321.224 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:01.224Z,1736365321.224 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:01.225Z,1736365321.225 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:01.301Z,1736365321.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:01.318Z,1736365321.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:01.325Z,1736365321.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 574.192627 m, bearing: 275.989633 deg, approach rate: -0.506494 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989633 deg. 2025-01-08T19:42:01.326Z,1736365321.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816928 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:01.384Z,1736365321.384 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T19:42:01.384Z,1736365321.384 [DockingStepper](INFO): Standby mode. 2025-01-08T19:42:01.476Z,1736365321.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:01.477Z,1736365321.477 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:01.478Z,1736365321.478 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:01.478Z,1736365321.478 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:01.709Z,1736365321.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:01.717Z,1736365321.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:01.719Z,1736365321.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:01.722Z,1736365321.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 573.978394 m, bearing: 275.989884 deg, approach rate: -0.534705 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989884 deg. 2025-01-08T19:42:01.723Z,1736365321.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816932 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:01.728Z,1736365321.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:01.729Z,1736365321.729 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:01.729Z,1736365321.729 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:01.729Z,1736365321.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:01.980Z,1736365321.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:01.980Z,1736365321.980 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:01.980Z,1736365321.980 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:01.980Z,1736365321.980 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:02.068Z,1736365322.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:02.088Z,1736365322.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:02.091Z,1736365322.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 573.789795 m, bearing: 275.989913 deg, approach rate: -0.510743 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989913 deg. 2025-01-08T19:42:02.096Z,1736365322.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816933 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:02.232Z,1736365322.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:02.233Z,1736365322.233 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:02.233Z,1736365322.233 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:02.233Z,1736365322.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:02.479Z,1736365322.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:02.484Z,1736365322.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:02.484Z,1736365322.484 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:02.484Z,1736365322.484 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:02.484Z,1736365322.484 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:02.489Z,1736365322.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:02.493Z,1736365322.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 573.573975 m, bearing: 275.989727 deg, approach rate: -0.538714 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989727 deg. 2025-01-08T19:42:02.497Z,1736365322.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816929 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:02.736Z,1736365322.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:02.736Z,1736365322.736 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:02.737Z,1736365322.737 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:02.737Z,1736365322.737 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:02.923Z,1736365322.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:02.932Z,1736365322.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:02.935Z,1736365322.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 573.329590 m, bearing: 275.989731 deg, approach rate: -0.551117 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989731 deg. 2025-01-08T19:42:02.936Z,1736365322.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816929 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:02.989Z,1736365322.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:02.990Z,1736365322.990 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:02.990Z,1736365322.990 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:02.990Z,1736365322.990 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:03.241Z,1736365323.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:03.242Z,1736365323.242 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:03.243Z,1736365323.243 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:03.243Z,1736365323.243 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:03.313Z,1736365323.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:03.321Z,1736365323.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:03.324Z,1736365323.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 573.114929 m, bearing: 275.989597 deg, approach rate: -0.551623 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989597 deg. 2025-01-08T19:42:03.325Z,1736365323.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816927 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:03.466Z,1736365323.466 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:42:03.495Z,1736365323.495 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:03.498Z,1736365323.498 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:03.499Z,1736365323.499 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:03.502Z,1736365323.502 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:03.725Z,1736365323.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:03.733Z,1736365323.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:03.735Z,1736365323.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:03.737Z,1736365323.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 572.873657 m, bearing: 275.989559 deg, approach rate: -0.583624 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989559 deg. 2025-01-08T19:42:03.738Z,1736365323.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816926 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:03.744Z,1736365323.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:03.745Z,1736365323.745 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:03.745Z,1736365323.745 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:03.745Z,1736365323.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:03.996Z,1736365323.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:03.996Z,1736365323.996 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:03.996Z,1736365323.996 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:03.996Z,1736365323.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:04.121Z,1736365324.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:04.129Z,1736365324.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:04.152Z,1736365324.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 572.642273 m, bearing: 275.989448 deg, approach rate: -0.586429 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989448 deg. 2025-01-08T19:42:04.153Z,1736365324.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816925 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:04.248Z,1736365324.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:04.249Z,1736365324.249 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:04.249Z,1736365324.249 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:04.249Z,1736365324.249 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:04.469Z,1736365324.469 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:42:04.500Z,1736365324.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:04.500Z,1736365324.500 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:04.500Z,1736365324.500 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:04.500Z,1736365324.500 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:04.560Z,1736365324.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:04.578Z,1736365324.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:04.592Z,1736365324.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 572.385315 m, bearing: 275.989264 deg, approach rate: -0.572402 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989264 deg. 2025-01-08T19:42:04.593Z,1736365324.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816921 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:04.752Z,1736365324.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:04.752Z,1736365324.752 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:04.752Z,1736365324.752 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:04.752Z,1736365324.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:05.004Z,1736365325.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:05.004Z,1736365325.004 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:05.004Z,1736365325.004 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:05.005Z,1736365325.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:05.100Z,1736365325.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:05.109Z,1736365325.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:05.112Z,1736365325.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 572.053650 m, bearing: 275.990163 deg, approach rate: -0.625098 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.990163 deg. 2025-01-08T19:42:05.113Z,1736365325.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816937 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:05.256Z,1736365325.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:05.256Z,1736365325.256 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:05.256Z,1736365325.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:05.256Z,1736365325.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:05.456Z,1736365325.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:05.481Z,1736365325.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:05.491Z,1736365325.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 571.835571 m, bearing: 275.990738 deg, approach rate: -0.585290 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.990738 deg. 2025-01-08T19:42:05.501Z,1736365325.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816947 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:05.508Z,1736365325.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:05.509Z,1736365325.509 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:05.509Z,1736365325.509 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:05.510Z,1736365325.510 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:05.760Z,1736365325.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:05.762Z,1736365325.762 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:05.762Z,1736365325.762 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:05.762Z,1736365325.762 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:05.889Z,1736365325.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:05.899Z,1736365325.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:05.901Z,1736365325.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:05.904Z,1736365325.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 571.559326 m, bearing: 275.992072 deg, approach rate: -0.657858 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.992072 deg. 2025-01-08T19:42:05.905Z,1736365325.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816970 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:06.012Z,1736365326.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:06.012Z,1736365326.012 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:06.012Z,1736365326.012 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:06.013Z,1736365326.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:06.264Z,1736365326.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:06.264Z,1736365326.264 [DAT](INFO): DAT read: 2025-01-08T19:42:06.265Z,1736365326.265 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:06.265Z,1736365326.265 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:06.265Z,1736365326.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:06.280Z,1736365326.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:06.288Z,1736365326.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:06.290Z,1736365326.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 571.309570 m, bearing: 275.993306 deg, approach rate: -0.645873 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.993306 deg. 2025-01-08T19:42:06.292Z,1736365326.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816992 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:06.516Z,1736365326.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:06.517Z,1736365326.517 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:06.518Z,1736365326.518 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:06.518Z,1736365326.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:06.764Z,1736365326.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:06.768Z,1736365326.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:06.769Z,1736365326.769 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:42:06.769Z,1736365326.769 [DAT](INFO): response not received 2025-01-08T19:42:06.769Z,1736365326.769 [DAT](INFO): DAT read: user:766> 2025-01-08T19:42:06.770Z,1736365326.770 [DAT](INFO): DAT read: Tx time:19:42:06.0663 2025-01-08T19:42:06.770Z,1736365326.770 [DAT](INFO): Ping request sent. 2025-01-08T19:42:06.770Z,1736365326.770 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:42:06.771Z,1736365326.771 [DAT](INFO): publishing transmit ping time 2025-01-08T19:42:06.771Z,1736365326.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000713 2025-01-08T19:42:06.778Z,1736365326.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:06.781Z,1736365326.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 570.988098 m, bearing: 275.995089 deg, approach rate: -0.657372 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.995089 deg. 2025-01-08T19:42:06.782Z,1736365326.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817023 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:07.020Z,1736365327.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:07.021Z,1736365327.021 [DAT](INFO): DAT read: TxSync time:19:42:06.0655 2025-01-08T19:42:07.021Z,1736365327.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250904 2025-01-08T19:42:07.099Z,1736365327.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:07.119Z,1736365327.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:07.121Z,1736365327.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 570.765991 m, bearing: 275.996388 deg, approach rate: -0.650238 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.996388 deg. 2025-01-08T19:42:07.122Z,1736365327.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817046 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:07.272Z,1736365327.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:07.273Z,1736365327.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502559 2025-01-08T19:42:07.491Z,1736365327.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:07.502Z,1736365327.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:07.505Z,1736365327.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 570.505981 m, bearing: 275.997975 deg, approach rate: -0.677907 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.997975 deg. 2025-01-08T19:42:07.506Z,1736365327.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817073 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:07.528Z,1736365327.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:07.528Z,1736365327.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757941 2025-01-08T19:42:07.780Z,1736365327.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:07.781Z,1736365327.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010261 2025-01-08T19:42:07.926Z,1736365327.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:07.938Z,1736365327.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:07.940Z,1736365327.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:07.942Z,1736365327.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 570.211914 m, bearing: 276.000329 deg, approach rate: -0.672401 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.000329 deg. 2025-01-08T19:42:07.945Z,1736365327.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817114 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:08.032Z,1736365328.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:08.034Z,1736365328.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263149 2025-01-08T19:42:08.284Z,1736365328.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:08.284Z,1736365328.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514079 2025-01-08T19:42:08.293Z,1736365328.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:08.302Z,1736365328.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:08.305Z,1736365328.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 569.964539 m, bearing: 276.002375 deg, approach rate: -0.682735 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.002375 deg. 2025-01-08T19:42:08.306Z,1736365328.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817150 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:08.536Z,1736365328.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:08.537Z,1736365328.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766572 2025-01-08T19:42:08.758Z,1736365328.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:08.787Z,1736365328.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:08.788Z,1736365328.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:08.789Z,1736365328.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018380 2025-01-08T19:42:08.791Z,1736365328.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 569.645081 m, bearing: 276.004516 deg, approach rate: -0.659198 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.004516 deg. 2025-01-08T19:42:08.792Z,1736365328.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817188 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:09.040Z,1736365329.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:09.040Z,1736365329.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270006 2025-01-08T19:42:09.105Z,1736365329.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:09.114Z,1736365329.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:09.117Z,1736365329.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 569.407227 m, bearing: 276.006099 deg, approach rate: -0.726270 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.006099 deg. 2025-01-08T19:42:09.118Z,1736365329.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817215 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:09.292Z,1736365329.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:09.292Z,1736365329.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521938 2025-01-08T19:42:09.505Z,1736365329.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:09.514Z,1736365329.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:09.517Z,1736365329.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 569.132446 m, bearing: 276.007951 deg, approach rate: -0.686180 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.007951 deg. 2025-01-08T19:42:09.518Z,1736365329.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817247 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:09.544Z,1736365329.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:09.545Z,1736365329.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775046 2025-01-08T19:42:09.796Z,1736365329.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:09.796Z,1736365329.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026090 2025-01-08T19:42:09.926Z,1736365329.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:09.950Z,1736365329.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:09.956Z,1736365329.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:09.959Z,1736365329.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 568.844910 m, bearing: 276.009503 deg, approach rate: -0.650831 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.009503 deg. 2025-01-08T19:42:09.964Z,1736365329.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817275 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:10.050Z,1736365330.050 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:10.051Z,1736365330.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280193 2025-01-08T19:42:10.304Z,1736365330.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:10.304Z,1736365330.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534056 2025-01-08T19:42:10.329Z,1736365330.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:10.341Z,1736365330.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:10.348Z,1736365330.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 568.570312 m, bearing: 276.011030 deg, approach rate: -0.712793 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.011030 deg. 2025-01-08T19:42:10.349Z,1736365330.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817301 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:10.556Z,1736365330.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:10.557Z,1736365330.557 [DAT](INFO): DAT read: Rx Time:19:42:09.2508 2025-01-08T19:42:10.558Z,1736365330.558 [DAT](INFO): Rx dataTimestamp_ set to:1736365330.557651 2025-01-08T19:42:10.559Z,1736365330.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788468 2025-01-08T19:42:10.769Z,1736365330.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:10.778Z,1736365330.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:10.781Z,1736365330.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 568.269470 m, bearing: 276.012731 deg, approach rate: -0.689499 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.012731 deg. 2025-01-08T19:42:10.782Z,1736365330.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817331 target range: 78.099998 and range: 595.60 m. 2025-01-08T19:42:10.808Z,1736365330.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:10.808Z,1736365330.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038048 2025-01-08T19:42:11.060Z,1736365331.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:11.067Z,1736365331.067 [DAT](INFO): DAT read: 19:42:09.2508 LVL= 18256, 26209, 14930, 24371, AGC= 75, IDX= 274, 0.18, 0.694,-0.796, 0.837, 0.300, PHS= 0.482,-1.049, 0.533, RAW= 151.6, 0.4, CAL= 154.6, -8.4, ROT= 355.4, 8.4 2025-01-08T19:42:11.068Z,1736365331.068 [DAT](INFO): got valid direction response: 19:42:09.2508 LVL= 18256, 26209, 14930, 24371, AGC= 75, IDX= 274, 0.18, 0.694,-0.796, 0.837, 0.300, PHS= 0.482,-1.049, 0.533, RAW= 151.6, 0.4, CAL= 154.6, -8.4, ROT= 355.4, 8.4 2025-01-08T19:42:11.069Z,1736365331.069 [DAT](INFO): DAT read: Bearing 355.4, 8.4 (Local) 2025-01-08T19:42:11.069Z,1736365331.069 [DAT](INFO): Local bearing/azimuth received: Bearing 355.4, 8.4 (Local) 2025-01-08T19:42:11.071Z,1736365331.071 [DAT](INFO): DAT read: Range 10 to 50 : 585.2 m (Round-trip 780.3 ms) speed 0.5 m/s 2025-01-08T19:42:11.072Z,1736365331.072 [DAT](INFO): DAT read: user:767> 2025-01-08T19:42:11.073Z,1736365331.073 [DAT](INFO): DAT read: Tx time:19:42:10.3664 2025-01-08T19:42:11.073Z,1736365331.073 [DAT](INFO): Ping request sent. 2025-01-08T19:42:11.073Z,1736365331.073 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:42:11.073Z,1736365331.073 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:42:11.074Z,1736365331.074 [DAT](INFO): direction in FSK: [-0.128978,-0.843812,0.520909] 2025-01-08T19:42:11.075Z,1736365331.075 [DAT](INFO): publishing transmit ping time 2025-01-08T19:42:11.075Z,1736365331.075 [DAT](INFO): publishing direction and range info 2025-01-08T19:42:11.079Z,1736365331.079 [DAT](INFO): publishing transmit ping time 2025-01-08T19:42:11.080Z,1736365331.080 [DAT](INFO): publishing direction and range info 2025-01-08T19:42:11.261Z,1736365331.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:11.300Z,1736365331.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 585.200012 m, deltaT: 16.411821 s, deltaX: -10.399963 m, approachRate: -0.633687 m/s, rangeRepo size: 2 2025-01-08T19:42:11.300Z,1736365331.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:11.303Z,1736365331.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 567.944763 m, bearing: 276.014046 deg, approach rate: -0.633102 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014046 deg. 2025-01-08T19:42:11.308Z,1736365331.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817354 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:11.312Z,1736365331.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:11.313Z,1736365331.313 [DAT](INFO): DAT read: TxSync time:19:42:10.3656 2025-01-08T19:42:11.564Z,1736365331.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:11.602Z,1736365331.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:11.610Z,1736365331.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:11.613Z,1736365331.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 567.718750 m, bearing: 276.014997 deg, approach rate: -0.707401 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014997 deg. 2025-01-08T19:42:11.614Z,1736365331.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817370 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:11.816Z,1736365331.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:12.017Z,1736365332.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:12.024Z,1736365332.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:12.026Z,1736365332.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:12.050Z,1736365332.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 567.455811 m, bearing: 276.015899 deg, approach rate: -0.632128 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.015899 deg. 2025-01-08T19:42:12.051Z,1736365332.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817386 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:12.068Z,1736365332.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:12.068Z,1736365332.068 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:12.068Z,1736365332.068 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:12.069Z,1736365332.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:12.320Z,1736365332.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:12.320Z,1736365332.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247190 2025-01-08T19:42:12.392Z,1736365332.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:12.413Z,1736365332.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:12.420Z,1736365332.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 567.218872 m, bearing: 276.016725 deg, approach rate: -0.612673 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016725 deg. 2025-01-08T19:42:12.421Z,1736365332.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817400 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:12.572Z,1736365332.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:12.577Z,1736365332.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502789 2025-01-08T19:42:12.824Z,1736365332.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:12.825Z,1736365332.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751340 2025-01-08T19:42:12.889Z,1736365332.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:12.905Z,1736365332.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:12.912Z,1736365332.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 566.927612 m, bearing: 276.017205 deg, approach rate: -0.591537 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017205 deg. 2025-01-08T19:42:12.913Z,1736365332.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817409 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:13.076Z,1736365333.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:13.076Z,1736365333.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003181 2025-01-08T19:42:13.205Z,1736365333.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:13.214Z,1736365333.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:13.217Z,1736365333.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 566.742493 m, bearing: 276.017505 deg, approach rate: -0.600075 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017505 deg. 2025-01-08T19:42:13.218Z,1736365333.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817414 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:13.328Z,1736365333.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:13.329Z,1736365333.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255846 2025-01-08T19:42:13.580Z,1736365333.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:13.580Z,1736365333.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507251 2025-01-08T19:42:13.612Z,1736365333.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:13.623Z,1736365333.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:13.626Z,1736365333.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 566.503540 m, bearing: 276.017861 deg, approach rate: -0.583918 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017861 deg. 2025-01-08T19:42:13.627Z,1736365333.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817420 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:13.832Z,1736365333.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:13.832Z,1736365333.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759263 2025-01-08T19:42:14.045Z,1736365334.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:14.052Z,1736365334.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:14.054Z,1736365334.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:14.057Z,1736365334.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 566.265686 m, bearing: 276.017802 deg, approach rate: -0.552219 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017802 deg. 2025-01-08T19:42:14.058Z,1736365334.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817420 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:14.084Z,1736365334.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:14.084Z,1736365334.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011268 2025-01-08T19:42:14.336Z,1736365334.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:14.336Z,1736365334.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263217 2025-01-08T19:42:14.414Z,1736365334.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:14.422Z,1736365334.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:14.446Z,1736365334.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 566.062561 m, bearing: 276.017721 deg, approach rate: -0.551886 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017721 deg. 2025-01-08T19:42:14.447Z,1736365334.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817418 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:14.588Z,1736365334.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:14.588Z,1736365334.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515119 2025-01-08T19:42:14.840Z,1736365334.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:14.840Z,1736365334.840 [DAT](INFO): DAT read: Rx Time:19:42:13.5544 2025-01-08T19:42:14.841Z,1736365334.841 [DAT](INFO): Rx dataTimestamp_ set to:1736365334.840676 2025-01-08T19:42:14.841Z,1736365334.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768296 2025-01-08T19:42:14.896Z,1736365334.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:14.913Z,1736365334.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:14.919Z,1736365334.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 565.806946 m, bearing: 276.017139 deg, approach rate: -0.520773 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017139 deg. 2025-01-08T19:42:14.920Z,1736365334.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817408 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:15.092Z,1736365335.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:15.092Z,1736365335.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019216 2025-01-08T19:42:15.272Z,1736365335.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:15.282Z,1736365335.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:15.285Z,1736365335.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 565.607727 m, bearing: 276.016651 deg, approach rate: -0.539616 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016651 deg. 2025-01-08T19:42:15.285Z,1736365335.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817400 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:15.345Z,1736365335.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:15.352Z,1736365335.352 [DAT](INFO): DAT read: 19:42:13.5544 LVL= 21648, 30593, 19074, 31715, AGC= 72, IDX= 472,-0.36,-2.798, 2.237,-2.671,-3.104, PHS= 0.394,-0.895, 0.430, RAW= 151.4, 1.1, CAL= 154.1, -7.8, ROT= 355.9, 7.8 2025-01-08T19:42:15.353Z,1736365335.353 [DAT](INFO): got valid direction response: 19:42:13.5544 LVL= 21648, 30593, 19074, 31715, AGC= 72, IDX= 472,-0.36,-2.798, 2.237,-2.671,-3.104, PHS= 0.394,-0.895, 0.430, RAW= 151.4, 1.1, CAL= 154.1, -7.8, ROT= 355.9, 7.8 2025-01-08T19:42:15.353Z,1736365335.353 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:42:15.354Z,1736365335.354 [DAT](INFO): Received a bad header 2025-01-08T19:42:15.368Z,1736365335.368 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T19:42:15.369Z,1736365335.369 [DAT](INFO): direction in FSK: [-0.141903,-0.840008,0.523689] 2025-01-08T19:42:15.373Z,1736365335.373 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:15.373Z,1736365335.373 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:15.373Z,1736365335.373 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:15.596Z,1736365335.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:15.596Z,1736365335.596 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:15.596Z,1736365335.596 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:15.596Z,1736365335.596 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:15.629Z,1736365335.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:15.637Z,1736365335.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:15.642Z,1736365335.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 565.418945 m, bearing: 276.016166 deg, approach rate: -0.531383 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016166 deg. 2025-01-08T19:42:15.674Z,1736365335.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817391 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:15.848Z,1736365335.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:15.849Z,1736365335.849 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:15.849Z,1736365335.849 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:15.849Z,1736365335.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:16.067Z,1736365336.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:16.093Z,1736365336.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:16.096Z,1736365336.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:16.099Z,1736365336.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 565.190674 m, bearing: 276.015223 deg, approach rate: -0.496913 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.015223 deg. 2025-01-08T19:42:16.100Z,1736365336.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:16.100Z,1736365336.100 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:16.100Z,1736365336.100 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:16.100Z,1736365336.100 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:16.102Z,1736365336.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817374 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:16.356Z,1736365336.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:16.356Z,1736365336.356 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:16.356Z,1736365336.356 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:16.357Z,1736365336.357 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:16.452Z,1736365336.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:16.485Z,1736365336.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:16.488Z,1736365336.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 564.990051 m, bearing: 276.014327 deg, approach rate: -0.516241 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014327 deg. 2025-01-08T19:42:16.489Z,1736365336.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817359 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:16.608Z,1736365336.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:16.608Z,1736365336.608 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:16.608Z,1736365336.608 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:16.608Z,1736365336.608 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:16.860Z,1736365336.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:16.861Z,1736365336.861 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:16.861Z,1736365336.861 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:16.862Z,1736365336.862 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:16.917Z,1736365336.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:16.950Z,1736365336.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:16.953Z,1736365336.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 564.738708 m, bearing: 276.012751 deg, approach rate: -0.540601 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.012751 deg. 2025-01-08T19:42:16.954Z,1736365336.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817331 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:17.112Z,1736365337.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:17.113Z,1736365337.113 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:17.113Z,1736365337.113 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:17.113Z,1736365337.113 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:17.253Z,1736365337.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:17.262Z,1736365337.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:17.265Z,1736365337.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 564.555664 m, bearing: 276.011567 deg, approach rate: -0.586271 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.011567 deg. 2025-01-08T19:42:17.266Z,1736365337.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817311 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:17.364Z,1736365337.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:17.364Z,1736365337.364 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:17.365Z,1736365337.365 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:17.365Z,1736365337.365 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:17.616Z,1736365337.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:17.616Z,1736365337.616 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:17.616Z,1736365337.616 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:17.616Z,1736365337.616 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:17.692Z,1736365337.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:17.713Z,1736365337.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:17.719Z,1736365337.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 564.317505 m, bearing: 276.010025 deg, approach rate: -0.528802 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.010025 deg. 2025-01-08T19:42:17.720Z,1736365337.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817284 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:17.868Z,1736365337.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:17.868Z,1736365337.868 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:17.868Z,1736365337.868 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:17.869Z,1736365337.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:18.060Z,1736365338.060 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +31.15, + -6.28, 20.0 2025-01-08T19:42:18.068Z,1736365338.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:42:18.068Z,1736365338.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:18.077Z,1736365338.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:18.080Z,1736365338.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 564.113831 m, bearing: 276.008659 deg, approach rate: -0.559439 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.008659 deg. 2025-01-08T19:42:18.081Z,1736365338.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817260 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:18.120Z,1736365338.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:18.120Z,1736365338.120 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:18.120Z,1736365338.120 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:18.120Z,1736365338.120 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:18.372Z,1736365338.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:18.372Z,1736365338.372 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:18.372Z,1736365338.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:18.372Z,1736365338.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:18.469Z,1736365338.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:42:18.469Z,1736365338.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:18.476Z,1736365338.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:18.479Z,1736365338.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:18.482Z,1736365338.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 563.896667 m, bearing: 276.007201 deg, approach rate: -0.539491 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.007201 deg. 2025-01-08T19:42:18.483Z,1736365338.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817235 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:18.624Z,1736365338.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:18.624Z,1736365338.624 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:18.624Z,1736365338.624 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:18.624Z,1736365338.624 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:18.878Z,1736365338.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:18.880Z,1736365338.880 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:18.880Z,1736365338.880 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:18.881Z,1736365338.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:18.954Z,1736365338.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:18.964Z,1736365338.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:18.966Z,1736365338.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 563.596313 m, bearing: 276.006205 deg, approach rate: -0.620385 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.006205 deg. 2025-01-08T19:42:18.967Z,1736365338.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817217 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:19.128Z,1736365339.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:19.129Z,1736365339.129 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:19.129Z,1736365339.129 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:19.129Z,1736365339.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:19.269Z,1736365339.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:19.278Z,1736365339.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:19.281Z,1736365339.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 563.401733 m, bearing: 276.005564 deg, approach rate: -0.620441 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.005564 deg. 2025-01-08T19:42:19.282Z,1736365339.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817206 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:19.381Z,1736365339.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:19.381Z,1736365339.381 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:19.381Z,1736365339.381 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:19.381Z,1736365339.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:19.632Z,1736365339.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:19.632Z,1736365339.632 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:19.632Z,1736365339.632 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:19.633Z,1736365339.633 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:19.698Z,1736365339.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:19.706Z,1736365339.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:19.709Z,1736365339.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 563.136108 m, bearing: 276.004702 deg, approach rate: -0.618463 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.004702 deg. 2025-01-08T19:42:19.712Z,1736365339.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817191 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:19.884Z,1736365339.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:19.884Z,1736365339.884 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:19.884Z,1736365339.884 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:19.885Z,1736365339.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:20.106Z,1736365340.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:20.116Z,1736365340.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:20.118Z,1736365340.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 562.864929 m, bearing: 276.004053 deg, approach rate: -0.663085 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.004053 deg. 2025-01-08T19:42:20.119Z,1736365340.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817180 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:20.136Z,1736365340.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:20.136Z,1736365340.136 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:20.136Z,1736365340.136 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:20.137Z,1736365340.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:20.388Z,1736365340.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:20.388Z,1736365340.388 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:20.388Z,1736365340.388 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:20.388Z,1736365340.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:20.485Z,1736365340.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:20.491Z,1736365340.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:20.493Z,1736365340.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:20.497Z,1736365340.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 562.613525 m, bearing: 276.003475 deg, approach rate: -0.665336 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.003475 deg. 2025-01-08T19:42:20.498Z,1736365340.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817169 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:20.640Z,1736365340.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:20.640Z,1736365340.640 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:20.640Z,1736365340.640 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:20.640Z,1736365340.640 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:20.893Z,1736365340.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:20.896Z,1736365340.896 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:20.896Z,1736365340.896 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:20.897Z,1736365340.897 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:20.979Z,1736365340.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:21.009Z,1736365341.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:21.016Z,1736365341.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 562.270081 m, bearing: 276.003353 deg, approach rate: -0.666053 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.003353 deg. 2025-01-08T19:42:21.017Z,1736365341.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817167 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:21.144Z,1736365341.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:21.145Z,1736365341.145 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:21.145Z,1736365341.145 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:21.145Z,1736365341.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:21.317Z,1736365341.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:21.348Z,1736365341.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:21.350Z,1736365341.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 562.034851 m, bearing: 276.003293 deg, approach rate: -0.739685 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.003293 deg. 2025-01-08T19:42:21.355Z,1736365341.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817166 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:21.397Z,1736365341.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:21.398Z,1736365341.398 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:21.398Z,1736365341.398 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:21.399Z,1736365341.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:21.648Z,1736365341.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:21.649Z,1736365341.649 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:21.649Z,1736365341.649 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:21.649Z,1736365341.649 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:21.727Z,1736365341.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:21.736Z,1736365341.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:21.738Z,1736365341.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 561.749939 m, bearing: 276.003220 deg, approach rate: -0.697876 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.003220 deg. 2025-01-08T19:42:21.739Z,1736365341.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817165 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:21.902Z,1736365341.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:21.904Z,1736365341.904 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:42:21.905Z,1736365341.905 [DAT](INFO): response not received 2025-01-08T19:42:21.910Z,1736365341.910 [DAT](INFO): DAT read: user:769> 2025-01-08T19:42:21.912Z,1736365341.912 [DAT](INFO): DAT read: Tx time:19:42:21.3165 2025-01-08T19:42:21.913Z,1736365341.913 [DAT](INFO): Ping request sent. 2025-01-08T19:42:21.913Z,1736365341.913 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:42:21.913Z,1736365341.913 [DAT](INFO): publishing transmit ping time 2025-01-08T19:42:21.914Z,1736365341.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-01-08T19:42:22.123Z,1736365342.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:22.152Z,1736365342.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:22.153Z,1736365342.153 [DAT](INFO): DAT read: TxSync time:19:42:21.3157 2025-01-08T19:42:22.153Z,1736365342.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.240485 2025-01-08T19:42:22.157Z,1736365342.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:22.164Z,1736365342.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 561.460693 m, bearing: 276.003547 deg, approach rate: -0.685085 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.003547 deg. 2025-01-08T19:42:22.165Z,1736365342.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817171 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:22.404Z,1736365342.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:22.406Z,1736365342.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.492915 2025-01-08T19:42:22.509Z,1736365342.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:22.533Z,1736365342.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:22.540Z,1736365342.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:22.543Z,1736365342.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 561.178406 m, bearing: 276.003975 deg, approach rate: -0.746777 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.003975 deg. 2025-01-08T19:42:22.548Z,1736365342.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817178 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:22.656Z,1736365342.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:22.657Z,1736365342.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744652 2025-01-08T19:42:22.910Z,1736365342.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:22.913Z,1736365342.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999012 2025-01-08T19:42:22.986Z,1736365342.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:42:22.986Z,1736365342.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:22.995Z,1736365342.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:22.998Z,1736365342.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 560.830627 m, bearing: 276.004644 deg, approach rate: -0.756566 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.004644 deg. 2025-01-08T19:42:22.999Z,1736365342.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817190 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:23.160Z,1736365343.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:23.161Z,1736365343.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248522 2025-01-08T19:42:23.324Z,1736365343.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:42:23.324Z,1736365343.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:23.333Z,1736365343.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:23.336Z,1736365343.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 560.583862 m, bearing: 276.005249 deg, approach rate: -0.730124 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.005249 deg. 2025-01-08T19:42:23.337Z,1736365343.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817200 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:23.412Z,1736365343.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:23.413Z,1736365343.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499898 2025-01-08T19:42:23.664Z,1736365343.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:23.665Z,1736365343.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752289 2025-01-08T19:42:23.729Z,1736365343.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:42:23.729Z,1736365343.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:23.746Z,1736365343.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:23.753Z,1736365343.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 560.287659 m, bearing: 276.005964 deg, approach rate: -0.716995 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.005964 deg. 2025-01-08T19:42:23.756Z,1736365343.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817213 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:23.917Z,1736365343.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:23.920Z,1736365343.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006123 2025-01-08T19:42:24.138Z,1736365344.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:24.166Z,1736365344.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:24.168Z,1736365344.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:24.169Z,1736365344.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255757 2025-01-08T19:42:24.173Z,1736365344.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 559.987793 m, bearing: 276.007646 deg, approach rate: -0.713811 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.007646 deg. 2025-01-08T19:42:24.174Z,1736365344.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817242 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:24.421Z,1736365344.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:24.421Z,1736365344.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508396 2025-01-08T19:42:24.528Z,1736365344.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:24.535Z,1736365344.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:24.537Z,1736365344.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:24.540Z,1736365344.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 559.701416 m, bearing: 276.009264 deg, approach rate: -0.771980 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.009264 deg. 2025-01-08T19:42:24.541Z,1736365344.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817270 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:24.673Z,1736365344.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:24.675Z,1736365344.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762218 2025-01-08T19:42:24.925Z,1736365344.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:24.927Z,1736365344.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013799 2025-01-08T19:42:25.025Z,1736365345.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:25.034Z,1736365345.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:25.037Z,1736365345.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 559.357605 m, bearing: 276.011237 deg, approach rate: -0.691492 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.011237 deg. 2025-01-08T19:42:25.038Z,1736365345.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817305 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:25.176Z,1736365345.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:25.176Z,1736365345.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263540 2025-01-08T19:42:25.339Z,1736365345.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:25.375Z,1736365345.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:25.379Z,1736365345.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 559.140320 m, bearing: 276.012499 deg, approach rate: -0.638166 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.012499 deg. 2025-01-08T19:42:25.381Z,1736365345.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817327 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:25.428Z,1736365345.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:25.430Z,1736365345.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516923 2025-01-08T19:42:25.680Z,1736365345.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:25.681Z,1736365345.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768568 2025-01-08T19:42:25.745Z,1736365345.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:25.754Z,1736365345.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:25.756Z,1736365345.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 558.859192 m, bearing: 276.014131 deg, approach rate: -0.742054 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014131 deg. 2025-01-08T19:42:25.757Z,1736365345.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817355 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:25.934Z,1736365345.934 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:25.937Z,1736365345.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023416 2025-01-08T19:42:26.174Z,1736365346.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:26.183Z,1736365346.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:26.184Z,1736365346.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:26.184Z,1736365346.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271667 2025-01-08T19:42:26.206Z,1736365346.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 558.572083 m, bearing: 276.016334 deg, approach rate: -0.668997 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016334 deg. 2025-01-08T19:42:26.207Z,1736365346.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817394 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:26.436Z,1736365346.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:26.436Z,1736365346.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523629 2025-01-08T19:42:26.543Z,1736365346.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:26.550Z,1736365346.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:26.553Z,1736365346.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:26.572Z,1736365346.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 558.324768 m, bearing: 276.018225 deg, approach rate: -0.668739 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.018225 deg. 2025-01-08T19:42:26.573Z,1736365346.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817427 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:26.688Z,1736365346.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:26.689Z,1736365346.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776416 2025-01-08T19:42:26.942Z,1736365346.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:26.945Z,1736365346.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031993 2025-01-08T19:42:27.053Z,1736365347.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:27.082Z,1736365347.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:27.088Z,1736365347.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 558.000732 m, bearing: 276.021104 deg, approach rate: -0.612670 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.021104 deg. 2025-01-08T19:42:27.089Z,1736365347.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817477 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:27.193Z,1736365347.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:27.194Z,1736365347.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280691 2025-01-08T19:42:27.420Z,1736365347.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:27.430Z,1736365347.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:27.432Z,1736365347.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 557.767883 m, bearing: 276.023152 deg, approach rate: -0.669184 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.023152 deg. 2025-01-08T19:42:27.433Z,1736365347.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817513 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:27.445Z,1736365347.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:27.446Z,1736365347.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533097 2025-01-08T19:42:27.696Z,1736365347.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:27.697Z,1736365347.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783714 2025-01-08T19:42:27.798Z,1736365347.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:27.807Z,1736365347.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:27.809Z,1736365347.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 557.527832 m, bearing: 276.025249 deg, approach rate: -0.636749 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.025249 deg. 2025-01-08T19:42:27.812Z,1736365347.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817549 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:27.950Z,1736365347.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:27.953Z,1736365347.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039325 2025-01-08T19:42:28.200Z,1736365348.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:28.200Z,1736365348.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287659 2025-01-08T19:42:28.237Z,1736365348.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:28.254Z,1736365348.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:28.261Z,1736365348.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 557.260864 m, bearing: 276.026517 deg, approach rate: -0.597211 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.026517 deg. 2025-01-08T19:42:28.263Z,1736365348.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817572 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:28.452Z,1736365348.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:28.453Z,1736365348.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539838 2025-01-08T19:42:28.605Z,1736365348.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:28.629Z,1736365348.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:28.631Z,1736365348.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:28.637Z,1736365348.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 557.037659 m, bearing: 276.027546 deg, approach rate: -0.591809 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027546 deg. 2025-01-08T19:42:28.638Z,1736365348.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817589 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:28.704Z,1736365348.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:28.706Z,1736365348.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792781 2025-01-08T19:42:28.956Z,1736365348.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:28.956Z,1736365348.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043546 2025-01-08T19:42:29.104Z,1736365349.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:29.114Z,1736365349.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:29.117Z,1736365349.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 556.734497 m, bearing: 276.027873 deg, approach rate: -0.627268 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027873 deg. 2025-01-08T19:42:29.118Z,1736365349.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817595 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:29.208Z,1736365349.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:29.210Z,1736365349.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296772 2025-01-08T19:42:29.417Z,1736365349.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:29.441Z,1736365349.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:29.448Z,1736365349.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 556.544800 m, bearing: 276.028053 deg, approach rate: -0.579409 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.028053 deg. 2025-01-08T19:42:29.449Z,1736365349.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817598 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:29.460Z,1736365349.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:29.461Z,1736365349.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548190 2025-01-08T19:42:29.712Z,1736365349.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:29.712Z,1736365349.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.799647 2025-01-08T19:42:29.821Z,1736365349.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:29.830Z,1736365349.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:29.833Z,1736365349.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 556.299194 m, bearing: 276.028283 deg, approach rate: -0.632323 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.028283 deg. 2025-01-08T19:42:29.834Z,1736365349.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817602 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:29.966Z,1736365349.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:29.969Z,1736365349.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055448 2025-01-08T19:42:30.216Z,1736365350.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:30.216Z,1736365350.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303663 2025-01-08T19:42:30.274Z,1736365350.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:30.283Z,1736365350.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:30.286Z,1736365350.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 556.019653 m, bearing: 276.027999 deg, approach rate: -0.616873 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027999 deg. 2025-01-08T19:42:30.287Z,1736365350.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817597 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:30.468Z,1736365350.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:30.468Z,1736365350.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555549 2025-01-08T19:42:30.634Z,1736365350.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:30.641Z,1736365350.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:30.645Z,1736365350.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:30.649Z,1736365350.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 555.797241 m, bearing: 276.027734 deg, approach rate: -0.617026 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027734 deg. 2025-01-08T19:42:30.651Z,1736365350.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817593 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:30.721Z,1736365350.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:30.722Z,1736365350.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809213 2025-01-08T19:42:30.972Z,1736365350.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:30.974Z,1736365350.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060703 2025-01-08T19:42:31.116Z,1736365351.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:31.140Z,1736365351.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:31.143Z,1736365351.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 555.495056 m, bearing: 276.026992 deg, approach rate: -0.608485 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.026992 deg. 2025-01-08T19:42:31.148Z,1736365351.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817580 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:31.224Z,1736365351.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:31.224Z,1736365351.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.311623 2025-01-08T19:42:31.476Z,1736365351.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:31.477Z,1736365351.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.563709 2025-01-08T19:42:31.567Z,1736365351.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:31.576Z,1736365351.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:31.579Z,1736365351.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 555.212097 m, bearing: 276.026280 deg, approach rate: -0.650207 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.026280 deg. 2025-01-08T19:42:31.580Z,1736365351.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817567 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:31.728Z,1736365351.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:31.729Z,1736365351.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816209 2025-01-08T19:42:31.981Z,1736365351.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:31.982Z,1736365351.982 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:31.983Z,1736365351.983 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:31.984Z,1736365351.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:32.067Z,1736365352.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:32.093Z,1736365352.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:32.108Z,1736365352.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 554.898376 m, bearing: 276.025489 deg, approach rate: -0.606775 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.025489 deg. 2025-01-08T19:42:32.109Z,1736365352.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817554 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:32.232Z,1736365352.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:32.232Z,1736365352.232 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:32.232Z,1736365352.232 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:32.232Z,1736365352.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:32.485Z,1736365352.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:32.485Z,1736365352.485 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:32.485Z,1736365352.485 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:32.485Z,1736365352.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:32.596Z,1736365352.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:32.625Z,1736365352.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:32.632Z,1736365352.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 554.552063 m, bearing: 276.023778 deg, approach rate: -0.650449 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.023778 deg. 2025-01-08T19:42:32.633Z,1736365352.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817524 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:32.736Z,1736365352.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:32.736Z,1736365352.736 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:32.736Z,1736365352.736 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:32.737Z,1736365352.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:32.988Z,1736365352.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:32.988Z,1736365352.988 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:42:32.989Z,1736365352.989 [DAT](INFO): response not received 2025-01-08T19:42:32.989Z,1736365352.989 [DAT](INFO): DAT read: user:770> 2025-01-08T19:42:32.990Z,1736365352.990 [DAT](INFO): DAT read: Tx time:19:42:32.2666 2025-01-08T19:42:32.990Z,1736365352.990 [DAT](INFO): Ping request sent. 2025-01-08T19:42:32.990Z,1736365352.990 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:42:32.990Z,1736365352.990 [DAT](INFO): publishing transmit ping time 2025-01-08T19:42:32.991Z,1736365352.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000718 2025-01-08T19:42:33.196Z,1736365353.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:33.212Z,1736365353.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:33.214Z,1736365353.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:33.221Z,1736365353.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 554.156860 m, bearing: 276.021872 deg, approach rate: -0.670581 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.021872 deg. 2025-01-08T19:42:33.222Z,1736365353.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817491 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:33.240Z,1736365353.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:33.241Z,1736365353.241 [DAT](INFO): DAT read: TxSync time:19:42:32.2658 2025-01-08T19:42:33.241Z,1736365353.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251208 2025-01-08T19:42:33.492Z,1736365353.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:33.492Z,1736365353.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502222 2025-01-08T19:42:33.535Z,1736365353.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:33.544Z,1736365353.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:33.547Z,1736365353.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 553.933594 m, bearing: 276.020795 deg, approach rate: -0.678422 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.020795 deg. 2025-01-08T19:42:33.548Z,1736365353.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817472 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:33.745Z,1736365353.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:33.746Z,1736365353.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755263 2025-01-08T19:42:33.928Z,1736365353.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:33.936Z,1736365353.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:33.939Z,1736365353.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 553.674683 m, bearing: 276.019660 deg, approach rate: -0.658381 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.019660 deg. 2025-01-08T19:42:33.958Z,1736365353.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817452 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:33.997Z,1736365353.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:33.998Z,1736365353.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007486 2025-01-08T19:42:34.248Z,1736365354.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:34.248Z,1736365354.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258215 2025-01-08T19:42:34.336Z,1736365354.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:34.364Z,1736365354.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:34.366Z,1736365354.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 553.411682 m, bearing: 276.018534 deg, approach rate: -0.645999 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.018534 deg. 2025-01-08T19:42:34.372Z,1736365354.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817432 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:34.500Z,1736365354.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:34.500Z,1736365354.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510226 2025-01-08T19:42:34.588Z,1736365354.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:42:34.719Z,1736365354.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:34.729Z,1736365354.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:34.731Z,1736365354.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 553.163879 m, bearing: 276.017442 deg, approach rate: -0.643445 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017442 deg. 2025-01-08T19:42:34.732Z,1736365354.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817413 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:34.752Z,1736365354.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:34.753Z,1736365354.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762436 2025-01-08T19:42:35.004Z,1736365355.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:35.004Z,1736365355.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014149 2025-01-08T19:42:35.180Z,1736365355.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:35.189Z,1736365355.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:35.191Z,1736365355.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 552.876099 m, bearing: 276.016757 deg, approach rate: -0.625761 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016757 deg. 2025-01-08T19:42:35.192Z,1736365355.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817401 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:35.256Z,1736365355.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:35.257Z,1736365355.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266641 2025-01-08T19:42:35.508Z,1736365355.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:35.509Z,1736365355.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518303 2025-01-08T19:42:35.521Z,1736365355.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:35.528Z,1736365355.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:35.530Z,1736365355.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:35.533Z,1736365355.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 552.663818 m, bearing: 276.016253 deg, approach rate: -0.621484 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016253 deg. 2025-01-08T19:42:35.534Z,1736365355.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817392 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:35.592Z,1736365355.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:42:35.760Z,1736365355.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:35.761Z,1736365355.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770562 2025-01-08T19:42:35.937Z,1736365355.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:35.954Z,1736365355.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:35.961Z,1736365355.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 552.405273 m, bearing: 276.015651 deg, approach rate: -0.610749 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.015651 deg. 2025-01-08T19:42:35.963Z,1736365355.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817382 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:36.012Z,1736365356.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:36.013Z,1736365356.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022288 2025-01-08T19:42:36.264Z,1736365356.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:36.264Z,1736365356.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274245 2025-01-08T19:42:36.358Z,1736365356.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:36.383Z,1736365356.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:36.413Z,1736365356.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 552.145813 m, bearing: 276.015160 deg, approach rate: -0.604552 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.015160 deg. 2025-01-08T19:42:36.414Z,1736365356.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817373 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:36.517Z,1736365356.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:36.518Z,1736365356.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527303 2025-01-08T19:42:36.740Z,1736365356.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:36.749Z,1736365356.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:36.753Z,1736365356.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 551.911987 m, bearing: 276.014709 deg, approach rate: -0.637640 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014709 deg. 2025-01-08T19:42:36.754Z,1736365356.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817366 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:36.768Z,1736365356.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:36.769Z,1736365356.769 [DAT](INFO): DAT read: Rx Time:19:42:35.4434 2025-01-08T19:42:36.769Z,1736365356.769 [DAT](INFO): Rx dataTimestamp_ set to:1736365356.769163 2025-01-08T19:42:36.770Z,1736365356.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779748 2025-01-08T19:42:37.020Z,1736365357.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:37.020Z,1736365357.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030129 2025-01-08T19:42:37.222Z,1736365357.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:37.233Z,1736365357.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:37.236Z,1736365357.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 551.624268 m, bearing: 276.014517 deg, approach rate: -0.595095 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014517 deg. 2025-01-08T19:42:37.237Z,1736365357.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817362 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:37.272Z,1736365357.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:37.283Z,1736365357.283 [DAT](INFO): DAT read: 19:42:35.4434 LVL= 24368, 32753, 24642, 32755, AGC= 71, IDX= 308, 0.35, 1.168,-0.673, 1.202, 0.413, PHS= 0.843,-1.039, 0.787, RAW= 148.5, -6.4, CAL= 153.9, -14.9, ROT= 356.1, 14.9 2025-01-08T19:42:37.285Z,1736365357.285 [DAT](INFO): got valid direction response: 19:42:35.4434 LVL= 24368, 32753, 24642, 32755, AGC= 71, IDX= 308, 0.35, 1.168,-0.673, 1.202, 0.413, PHS= 0.843,-1.039, 0.787, RAW= 148.5, -6.4, CAL= 153.9, -14.9, ROT= 356.1, 14.9 2025-01-08T19:42:37.286Z,1736365357.286 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:42:37.286Z,1736365357.286 [DAT](INFO): Received a bad header 2025-01-08T19:42:37.300Z,1736365357.300 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T19:42:37.301Z,1736365357.301 [DAT](INFO): direction in FSK: [0.004104,-0.817398,0.576059] 2025-01-08T19:42:37.305Z,1736365357.305 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:37.306Z,1736365357.306 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:37.306Z,1736365357.306 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:37.524Z,1736365357.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:37.524Z,1736365357.524 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:37.524Z,1736365357.524 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:37.524Z,1736365357.524 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:37.558Z,1736365357.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:37.578Z,1736365357.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:37.582Z,1736365357.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:37.584Z,1736365357.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 551.425903 m, bearing: 276.014368 deg, approach rate: -0.568542 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014368 deg. 2025-01-08T19:42:37.586Z,1736365357.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817359 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:37.776Z,1736365357.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:37.776Z,1736365357.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:37.776Z,1736365357.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:37.776Z,1736365357.776 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:37.941Z,1736365357.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:37.970Z,1736365357.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:37.973Z,1736365357.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 551.195923 m, bearing: 276.014178 deg, approach rate: -0.591676 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014178 deg. 2025-01-08T19:42:37.974Z,1736365357.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817356 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:38.029Z,1736365358.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:38.029Z,1736365358.029 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:38.030Z,1736365358.030 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:38.030Z,1736365358.030 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:38.280Z,1736365358.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:38.280Z,1736365358.280 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:38.280Z,1736365358.280 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:38.280Z,1736365358.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:38.373Z,1736365358.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:38.383Z,1736365358.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:38.386Z,1736365358.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 550.937927 m, bearing: 276.015283 deg, approach rate: -0.626039 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.015283 deg. 2025-01-08T19:42:38.387Z,1736365358.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817376 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:38.532Z,1736365358.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:38.533Z,1736365358.533 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:38.533Z,1736365358.533 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:38.534Z,1736365358.534 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:38.767Z,1736365358.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:38.775Z,1736365358.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:38.779Z,1736365358.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 550.709595 m, bearing: 276.016264 deg, approach rate: -0.582052 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016264 deg. 2025-01-08T19:42:38.780Z,1736365358.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817393 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:38.784Z,1736365358.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:38.784Z,1736365358.784 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:38.784Z,1736365358.784 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:38.784Z,1736365358.784 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:39.036Z,1736365359.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:39.036Z,1736365359.036 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:39.037Z,1736365359.037 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:39.037Z,1736365359.037 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:39.231Z,1736365359.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:39.239Z,1736365359.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:39.242Z,1736365359.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 550.417114 m, bearing: 276.018342 deg, approach rate: -0.629944 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.018342 deg. 2025-01-08T19:42:39.243Z,1736365359.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817429 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:39.288Z,1736365359.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:39.288Z,1736365359.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:39.288Z,1736365359.288 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:39.288Z,1736365359.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:39.541Z,1736365359.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:39.542Z,1736365359.542 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:39.542Z,1736365359.542 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:39.542Z,1736365359.542 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:39.563Z,1736365359.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:39.572Z,1736365359.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:39.574Z,1736365359.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 550.212830 m, bearing: 276.019799 deg, approach rate: -0.614578 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.019799 deg. 2025-01-08T19:42:39.575Z,1736365359.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817454 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:39.792Z,1736365359.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:39.792Z,1736365359.792 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:39.792Z,1736365359.792 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:39.792Z,1736365359.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:39.973Z,1736365359.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:39.981Z,1736365359.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:39.983Z,1736365359.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:39.986Z,1736365359.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 549.960754 m, bearing: 276.021599 deg, approach rate: -0.612355 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.021599 deg. 2025-01-08T19:42:39.987Z,1736365359.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817486 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:40.045Z,1736365360.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:40.046Z,1736365360.046 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:40.046Z,1736365360.046 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:40.046Z,1736365360.046 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:40.297Z,1736365360.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:40.297Z,1736365360.297 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:40.297Z,1736365360.297 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:40.297Z,1736365360.297 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:40.398Z,1736365360.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:40.406Z,1736365360.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:40.421Z,1736365360.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 549.684143 m, bearing: 276.023319 deg, approach rate: -0.654087 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.023319 deg. 2025-01-08T19:42:40.422Z,1736365360.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817516 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:40.548Z,1736365360.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:40.549Z,1736365360.549 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:40.549Z,1736365360.549 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:40.549Z,1736365360.549 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:40.776Z,1736365360.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:40.800Z,1736365360.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:40.800Z,1736365360.800 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:40.800Z,1736365360.800 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:40.800Z,1736365360.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:40.808Z,1736365360.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:40.811Z,1736365360.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 549.437561 m, bearing: 276.024865 deg, approach rate: -0.620407 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.024865 deg. 2025-01-08T19:42:40.817Z,1736365360.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817543 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:41.052Z,1736365361.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:41.053Z,1736365361.053 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:41.053Z,1736365361.053 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:41.053Z,1736365361.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:41.251Z,1736365361.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:41.282Z,1736365361.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:41.285Z,1736365361.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 549.109680 m, bearing: 276.026835 deg, approach rate: -0.684743 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.026835 deg. 2025-01-08T19:42:41.286Z,1736365361.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817577 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:41.304Z,1736365361.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:41.305Z,1736365361.305 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:41.305Z,1736365361.305 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:41.305Z,1736365361.305 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:41.556Z,1736365361.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:41.556Z,1736365361.556 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:41.556Z,1736365361.556 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:41.556Z,1736365361.556 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:41.596Z,1736365361.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:41.636Z,1736365361.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:41.639Z,1736365361.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 548.870300 m, bearing: 276.028297 deg, approach rate: -0.676134 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.028297 deg. 2025-01-08T19:42:41.645Z,1736365361.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817603 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:41.808Z,1736365361.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:41.808Z,1736365361.808 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:41.808Z,1736365361.808 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:41.808Z,1736365361.808 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:41.981Z,1736365361.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:41.988Z,1736365361.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:41.990Z,1736365361.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:42.016Z,1736365362.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 548.603943 m, bearing: 276.029929 deg, approach rate: -0.753768 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.029929 deg. 2025-01-08T19:42:42.017Z,1736365362.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817631 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:42.060Z,1736365362.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:42.061Z,1736365362.061 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:42.061Z,1736365362.061 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:42.061Z,1736365362.061 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:42.312Z,1736365362.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:42.312Z,1736365362.312 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:42.312Z,1736365362.312 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:42.312Z,1736365362.312 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:42.425Z,1736365362.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:42.434Z,1736365362.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:42.437Z,1736365362.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 548.275940 m, bearing: 276.031420 deg, approach rate: -0.738351 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.031420 deg. 2025-01-08T19:42:42.438Z,1736365362.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817657 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:42.564Z,1736365362.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:42.564Z,1736365362.564 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:42.564Z,1736365362.564 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:42.564Z,1736365362.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:42.801Z,1736365362.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:42.809Z,1736365362.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:42.813Z,1736365362.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 547.998657 m, bearing: 276.032717 deg, approach rate: -0.739594 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.032717 deg. 2025-01-08T19:42:42.814Z,1736365362.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817680 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:42.816Z,1736365362.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:42.817Z,1736365362.817 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:42.817Z,1736365362.817 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:42.817Z,1736365362.817 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:43.068Z,1736365363.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:43.068Z,1736365363.068 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:43.068Z,1736365363.068 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:43.069Z,1736365363.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:43.290Z,1736365363.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:43.306Z,1736365363.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:43.313Z,1736365363.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 547.617615 m, bearing: 276.034144 deg, approach rate: -0.766586 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.034144 deg. 2025-01-08T19:42:43.314Z,1736365363.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817705 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:43.320Z,1736365363.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:43.320Z,1736365363.320 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:43.320Z,1736365363.320 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:43.321Z,1736365363.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:43.572Z,1736365363.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:43.572Z,1736365363.572 [DAT](INFO): Reached modem response timeout 2025-01-08T19:42:43.572Z,1736365363.572 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:42:43.573Z,1736365363.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:43.636Z,1736365363.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:43.676Z,1736365363.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:43.681Z,1736365363.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 547.348022 m, bearing: 276.035196 deg, approach rate: -0.738807 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.035196 deg. 2025-01-08T19:42:43.683Z,1736365363.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817723 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:43.824Z,1736365363.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:43.825Z,1736365363.825 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:42:43.825Z,1736365363.825 [DAT](INFO): response not received 2025-01-08T19:42:43.826Z,1736365363.826 [DAT](INFO): DAT read: user:772> 2025-01-08T19:42:43.828Z,1736365363.828 [DAT](INFO): DAT read: Tx time:19:42:43.2166 2025-01-08T19:42:43.829Z,1736365363.829 [DAT](INFO): Ping request sent. 2025-01-08T19:42:43.829Z,1736365363.829 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:42:43.830Z,1736365363.830 [DAT](INFO): publishing transmit ping time 2025-01-08T19:42:43.831Z,1736365363.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002131 2025-01-08T19:42:44.039Z,1736365364.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:44.048Z,1736365364.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:44.050Z,1736365364.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:44.053Z,1736365364.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 547.034058 m, bearing: 276.036474 deg, approach rate: -0.827098 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.036474 deg. 2025-01-08T19:42:44.054Z,1736365364.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817745 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:44.076Z,1736365364.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:44.077Z,1736365364.077 [DAT](INFO): DAT read: TxSync time:19:42:43.2159 2025-01-08T19:42:44.078Z,1736365364.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249621 2025-01-08T19:42:44.328Z,1736365364.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:44.329Z,1736365364.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500263 2025-01-08T19:42:44.473Z,1736365364.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:44.482Z,1736365364.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:44.485Z,1736365364.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 546.686157 m, bearing: 276.037091 deg, approach rate: -0.806182 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.037091 deg. 2025-01-08T19:42:44.486Z,1736365364.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817756 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:44.580Z,1736365364.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:44.581Z,1736365364.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752074 2025-01-08T19:42:44.832Z,1736365364.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:44.832Z,1736365364.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003523 2025-01-08T19:42:44.841Z,1736365364.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:44.851Z,1736365364.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:44.874Z,1736365364.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 546.390808 m, bearing: 276.037670 deg, approach rate: -0.801307 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.037670 deg. 2025-01-08T19:42:44.874Z,1736365364.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817766 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:45.084Z,1736365365.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:45.085Z,1736365365.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255863 2025-01-08T19:42:45.318Z,1736365365.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:45.326Z,1736365365.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:45.329Z,1736365365.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 546.024353 m, bearing: 276.038174 deg, approach rate: -0.770599 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.038174 deg. 2025-01-08T19:42:45.330Z,1736365365.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817775 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:45.338Z,1736365365.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:45.341Z,1736365365.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512381 2025-01-08T19:42:45.588Z,1736365365.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:45.588Z,1736365365.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759602 2025-01-08T19:42:45.669Z,1736365365.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:45.688Z,1736365365.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:45.690Z,1736365365.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 545.754333 m, bearing: 276.038589 deg, approach rate: -0.747467 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.038589 deg. 2025-01-08T19:42:45.695Z,1736365365.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817782 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:45.840Z,1736365365.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:45.841Z,1736365365.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011884 2025-01-08T19:42:46.062Z,1736365366.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:46.069Z,1736365366.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:46.071Z,1736365366.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:46.074Z,1736365366.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 545.451843 m, bearing: 276.039084 deg, approach rate: -0.787883 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039084 deg. 2025-01-08T19:42:46.075Z,1736365366.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817791 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:46.100Z,1736365366.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:46.102Z,1736365366.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273151 2025-01-08T19:42:46.360Z,1736365366.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:46.361Z,1736365366.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532062 2025-01-08T19:42:46.521Z,1736365366.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:46.532Z,1736365366.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:46.535Z,1736365366.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 545.125183 m, bearing: 276.039318 deg, approach rate: -0.708452 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039318 deg. 2025-01-08T19:42:46.536Z,1736365366.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817795 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:46.614Z,1736365366.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:46.615Z,1736365366.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786097 2025-01-08T19:42:46.868Z,1736365366.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:46.869Z,1736365366.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039855 2025-01-08T19:42:46.870Z,1736365366.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:46.899Z,1736365366.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:46.905Z,1736365366.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 544.873840 m, bearing: 276.039508 deg, approach rate: -0.686225 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039508 deg. 2025-01-08T19:42:46.906Z,1736365366.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817798 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:47.120Z,1736365367.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:47.120Z,1736365367.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291626 2025-01-08T19:42:47.338Z,1736365367.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:47.370Z,1736365367.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:47.372Z,1736365367.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:47.372Z,1736365367.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543779 2025-01-08T19:42:47.378Z,1736365367.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 544.581116 m, bearing: 276.039806 deg, approach rate: -0.620599 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039806 deg. 2025-01-08T19:42:47.384Z,1736365367.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817803 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:47.624Z,1736365367.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:47.625Z,1736365367.625 [DAT](INFO): DAT read: Rx Time:19:42:46.3764 2025-01-08T19:42:47.625Z,1736365367.625 [DAT](INFO): Rx dataTimestamp_ set to:1736365367.624694 2025-01-08T19:42:47.625Z,1736365367.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.796806 2025-01-08T19:42:47.693Z,1736365367.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:47.702Z,1736365367.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:47.710Z,1736365367.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 544.358704 m, bearing: 276.040013 deg, approach rate: -0.670184 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.040013 deg. 2025-01-08T19:42:47.712Z,1736365367.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817807 target range: 78.099998 and range: 585.20 m. 2025-01-08T19:42:47.876Z,1736365367.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:47.877Z,1736365367.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.048126 2025-01-08T19:42:48.110Z,1736365368.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:48.118Z,1736365368.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:48.129Z,1736365368.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:48.136Z,1736365368.136 [DAT](INFO): DAT read: 19:42:46.3764 LVL= 22576, 25265, 19394, 32755, AGC= 71, IDX= 278,-0.02,-2.541, 2.203,-2.504, 3.012, PHS= 0.819,-0.762, 0.764, RAW= 148.3, -10.6, CAL= 155.0, -18.8, ROT= 355.0, 18.8 2025-01-08T19:42:48.137Z,1736365368.137 [DAT](INFO): got valid direction response: 19:42:46.3764 LVL= 22576, 25265, 19394, 32755, AGC= 71, IDX= 278,-0.02,-2.541, 2.203,-2.504, 3.012, PHS= 0.819,-0.762, 0.764, RAW= 148.3, -10.6, CAL= 155.0, -18.8, ROT= 355.0, 18.8 2025-01-08T19:42:48.138Z,1736365368.138 [DAT](INFO): DAT read: Bearing 355.0, 18.8 (Local) 2025-01-08T19:42:48.138Z,1736365368.138 [DAT](INFO): Local bearing/azimuth received: Bearing 355.0, 18.8 (Local) 2025-01-08T19:42:48.139Z,1736365368.139 [DAT](INFO): DAT read: Range 10 to 50 : 566.7 m (Round-trip 755.6 ms) speed 0.4 m/s 2025-01-08T19:42:48.140Z,1736365368.140 [DAT](INFO): DAT read: user:773> 2025-01-08T19:42:48.141Z,1736365368.141 [DAT](INFO): DAT read: Tx time:19:42:47.4666 2025-01-08T19:42:48.141Z,1736365368.141 [DAT](INFO): Ping request sent. 2025-01-08T19:42:48.141Z,1736365368.141 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:42:48.142Z,1736365368.142 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:42:48.142Z,1736365368.142 [DAT](INFO): direction in FSK: [0.085949,-0.810571,0.579299] 2025-01-08T19:42:48.143Z,1736365368.143 [DAT](INFO): publishing transmit ping time 2025-01-08T19:42:48.143Z,1736365368.143 [DAT](INFO): publishing direction and range info 2025-01-08T19:42:48.147Z,1736365368.147 [DAT](INFO): publishing transmit ping time 2025-01-08T19:42:48.147Z,1736365368.147 [DAT](INFO): publishing direction and range info 2025-01-08T19:42:48.157Z,1736365368.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 566.700012 m, deltaT: 37.069045 s, deltaX: -18.500000 m, approachRate: -0.499069 m/s, rangeRepo size: 3 2025-01-08T19:42:48.157Z,1736365368.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:48.160Z,1736365368.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 544.097656 m, bearing: 276.040188 deg, approach rate: -0.575130 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.040188 deg. 2025-01-08T19:42:48.162Z,1736365368.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817810 target range: 78.099998 and range: 566.70 m. 2025-01-08T19:42:48.380Z,1736365368.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:48.381Z,1736365368.381 [DAT](INFO): DAT read: TxSync time:19:42:47.4659 2025-01-08T19:42:48.549Z,1736365368.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:48.632Z,1736365368.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:48.657Z,1736365368.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:48.666Z,1736365368.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 543.851257 m, bearing: 276.039939 deg, approach rate: -0.491861 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039939 deg. 2025-01-08T19:42:48.672Z,1736365368.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817806 target range: 78.099998 and range: 566.70 m. 2025-01-08T19:42:48.884Z,1736365368.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:48.957Z,1736365368.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:48.966Z,1736365368.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:48.969Z,1736365368.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 543.622681 m, bearing: 276.039614 deg, approach rate: -0.739570 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039614 deg. 2025-01-08T19:42:48.970Z,1736365368.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817800 target range: 78.099998 and range: 566.70 m. 2025-01-08T19:42:49.136Z,1736365369.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:49.388Z,1736365369.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:49.421Z,1736365369.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:49.438Z,1736365369.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:49.451Z,1736365369.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 543.391052 m, bearing: 276.039156 deg, approach rate: -0.490547 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039156 deg. 2025-01-08T19:42:49.456Z,1736365369.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817792 target range: 78.099998 and range: 566.70 m. 2025-01-08T19:42:49.640Z,1736365369.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:49.770Z,1736365369.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:49.780Z,1736365369.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:49.782Z,1736365369.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 543.216797 m, bearing: 276.038689 deg, approach rate: -0.510969 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.038689 deg. 2025-01-08T19:42:49.784Z,1736365369.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817784 target range: 78.099998 and range: 566.70 m. 2025-01-08T19:42:49.892Z,1736365369.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:50.144Z,1736365370.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:50.172Z,1736365370.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:50.188Z,1736365370.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:50.190Z,1736365370.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:50.196Z,1736365370.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 543.016418 m, bearing: 276.038019 deg, approach rate: -0.488350 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.038019 deg. 2025-01-08T19:42:50.197Z,1736365370.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817772 target range: 78.099998 and range: 566.70 m. 2025-01-08T19:42:50.396Z,1736365370.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:50.397Z,1736365370.397 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:50.398Z,1736365370.398 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:50.398Z,1736365370.398 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:50.630Z,1736365370.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:50.648Z,1736365370.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:50.649Z,1736365370.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507889 2025-01-08T19:42:50.678Z,1736365370.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:50.686Z,1736365370.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 542.797791 m, bearing: 276.036854 deg, approach rate: -0.448041 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.036854 deg. 2025-01-08T19:42:50.687Z,1736365370.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817752 target range: 78.099998 and range: 566.70 m. 2025-01-08T19:42:50.900Z,1736365370.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:50.900Z,1736365370.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759009 2025-01-08T19:42:50.992Z,1736365370.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:51.001Z,1736365371.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:51.004Z,1736365371.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 542.624634 m, bearing: 276.035848 deg, approach rate: -0.534697 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.035848 deg. 2025-01-08T19:42:51.005Z,1736365371.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817734 target range: 78.099998 and range: 566.70 m. 2025-01-08T19:42:51.152Z,1736365371.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:51.153Z,1736365371.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011550 2025-01-08T19:42:51.405Z,1736365371.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:51.407Z,1736365371.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265375 2025-01-08T19:42:51.429Z,1736365371.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:51.457Z,1736365371.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:51.461Z,1736365371.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 542.409729 m, bearing: 276.034709 deg, approach rate: -0.471765 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.034709 deg. 2025-01-08T19:42:51.462Z,1736365371.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817715 target range: 78.099998 and range: 566.70 m. 2025-01-08T19:42:51.657Z,1736365371.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:51.658Z,1736365371.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516397 2025-01-08T19:42:51.801Z,1736365371.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:51.810Z,1736365371.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:51.814Z,1736365371.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 542.226440 m, bearing: 276.033663 deg, approach rate: -0.519889 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.033663 deg. 2025-01-08T19:42:51.814Z,1736365371.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817696 target range: 78.099998 and range: 566.70 m. 2025-01-08T19:42:51.908Z,1736365371.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:51.909Z,1736365371.909 [DAT](INFO): DAT read: Rx Time:19:42:50.6309 2025-01-08T19:42:51.910Z,1736365371.910 [DAT](INFO): Rx dataTimestamp_ set to:1736365371.909332 2025-01-08T19:42:51.910Z,1736365371.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768857 2025-01-08T19:42:52.160Z,1736365372.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:52.161Z,1736365372.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019137 2025-01-08T19:42:52.203Z,1736365372.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:52.210Z,1736365372.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:52.213Z,1736365372.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:52.232Z,1736365372.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 542.028259 m, bearing: 276.032478 deg, approach rate: -0.491376 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.032478 deg. 2025-01-08T19:42:52.233Z,1736365372.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817676 target range: 78.099998 and range: 566.70 m. 2025-01-08T19:42:52.412Z,1736365372.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:52.419Z,1736365372.419 [DAT](INFO): DAT read: 19:42:50.6310 LVL= 32240, 32753, 28482, 32755, AGC= 70, IDX= 483,-0.05,-2.063, 2.994,-1.986,-2.693, PHS= 0.718,-0.549, 0.704, RAW= 149.5, -13.8, CAL= 156.2, -21.4, ROT= 353.8, 21.4 2025-01-08T19:42:52.420Z,1736365372.420 [DAT](INFO): got valid direction response: 19:42:50.6310 LVL= 32240, 32753, 28482, 32755, AGC= 70, IDX= 483,-0.05,-2.063, 2.994,-1.986,-2.693, PHS= 0.718,-0.549, 0.704, RAW= 149.5, -13.8, CAL= 156.2, -21.4, ROT= 353.8, 21.4 2025-01-08T19:42:52.422Z,1736365372.422 [DAT](INFO): DAT read: Bearing 353.8, 21.4 (Local) 2025-01-08T19:42:52.423Z,1736365372.423 [DAT](INFO): Local bearing/azimuth received: Bearing 353.8, 21.4 (Local) 2025-01-08T19:42:52.426Z,1736365372.426 [DAT](INFO): DAT read: Range 10 to 50 : 570.0 m (Round-trip 760.1 ms) speed 0.4 m/s 2025-01-08T19:42:52.428Z,1736365372.428 [DAT](INFO): DAT read: user:774> 2025-01-08T19:42:52.430Z,1736365372.430 [DAT](INFO): DAT read: Tx time:19:42:51.7167 2025-01-08T19:42:52.431Z,1736365372.431 [DAT](INFO): Ping request sent. 2025-01-08T19:42:52.432Z,1736365372.432 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:42:52.432Z,1736365372.432 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:42:52.435Z,1736365372.435 [DAT](INFO): direction in FSK: [0.148940,-0.816009,0.558521] 2025-01-08T19:42:52.435Z,1736365372.435 [DAT](INFO): publishing transmit ping time 2025-01-08T19:42:52.435Z,1736365372.435 [DAT](INFO): publishing direction and range info 2025-01-08T19:42:52.438Z,1736365372.438 [DAT](INFO): publishing transmit ping time 2025-01-08T19:42:52.439Z,1736365372.439 [DAT](INFO): publishing direction and range info 2025-01-08T19:42:52.664Z,1736365372.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:52.666Z,1736365372.666 [DAT](INFO): DAT read: TxSync time:19:42:51.7160 2025-01-08T19:42:52.687Z,1736365372.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:52.709Z,1736365372.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 570.000000 m, deltaT: 4.283216 s, deltaX: 3.299988 m, approachRate: 0.770446 m/s, rangeRepo size: 4 2025-01-08T19:42:52.709Z,1736365372.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:52.717Z,1736365372.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 541.763428 m, bearing: 276.030693 deg, approach rate: -0.534799 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.030693 deg. 2025-01-08T19:42:52.718Z,1736365372.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817645 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:52.916Z,1736365372.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:53.012Z,1736365373.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:53.021Z,1736365373.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:53.039Z,1736365373.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 541.581970 m, bearing: 276.029512 deg, approach rate: -0.580460 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.029512 deg. 2025-01-08T19:42:53.040Z,1736365373.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817624 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:53.168Z,1736365373.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:53.420Z,1736365373.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:53.470Z,1736365373.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:53.479Z,1736365373.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:53.482Z,1736365373.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 541.291504 m, bearing: 276.027905 deg, approach rate: -0.633749 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027905 deg. 2025-01-08T19:42:53.483Z,1736365373.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817596 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:53.677Z,1736365373.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:53.817Z,1736365373.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:53.825Z,1736365373.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:53.828Z,1736365373.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 541.071350 m, bearing: 276.026826 deg, approach rate: -0.636441 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.026826 deg. 2025-01-08T19:42:53.829Z,1736365373.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817577 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:53.928Z,1736365373.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:54.180Z,1736365374.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:54.264Z,1736365374.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:54.270Z,1736365374.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:54.299Z,1736365374.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:54.302Z,1736365374.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 540.787598 m, bearing: 276.025494 deg, approach rate: -0.598371 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.025494 deg. 2025-01-08T19:42:54.303Z,1736365374.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817554 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:54.435Z,1736365374.435 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:54.437Z,1736365374.437 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:54.437Z,1736365374.437 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:54.438Z,1736365374.438 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:42:54.684Z,1736365374.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:54.684Z,1736365374.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253408 2025-01-08T19:42:54.750Z,1736365374.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:54.759Z,1736365374.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:54.762Z,1736365374.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 540.436096 m, bearing: 276.024605 deg, approach rate: -0.764862 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.024605 deg. 2025-01-08T19:42:54.763Z,1736365374.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817538 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:54.936Z,1736365374.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:54.936Z,1736365374.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505480 2025-01-08T19:42:55.135Z,1736365375.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:55.143Z,1736365375.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:55.146Z,1736365375.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 540.158264 m, bearing: 276.024041 deg, approach rate: -0.722956 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.024041 deg. 2025-01-08T19:42:55.148Z,1736365375.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817528 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:55.188Z,1736365375.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:55.189Z,1736365375.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757747 2025-01-08T19:42:55.441Z,1736365375.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:55.442Z,1736365375.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011515 2025-01-08T19:42:55.618Z,1736365375.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:55.627Z,1736365375.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:55.630Z,1736365375.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 539.772339 m, bearing: 276.023751 deg, approach rate: -0.798145 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.023751 deg. 2025-01-08T19:42:55.631Z,1736365375.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817523 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:55.692Z,1736365375.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:55.693Z,1736365375.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261932 2025-01-08T19:42:55.944Z,1736365375.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:55.945Z,1736365375.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514322 2025-01-08T19:42:55.982Z,1736365375.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:55.990Z,1736365375.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:55.999Z,1736365375.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 539.481140 m, bearing: 276.023680 deg, approach rate: -0.801106 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.023680 deg. 2025-01-08T19:42:56.020Z,1736365376.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817522 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:56.196Z,1736365376.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:56.197Z,1736365376.197 [DAT](INFO): DAT read: Rx Time:19:42:54.8622 2025-01-08T19:42:56.197Z,1736365376.197 [DAT](INFO): Rx dataTimestamp_ set to:1736365376.196768 2025-01-08T19:42:56.198Z,1736365376.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766733 2025-01-08T19:42:56.448Z,1736365376.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:56.448Z,1736365376.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017605 2025-01-08T19:42:56.469Z,1736365376.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:56.480Z,1736365376.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:56.482Z,1736365376.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:56.484Z,1736365376.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 539.069519 m, bearing: 276.023628 deg, approach rate: -0.837370 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.023628 deg. 2025-01-08T19:42:56.485Z,1736365376.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817521 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:56.700Z,1736365376.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:56.706Z,1736365376.706 [DAT](INFO): DAT read: 19:42:54.8622 LVL= 20160, 27345, 18226, 30547, AGC= 73, IDX= 243,-0.29,-0.994,-2.316,-0.806,-1.416, PHS= 0.510,-0.854, 0.606, RAW= 153.4, -3.8, CAL= 157.4, -12.1, ROT= 352.6, 12.1 2025-01-08T19:42:56.708Z,1736365376.708 [DAT](INFO): got valid direction response: 19:42:54.8622 LVL= 20160, 27345, 18226, 30547, AGC= 73, IDX= 243,-0.29,-0.994,-2.316,-0.806,-1.416, PHS= 0.510,-0.854, 0.606, RAW= 153.4, -3.8, CAL= 157.4, -12.1, ROT= 352.6, 12.1 2025-01-08T19:42:56.709Z,1736365376.709 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:42:56.709Z,1736365376.709 [DAT](INFO): Received a bad header 2025-01-08T19:42:56.722Z,1736365376.722 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T19:42:56.723Z,1736365376.723 [DAT](INFO): direction in FSK: [-0.045911,-0.865159,0.499391] 2025-01-08T19:42:56.726Z,1736365376.726 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:56.726Z,1736365376.726 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:56.726Z,1736365376.726 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:56.868Z,1736365376.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:56.877Z,1736365376.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:56.881Z,1736365376.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 538.732300 m, bearing: 276.024068 deg, approach rate: -0.852837 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.024068 deg. 2025-01-08T19:42:56.882Z,1736365376.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817529 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:56.954Z,1736365376.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:56.954Z,1736365376.954 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:56.954Z,1736365376.954 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:56.954Z,1736365376.954 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:57.204Z,1736365377.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:57.204Z,1736365377.204 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:57.204Z,1736365377.204 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:57.204Z,1736365377.204 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:57.244Z,1736365377.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:57.265Z,1736365377.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:57.271Z,1736365377.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 538.415466 m, bearing: 276.024621 deg, approach rate: -0.815669 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.024621 deg. 2025-01-08T19:42:57.274Z,1736365377.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817538 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:57.456Z,1736365377.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:57.456Z,1736365377.456 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:57.456Z,1736365377.456 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:57.457Z,1736365377.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:57.689Z,1736365377.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:57.700Z,1736365377.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:57.702Z,1736365377.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 538.038696 m, bearing: 276.026300 deg, approach rate: -0.868560 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.026300 deg. 2025-01-08T19:42:57.703Z,1736365377.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817568 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:57.708Z,1736365377.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:57.708Z,1736365377.708 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:57.708Z,1736365377.708 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:57.708Z,1736365377.708 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:57.960Z,1736365377.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:57.962Z,1736365377.962 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:57.962Z,1736365377.962 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:57.962Z,1736365377.962 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:58.039Z,1736365378.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:58.065Z,1736365378.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:58.073Z,1736365378.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 537.743225 m, bearing: 276.027720 deg, approach rate: -0.807393 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027720 deg. 2025-01-08T19:42:58.074Z,1736365378.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817593 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:58.213Z,1736365378.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:58.214Z,1736365378.214 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:58.214Z,1736365378.214 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:58.214Z,1736365378.214 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:58.465Z,1736365378.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:58.466Z,1736365378.466 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:58.466Z,1736365378.466 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:58.467Z,1736365378.467 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:58.554Z,1736365378.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:58.569Z,1736365378.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:42:58.572Z,1736365378.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:58.574Z,1736365378.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 537.331543 m, bearing: 276.030364 deg, approach rate: -0.813273 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.030364 deg. 2025-01-08T19:42:58.588Z,1736365378.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817639 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:58.716Z,1736365378.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:58.716Z,1736365378.716 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:58.716Z,1736365378.716 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:58.716Z,1736365378.716 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:58.854Z,1736365378.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:58.864Z,1736365378.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:58.866Z,1736365378.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 537.091431 m, bearing: 276.031937 deg, approach rate: -0.822640 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.031937 deg. 2025-01-08T19:42:58.887Z,1736365378.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817666 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:58.968Z,1736365378.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:58.968Z,1736365378.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:58.968Z,1736365378.968 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:58.968Z,1736365378.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:59.220Z,1736365379.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:59.220Z,1736365379.220 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:59.220Z,1736365379.220 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:59.220Z,1736365379.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:59.289Z,1736365379.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:59.298Z,1736365379.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:59.301Z,1736365379.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 536.744202 m, bearing: 276.034248 deg, approach rate: -0.799470 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.034248 deg. 2025-01-08T19:42:59.302Z,1736365379.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817707 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:59.473Z,1736365379.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:59.475Z,1736365379.475 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:59.475Z,1736365379.475 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:59.476Z,1736365379.476 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:59.704Z,1736365379.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:42:59.713Z,1736365379.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:42:59.716Z,1736365379.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 536.443359 m, bearing: 276.036261 deg, approach rate: -0.723452 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.036261 deg. 2025-01-08T19:42:59.717Z,1736365379.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817741 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:42:59.724Z,1736365379.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:59.724Z,1736365379.724 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:59.724Z,1736365379.724 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:59.725Z,1736365379.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:42:59.976Z,1736365379.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:42:59.976Z,1736365379.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:42:59.976Z,1736365379.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:42:59.976Z,1736365379.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:43:00.067Z,1736365380.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:00.076Z,1736365380.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:00.079Z,1736365380.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 536.180725 m, bearing: 276.037983 deg, approach rate: -0.725263 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.037983 deg. 2025-01-08T19:43:00.080Z,1736365380.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817771 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:00.228Z,1736365380.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:00.229Z,1736365380.229 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:00.229Z,1736365380.229 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:00.229Z,1736365380.229 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:43:00.482Z,1736365380.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:00.482Z,1736365380.482 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:00.483Z,1736365380.483 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:00.483Z,1736365380.483 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:43:00.569Z,1736365380.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:00.576Z,1736365380.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:00.579Z,1736365380.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:00.581Z,1736365380.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 535.856567 m, bearing: 276.040199 deg, approach rate: -0.645190 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.040199 deg. 2025-01-08T19:43:00.582Z,1736365380.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817811 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:00.734Z,1736365380.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:00.735Z,1736365380.735 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:00.735Z,1736365380.735 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:00.735Z,1736365380.735 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:43:00.871Z,1736365380.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:00.881Z,1736365380.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:00.884Z,1736365380.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 535.661804 m, bearing: 276.041479 deg, approach rate: -0.643142 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.041479 deg. 2025-01-08T19:43:00.885Z,1736365380.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817832 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:00.984Z,1736365380.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:00.985Z,1736365380.985 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:00.985Z,1736365380.985 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:00.985Z,1736365380.985 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:43:01.236Z,1736365381.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:01.236Z,1736365381.236 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:01.236Z,1736365381.236 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:01.236Z,1736365381.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:43:01.301Z,1736365381.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:01.313Z,1736365381.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:01.320Z,1736365381.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 535.384277 m, bearing: 276.043227 deg, approach rate: -0.641926 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.043227 deg. 2025-01-08T19:43:01.321Z,1736365381.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817863 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:01.491Z,1736365381.491 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:01.508Z,1736365381.508 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:01.508Z,1736365381.508 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:01.509Z,1736365381.509 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:43:01.715Z,1736365381.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:01.723Z,1736365381.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:01.726Z,1736365381.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 535.146912 m, bearing: 276.044790 deg, approach rate: -0.579045 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.044790 deg. 2025-01-08T19:43:01.727Z,1736365381.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817891 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:01.740Z,1736365381.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:01.740Z,1736365381.740 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:01.740Z,1736365381.740 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:01.740Z,1736365381.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:43:01.992Z,1736365381.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:01.992Z,1736365381.992 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:01.992Z,1736365381.992 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:01.992Z,1736365381.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:43:02.086Z,1736365382.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:02.095Z,1736365382.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:02.098Z,1736365382.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 534.934326 m, bearing: 276.046106 deg, approach rate: -0.573211 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.046106 deg. 2025-01-08T19:43:02.099Z,1736365382.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817914 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:02.245Z,1736365382.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:02.245Z,1736365382.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:02.246Z,1736365382.246 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:02.246Z,1736365382.246 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:43:02.498Z,1736365382.498 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:02.500Z,1736365382.500 [DAT](INFO): Reached modem response timeout 2025-01-08T19:43:02.501Z,1736365382.501 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:43:02.501Z,1736365382.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:02.594Z,1736365382.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:02.605Z,1736365382.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:02.608Z,1736365382.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:02.623Z,1736365382.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 534.665283 m, bearing: 276.046243 deg, approach rate: -0.524130 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.046243 deg. 2025-01-08T19:43:02.625Z,1736365382.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817916 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:02.748Z,1736365382.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:02.748Z,1736365382.748 [DAT](INFO): Reached modem response timeout 2025-01-08T19:43:02.748Z,1736365382.748 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:43:02.749Z,1736365382.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:02.941Z,1736365382.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:02.950Z,1736365382.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:02.952Z,1736365382.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 534.481445 m, bearing: 276.046278 deg, approach rate: -0.537038 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.046278 deg. 2025-01-08T19:43:02.953Z,1736365382.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817916 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:03.000Z,1736365383.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:03.002Z,1736365383.002 [DAT](INFO): Reached modem response timeout 2025-01-08T19:43:03.002Z,1736365383.002 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:43:03.003Z,1736365383.003 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:03.252Z,1736365383.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:03.252Z,1736365383.252 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:43:03.253Z,1736365383.253 [DAT](INFO): response not received 2025-01-08T19:43:03.253Z,1736365383.253 [DAT](INFO): DAT read: user:776> 2025-01-08T19:43:03.253Z,1736365383.253 [DAT](ERROR): No response from remote modem. 2025-01-08T19:43:03.254Z,1736365383.254 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:43:03.254Z,1736365383.254 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:03.321Z,1736365383.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:03.342Z,1736365383.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:03.349Z,1736365383.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 534.279663 m, bearing: 276.046228 deg, approach rate: -0.513723 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.046228 deg. 2025-01-08T19:43:03.350Z,1736365383.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817915 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:03.506Z,1736365383.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:03.508Z,1736365383.508 [DAT](INFO): DAT read: Tx time:19:43:02.6667 2025-01-08T19:43:03.509Z,1736365383.509 [DAT](INFO): Ping request sent. 2025-01-08T19:43:03.509Z,1736365383.509 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:03.526Z,1736365383.526 [DAT](INFO): DAT read: TxSync time:19:43:02.6660 2025-01-08T19:43:03.532Z,1736365383.532 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:03.534Z,1736365383.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.024308 2025-01-08T19:43:03.736Z,1736365383.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:03.756Z,1736365383.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:03.756Z,1736365383.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247264 2025-01-08T19:43:03.764Z,1736365383.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:03.767Z,1736365383.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 534.065186 m, bearing: 276.045356 deg, approach rate: -0.508576 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.045356 deg. 2025-01-08T19:43:03.772Z,1736365383.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817900 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:04.008Z,1736365384.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:04.009Z,1736365384.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499457 2025-01-08T19:43:04.107Z,1736365384.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:04.117Z,1736365384.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:04.120Z,1736365384.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 533.872864 m, bearing: 276.044504 deg, approach rate: -0.544819 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.044504 deg. 2025-01-08T19:43:04.125Z,1736365384.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817885 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:04.260Z,1736365384.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:04.261Z,1736365384.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751707 2025-01-08T19:43:04.514Z,1736365384.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:04.533Z,1736365384.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.023458 2025-01-08T19:43:04.602Z,1736365384.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:04.610Z,1736365384.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:04.612Z,1736365384.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:04.614Z,1736365384.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 533.601990 m, bearing: 276.042997 deg, approach rate: -0.547375 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042997 deg. 2025-01-08T19:43:04.616Z,1736365384.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817859 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:04.764Z,1736365384.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:04.764Z,1736365384.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255344 2025-01-08T19:43:04.932Z,1736365384.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:04.941Z,1736365384.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:04.943Z,1736365384.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 533.421631 m, bearing: 276.041993 deg, approach rate: -0.548710 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.041993 deg. 2025-01-08T19:43:04.945Z,1736365384.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817842 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:05.016Z,1736365385.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:05.018Z,1736365385.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508359 2025-01-08T19:43:05.268Z,1736365385.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:05.270Z,1736365385.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760383 2025-01-08T19:43:05.321Z,1736365385.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:05.329Z,1736365385.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:05.332Z,1736365385.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 533.209167 m, bearing: 276.040700 deg, approach rate: -0.546459 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.040700 deg. 2025-01-08T19:43:05.333Z,1736365385.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817819 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:05.521Z,1736365385.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:05.524Z,1736365385.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013900 2025-01-08T19:43:05.715Z,1736365385.715 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:43:05.742Z,1736365385.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:05.768Z,1736365385.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:05.770Z,1736365385.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 532.962219 m, bearing: 276.038710 deg, approach rate: -0.563762 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.038710 deg. 2025-01-08T19:43:05.772Z,1736365385.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:05.773Z,1736365385.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263417 2025-01-08T19:43:05.775Z,1736365385.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817784 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:06.024Z,1736365386.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:06.024Z,1736365386.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515302 2025-01-08T19:43:06.128Z,1736365386.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:06.137Z,1736365386.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:06.140Z,1736365386.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 532.736084 m, bearing: 276.036866 deg, approach rate: -0.611247 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.036866 deg. 2025-01-08T19:43:06.141Z,1736365386.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817752 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:06.276Z,1736365386.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:06.276Z,1736365386.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767188 2025-01-08T19:43:06.529Z,1736365386.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:06.532Z,1736365386.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021962 2025-01-08T19:43:06.632Z,1736365386.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:06.643Z,1736365386.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:06.645Z,1736365386.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:06.650Z,1736365386.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 532.411743 m, bearing: 276.034726 deg, approach rate: -0.638894 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.034726 deg. 2025-01-08T19:43:06.668Z,1736365386.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817715 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:06.721Z,1736365386.721 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:43:06.780Z,1736365386.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:06.781Z,1736365386.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271418 2025-01-08T19:43:06.964Z,1736365386.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:06.973Z,1736365386.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:06.975Z,1736365386.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 532.197815 m, bearing: 276.033314 deg, approach rate: -0.653096 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.033314 deg. 2025-01-08T19:43:06.976Z,1736365386.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817690 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:07.032Z,1736365387.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:07.033Z,1736365387.033 [DAT](INFO): DAT read: Rx Time:19:43:05.8022 2025-01-08T19:43:07.034Z,1736365387.034 [DAT](INFO): Rx dataTimestamp_ set to:1736365387.032916 2025-01-08T19:43:07.034Z,1736365387.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524916 2025-01-08T19:43:07.284Z,1736365387.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:07.284Z,1736365387.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775285 2025-01-08T19:43:07.349Z,1736365387.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:07.358Z,1736365387.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:07.361Z,1736365387.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 531.949768 m, bearing: 276.031739 deg, approach rate: -0.644214 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.031739 deg. 2025-01-08T19:43:07.362Z,1736365387.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817663 target range: 78.099998 and range: 570.00 m. 2025-01-08T19:43:07.554Z,1736365387.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:07.599Z,1736365387.599 [DAT](INFO): DAT read: 19:43:05.8023 LVL= 20240, 28097, 17954, 32403, AGC= 70, IDX= 430, 0.19,-0.996,-2.338,-0.842,-1.635, PHS= 0.727,-0.656, 0.790, RAW= 152.2, -12.1, CAL= 159.1, -19.5, ROT= 350.9, 19.5 2025-01-08T19:43:07.609Z,1736365387.609 [DAT](INFO): got valid direction response: 19:43:05.8023 LVL= 20240, 28097, 17954, 32403, AGC= 70, IDX= 430, 0.19,-0.996,-2.338,-0.842,-1.635, PHS= 0.727,-0.656, 0.790, RAW= 152.2, -12.1, CAL= 159.1, -19.5, ROT= 350.9, 19.5 2025-01-08T19:43:07.616Z,1736365387.616 [DAT](INFO): DAT read: Bearing 350.9, 19.5 (Local) 2025-01-08T19:43:07.617Z,1736365387.617 [DAT](INFO): Local bearing/azimuth received: Bearing 350.9, 19.5 (Local) 2025-01-08T19:43:07.624Z,1736365387.624 [DAT](INFO): DAT read: Range 10 to 50 : 548.4 m (Round-trip 731.3 ms) speed 0.7 m/s 2025-01-08T19:43:07.626Z,1736365387.626 [DAT](INFO): DAT read: user:777> 2025-01-08T19:43:07.637Z,1736365387.637 [DAT](INFO): DAT read: Tx time:19:43:06.9168 2025-01-08T19:43:07.638Z,1736365387.638 [DAT](INFO): Ping request sent. 2025-01-08T19:43:07.638Z,1736365387.638 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:07.643Z,1736365387.643 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:07.644Z,1736365387.644 [DAT](INFO): direction in FSK: [0.118455,-0.846772,0.518599] 2025-01-08T19:43:07.645Z,1736365387.645 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:07.646Z,1736365387.646 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:07.658Z,1736365387.658 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:07.659Z,1736365387.659 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:07.804Z,1736365387.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:07.804Z,1736365387.804 [DAT](INFO): DAT read: TxSync time:19:43:06.9161 2025-01-08T19:43:07.831Z,1736365387.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:07.858Z,1736365387.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 548.400024 m, deltaT: 15.142029 s, deltaX: -21.599976 m, approachRate: -1.426491 m/s, rangeRepo size: 4 2025-01-08T19:43:07.858Z,1736365387.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:07.865Z,1736365387.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 531.618896 m, bearing: 276.030142 deg, approach rate: -0.662971 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.030142 deg. 2025-01-08T19:43:07.866Z,1736365387.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817635 target range: 78.099998 and range: 548.40 m. 2025-01-08T19:43:08.056Z,1736365388.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:08.168Z,1736365388.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:08.177Z,1736365388.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:08.200Z,1736365388.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 531.382446 m, bearing: 276.029065 deg, approach rate: -0.739307 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.029065 deg. 2025-01-08T19:43:08.201Z,1736365388.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817616 target range: 78.099998 and range: 548.40 m. 2025-01-08T19:43:08.308Z,1736365388.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:08.561Z,1736365388.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:08.696Z,1736365388.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:08.706Z,1736365388.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:08.708Z,1736365388.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:08.712Z,1736365388.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 531.005981 m, bearing: 276.028450 deg, approach rate: -0.708071 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.028450 deg. 2025-01-08T19:43:08.713Z,1736365388.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817605 target range: 78.099998 and range: 548.40 m. 2025-01-08T19:43:08.812Z,1736365388.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:08.813Z,1736365388.813 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:08.813Z,1736365388.813 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:08.813Z,1736365388.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:08.999Z,1736365388.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:09.008Z,1736365389.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:09.010Z,1736365389.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 530.788513 m, bearing: 276.028201 deg, approach rate: -0.726694 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.028201 deg. 2025-01-08T19:43:09.012Z,1736365389.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817601 target range: 78.099998 and range: 548.40 m. 2025-01-08T19:43:09.064Z,1736365389.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:09.065Z,1736365389.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.427365 2025-01-08T19:43:09.316Z,1736365389.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:09.316Z,1736365389.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678378 2025-01-08T19:43:09.405Z,1736365389.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:09.419Z,1736365389.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:09.422Z,1736365389.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 530.498535 m, bearing: 276.027964 deg, approach rate: -0.710948 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027964 deg. 2025-01-08T19:43:09.423Z,1736365389.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817597 target range: 78.099998 and range: 548.40 m. 2025-01-08T19:43:09.570Z,1736365389.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:09.579Z,1736365389.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940340 2025-01-08T19:43:09.821Z,1736365389.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:09.822Z,1736365389.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183564 2025-01-08T19:43:09.836Z,1736365389.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:09.845Z,1736365389.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:09.848Z,1736365389.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 530.182007 m, bearing: 276.028665 deg, approach rate: -0.736210 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.028665 deg. 2025-01-08T19:43:09.849Z,1736365389.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817609 target range: 78.099998 and range: 548.40 m. 2025-01-08T19:43:10.072Z,1736365390.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:10.073Z,1736365390.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.435449 2025-01-08T19:43:10.213Z,1736365390.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:10.246Z,1736365390.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:10.249Z,1736365390.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 529.905579 m, bearing: 276.029272 deg, approach rate: -0.689745 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.029272 deg. 2025-01-08T19:43:10.250Z,1736365390.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817620 target range: 78.099998 and range: 548.40 m. 2025-01-08T19:43:10.324Z,1736365390.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:10.325Z,1736365390.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.686716 2025-01-08T19:43:10.591Z,1736365390.591 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:10.593Z,1736365390.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954593 2025-01-08T19:43:10.718Z,1736365390.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:10.733Z,1736365390.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:10.737Z,1736365390.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:10.772Z,1736365390.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 529.540405 m, bearing: 276.030563 deg, approach rate: -0.744081 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.030563 deg. 2025-01-08T19:43:10.773Z,1736365390.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817642 target range: 78.099998 and range: 548.40 m. 2025-01-08T19:43:10.841Z,1736365390.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:10.842Z,1736365390.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203930 2025-01-08T19:43:11.060Z,1736365391.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:11.070Z,1736365391.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:11.072Z,1736365391.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 529.293152 m, bearing: 276.031439 deg, approach rate: -0.743201 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.031439 deg. 2025-01-08T19:43:11.073Z,1736365391.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817657 target range: 78.099998 and range: 548.40 m. 2025-01-08T19:43:11.094Z,1736365391.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:11.096Z,1736365391.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457092 2025-01-08T19:43:11.344Z,1736365391.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:11.345Z,1736365391.345 [DAT](INFO): DAT read: Rx Time:19:43:10.0485 2025-01-08T19:43:11.346Z,1736365391.346 [DAT](INFO): Rx dataTimestamp_ set to:1736365391.345295 2025-01-08T19:43:11.346Z,1736365391.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.708163 2025-01-08T19:43:11.440Z,1736365391.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:11.450Z,1736365391.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:11.452Z,1736365391.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 529.018066 m, bearing: 276.032319 deg, approach rate: -0.723785 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.032319 deg. 2025-01-08T19:43:11.453Z,1736365391.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817673 target range: 78.099998 and range: 548.40 m. 2025-01-08T19:43:11.597Z,1736365391.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:11.600Z,1736365391.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.961790 2025-01-08T19:43:11.848Z,1736365391.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:11.854Z,1736365391.854 [DAT](INFO): DAT read: 19:43:10.0485 LVL= 21984, 29921, 16706, 26515, AGC= 71, IDX= 406, 0.13,-1.563,-2.895,-1.510,-2.107, PHS= 0.632,-0.741, 0.594, RAW= 148.6, -7.2, CAL= 154.3, -15.6, ROT= 355.7, 15.6 2025-01-08T19:43:11.855Z,1736365391.855 [DAT](INFO): got valid direction response: 19:43:10.0485 LVL= 21984, 29921, 16706, 26515, AGC= 71, IDX= 406, 0.13,-1.563,-2.895,-1.510,-2.107, PHS= 0.632,-0.741, 0.594, RAW= 148.6, -7.2, CAL= 154.3, -15.6, ROT= 355.7, 15.6 2025-01-08T19:43:11.856Z,1736365391.856 [DAT](INFO): DAT read: Bearing 355.7, 15.6 (Local) 2025-01-08T19:43:11.857Z,1736365391.857 [DAT](INFO): Local bearing/azimuth received: Bearing 355.7, 15.6 (Local) 2025-01-08T19:43:11.858Z,1736365391.858 [DAT](INFO): DAT read: Range 10 to 50 : 545.6 m (Round-trip 727.5 ms) speed 0.4 m/s 2025-01-08T19:43:11.859Z,1736365391.859 [DAT](INFO): DAT read: user:778> 2025-01-08T19:43:11.860Z,1736365391.860 [DAT](INFO): DAT read: Tx time:19:43:11.1668 2025-01-08T19:43:11.860Z,1736365391.860 [DAT](INFO): Ping request sent. 2025-01-08T19:43:11.860Z,1736365391.860 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:11.860Z,1736365391.860 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:11.862Z,1736365391.862 [DAT](INFO): direction in FSK: [0.019716,-0.818152,0.574665] 2025-01-08T19:43:11.862Z,1736365391.862 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:11.862Z,1736365391.862 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:11.872Z,1736365391.872 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:11.872Z,1736365391.872 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:11.968Z,1736365391.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:11.993Z,1736365391.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 545.599976 m, deltaT: 4.293444 s, deltaX: -2.800049 m, approachRate: -0.652168 m/s, rangeRepo size: 4 2025-01-08T19:43:11.995Z,1736365391.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:12.002Z,1736365392.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 528.642212 m, bearing: 276.033243 deg, approach rate: -0.692213 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.033243 deg. 2025-01-08T19:43:12.003Z,1736365392.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817689 target range: 78.099998 and range: 545.60 m. 2025-01-08T19:43:12.101Z,1736365392.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:12.102Z,1736365392.102 [DAT](INFO): DAT read: TxSync time:19:43:11.1661 2025-01-08T19:43:12.315Z,1736365392.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:12.323Z,1736365392.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:12.326Z,1736365392.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 528.395264 m, bearing: 276.033850 deg, approach rate: -0.747271 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.033850 deg. 2025-01-08T19:43:12.327Z,1736365392.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817699 target range: 78.099998 and range: 545.60 m. 2025-01-08T19:43:12.352Z,1736365392.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:12.605Z,1736365392.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:12.767Z,1736365392.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:12.794Z,1736365392.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:12.804Z,1736365392.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:12.807Z,1736365392.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 528.081360 m, bearing: 276.035147 deg, approach rate: -0.652609 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.035147 deg. 2025-01-08T19:43:12.808Z,1736365392.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817722 target range: 78.099998 and range: 545.60 m. 2025-01-08T19:43:12.856Z,1736365392.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:12.856Z,1736365392.856 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:12.856Z,1736365392.856 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:12.857Z,1736365392.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:13.108Z,1736365393.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:13.108Z,1736365393.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248420 2025-01-08T19:43:13.124Z,1736365393.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:13.133Z,1736365393.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:13.136Z,1736365393.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 527.832336 m, bearing: 276.036224 deg, approach rate: -0.756083 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.036224 deg. 2025-01-08T19:43:13.137Z,1736365393.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817741 target range: 78.099998 and range: 545.60 m. 2025-01-08T19:43:13.362Z,1736365393.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:13.365Z,1736365393.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504772 2025-01-08T19:43:13.550Z,1736365393.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:13.558Z,1736365393.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:13.584Z,1736365393.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 527.536804 m, bearing: 276.037494 deg, approach rate: -0.695617 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.037494 deg. 2025-01-08T19:43:13.584Z,1736365393.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817763 target range: 78.099998 and range: 545.60 m. 2025-01-08T19:43:13.612Z,1736365393.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:13.613Z,1736365393.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752552 2025-01-08T19:43:13.864Z,1736365393.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:13.865Z,1736365393.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004759 2025-01-08T19:43:13.981Z,1736365393.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:13.989Z,1736365393.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:13.992Z,1736365393.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 527.249939 m, bearing: 276.038724 deg, approach rate: -0.665968 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.038724 deg. 2025-01-08T19:43:13.993Z,1736365393.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817785 target range: 78.099998 and range: 545.60 m. 2025-01-08T19:43:14.116Z,1736365394.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:14.117Z,1736365394.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256602 2025-01-08T19:43:14.360Z,1736365394.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:14.368Z,1736365394.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:14.369Z,1736365394.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508688 2025-01-08T19:43:14.371Z,1736365394.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:14.389Z,1736365394.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 526.997620 m, bearing: 276.039807 deg, approach rate: -0.661211 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039807 deg. 2025-01-08T19:43:14.390Z,1736365394.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817803 target range: 78.099998 and range: 545.60 m. 2025-01-08T19:43:14.620Z,1736365394.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:14.621Z,1736365394.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760945 2025-01-08T19:43:14.816Z,1736365394.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:14.822Z,1736365394.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:14.825Z,1736365394.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:14.827Z,1736365394.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 526.695862 m, bearing: 276.040508 deg, approach rate: -0.664846 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.040508 deg. 2025-01-08T19:43:14.829Z,1736365394.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817816 target range: 78.099998 and range: 545.60 m. 2025-01-08T19:43:14.872Z,1736365394.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:14.874Z,1736365394.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013566 2025-01-08T19:43:15.124Z,1736365395.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:15.124Z,1736365395.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264384 2025-01-08T19:43:15.165Z,1736365395.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:15.173Z,1736365395.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:15.176Z,1736365395.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 526.465027 m, bearing: 276.041059 deg, approach rate: -0.662040 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.041059 deg. 2025-01-08T19:43:15.177Z,1736365395.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817825 target range: 78.099998 and range: 545.60 m. 2025-01-08T19:43:15.376Z,1736365395.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:15.377Z,1736365395.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516656 2025-01-08T19:43:15.568Z,1736365395.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:15.604Z,1736365395.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:15.607Z,1736365395.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 526.198425 m, bearing: 276.041720 deg, approach rate: -0.618151 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.041720 deg. 2025-01-08T19:43:15.613Z,1736365395.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817837 target range: 78.099998 and range: 545.60 m. 2025-01-08T19:43:15.629Z,1736365395.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:15.630Z,1736365395.630 [DAT](INFO): DAT read: Rx Time:19:43:14.3030 2025-01-08T19:43:15.630Z,1736365395.630 [DAT](INFO): Rx dataTimestamp_ set to:1736365395.629694 2025-01-08T19:43:15.630Z,1736365395.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770556 2025-01-08T19:43:15.880Z,1736365395.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:15.881Z,1736365395.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020866 2025-01-08T19:43:16.040Z,1736365396.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:16.065Z,1736365396.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:16.072Z,1736365396.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 525.896118 m, bearing: 276.042278 deg, approach rate: -0.655973 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042278 deg. 2025-01-08T19:43:16.073Z,1736365396.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817847 target range: 78.099998 and range: 545.60 m. 2025-01-08T19:43:16.132Z,1736365396.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:16.139Z,1736365396.139 [DAT](INFO): DAT read: 19:43:14.3030 LVL= 23760, 28337, 20338, 32755, AGC= 72, IDX= 483, 0.39,-1.279,-2.557,-1.221,-1.816, PHS= 0.625,-0.694, 0.591, RAW= 148.7, -8.1, CAL= 154.6, -16.4, ROT= 355.4, 16.4 2025-01-08T19:43:16.140Z,1736365396.140 [DAT](INFO): got valid direction response: 19:43:14.3030 LVL= 23760, 28337, 20338, 32755, AGC= 72, IDX= 483, 0.39,-1.279,-2.557,-1.221,-1.816, PHS= 0.625,-0.694, 0.591, RAW= 148.7, -8.1, CAL= 154.6, -16.4, ROT= 355.4, 16.4 2025-01-08T19:43:16.141Z,1736365396.141 [DAT](INFO): DAT read: Bearing 355.4, 16.4 (Local) 2025-01-08T19:43:16.141Z,1736365396.141 [DAT](INFO): Local bearing/azimuth received: Bearing 355.4, 16.4 (Local) 2025-01-08T19:43:16.143Z,1736365396.143 [DAT](INFO): DAT read: Range 10 to 50 : 549.0 m (Round-trip 732.0 ms) speed 0.7 m/s 2025-01-08T19:43:16.145Z,1736365396.145 [DAT](INFO): DAT read: user:779> 2025-01-08T19:43:16.145Z,1736365396.145 [DAT](INFO): DAT read: Tx time:19:43:15.4168 2025-01-08T19:43:16.146Z,1736365396.146 [DAT](INFO): Ping request sent. 2025-01-08T19:43:16.146Z,1736365396.146 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:16.146Z,1736365396.146 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:16.147Z,1736365396.147 [DAT](INFO): direction in FSK: [0.036562,-0.818549,0.573272] 2025-01-08T19:43:16.148Z,1736365396.148 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:16.148Z,1736365396.148 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:16.152Z,1736365396.152 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:16.152Z,1736365396.152 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:16.386Z,1736365396.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:16.387Z,1736365396.387 [DAT](INFO): DAT read: TxSync time:19:43:15.4161 2025-01-08T19:43:16.453Z,1736365396.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:16.484Z,1736365396.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 549.000000 m, deltaT: 4.284516 s, deltaX: 3.400024 m, approachRate: 0.793561 m/s, rangeRepo size: 4 2025-01-08T19:43:16.485Z,1736365396.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:16.492Z,1736365396.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 525.630737 m, bearing: 276.042803 deg, approach rate: -0.640809 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042803 deg. 2025-01-08T19:43:16.493Z,1736365396.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817856 target range: 78.099998 and range: 549.00 m. 2025-01-08T19:43:16.641Z,1736365396.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:16.869Z,1736365396.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:16.892Z,1736365396.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:16.901Z,1736365396.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:16.906Z,1736365396.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:16.913Z,1736365396.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 525.369812 m, bearing: 276.042755 deg, approach rate: -0.615397 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042755 deg. 2025-01-08T19:43:16.925Z,1736365396.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817855 target range: 78.099998 and range: 549.00 m. 2025-01-08T19:43:17.146Z,1736365397.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:17.147Z,1736365397.147 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:17.148Z,1736365397.148 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:17.148Z,1736365397.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:17.252Z,1736365397.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:17.260Z,1736365397.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:17.268Z,1736365397.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 525.134766 m, bearing: 276.042732 deg, approach rate: -0.659189 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042732 deg. 2025-01-08T19:43:17.269Z,1736365397.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817854 target range: 78.099998 and range: 549.00 m. 2025-01-08T19:43:17.396Z,1736365397.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:17.396Z,1736365397.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250747 2025-01-08T19:43:17.648Z,1736365397.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:17.650Z,1736365397.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503838 2025-01-08T19:43:17.658Z,1736365397.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:17.756Z,1736365397.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:17.759Z,1736365397.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 524.875305 m, bearing: 276.042747 deg, approach rate: -0.522593 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042747 deg. 2025-01-08T19:43:17.765Z,1736365397.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817855 target range: 78.099998 and range: 549.00 m. 2025-01-08T19:43:17.900Z,1736365397.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:17.901Z,1736365397.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754935 2025-01-08T19:43:18.106Z,1736365398.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:18.117Z,1736365398.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:18.120Z,1736365398.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 524.596375 m, bearing: 276.042079 deg, approach rate: -0.774177 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042079 deg. 2025-01-08T19:43:18.121Z,1736365398.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817843 target range: 78.099998 and range: 549.00 m. 2025-01-08T19:43:18.152Z,1736365398.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:18.152Z,1736365398.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006617 2025-01-08T19:43:18.404Z,1736365398.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:18.404Z,1736365398.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258665 2025-01-08T19:43:18.476Z,1736365398.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:18.486Z,1736365398.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:18.488Z,1736365398.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 524.367371 m, bearing: 276.041479 deg, approach rate: -0.620558 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.041479 deg. 2025-01-08T19:43:18.489Z,1736365398.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817832 target range: 78.099998 and range: 549.00 m. 2025-01-08T19:43:18.656Z,1736365398.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:18.658Z,1736365398.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511867 2025-01-08T19:43:18.901Z,1736365398.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:18.908Z,1736365398.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:18.908Z,1736365398.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762754 2025-01-08T19:43:18.909Z,1736365398.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:18.912Z,1736365398.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:18.915Z,1736365398.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 524.097900 m, bearing: 276.040500 deg, approach rate: -0.631967 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.040500 deg. 2025-01-08T19:43:18.916Z,1736365398.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817816 target range: 78.099998 and range: 549.00 m. 2025-01-08T19:43:19.160Z,1736365399.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:19.160Z,1736365399.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014503 2025-01-08T19:43:19.272Z,1736365399.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:19.284Z,1736365399.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:19.290Z,1736365399.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 523.862549 m, bearing: 276.039662 deg, approach rate: -0.637063 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039662 deg. 2025-01-08T19:43:19.291Z,1736365399.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817801 target range: 78.099998 and range: 549.00 m. 2025-01-08T19:43:19.412Z,1736365399.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:19.413Z,1736365399.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267414 2025-01-08T19:43:19.664Z,1736365399.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:19.665Z,1736365399.665 [DAT](INFO): DAT read: Rx Time:19:43:18.5489 2025-01-08T19:43:19.666Z,1736365399.666 [DAT](INFO): Rx dataTimestamp_ set to:1736365399.665409 2025-01-08T19:43:19.667Z,1736365399.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520754 2025-01-08T19:43:19.690Z,1736365399.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:19.706Z,1736365399.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:19.784Z,1736365399.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 523.597473 m, bearing: 276.038727 deg, approach rate: -0.628527 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.038727 deg. 2025-01-08T19:43:19.785Z,1736365399.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817785 target range: 78.099998 and range: 549.00 m. 2025-01-08T19:43:19.917Z,1736365399.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:19.918Z,1736365399.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771806 2025-01-08T19:43:20.102Z,1736365400.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:20.134Z,1736365400.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m. 2025-01-08T19:43:20.141Z,1736365400.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 78.099998 m, nav range: 523.335327 m, bearing: 276.037753 deg, approach rate: -0.608720 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.037753 deg. 2025-01-08T19:43:20.142Z,1736365400.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817768 target range: 78.099998 and range: 549.00 m. 2025-01-08T19:43:20.168Z,1736365400.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:20.168Z,1736365400.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022785 2025-01-08T19:43:20.420Z,1736365400.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:20.426Z,1736365400.426 [DAT](INFO): DAT read: 19:43:18.5489 LVL= 24608, 32753, 20338, 32755, AGC= 69, IDX= 393,-0.37,-1.887, 3.038,-1.733,-2.484, PHS= 0.685,-0.714, 0.748, RAW= 152.2, -10.1, CAL= 158.4, -17.7, ROT= 351.6, 17.7 2025-01-08T19:43:20.428Z,1736365400.428 [DAT](INFO): got valid direction response: 19:43:18.5489 LVL= 24608, 32753, 20338, 32755, AGC= 69, IDX= 393,-0.37,-1.887, 3.038,-1.733,-2.484, PHS= 0.685,-0.714, 0.748, RAW= 152.2, -10.1, CAL= 158.4, -17.7, ROT= 351.6, 17.7 2025-01-08T19:43:20.429Z,1736365400.429 [DAT](INFO): DAT read: Bearing 351.6, 17.7 (Local) 2025-01-08T19:43:20.429Z,1736365400.429 [DAT](INFO): Local bearing/azimuth received: Bearing 351.6, 17.7 (Local) 2025-01-08T19:43:20.431Z,1736365400.431 [DAT](INFO): DAT read: Range 10 to 50 : 545.8 m (Round-trip 727.8 ms) speed 0.5 m/s 2025-01-08T19:43:20.432Z,1736365400.432 [DAT](INFO): DAT read: user:780> 2025-01-08T19:43:20.432Z,1736365400.432 [DAT](INFO): DAT read: Tx time:19:43:19.6669 2025-01-08T19:43:20.433Z,1736365400.433 [DAT](INFO): Ping request sent. 2025-01-08T19:43:20.433Z,1736365400.433 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:20.433Z,1736365400.433 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:20.434Z,1736365400.434 [DAT](INFO): direction in FSK: [0.077864,-0.850575,0.520058] 2025-01-08T19:43:20.434Z,1736365400.434 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:20.434Z,1736365400.434 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:20.438Z,1736365400.438 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:20.438Z,1736365400.438 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:20.526Z,1736365400.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:20.576Z,1736365400.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 545.799988 m, deltaT: 4.287723 s, deltaX: -3.200012 m, approachRate: -0.746320 m/s, rangeRepo size: 4 2025-01-08T19:43:20.588Z,1736365400.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 545.799988 m, bearing: 186.820386 deg, lat: 36.899525 deg, lon: -122.113763 deg, deltaT: 1910.955811 s, deltaX: 467.699982 m, approachRate: 0.244747 m/s, posRepo size: 2 2025-01-08T19:43:20.589Z,1736365400.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.80 m. 2025-01-08T19:43:20.590Z,1736365400.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 186.820386 deg. 2025-01-08T19:43:20.591Z,1736365400.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.260631 target range: 545.799988 and range: 545.80 m. 2025-01-08T19:43:20.672Z,1736365400.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:20.674Z,1736365400.674 [DAT](INFO): DAT read: TxSync time:19:43:19.6662 2025-01-08T19:43:20.924Z,1736365400.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:20.967Z,1736365400.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:20.974Z,1736365400.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:20.980Z,1736365400.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.80 m. 2025-01-08T19:43:20.983Z,1736365400.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.799988 m, nav range: 492.129089 m, bearing: 186.827006 deg, approach rate: 0.014256 m/s, LOS rate: -0.080169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876850 deg. 2025-01-08T19:43:20.988Z,1736365400.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814960 target range: 545.799988 and range: 545.80 m. 2025-01-08T19:43:21.176Z,1736365401.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:21.176Z,1736365401.176 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:21.176Z,1736365401.176 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:21.176Z,1736365401.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:21.300Z,1736365401.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:21.308Z,1736365401.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.80 m. 2025-01-08T19:43:21.312Z,1736365401.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.799988 m, nav range: 492.133240 m, bearing: 186.801744 deg, approach rate: 0.012648 m/s, LOS rate: -0.076987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.899399 deg. 2025-01-08T19:43:21.313Z,1736365401.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815353 target range: 545.799988 and range: 545.80 m. 2025-01-08T19:43:21.433Z,1736365401.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:21.433Z,1736365401.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000499 2025-01-08T19:43:21.684Z,1736365401.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:21.685Z,1736365401.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251752 2025-01-08T19:43:21.700Z,1736365401.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:21.708Z,1736365401.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.80 m. 2025-01-08T19:43:21.730Z,1736365401.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.799988 m, nav range: 492.137604 m, bearing: 186.771724 deg, approach rate: 0.010903 m/s, LOS rate: -0.075002 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885129 deg. 2025-01-08T19:43:21.736Z,1736365401.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815104 target range: 545.799988 and range: 545.80 m. 2025-01-08T19:43:21.936Z,1736365401.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:21.936Z,1736365401.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503545 2025-01-08T19:43:22.116Z,1736365402.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:22.125Z,1736365402.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.80 m. 2025-01-08T19:43:22.128Z,1736365402.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.799988 m, nav range: 492.139771 m, bearing: 186.739655 deg, approach rate: 0.005206 m/s, LOS rate: -0.077048 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878981 deg. 2025-01-08T19:43:22.129Z,1736365402.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814997 target range: 545.799988 and range: 545.80 m. 2025-01-08T19:43:22.189Z,1736365402.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:22.190Z,1736365402.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756730 2025-01-08T19:43:22.441Z,1736365402.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:22.445Z,1736365402.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011341 2025-01-08T19:43:22.498Z,1736365402.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:22.521Z,1736365402.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.80 m. 2025-01-08T19:43:22.524Z,1736365402.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.799988 m, nav range: 492.142059 m, bearing: 186.710262 deg, approach rate: 0.005774 m/s, LOS rate: -0.074150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887009 deg. 2025-01-08T19:43:22.525Z,1736365402.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815137 target range: 545.799988 and range: 545.80 m. 2025-01-08T19:43:22.692Z,1736365402.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:22.692Z,1736365402.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259576 2025-01-08T19:43:22.944Z,1736365402.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:22.945Z,1736365402.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512442 2025-01-08T19:43:22.963Z,1736365402.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:22.971Z,1736365402.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.80 m. 2025-01-08T19:43:22.974Z,1736365402.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.799988 m, nav range: 492.141510 m, bearing: 186.673967 deg, approach rate: -0.001220 m/s, LOS rate: -0.080609 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866302 deg. 2025-01-08T19:43:22.975Z,1736365402.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814775 target range: 545.799988 and range: 545.80 m. 2025-01-08T19:43:23.196Z,1736365403.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:23.198Z,1736365403.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764748 2025-01-08T19:43:23.321Z,1736365403.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:23.343Z,1736365403.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:23.346Z,1736365403.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.80 m. 2025-01-08T19:43:23.349Z,1736365403.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.799988 m, nav range: 492.141846 m, bearing: 186.646081 deg, approach rate: 0.000897 m/s, LOS rate: -0.074505 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.891529 deg. 2025-01-08T19:43:23.350Z,1736365403.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815216 target range: 545.799988 and range: 545.80 m. 2025-01-08T19:43:23.448Z,1736365403.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:23.449Z,1736365403.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015772 2025-01-08T19:43:23.700Z,1736365403.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:23.700Z,1736365403.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267557 2025-01-08T19:43:23.724Z,1736365403.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:23.733Z,1736365403.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.80 m. 2025-01-08T19:43:23.736Z,1736365403.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.799988 m, nav range: 492.142670 m, bearing: 186.614623 deg, approach rate: 0.002127 m/s, LOS rate: -0.081223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880813 deg. 2025-01-08T19:43:23.737Z,1736365403.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815029 target range: 545.799988 and range: 545.80 m. 2025-01-08T19:43:23.954Z,1736365403.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:23.955Z,1736365403.955 [DAT](INFO): DAT read: Rx Time:19:43:22.7958 2025-01-08T19:43:23.956Z,1736365403.956 [DAT](INFO): Rx dataTimestamp_ set to:1736365403.955328 2025-01-08T19:43:23.956Z,1736365403.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523360 2025-01-08T19:43:24.134Z,1736365404.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:24.168Z,1736365404.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.80 m. 2025-01-08T19:43:24.170Z,1736365404.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.799988 m, nav range: 492.147186 m, bearing: 186.581224 deg, approach rate: 0.010486 m/s, LOS rate: -0.077544 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874988 deg. 2025-01-08T19:43:24.176Z,1736365404.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814927 target range: 545.799988 and range: 545.80 m. 2025-01-08T19:43:24.204Z,1736365404.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:24.205Z,1736365404.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771705 2025-01-08T19:43:24.458Z,1736365404.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:24.461Z,1736365404.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027897 2025-01-08T19:43:24.537Z,1736365404.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:24.546Z,1736365404.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.80 m. 2025-01-08T19:43:24.549Z,1736365404.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.799988 m, nav range: 492.152008 m, bearing: 186.548446 deg, approach rate: 0.012592 m/s, LOS rate: -0.085597 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876856 deg. 2025-01-08T19:43:24.551Z,1736365404.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814960 target range: 545.799988 and range: 545.80 m. 2025-01-08T19:43:24.708Z,1736365404.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:24.719Z,1736365404.719 [DAT](INFO): DAT read: 19:43:22.7958 LVL= 22736, 27057, 18498, 31539, AGC= 64, IDX= 323, 0.16,-2.991, 1.867,-2.885, 2.678, PHS= 0.702,-0.764, 0.717, RAW= 150.5, -8.9, CAL= 156.5, -16.9, ROT= 353.5, 16.9 2025-01-08T19:43:24.720Z,1736365404.720 [DAT](INFO): got valid direction response: 19:43:22.7958 LVL= 22736, 27057, 18498, 31539, AGC= 64, IDX= 323, 0.16,-2.991, 1.867,-2.885, 2.678, PHS= 0.702,-0.764, 0.717, RAW= 150.5, -8.9, CAL= 156.5, -16.9, ROT= 353.5, 16.9 2025-01-08T19:43:24.721Z,1736365404.721 [DAT](INFO): DAT read: Bearing 353.5, 16.9 (Local) 2025-01-08T19:43:24.721Z,1736365404.721 [DAT](INFO): Local bearing/azimuth received: Bearing 353.5, 16.9 (Local) 2025-01-08T19:43:24.723Z,1736365404.723 [DAT](INFO): DAT read: Range 10 to 50 : 543.5 m (Round-trip 724.7 ms) speed 0.3 m/s 2025-01-08T19:43:24.724Z,1736365404.724 [DAT](INFO): DAT read: user:781> 2025-01-08T19:43:24.724Z,1736365404.724 [DAT](INFO): DAT read: Tx time:19:43:23.9169 2025-01-08T19:43:24.725Z,1736365404.725 [DAT](INFO): Ping request sent. 2025-01-08T19:43:24.725Z,1736365404.725 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:24.725Z,1736365404.725 [DAT](INFO): DAT read: TxSync time:19:43:23.9162 2025-01-08T19:43:24.726Z,1736365404.726 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:24.727Z,1736365404.727 [DAT](INFO): direction in FSK: [0.054538,-0.835977,0.546047] 2025-01-08T19:43:24.728Z,1736365404.728 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:24.728Z,1736365404.728 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:24.731Z,1736365404.731 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:24.732Z,1736365404.732 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:24.941Z,1736365404.941 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010811443015,35.0, +110,1494.4, 0 2025-01-08T19:43:24.961Z,1736365404.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:24.965Z,1736365404.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:43:24.965Z,1736365404.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:25.010Z,1736365405.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 543.500000 m, deltaT: 4.288048 s, deltaX: -2.299988 m, approachRate: -0.536372 m/s, rangeRepo size: 4 2025-01-08T19:43:25.017Z,1736365405.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 543.500000 m, bearing: 184.912192 deg, lat: 36.899541 deg, lon: -122.113606 deg, deltaT: 4.288048 s, deltaX: -2.299988 m, approachRate: -0.536372 m/s, posRepo size: 3 2025-01-08T19:43:25.017Z,1736365405.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.50 m. 2025-01-08T19:43:25.024Z,1736365405.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.500000 m, nav range: 489.002686 m, bearing: 184.912474 deg, approach rate: 0.000000 m/s, LOS rate: -0.085597 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856407 deg. 2025-01-08T19:43:25.026Z,1736365405.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814602 target range: 543.500000 and range: 543.50 m. 2025-01-08T19:43:25.212Z,1736365405.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:25.332Z,1736365405.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:43:25.332Z,1736365405.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:25.341Z,1736365405.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.50 m. 2025-01-08T19:43:25.364Z,1736365405.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.500000 m, nav range: 489.014587 m, bearing: 184.881927 deg, approach rate: 0.035853 m/s, LOS rate: -0.092015 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883550 deg. 2025-01-08T19:43:25.365Z,1736365405.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815076 target range: 543.500000 and range: 543.50 m. 2025-01-08T19:43:25.464Z,1736365405.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:25.716Z,1736365405.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:25.733Z,1736365405.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:43:25.733Z,1736365405.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:25.760Z,1736365405.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:25.763Z,1736365405.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.50 m. 2025-01-08T19:43:25.766Z,1736365405.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.500000 m, nav range: 489.027344 m, bearing: 184.849185 deg, approach rate: 0.030246 m/s, LOS rate: -0.077632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876963 deg. 2025-01-08T19:43:25.771Z,1736365405.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814961 target range: 543.500000 and range: 543.50 m. 2025-01-08T19:43:25.968Z,1736365405.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:25.968Z,1736365405.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:25.968Z,1736365405.968 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:25.969Z,1736365405.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:26.162Z,1736365406.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:26.171Z,1736365406.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.50 m. 2025-01-08T19:43:26.174Z,1736365406.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.500000 m, nav range: 489.041382 m, bearing: 184.813132 deg, approach rate: 0.034402 m/s, LOS rate: -0.088350 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867030 deg. 2025-01-08T19:43:26.175Z,1736365406.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814788 target range: 543.500000 and range: 543.50 m. 2025-01-08T19:43:26.221Z,1736365406.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:26.222Z,1736365406.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496926 2025-01-08T19:43:26.472Z,1736365406.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:26.472Z,1736365406.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747534 2025-01-08T19:43:26.547Z,1736365406.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:26.556Z,1736365406.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.50 m. 2025-01-08T19:43:26.559Z,1736365406.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.500000 m, nav range: 489.054230 m, bearing: 184.780905 deg, approach rate: 0.033432 m/s, LOS rate: -0.083857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878509 deg. 2025-01-08T19:43:26.560Z,1736365406.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814988 target range: 543.500000 and range: 543.50 m. 2025-01-08T19:43:26.724Z,1736365406.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:26.724Z,1736365406.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999617 2025-01-08T19:43:26.970Z,1736365406.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:26.976Z,1736365406.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:26.977Z,1736365406.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251714 2025-01-08T19:43:27.008Z,1736365407.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.50 m. 2025-01-08T19:43:27.015Z,1736365407.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.500000 m, nav range: 489.069000 m, bearing: 184.745528 deg, approach rate: 0.032950 m/s, LOS rate: -0.078917 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869058 deg. 2025-01-08T19:43:27.022Z,1736365407.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814823 target range: 543.500000 and range: 543.50 m. 2025-01-08T19:43:27.228Z,1736365407.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:27.229Z,1736365407.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504254 2025-01-08T19:43:27.348Z,1736365407.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:27.373Z,1736365407.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.50 m. 2025-01-08T19:43:27.381Z,1736365407.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.500000 m, nav range: 489.082367 m, bearing: 184.713833 deg, approach rate: 0.036142 m/s, LOS rate: -0.085696 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880105 deg. 2025-01-08T19:43:27.382Z,1736365407.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815016 target range: 543.500000 and range: 543.50 m. 2025-01-08T19:43:27.480Z,1736365407.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:27.480Z,1736365407.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755626 2025-01-08T19:43:27.732Z,1736365407.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:27.732Z,1736365407.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007591 2025-01-08T19:43:27.749Z,1736365407.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:27.758Z,1736365407.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.50 m. 2025-01-08T19:43:27.762Z,1736365407.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.500000 m, nav range: 489.096558 m, bearing: 184.680263 deg, approach rate: 0.036894 m/s, LOS rate: -0.087275 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874480 deg. 2025-01-08T19:43:27.763Z,1736365407.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814918 target range: 543.500000 and range: 543.50 m. 2025-01-08T19:43:27.984Z,1736365407.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:27.985Z,1736365407.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259724 2025-01-08T19:43:28.183Z,1736365408.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:28.189Z,1736365408.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:28.191Z,1736365408.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.50 m. 2025-01-08T19:43:28.195Z,1736365408.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.500000 m, nav range: 489.110199 m, bearing: 184.644634 deg, approach rate: 0.031474 m/s, LOS rate: -0.082203 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868303 deg. 2025-01-08T19:43:28.196Z,1736365408.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814810 target range: 543.500000 and range: 543.50 m. 2025-01-08T19:43:28.237Z,1736365408.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:28.238Z,1736365408.238 [DAT](INFO): DAT read: Rx Time:19:43:27.0337 2025-01-08T19:43:28.239Z,1736365408.239 [DAT](INFO): Rx dataTimestamp_ set to:1736365408.238533 2025-01-08T19:43:28.240Z,1736365408.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515052 2025-01-08T19:43:28.488Z,1736365408.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:28.489Z,1736365408.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763781 2025-01-08T19:43:28.563Z,1736365408.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:28.571Z,1736365408.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.50 m. 2025-01-08T19:43:28.574Z,1736365408.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.500000 m, nav range: 489.122375 m, bearing: 184.613352 deg, approach rate: 0.032042 m/s, LOS rate: -0.082317 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881343 deg. 2025-01-08T19:43:28.576Z,1736365408.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815038 target range: 543.500000 and range: 543.50 m. 2025-01-08T19:43:28.740Z,1736365408.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:28.748Z,1736365408.748 [DAT](INFO): DAT read: 19:43:27.0337 LVL= 29216, 30529, 23938, 32755, AGC= 70, IDX= 399, 0.02, 1.690, 0.515, 1.877, 1.164, PHS= 0.614,-0.602, 0.710, RAW= 153.8, -11.4, CAL= 160.2, -18.6, ROT= 349.8, 18.6 2025-01-08T19:43:28.749Z,1736365408.749 [DAT](INFO): got valid direction response: 19:43:27.0337 LVL= 29216, 30529, 23938, 32755, AGC= 70, IDX= 399, 0.02, 1.690, 0.515, 1.877, 1.164, PHS= 0.614,-0.602, 0.710, RAW= 153.8, -11.4, CAL= 160.2, -18.6, ROT= 349.8, 18.6 2025-01-08T19:43:28.750Z,1736365408.750 [DAT](INFO): DAT read: Bearing 349.8, 18.6 (Local) 2025-01-08T19:43:28.750Z,1736365408.750 [DAT](INFO): Local bearing/azimuth received: Bearing 349.8, 18.6 (Local) 2025-01-08T19:43:28.752Z,1736365408.752 [DAT](INFO): DAT read: Range 10 to 50 : 534.4 m (Round-trip 712.6 ms) speed 0.7 m/s 2025-01-08T19:43:28.753Z,1736365408.753 [DAT](INFO): DAT read: user:782> 2025-01-08T19:43:28.754Z,1736365408.754 [DAT](INFO): DAT read: Tx time:19:43:28.1169 2025-01-08T19:43:28.754Z,1736365408.754 [DAT](INFO): Ping request sent. 2025-01-08T19:43:28.754Z,1736365408.754 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:28.754Z,1736365408.754 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:28.758Z,1736365408.758 [DAT](INFO): direction in FSK: [0.104776,-0.862531,0.495037] 2025-01-08T19:43:28.763Z,1736365408.763 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:28.764Z,1736365408.764 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:28.767Z,1736365408.767 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:28.767Z,1736365408.767 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:28.992Z,1736365408.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:28.993Z,1736365408.993 [DAT](INFO): DAT read: TxSync time:19:43:28.1162 2025-01-08T19:43:29.038Z,1736365409.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:29.069Z,1736365409.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 534.400024 m, deltaT: 4.032399 s, deltaX: -9.099976 m, approachRate: -2.256715 m/s, rangeRepo size: 4 2025-01-08T19:43:29.073Z,1736365409.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 534.400024 m, bearing: 187.893824 deg, lat: 36.899542 deg, lon: -122.113606 deg, deltaT: 4.032399 s, deltaX: -9.099976 m, approachRate: -2.256715 m/s, posRepo size: 4 2025-01-08T19:43:29.074Z,1736365409.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.40 m. 2025-01-08T19:43:29.093Z,1736365409.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.400024 m, nav range: 489.011627 m, bearing: 184.577449 deg, approach rate: 0.000000 m/s, LOS rate: -0.082317 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852340 deg. 2025-01-08T19:43:29.094Z,1736365409.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814532 target range: 534.400024 and range: 534.40 m. 2025-01-08T19:43:29.244Z,1736365409.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:29.365Z,1736365409.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:29.374Z,1736365409.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.40 m. 2025-01-08T19:43:29.389Z,1736365409.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.400024 m, nav range: 489.020782 m, bearing: 184.551923 deg, approach rate: 0.030000 m/s, LOS rate: -0.083644 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.898610 deg. 2025-01-08T19:43:29.390Z,1736365409.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815339 target range: 534.400024 and range: 534.40 m. 2025-01-08T19:43:29.500Z,1736365409.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:29.748Z,1736365409.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:29.765Z,1736365409.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:29.774Z,1736365409.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.40 m. 2025-01-08T19:43:29.777Z,1736365409.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.400024 m, nav range: 489.032074 m, bearing: 184.520703 deg, approach rate: 0.028238 m/s, LOS rate: -0.078073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881530 deg. 2025-01-08T19:43:29.779Z,1736365409.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815041 target range: 534.400024 and range: 534.40 m. 2025-01-08T19:43:30.001Z,1736365410.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:30.192Z,1736365410.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:30.199Z,1736365410.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:30.201Z,1736365410.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.40 m. 2025-01-08T19:43:30.205Z,1736365410.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.400024 m, nav range: 489.046722 m, bearing: 184.488920 deg, approach rate: 0.034272 m/s, LOS rate: -0.074357 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879841 deg. 2025-01-08T19:43:30.206Z,1736365410.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815012 target range: 534.400024 and range: 534.40 m. 2025-01-08T19:43:30.253Z,1736365410.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:30.253Z,1736365410.253 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:30.253Z,1736365410.253 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:30.254Z,1736365410.254 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:30.504Z,1736365410.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:30.505Z,1736365410.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750520 2025-01-08T19:43:30.575Z,1736365410.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:30.586Z,1736365410.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.40 m. 2025-01-08T19:43:30.589Z,1736365410.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.400024 m, nav range: 489.059845 m, bearing: 184.460319 deg, approach rate: 0.034095 m/s, LOS rate: -0.074310 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889385 deg. 2025-01-08T19:43:30.590Z,1736365410.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815178 target range: 534.400024 and range: 534.40 m. 2025-01-08T19:43:30.756Z,1736365410.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:30.757Z,1736365410.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002502 2025-01-08T19:43:31.012Z,1736365411.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:31.012Z,1736365411.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258269 2025-01-08T19:43:31.022Z,1736365411.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:31.045Z,1736365411.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.40 m. 2025-01-08T19:43:31.066Z,1736365411.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.400024 m, nav range: 489.071533 m, bearing: 184.427722 deg, approach rate: 0.025575 m/s, LOS rate: -0.071325 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877399 deg. 2025-01-08T19:43:31.073Z,1736365411.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814969 target range: 534.400024 and range: 534.40 m. 2025-01-08T19:43:31.264Z,1736365411.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:31.265Z,1736365411.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510398 2025-01-08T19:43:31.389Z,1736365411.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:31.398Z,1736365411.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.40 m. 2025-01-08T19:43:31.402Z,1736365411.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.400024 m, nav range: 489.081207 m, bearing: 184.400871 deg, approach rate: 0.027219 m/s, LOS rate: -0.075547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894635 deg. 2025-01-08T19:43:31.403Z,1736365411.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815270 target range: 534.400024 and range: 534.40 m. 2025-01-08T19:43:31.516Z,1736365411.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:31.517Z,1736365411.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762428 2025-01-08T19:43:31.768Z,1736365411.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:31.768Z,1736365411.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014332 2025-01-08T19:43:31.804Z,1736365411.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:31.838Z,1736365411.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.40 m. 2025-01-08T19:43:31.846Z,1736365411.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.400024 m, nav range: 489.092224 m, bearing: 184.370600 deg, approach rate: 0.025085 m/s, LOS rate: -0.068925 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884375 deg. 2025-01-08T19:43:31.852Z,1736365411.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815091 target range: 534.400024 and range: 534.40 m. 2025-01-08T19:43:32.021Z,1736365412.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:32.022Z,1736365412.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267735 2025-01-08T19:43:32.235Z,1736365412.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:32.242Z,1736365412.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:32.245Z,1736365412.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.40 m. 2025-01-08T19:43:32.248Z,1736365412.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.400024 m, nav range: 489.102234 m, bearing: 184.339514 deg, approach rate: 0.024641 m/s, LOS rate: -0.076521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881932 deg. 2025-01-08T19:43:32.249Z,1736365412.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815048 target range: 534.400024 and range: 534.40 m. 2025-01-08T19:43:32.274Z,1736365412.274 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:32.274Z,1736365412.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520213 2025-01-08T19:43:32.529Z,1736365412.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:32.529Z,1736365412.529 [DAT](INFO): DAT read: Rx Time:19:43:31.2300 2025-01-08T19:43:32.530Z,1736365412.530 [DAT](INFO): Rx dataTimestamp_ set to:1736365412.529578 2025-01-08T19:43:32.530Z,1736365412.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776272 2025-01-08T19:43:32.635Z,1736365412.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:32.653Z,1736365412.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.40 m. 2025-01-08T19:43:32.658Z,1736365412.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.400024 m, nav range: 489.111694 m, bearing: 184.310676 deg, approach rate: 0.023682 m/s, LOS rate: -0.072189 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888675 deg. 2025-01-08T19:43:32.661Z,1736365412.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815166 target range: 534.400024 and range: 534.40 m. 2025-01-08T19:43:32.780Z,1736365412.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:32.781Z,1736365412.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027181 2025-01-08T19:43:33.032Z,1736365413.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:33.040Z,1736365413.040 [DAT](INFO): DAT read: 19:43:31.2300 LVL= 21840, 29681, 19346, 31187, AGC= 69, IDX= 407, 0.09, 2.059, 0.645, 2.137, 1.402, PHS= 0.745,-0.710, 0.732, RAW= 149.6, -10.6, CAL= 156.2, -18.6, ROT= 353.8, 18.6 2025-01-08T19:43:33.042Z,1736365413.042 [DAT](INFO): got valid direction response: 19:43:31.2300 LVL= 21840, 29681, 19346, 31187, AGC= 69, IDX= 407, 0.09, 2.059, 0.645, 2.137, 1.402, PHS= 0.745,-0.710, 0.732, RAW= 149.6, -10.6, CAL= 156.2, -18.6, ROT= 353.8, 18.6 2025-01-08T19:43:33.042Z,1736365413.042 [DAT](INFO): DAT read: Bearing 353.8, 18.6 (Local) 2025-01-08T19:43:33.043Z,1736365413.043 [DAT](INFO): Local bearing/azimuth received: Bearing 353.8, 18.6 (Local) 2025-01-08T19:43:33.045Z,1736365413.045 [DAT](INFO): DAT read: Range 10 to 50 : 531.6 m (Round-trip 708.8 ms) speed 0user:783> :19:43:32.3170 2025-01-08T19:43:33.045Z,1736365413.045 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:33.046Z,1736365413.046 [DAT](INFO): direction in FSK: [0.087020,-0.824044,0.559803] 2025-01-08T19:43:33.046Z,1736365413.046 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:33.050Z,1736365413.050 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:33.050Z,1736365413.050 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:33.050Z,1736365413.050 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:33.123Z,1736365413.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:43:33.123Z,1736365413.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:33.154Z,1736365413.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 531.599976 m, deltaT: 4.291962 s, deltaX: -2.800049 m, approachRate: -0.652394 m/s, rangeRepo size: 4 2025-01-08T19:43:33.160Z,1736365413.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 531.599976 m, bearing: 185.959220 deg, lat: 36.899542 deg, lon: -122.113748 deg, deltaT: 4.291962 s, deltaX: -2.800049 m, approachRate: -0.652394 m/s, posRepo size: 4 2025-01-08T19:43:33.162Z,1736365413.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.60 m. 2025-01-08T19:43:33.169Z,1736365413.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 531.599976 m, nav range: 490.226746 m, bearing: 185.747537 deg, approach rate: 0.000000 m/s, LOS rate: -0.072189 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864839 deg. 2025-01-08T19:43:33.170Z,1736365413.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814750 target range: 531.599976 and range: 531.60 m. 2025-01-08T19:43:33.284Z,1736365413.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:33.285Z,1736365413.285 [DAT](INFO): DAT read: TxSync time:19:43:32.3163 2025-01-08T19:43:33.285Z,1736365413.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531341 2025-01-08T19:43:33.469Z,1736365413.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:43:33.469Z,1736365413.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:33.480Z,1736365413.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.60 m. 2025-01-08T19:43:33.483Z,1736365413.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 531.599976 m, nav range: 490.230255 m, bearing: 185.722488 deg, approach rate: 0.010728 m/s, LOS rate: -0.076570 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.900041 deg. 2025-01-08T19:43:33.502Z,1736365413.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815364 target range: 531.599976 and range: 531.60 m. 2025-01-08T19:43:33.536Z,1736365413.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:33.537Z,1736365413.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782481 2025-01-08T19:43:33.788Z,1736365413.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:33.788Z,1736365413.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034235 2025-01-08T19:43:33.863Z,1736365413.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:43:33.864Z,1736365413.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:33.872Z,1736365413.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.60 m. 2025-01-08T19:43:33.875Z,1736365413.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 531.599976 m, nav range: 490.234344 m, bearing: 185.694013 deg, approach rate: 0.010431 m/s, LOS rate: -0.072631 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889762 deg. 2025-01-08T19:43:33.876Z,1736365413.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815185 target range: 531.599976 and range: 531.60 m. 2025-01-08T19:43:34.040Z,1736365414.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:34.041Z,1736365414.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286435 2025-01-08T19:43:34.273Z,1736365414.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:34.280Z,1736365414.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:34.287Z,1736365414.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.60 m. 2025-01-08T19:43:34.290Z,1736365414.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 531.599976 m, nav range: 490.243317 m, bearing: 185.664901 deg, approach rate: 0.021668 m/s, LOS rate: -0.070304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887854 deg. 2025-01-08T19:43:34.292Z,1736365414.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:34.292Z,1736365414.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538362 2025-01-08T19:43:34.293Z,1736365414.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815151 target range: 531.599976 and range: 531.60 m. 2025-01-08T19:43:34.545Z,1736365414.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:34.545Z,1736365414.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791222 2025-01-08T19:43:34.684Z,1736365414.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:34.696Z,1736365414.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.60 m. 2025-01-08T19:43:34.699Z,1736365414.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 531.599976 m, nav range: 490.252472 m, bearing: 185.635688 deg, approach rate: 0.022331 m/s, LOS rate: -0.071254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887549 deg. 2025-01-08T19:43:34.700Z,1736365414.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815146 target range: 531.599976 and range: 531.60 m. 2025-01-08T19:43:34.796Z,1736365414.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:34.797Z,1736365414.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042464 2025-01-08T19:43:35.048Z,1736365415.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:35.048Z,1736365415.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.294092 2025-01-08T19:43:35.113Z,1736365415.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:35.124Z,1736365415.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.60 m. 2025-01-08T19:43:35.129Z,1736365415.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 531.599976 m, nav range: 490.266327 m, bearing: 185.604553 deg, approach rate: 0.032517 m/s, LOS rate: -0.073071 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881784 deg. 2025-01-08T19:43:35.132Z,1736365415.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815045 target range: 531.599976 and range: 531.60 m. 2025-01-08T19:43:35.300Z,1736365415.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:35.300Z,1736365415.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546247 2025-01-08T19:43:35.465Z,1736365415.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:35.479Z,1736365415.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.60 m. 2025-01-08T19:43:35.482Z,1736365415.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 531.599976 m, nav range: 490.278259 m, bearing: 185.579000 deg, approach rate: 0.033446 m/s, LOS rate: -0.071622 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.898531 deg. 2025-01-08T19:43:35.483Z,1736365415.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815338 target range: 531.599976 and range: 531.60 m. 2025-01-08T19:43:35.553Z,1736365415.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:35.554Z,1736365415.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799511 2025-01-08T19:43:35.804Z,1736365415.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:35.804Z,1736365415.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050231 2025-01-08T19:43:35.884Z,1736365415.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:35.893Z,1736365415.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.60 m. 2025-01-08T19:43:35.897Z,1736365415.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 531.599976 m, nav range: 490.292664 m, bearing: 185.548508 deg, approach rate: 0.034808 m/s, LOS rate: -0.073683 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883711 deg. 2025-01-08T19:43:35.898Z,1736365415.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815079 target range: 531.599976 and range: 531.60 m. 2025-01-08T19:43:36.056Z,1736365416.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:36.057Z,1736365416.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302400 2025-01-08T19:43:36.293Z,1736365416.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:36.308Z,1736365416.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:36.308Z,1736365416.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554281 2025-01-08T19:43:36.329Z,1736365416.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:36.344Z,1736365416.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.60 m. 2025-01-08T19:43:36.351Z,1736365416.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 531.599976 m, nav range: 490.316650 m, bearing: 185.517871 deg, approach rate: 0.054703 m/s, LOS rate: -0.069865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883281 deg. 2025-01-08T19:43:36.353Z,1736365416.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815072 target range: 531.599976 and range: 531.60 m. 2025-01-08T19:43:36.562Z,1736365416.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:36.563Z,1736365416.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809277 2025-01-08T19:43:36.707Z,1736365416.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:36.733Z,1736365416.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.60 m. 2025-01-08T19:43:36.739Z,1736365416.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 531.599976 m, nav range: 490.341095 m, bearing: 185.486838 deg, approach rate: 0.060917 m/s, LOS rate: -0.077332 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882093 deg. 2025-01-08T19:43:36.741Z,1736365416.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815051 target range: 531.599976 and range: 531.60 m. 2025-01-08T19:43:36.812Z,1736365416.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:36.813Z,1736365416.813 [DAT](INFO): DAT read: Rx Time:19:43:35.4354 2025-01-08T19:43:36.814Z,1736365416.814 [DAT](INFO): Rx dataTimestamp_ set to:1736365416.813692 2025-01-08T19:43:36.815Z,1736365416.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060827 2025-01-08T19:43:36.840Z,1736365416.840 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:43:37.065Z,1736365417.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:37.067Z,1736365417.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312127 2025-01-08T19:43:37.183Z,1736365417.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:37.191Z,1736365417.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.60 m. 2025-01-08T19:43:37.194Z,1736365417.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 531.599976 m, nav range: 490.370605 m, bearing: 185.449976 deg, approach rate: 0.064384 m/s, LOS rate: -0.080418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864608 deg. 2025-01-08T19:43:37.196Z,1736365417.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814746 target range: 531.599976 and range: 531.60 m. 2025-01-08T19:43:37.316Z,1736365417.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:37.323Z,1736365417.323 [DAT](INFO): DAT read: 19:43:35.4354 LVL= 28592, 32753, 24178, 32755, AGC= 68, IDX= 487, 0.35, 2.168, 0.761, 2.350, 1.579, PHS= 0.677,-0.771, 0.768, RAW= 153.0, -9.1, CAL= 158.8, -16.7, ROT= 351.2, 16.7 2025-01-08T19:43:37.324Z,1736365417.324 [DAT](INFO): got valid direction response: 19:43:35.4354 LVL= 28592, 32753, 24178, 32755, AGC= 68, IDX= 487, 0.35, 2.168, 0.761, 2.350, 1.579, PHS= 0.677,-0.771, 0.768, RAW= 153.0, -9.1, CAL= 158.8, -16.7, ROT= 351.2, 16.7 2025-01-08T19:43:37.325Z,1736365417.325 [DAT](INFO): DAT read: Bearing 351.2, 16.7 (Local) 2025-01-08T19:43:37.325Z,1736365417.325 [DAT](INFO): Local bearing/azimuth received: Bearing 351.2, 16.7 (Local) 2025-01-08T19:43:37.327Z,1736365417.327 [DAT](INFO): DAT read: Range 10 to 50 : 535.6 m (Round-trip 714.2 ms) speed 0.5 m/s 2025-01-08T19:43:37.329Z,1736365417.329 [DAT](INFO): DAT read: user:784> 2025-01-08T19:43:37.330Z,1736365417.330 [DAT](INFO): DAT read: Tx time:19:43:36.5170 2025-01-08T19:43:37.330Z,1736365417.330 [DAT](INFO): Ping request sent. 2025-01-08T19:43:37.330Z,1736365417.330 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:37.336Z,1736365417.336 [DAT](INFO): DAT read: TxSync time:19:43:36.5163 2025-01-08T19:43:37.337Z,1736365417.337 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:37.338Z,1736365417.338 [DAT](INFO): direction in FSK: [0.058349,-0.859803,0.507281] 2025-01-08T19:43:37.338Z,1736365417.338 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:37.338Z,1736365417.338 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:37.350Z,1736365417.350 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:37.350Z,1736365417.350 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:37.497Z,1736365417.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:37.534Z,1736365417.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 535.599976 m, deltaT: 4.283541 s, deltaX: 4.000000 m, approachRate: 0.933807 m/s, rangeRepo size: 4 2025-01-08T19:43:37.540Z,1736365417.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 535.599976 m, bearing: 185.834688 deg, lat: 36.899541 deg, lon: -122.113763 deg, deltaT: 4.283541 s, deltaX: 4.000000 m, approachRate: 0.933807 m/s, posRepo size: 4 2025-01-08T19:43:37.541Z,1736365417.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.60 m. 2025-01-08T19:43:37.548Z,1736365417.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 535.599976 m, nav range: 490.642120 m, bearing: 185.579315 deg, approach rate: 0.000000 m/s, LOS rate: -0.080418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894056 deg. 2025-01-08T19:43:37.549Z,1736365417.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815259 target range: 535.599976 and range: 535.60 m. 2025-01-08T19:43:37.568Z,1736365417.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:37.820Z,1736365417.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:37.844Z,1736365417.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:43:38.073Z,1736365418.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:38.143Z,1736365418.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T19:43:38.147Z,1736365418.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:38.159Z,1736365418.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.60 m. 2025-01-08T19:43:38.162Z,1736365418.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 535.599976 m, nav range: 490.680115 m, bearing: 185.529402 deg, approach rate: 0.060495 m/s, LOS rate: -0.079466 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825459 deg. 2025-01-08T19:43:38.167Z,1736365418.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814063 target range: 535.599976 and range: 535.60 m. 2025-01-08T19:43:38.324Z,1736365418.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:38.478Z,1736365418.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T19:43:38.478Z,1736365418.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:38.485Z,1736365418.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:38.500Z,1736365418.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.60 m. 2025-01-08T19:43:38.502Z,1736365418.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 535.599976 m, nav range: 490.699646 m, bearing: 185.503363 deg, approach rate: 0.058829 m/s, LOS rate: -0.078428 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.897073 deg. 2025-01-08T19:43:38.508Z,1736365418.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815312 target range: 535.599976 and range: 535.60 m. 2025-01-08T19:43:38.576Z,1736365418.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:38.577Z,1736365418.577 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:38.577Z,1736365418.577 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:38.577Z,1736365418.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:38.828Z,1736365418.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:38.829Z,1736365418.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498309 2025-01-08T19:43:38.892Z,1736365418.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T19:43:38.892Z,1736365418.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:38.901Z,1736365418.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.60 m. 2025-01-08T19:43:38.904Z,1736365418.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 535.599976 m, nav range: 490.723572 m, bearing: 185.471288 deg, approach rate: 0.057824 m/s, LOS rate: -0.077516 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878965 deg. 2025-01-08T19:43:38.905Z,1736365418.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814996 target range: 535.599976 and range: 535.60 m. 2025-01-08T19:43:39.082Z,1736365419.082 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:39.085Z,1736365419.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754005 2025-01-08T19:43:39.332Z,1736365419.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:39.332Z,1736365419.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001963 2025-01-08T19:43:39.333Z,1736365419.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:39.342Z,1736365419.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.60 m. 2025-01-08T19:43:39.345Z,1736365419.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 535.599976 m, nav range: 490.746796 m, bearing: 185.433598 deg, approach rate: 0.052702 m/s, LOS rate: -0.085524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862125 deg. 2025-01-08T19:43:39.347Z,1736365419.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814703 target range: 535.599976 and range: 535.60 m. 2025-01-08T19:43:39.584Z,1736365419.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:39.585Z,1736365419.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254671 2025-01-08T19:43:39.704Z,1736365419.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:39.713Z,1736365419.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.60 m. 2025-01-08T19:43:39.737Z,1736365419.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 535.599976 m, nav range: 490.766510 m, bearing: 185.401963 deg, approach rate: 0.053038 m/s, LOS rate: -0.085104 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880286 deg. 2025-01-08T19:43:39.738Z,1736365419.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815019 target range: 535.599976 and range: 535.60 m. 2025-01-08T19:43:39.837Z,1736365419.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:39.838Z,1736365419.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506981 2025-01-08T19:43:40.088Z,1736365420.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:40.088Z,1736365420.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757905 2025-01-08T19:43:40.159Z,1736365420.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:40.168Z,1736365420.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.60 m. 2025-01-08T19:43:40.172Z,1736365420.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 535.599976 m, nav range: 490.787659 m, bearing: 185.361452 deg, approach rate: 0.046584 m/s, LOS rate: -0.089229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853659 deg. 2025-01-08T19:43:40.175Z,1736365420.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814555 target range: 535.599976 and range: 535.60 m. 2025-01-08T19:43:40.340Z,1736365420.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:40.340Z,1736365420.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009814 2025-01-08T19:43:40.504Z,1736365420.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:40.519Z,1736365420.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:40.525Z,1736365420.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.60 m. 2025-01-08T19:43:40.532Z,1736365420.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 535.599976 m, nav range: 490.803406 m, bearing: 185.330626 deg, approach rate: 0.044041 m/s, LOS rate: -0.086211 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882711 deg. 2025-01-08T19:43:40.533Z,1736365420.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815062 target range: 535.599976 and range: 535.60 m. 2025-01-08T19:43:40.595Z,1736365420.595 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:40.597Z,1736365420.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266017 2025-01-08T19:43:40.848Z,1736365420.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:40.849Z,1736365420.849 [DAT](INFO): DAT read: Rx Time:19:43:39.6221 2025-01-08T19:43:40.849Z,1736365420.849 [DAT](INFO): Rx dataTimestamp_ set to:1736365420.849053 2025-01-08T19:43:40.850Z,1736365420.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519351 2025-01-08T19:43:40.923Z,1736365420.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:40.950Z,1736365420.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 535.60 m. 2025-01-08T19:43:40.954Z,1736365420.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 535.599976 m, nav range: 490.822266 m, bearing: 185.293226 deg, approach rate: 0.044345 m/s, LOS rate: -0.087935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862992 deg. 2025-01-08T19:43:40.955Z,1736365420.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814717 target range: 535.599976 and range: 535.60 m. 2025-01-08T19:43:41.100Z,1736365421.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:41.101Z,1736365421.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770161 2025-01-08T19:43:41.352Z,1736365421.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:41.365Z,1736365421.365 [DAT](INFO): DAT read: 19:43:39.6221 LVL= 20656, 24881, 16370, 30883, AGC= 69, IDX= 310, 0.04,-2.939, 1.863,-2.902, 2.667, PHS= 0.766,-0.757, 0.711, RAW= 148.2, -9.7, CAL= 154.6, -17.9, ROT= 355.4, 17.9 2025-01-08T19:43:41.368Z,1736365421.368 [DAT](INFO): got valid direction response: 19:43:39.6221 LVL= 20656, 24881, 16370, 30883, AGC= 69, IDX= 310, 0.04,-2.939, 1.863,-2.902, 2.667, PHS= 0.766,-0.757, 0.711, RAW= 148.2, -9.7, CAL= 154.6, -17.9, ROT= 355.4, 17.9 2025-01-08T19:43:41.369Z,1736365421.369 [DAT](INFO): DAT read: Bearing 355.4, 17.9 (Local) 2025-01-08T19:43:41.369Z,1736365421.369 [DAT](INFO): Local bearing/azimuth received: Bearing 355.4, 17.9 (Local) 2025-01-08T19:43:41.370Z,1736365421.370 [DAT](INFO): DAT read: Range 10 to 50 : 525.6 m (Round-trip 700.9 ms) speed 0.5 m/s 2025-01-08T19:43:41.371Z,1736365421.371 [DAT](INFO): DAT read: user:785> 2025-01-08T19:43:41.372Z,1736365421.372 [DAT](INFO): DAT read: Tx time:19:43:40.7170 2025-01-08T19:43:41.372Z,1736365421.372 [DAT](INFO): Ping request sent. 2025-01-08T19:43:41.372Z,1736365421.372 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:41.373Z,1736365421.373 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:41.373Z,1736365421.373 [DAT](INFO): direction in FSK: [0.067713,-0.811241,0.580779] 2025-01-08T19:43:41.374Z,1736365421.374 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:41.374Z,1736365421.374 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:41.379Z,1736365421.379 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:41.379Z,1736365421.379 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:41.496Z,1736365421.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:41.529Z,1736365421.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 525.599976 m, deltaT: 4.036543 s, deltaX: -10.000000 m, approachRate: -2.477367 m/s, rangeRepo size: 4 2025-01-08T19:43:41.531Z,1736365421.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 525.599976 m, bearing: 185.490857 deg, lat: 36.899542 deg, lon: -122.113755 deg, deltaT: 4.036543 s, deltaX: -10.000000 m, approachRate: -2.477367 m/s, posRepo size: 4 2025-01-08T19:43:41.541Z,1736365421.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.60 m. 2025-01-08T19:43:41.547Z,1736365421.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.599976 m, nav range: 490.666046 m, bearing: 185.164693 deg, approach rate: 0.000000 m/s, LOS rate: -0.087935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824028 deg. 2025-01-08T19:43:41.549Z,1736365421.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814037 target range: 525.599976 and range: 525.60 m. 2025-01-08T19:43:41.604Z,1736365421.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:41.606Z,1736365421.606 [DAT](INFO): DAT read: TxSync time:19:43:40.7163 2025-01-08T19:43:41.830Z,1736365421.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:41.851Z,1736365421.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.60 m. 2025-01-08T19:43:41.856Z,1736365421.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:41.859Z,1736365421.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.599976 m, nav range: 490.682190 m, bearing: 185.134364 deg, approach rate: 0.049305 m/s, LOS rate: -0.092628 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884201 deg. 2025-01-08T19:43:41.864Z,1736365421.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815088 target range: 525.599976 and range: 525.60 m. 2025-01-08T19:43:42.110Z,1736365422.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:42.267Z,1736365422.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:42.276Z,1736365422.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.60 m. 2025-01-08T19:43:42.280Z,1736365422.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.599976 m, nav range: 490.699615 m, bearing: 185.096015 deg, approach rate: 0.041018 m/s, LOS rate: -0.090267 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860144 deg. 2025-01-08T19:43:42.281Z,1736365422.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814668 target range: 525.599976 and range: 525.60 m. 2025-01-08T19:43:42.360Z,1736365422.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:42.612Z,1736365422.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:42.637Z,1736365422.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:42.660Z,1736365422.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:42.668Z,1736365422.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.60 m. 2025-01-08T19:43:42.678Z,1736365422.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.599976 m, nav range: 490.713928 m, bearing: 185.063494 deg, approach rate: 0.036896 m/s, LOS rate: -0.083830 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877629 deg. 2025-01-08T19:43:42.681Z,1736365422.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814973 target range: 525.599976 and range: 525.60 m. 2025-01-08T19:43:42.864Z,1736365422.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:42.864Z,1736365422.864 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:42.864Z,1736365422.864 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:42.865Z,1736365422.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:43.116Z,1736365423.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:43.116Z,1736365423.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744238 2025-01-08T19:43:43.118Z,1736365423.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:43.141Z,1736365423.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.60 m. 2025-01-08T19:43:43.150Z,1736365423.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.599976 m, nav range: 490.732758 m, bearing: 185.021238 deg, approach rate: 0.039415 m/s, LOS rate: -0.088451 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848422 deg. 2025-01-08T19:43:43.157Z,1736365423.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814463 target range: 525.599976 and range: 525.60 m. 2025-01-08T19:43:43.368Z,1736365423.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:43.370Z,1736365423.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997289 2025-01-08T19:43:43.622Z,1736365423.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:43.624Z,1736365423.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250793 2025-01-08T19:43:43.625Z,1736365423.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:43.669Z,1736365423.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.60 m. 2025-01-08T19:43:43.679Z,1736365423.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.599976 m, nav range: 490.749359 m, bearing: 184.978262 deg, approach rate: 0.031470 m/s, LOS rate: -0.081464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846264 deg. 2025-01-08T19:43:43.684Z,1736365423.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814425 target range: 525.599976 and range: 525.60 m. 2025-01-08T19:43:43.872Z,1736365423.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:43.872Z,1736365423.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500157 2025-01-08T19:43:43.981Z,1736365423.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:43.989Z,1736365423.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.60 m. 2025-01-08T19:43:43.992Z,1736365423.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.599976 m, nav range: 490.761292 m, bearing: 184.948164 deg, approach rate: 0.037239 m/s, LOS rate: -0.093927 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884895 deg. 2025-01-08T19:43:43.993Z,1736365423.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815100 target range: 525.599976 and range: 525.60 m. 2025-01-08T19:43:44.125Z,1736365424.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:44.128Z,1736365424.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755843 2025-01-08T19:43:44.376Z,1736365424.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:44.376Z,1736365424.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004209 2025-01-08T19:43:44.429Z,1736365424.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:44.438Z,1736365424.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.60 m. 2025-01-08T19:43:44.441Z,1736365424.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.599976 m, nav range: 490.775146 m, bearing: 184.913623 deg, approach rate: 0.030881 m/s, LOS rate: -0.076985 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871567 deg. 2025-01-08T19:43:44.442Z,1736365424.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814867 target range: 525.599976 and range: 525.60 m. 2025-01-08T19:43:44.628Z,1736365424.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:44.629Z,1736365424.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256569 2025-01-08T19:43:44.797Z,1736365424.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:44.813Z,1736365424.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:44.820Z,1736365424.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.60 m. 2025-01-08T19:43:44.822Z,1736365424.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.599976 m, nav range: 490.787567 m, bearing: 184.885293 deg, approach rate: 0.032889 m/s, LOS rate: -0.075015 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890197 deg. 2025-01-08T19:43:44.829Z,1736365424.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815192 target range: 525.599976 and range: 525.60 m. 2025-01-08T19:43:44.881Z,1736365424.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:44.882Z,1736365424.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509698 2025-01-08T19:43:45.134Z,1736365425.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:45.136Z,1736365425.136 [DAT](INFO): DAT read: Rx Time:19:43:43.8186 2025-01-08T19:43:45.138Z,1736365425.138 [DAT](INFO): Rx dataTimestamp_ set to:1736365425.137095 2025-01-08T19:43:45.141Z,1736365425.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768030 2025-01-08T19:43:45.243Z,1736365425.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:45.251Z,1736365425.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.60 m. 2025-01-08T19:43:45.256Z,1736365425.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.599976 m, nav range: 490.805084 m, bearing: 184.854152 deg, approach rate: 0.040205 m/s, LOS rate: -0.071471 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881769 deg. 2025-01-08T19:43:45.259Z,1736365425.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815045 target range: 525.599976 and range: 525.60 m. 2025-01-08T19:43:45.384Z,1736365425.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:45.385Z,1736365425.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012844 2025-01-08T19:43:45.596Z,1736365425.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:45.630Z,1736365425.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.60 m. 2025-01-08T19:43:45.636Z,1736365425.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:45.643Z,1736365425.643 [DAT](INFO): DAT read: 19:43:43.8186 LVL= 21040, 26929, 16306, 30451, AGC= 71, IDX= 401,-0.22,-2.102, 2.974,-1.879,-2.466, PHS= 0.452,-0.796, 0.584, RAW= 155.0, -3.7, CAL= 158.8, -12.0, ROT= 351.2, 12.0 2025-01-08T19:43:45.645Z,1736365425.645 [DAT](INFO): got valid direction response: 19:43:43.8186 LVL= 21040, 26929, 16306, 30451, AGC= 71, IDX= 401,-0.22,-2.102, 2.974,-1.879,-2.466, PHS= 0.452,-0.796, 0.584, RAW= 155.0, -3.7, CAL= 158.8, -12.0, ROT= 351.2, 12.0 2025-01-08T19:43:45.647Z,1736365425.647 [DAT](INFO): DAT read: Bearing 351.2, 12.0 (Local) 2025-01-08T19:43:45.648Z,1736365425.648 [DAT](INFO): Local bearing/azimuth received: Bearing 351.2, 12.0 (Local) 2025-01-08T19:43:45.650Z,1736365425.650 [DAT](INFO): DAT read: Range 10 to 50 : 522.9 m (Round-trip 697.3 ms) speed 0.5 m/s 2025-01-08T19:43:45.651Z,1736365425.651 [DAT](INFO): DAT read: user:786> 2025-01-08T19:43:45.652Z,1736365425.652 [DAT](INFO): DAT read: Tx time:19:43:44.9171 2025-01-08T19:43:45.653Z,1736365425.653 [DAT](INFO): Ping request sent. 2025-01-08T19:43:45.653Z,1736365425.653 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:45.653Z,1736365425.653 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:45.658Z,1736365425.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.599976 m, nav range: 490.820129 m, bearing: 184.829457 deg, approach rate: 0.039754 m/s, LOS rate: -0.065251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.901102 deg. 2025-01-08T19:43:45.655Z,1736365425.655 [DAT](INFO): direction in FSK: [-0.046058,-0.879398,0.473854] 2025-01-08T19:43:45.664Z,1736365425.664 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:45.664Z,1736365425.664 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:45.669Z,1736365425.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815382 target range: 525.599976 and range: 525.60 m. 2025-01-08T19:43:45.678Z,1736365425.678 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:45.678Z,1736365425.678 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:45.888Z,1736365425.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:45.889Z,1736365425.889 [DAT](INFO): DAT read: TxSync time:19:43:44.9164 2025-01-08T19:43:46.033Z,1736365426.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:46.067Z,1736365426.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 522.900024 m, deltaT: 4.283412 s, deltaX: -2.699951 m, approachRate: -0.630327 m/s, rangeRepo size: 4 2025-01-08T19:43:46.070Z,1736365426.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 522.900024 m, bearing: 181.151124 deg, lat: 36.899542 deg, lon: -122.113755 deg, deltaT: 4.283412 s, deltaX: -2.699951 m, approachRate: -0.630327 m/s, posRepo size: 4 2025-01-08T19:43:46.070Z,1736365426.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.90 m. 2025-01-08T19:43:46.082Z,1736365426.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.900024 m, nav range: 490.839447 m, bearing: 184.798959 deg, approach rate: 0.000000 m/s, LOS rate: -0.065251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890422 deg. 2025-01-08T19:43:46.083Z,1736365426.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815196 target range: 522.900024 and range: 522.90 m. 2025-01-08T19:43:46.141Z,1736365426.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:46.392Z,1736365426.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:46.465Z,1736365426.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:46.474Z,1736365426.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.90 m. 2025-01-08T19:43:46.477Z,1736365426.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.900024 m, nav range: 490.858978 m, bearing: 184.771595 deg, approach rate: 0.047504 m/s, LOS rate: -0.066550 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893100 deg. 2025-01-08T19:43:46.479Z,1736365426.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815243 target range: 522.900024 and range: 522.90 m. 2025-01-08T19:43:46.644Z,1736365426.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:46.823Z,1736365426.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:46.832Z,1736365426.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:46.834Z,1736365426.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.90 m. 2025-01-08T19:43:46.837Z,1736365426.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.900024 m, nav range: 490.875702 m, bearing: 184.748983 deg, approach rate: 0.046426 m/s, LOS rate: -0.062771 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.907352 deg. 2025-01-08T19:43:46.838Z,1736365426.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815492 target range: 522.900024 and range: 522.90 m. 2025-01-08T19:43:46.896Z,1736365426.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:46.896Z,1736365426.896 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:46.897Z,1736365426.897 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:46.897Z,1736365426.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:47.149Z,1736365427.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:47.152Z,1736365427.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499210 2025-01-08T19:43:47.261Z,1736365427.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:47.304Z,1736365427.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.90 m. 2025-01-08T19:43:47.306Z,1736365427.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.900024 m, nav range: 490.899628 m, bearing: 184.722676 deg, approach rate: 0.051414 m/s, LOS rate: -0.056527 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.896272 deg. 2025-01-08T19:43:47.311Z,1736365427.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815299 target range: 522.900024 and range: 522.90 m. 2025-01-08T19:43:47.401Z,1736365427.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:47.401Z,1736365427.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748636 2025-01-08T19:43:47.649Z,1736365427.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:47.652Z,1736365427.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:47.653Z,1736365427.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000591 2025-01-08T19:43:47.666Z,1736365427.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.90 m. 2025-01-08T19:43:47.672Z,1736365427.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.900024 m, nav range: 490.921906 m, bearing: 184.699426 deg, approach rate: 0.060822 m/s, LOS rate: -0.063474 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.905439 deg. 2025-01-08T19:43:47.674Z,1736365427.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815458 target range: 522.900024 and range: 522.90 m. 2025-01-08T19:43:47.904Z,1736365427.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:47.904Z,1736365427.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251783 2025-01-08T19:43:48.038Z,1736365428.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:48.048Z,1736365428.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.90 m. 2025-01-08T19:43:48.050Z,1736365428.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.900024 m, nav range: 490.945343 m, bearing: 184.676057 deg, approach rate: 0.061386 m/s, LOS rate: -0.061203 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.905083 deg. 2025-01-08T19:43:48.052Z,1736365428.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815452 target range: 522.900024 and range: 522.90 m. 2025-01-08T19:43:48.158Z,1736365428.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:48.161Z,1736365428.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507513 2025-01-08T19:43:48.408Z,1736365428.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:48.408Z,1736365428.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755642 2025-01-08T19:43:48.479Z,1736365428.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:48.503Z,1736365428.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.90 m. 2025-01-08T19:43:48.510Z,1736365428.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.900024 m, nav range: 490.975403 m, bearing: 184.649295 deg, approach rate: 0.066016 m/s, LOS rate: -0.058771 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894905 deg. 2025-01-08T19:43:48.516Z,1736365428.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815274 target range: 522.900024 and range: 522.90 m. 2025-01-08T19:43:48.660Z,1736365428.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:48.662Z,1736365428.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008981 2025-01-08T19:43:48.862Z,1736365428.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:48.869Z,1736365428.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:48.871Z,1736365428.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.90 m. 2025-01-08T19:43:48.874Z,1736365428.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.900024 m, nav range: 491.002380 m, bearing: 184.625989 deg, approach rate: 0.073276 m/s, LOS rate: -0.063299 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.905274 deg. 2025-01-08T19:43:48.875Z,1736365428.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815455 target range: 522.900024 and range: 522.90 m. 2025-01-08T19:43:48.912Z,1736365428.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:48.914Z,1736365428.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260885 2025-01-08T19:43:49.165Z,1736365429.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:49.169Z,1736365429.169 [DAT](INFO): DAT read: Rx Time:19:43:48.0244 2025-01-08T19:43:49.170Z,1736365429.170 [DAT](INFO): Rx dataTimestamp_ set to:1736365429.169257 2025-01-08T19:43:49.173Z,1736365429.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519381 2025-01-08T19:43:49.308Z,1736365429.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:49.337Z,1736365429.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.90 m. 2025-01-08T19:43:49.345Z,1736365429.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.900024 m, nav range: 491.033875 m, bearing: 184.596656 deg, approach rate: 0.067499 m/s, LOS rate: -0.062864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887193 deg. 2025-01-08T19:43:49.346Z,1736365429.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815140 target range: 522.900024 and range: 522.90 m. 2025-01-08T19:43:49.416Z,1736365429.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:49.417Z,1736365429.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764076 2025-01-08T19:43:49.670Z,1736365429.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:49.673Z,1736365429.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019348 2025-01-08T19:43:49.752Z,1736365429.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:49.773Z,1736365429.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.90 m. 2025-01-08T19:43:49.780Z,1736365429.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.900024 m, nav range: 491.065826 m, bearing: 184.567436 deg, approach rate: 0.073408 m/s, LOS rate: -0.067127 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887532 deg. 2025-01-08T19:43:49.781Z,1736365429.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815146 target range: 522.900024 and range: 522.90 m. 2025-01-08T19:43:49.920Z,1736365429.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:49.927Z,1736365429.927 [DAT](INFO): DAT read: 19:43:48.0244 LVL= 20080, 22305, 17234, 26099, AGC= 70, IDX= 508,-0.08, 2.833, 1.571, 3.040, 2.443, PHS= 0.478,-0.825, 0.594, RAW= 154.2, -3.7, CAL= 158.1, -12.0, ROT= 351.9, 12.0 2025-01-08T19:43:49.929Z,1736365429.929 [DAT](INFO): got valid direction response: 19:43:48.0244 LVL= 20080, 22305, 17234, 26099, AGC= 70, IDX= 508,-0.08, 2.833, 1.571, 3.040, 2.443, PHS= 0.478,-0.825, 0.594, RAW= 154.2, -3.7, CAL= 158.1, -12.0, ROT= 351.9, 12.0 2025-01-08T19:43:49.930Z,1736365429.930 [DAT](INFO): DAT read: Bearing 351.9, 12.0 (Local) 2025-01-08T19:43:49.931Z,1736365429.931 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 12.0 (Local) 2025-01-08T19:43:49.938Z,1736365429.938 [DAT](INFO): DAT read: Range 10 to 50 : 527.3 m (Round-trip 703.1 ms) speed 0.7 m/s 2025-01-08T19:43:49.940Z,1736365429.940 [DAT](INFO): DAT read: user:787> 2025-01-08T19:43:49.940Z,1736365429.940 [DAT](INFO): DAT read: Tx time:19:43:49.1171 2025-01-08T19:43:49.941Z,1736365429.941 [DAT](INFO): Ping request sent. 2025-01-08T19:43:49.941Z,1736365429.941 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:49.941Z,1736365429.941 [DAT](INFO): DAT read: TxSync time:19:43:49.1164 2025-01-08T19:43:49.942Z,1736365429.942 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:49.943Z,1736365429.943 [DAT](INFO): direction in FSK: [-0.046991,-0.872800,0.485811] 2025-01-08T19:43:49.943Z,1736365429.943 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:49.944Z,1736365429.944 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:49.976Z,1736365429.976 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:49.976Z,1736365429.976 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:50.174Z,1736365430.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:50.293Z,1736365430.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:50.307Z,1736365430.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 527.299988 m, deltaT: 4.283907 s, deltaX: 4.399963 m, approachRate: 1.027091 m/s, rangeRepo size: 4 2025-01-08T19:43:50.309Z,1736365430.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 527.299988 m, bearing: 183.268831 deg, lat: 36.899557 deg, lon: -122.113748 deg, deltaT: 4.283907 s, deltaX: 4.399963 m, approachRate: 1.027091 m/s, posRepo size: 4 2025-01-08T19:43:50.310Z,1736365430.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.30 m. 2025-01-08T19:43:50.329Z,1736365430.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 527.299988 m, nav range: 489.466064 m, bearing: 184.464778 deg, approach rate: 0.000000 m/s, LOS rate: -0.067127 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867784 deg. 2025-01-08T19:43:50.330Z,1736365430.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814801 target range: 527.299988 and range: 527.30 m. 2025-01-08T19:43:50.424Z,1736365430.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:50.676Z,1736365430.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:50.750Z,1736365430.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:50.778Z,1736365430.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.30 m. 2025-01-08T19:43:50.781Z,1736365430.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 527.299988 m, nav range: 489.503204 m, bearing: 184.430869 deg, approach rate: 0.078732 m/s, LOS rate: -0.071877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873469 deg. 2025-01-08T19:43:50.783Z,1736365430.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814900 target range: 527.299988 and range: 527.30 m. 2025-01-08T19:43:50.928Z,1736365430.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:51.181Z,1736365431.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:51.232Z,1736365431.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:51.252Z,1736365431.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:51.253Z,1736365431.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.30 m. 2025-01-08T19:43:51.262Z,1736365431.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 527.299988 m, nav range: 489.540222 m, bearing: 184.396357 deg, approach rate: 0.077811 m/s, LOS rate: -0.072539 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871658 deg. 2025-01-08T19:43:51.269Z,1736365431.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814869 target range: 527.299988 and range: 527.30 m. 2025-01-08T19:43:51.432Z,1736365431.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:51.432Z,1736365431.432 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:51.432Z,1736365431.432 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:51.433Z,1736365431.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:51.594Z,1736365431.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:51.603Z,1736365431.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.30 m. 2025-01-08T19:43:51.606Z,1736365431.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 527.299988 m, nav range: 489.571564 m, bearing: 184.364745 deg, approach rate: 0.089766 m/s, LOS rate: -0.090534 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880358 deg. 2025-01-08T19:43:51.607Z,1736365431.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815021 target range: 527.299988 and range: 527.30 m. 2025-01-08T19:43:51.684Z,1736365431.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:51.684Z,1736365431.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743619 2025-01-08T19:43:51.936Z,1736365431.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:51.936Z,1736365431.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995527 2025-01-08T19:43:51.968Z,1736365431.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:51.978Z,1736365431.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.30 m. 2025-01-08T19:43:52.001Z,1736365432.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 527.299988 m, nav range: 489.602234 m, bearing: 184.333448 deg, approach rate: 0.081902 m/s, LOS rate: -0.083572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881299 deg. 2025-01-08T19:43:52.002Z,1736365432.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815037 target range: 527.299988 and range: 527.30 m. 2025-01-08T19:43:52.188Z,1736365432.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:52.188Z,1736365432.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247566 2025-01-08T19:43:52.403Z,1736365432.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:52.421Z,1736365432.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.30 m. 2025-01-08T19:43:52.442Z,1736365432.442 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:52.445Z,1736365432.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503986 2025-01-08T19:43:52.446Z,1736365432.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 527.299988 m, nav range: 489.632690 m, bearing: 184.294596 deg, approach rate: 0.068669 m/s, LOS rate: -0.087591 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858639 deg. 2025-01-08T19:43:52.451Z,1736365432.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814641 target range: 527.299988 and range: 527.30 m. 2025-01-08T19:43:52.692Z,1736365432.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:52.694Z,1736365432.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752727 2025-01-08T19:43:52.874Z,1736365432.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:52.885Z,1736365432.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.30 m. 2025-01-08T19:43:52.888Z,1736365432.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 527.299988 m, nav range: 489.663055 m, bearing: 184.252424 deg, approach rate: 0.065640 m/s, LOS rate: -0.091158 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848678 deg. 2025-01-08T19:43:52.889Z,1736365432.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814467 target range: 527.299988 and range: 527.30 m. 2025-01-08T19:43:52.944Z,1736365432.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:52.945Z,1736365432.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004359 2025-01-08T19:43:53.198Z,1736365433.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:53.201Z,1736365433.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259708 2025-01-08T19:43:53.346Z,1736365433.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:53.353Z,1736365433.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:53.355Z,1736365433.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.30 m. 2025-01-08T19:43:53.358Z,1736365433.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 527.299988 m, nav range: 489.691498 m, bearing: 184.208293 deg, approach rate: 0.060296 m/s, LOS rate: -0.093548 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842803 deg. 2025-01-08T19:43:53.359Z,1736365433.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814365 target range: 527.299988 and range: 527.30 m. 2025-01-08T19:43:53.448Z,1736365433.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:53.449Z,1736365433.449 [DAT](INFO): DAT read: Rx Time:19:43:52.2113 2025-01-08T19:43:53.449Z,1736365433.449 [DAT](INFO): Rx dataTimestamp_ set to:1736365433.448965 2025-01-08T19:43:53.450Z,1736365433.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508936 2025-01-08T19:43:53.700Z,1736365433.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:53.701Z,1736365433.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759877 2025-01-08T19:43:53.782Z,1736365433.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:53.799Z,1736365433.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.30 m. 2025-01-08T19:43:53.806Z,1736365433.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 527.299988 m, nav range: 489.714935 m, bearing: 184.167580 deg, approach rate: 0.052841 m/s, LOS rate: -0.091784 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853055 deg. 2025-01-08T19:43:53.812Z,1736365433.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814544 target range: 527.299988 and range: 527.30 m. 2025-01-08T19:43:53.954Z,1736365433.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:53.961Z,1736365433.961 [DAT](INFO): DAT read: 19:43:52.2113 LVL= 23024, 32737, 20418, 32755, AGC= 70, IDX= 399, 0.40, 0.973,-0.450, 0.980, 0.321, PHS= 0.740,-0.725, 0.656, RAW= 147.1, -9.5, CAL= 153.6, -17.9, ROT= 356.4, 17.9 2025-01-08T19:43:53.963Z,1736365433.963 [DAT](INFO): got valid direction response: 19:43:52.2113 LVL= 23024, 32737, 20418, 32755, AGC= 70, IDX= 399, 0.40, 0.973,-0.450, 0.980, 0.321, PHS= 0.740,-0.725, 0.656, RAW= 147.1, -9.5, CAL= 153.6, -17.9, ROT= 356.4, 17.9 2025-01-08T19:43:53.964Z,1736365433.964 [DAT](INFO): DAT read: Bearing 356.4, 17.9 (Local) 2025-01-08T19:43:53.965Z,1736365433.965 [DAT](INFO): Local bearing/azimuth received: Bearing 356.4, 17.9 (Local) 2025-01-08T19:43:53.968Z,1736365433.968 [DAT](INFO): DAT read: Range 10 to 50 : 517.5 m (Round-trip 690.0 ms) speed 0.6 m/s 2025-01-08T19:43:53.969Z,1736365433.969 [DAT](INFO): DAT read: user:788> 2025-01-08T19:43:53.970Z,1736365433.970 [DAT](INFO): DAT read: Tx time:19:43:53.3171 2025-01-08T19:43:53.971Z,1736365433.971 [DAT](INFO): Ping request sent. 2025-01-08T19:43:53.971Z,1736365433.971 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:53.972Z,1736365433.972 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:53.973Z,1736365433.973 [DAT](INFO): direction in FSK: [0.063261,-0.799708,0.597047] 2025-01-08T19:43:53.973Z,1736365433.973 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:53.973Z,1736365433.973 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:53.977Z,1736365433.977 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:53.977Z,1736365433.977 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:54.165Z,1736365434.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:54.204Z,1736365434.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:54.206Z,1736365434.206 [DAT](INFO): DAT read: TxSync time:19:43:53.3164 2025-01-08T19:43:54.216Z,1736365434.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 517.500000 m, deltaT: 4.034148 s, deltaX: -9.799988 m, approachRate: -2.429258 m/s, rangeRepo size: 4 2025-01-08T19:43:54.218Z,1736365434.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 517.500000 m, bearing: 188.005062 deg, lat: 36.899557 deg, lon: -122.113755 deg, deltaT: 4.034148 s, deltaX: -9.799988 m, approachRate: -2.429258 m/s, posRepo size: 4 2025-01-08T19:43:54.219Z,1736365434.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.50 m. 2025-01-08T19:43:54.254Z,1736365434.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.500000 m, nav range: 489.782623 m, bearing: 184.209177 deg, approach rate: 0.000000 m/s, LOS rate: -0.091784 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863838 deg. 2025-01-08T19:43:54.280Z,1736365434.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814732 target range: 517.500000 and range: 517.50 m. 2025-01-08T19:43:54.456Z,1736365434.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:54.629Z,1736365434.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:54.637Z,1736365434.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.50 m. 2025-01-08T19:43:54.642Z,1736365434.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.500000 m, nav range: 489.803070 m, bearing: 184.166616 deg, approach rate: 0.047072 m/s, LOS rate: -0.097978 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847510 deg. 2025-01-08T19:43:54.643Z,1736365434.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814447 target range: 517.500000 and range: 517.50 m. 2025-01-08T19:43:54.708Z,1736365434.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:54.960Z,1736365434.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:55.008Z,1736365435.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:55.018Z,1736365435.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.50 m. 2025-01-08T19:43:55.021Z,1736365435.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.500000 m, nav range: 489.818939 m, bearing: 184.131779 deg, approach rate: 0.041737 m/s, LOS rate: -0.091621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870679 deg. 2025-01-08T19:43:55.022Z,1736365435.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814852 target range: 517.500000 and range: 517.50 m. 2025-01-08T19:43:55.212Z,1736365435.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:55.445Z,1736365435.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:55.451Z,1736365435.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:55.454Z,1736365435.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.50 m. 2025-01-08T19:43:55.461Z,1736365435.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.500000 m, nav range: 489.837311 m, bearing: 184.093591 deg, approach rate: 0.042149 m/s, LOS rate: -0.087608 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860628 deg. 2025-01-08T19:43:55.465Z,1736365435.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:55.466Z,1736365435.466 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:55.466Z,1736365435.466 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:55.475Z,1736365435.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:55.488Z,1736365435.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814676 target range: 517.500000 and range: 517.50 m. 2025-01-08T19:43:55.716Z,1736365435.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:55.717Z,1736365435.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745901 2025-01-08T19:43:55.826Z,1736365435.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:55.836Z,1736365435.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.50 m. 2025-01-08T19:43:55.839Z,1736365435.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.500000 m, nav range: 489.852692 m, bearing: 184.060214 deg, approach rate: 0.040178 m/s, LOS rate: -0.087184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875059 deg. 2025-01-08T19:43:55.840Z,1736365435.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814928 target range: 517.500000 and range: 517.50 m. 2025-01-08T19:43:55.968Z,1736365435.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:55.968Z,1736365435.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997543 2025-01-08T19:43:56.220Z,1736365436.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:56.221Z,1736365436.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250351 2025-01-08T19:43:56.329Z,1736365436.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:56.346Z,1736365436.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.50 m. 2025-01-08T19:43:56.353Z,1736365436.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.500000 m, nav range: 489.873474 m, bearing: 184.016191 deg, approach rate: 0.040797 m/s, LOS rate: -0.086416 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843122 deg. 2025-01-08T19:43:56.354Z,1736365436.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814371 target range: 517.500000 and range: 517.50 m. 2025-01-08T19:43:56.474Z,1736365436.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:56.476Z,1736365436.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504800 2025-01-08T19:43:56.715Z,1736365436.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:56.724Z,1736365436.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:56.724Z,1736365436.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753732 2025-01-08T19:43:56.725Z,1736365436.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.50 m. 2025-01-08T19:43:56.729Z,1736365436.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.500000 m, nav range: 489.883636 m, bearing: 183.985587 deg, approach rate: 0.026922 m/s, LOS rate: -0.081073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883379 deg. 2025-01-08T19:43:56.730Z,1736365436.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815073 target range: 517.500000 and range: 517.50 m. 2025-01-08T19:43:56.976Z,1736365436.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:56.977Z,1736365436.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006061 2025-01-08T19:43:57.172Z,1736365437.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:57.185Z,1736365437.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.50 m. 2025-01-08T19:43:57.189Z,1736365437.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.500000 m, nav range: 489.896576 m, bearing: 183.949323 deg, approach rate: 0.027986 m/s, LOS rate: -0.078431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866397 deg. 2025-01-08T19:43:57.190Z,1736365437.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814777 target range: 517.500000 and range: 517.50 m. 2025-01-08T19:43:57.229Z,1736365437.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:57.230Z,1736365437.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259172 2025-01-08T19:43:57.480Z,1736365437.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:57.480Z,1736365437.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509617 2025-01-08T19:43:57.589Z,1736365437.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:57.616Z,1736365437.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:57.622Z,1736365437.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.50 m. 2025-01-08T19:43:57.625Z,1736365437.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.500000 m, nav range: 489.909607 m, bearing: 183.918952 deg, approach rate: 0.029877 m/s, LOS rate: -0.069632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884076 deg. 2025-01-08T19:43:57.626Z,1736365437.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815085 target range: 517.500000 and range: 517.50 m. 2025-01-08T19:43:57.732Z,1736365437.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:57.733Z,1736365437.733 [DAT](INFO): DAT read: Rx Time:19:43:56.4164 2025-01-08T19:43:57.733Z,1736365437.733 [DAT](INFO): Rx dataTimestamp_ set to:1736365437.732746 2025-01-08T19:43:57.734Z,1736365437.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762812 2025-01-08T19:43:57.984Z,1736365437.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:57.985Z,1736365437.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013842 2025-01-08T19:43:57.989Z,1736365437.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:57.999Z,1736365437.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.50 m. 2025-01-08T19:43:58.002Z,1736365438.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.500000 m, nav range: 489.922913 m, bearing: 183.889794 deg, approach rate: 0.035298 m/s, LOS rate: -0.077349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887715 deg. 2025-01-08T19:43:58.003Z,1736365438.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815149 target range: 517.500000 and range: 517.50 m. 2025-01-08T19:43:58.236Z,1736365438.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:58.243Z,1736365438.243 [DAT](INFO): DAT read: 19:43:56.4164 LVL= 21936, 26673, 18866, 32755, AGC= 71, IDX= 488, 0.36,-0.967,-2.323,-0.787,-1.371, PHS= 0.493,-0.905, 0.582, RAW= 153.1, -2.4, CAL= 156.7, -11.0, ROT= 353.3, 11.0 2025-01-08T19:43:58.244Z,1736365438.244 [DAT](INFO): got valid direction response: 19:43:56.4164 LVL= 21936, 26673, 18866, 32755, AGC= 71, IDX= 488, 0.36,-0.967,-2.323,-0.787,-1.371, PHS= 0.493,-0.905, 0.582, RAW= 153.1, -2.4, CAL= 156.7, -11.0, ROT= 353.3, 11.0 2025-01-08T19:43:58.246Z,1736365438.246 [DAT](INFO): DAT read: Bearing 353.3, 11.0 (Local) 2025-01-08T19:43:58.246Z,1736365438.246 [DAT](INFO): Local bearing/azimuth received: Bearing 353.3, 11.0 (Local) 2025-01-08T19:43:58.248Z,1736365438.248 [DAT](INFO): DAT read: Range 10 to 50 : 521.2 m (Round-trip 695.0 ms) speed 0.2 m/s 2025-01-08T19:43:58.248Z,1736365438.248 [DAT](INFO): DAT read: user:789> 2025-01-08T19:43:58.249Z,1736365438.249 [DAT](INFO): DAT read: Tx time:19:43:57.5172 2025-01-08T19:43:58.249Z,1736365438.249 [DAT](INFO): Ping request sent. 2025-01-08T19:43:58.249Z,1736365438.249 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:43:58.250Z,1736365438.250 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:43:58.250Z,1736365438.250 [DAT](INFO): direction in FSK: [-0.072891,-0.861330,0.502789] 2025-01-08T19:43:58.251Z,1736365438.251 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:58.279Z,1736365438.279 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:58.359Z,1736365438.359 [DAT](INFO): publishing transmit ping time 2025-01-08T19:43:58.360Z,1736365438.360 [DAT](INFO): publishing direction and range info 2025-01-08T19:43:58.482Z,1736365438.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:58.488Z,1736365438.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:58.489Z,1736365438.489 [DAT](INFO): DAT read: TxSync time:19:43:57.5165 2025-01-08T19:43:58.528Z,1736365438.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 521.200012 m, deltaT: 4.282381 s, deltaX: 3.700012 m, approachRate: 0.864008 m/s, rangeRepo size: 4 2025-01-08T19:43:58.530Z,1736365438.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 521.200012 m, bearing: 179.637718 deg, lat: 36.899607 deg, lon: -122.113633 deg, deltaT: 4.282381 s, deltaX: 3.700012 m, approachRate: 0.864008 m/s, posRepo size: 4 2025-01-08T19:43:58.536Z,1736365438.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 521.20 m. 2025-01-08T19:43:58.538Z,1736365438.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 521.200012 m, nav range: 483.728790 m, bearing: 182.613798 deg, approach rate: 0.000000 m/s, LOS rate: -0.077349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853580 deg. 2025-01-08T19:43:58.544Z,1736365438.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814553 target range: 521.200012 and range: 521.20 m. 2025-01-08T19:43:58.740Z,1736365438.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:58.834Z,1736365438.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:58.851Z,1736365438.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 521.20 m. 2025-01-08T19:43:58.858Z,1736365438.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 521.200012 m, nav range: 483.750580 m, bearing: 182.589892 deg, approach rate: 0.066447 m/s, LOS rate: -0.072897 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.903472 deg. 2025-01-08T19:43:58.859Z,1736365438.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815424 target range: 521.200012 and range: 521.20 m. 2025-01-08T19:43:58.992Z,1736365438.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:59.221Z,1736365439.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:59.230Z,1736365439.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 521.20 m. 2025-01-08T19:43:59.233Z,1736365439.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 521.200012 m, nav range: 483.774811 m, bearing: 182.563674 deg, approach rate: 0.063901 m/s, LOS rate: -0.069137 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.896537 deg. 2025-01-08T19:43:59.234Z,1736365439.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815303 target range: 521.200012 and range: 521.20 m. 2025-01-08T19:43:59.245Z,1736365439.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:59.496Z,1736365439.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:59.676Z,1736365439.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:43:59.692Z,1736365439.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:43:59.694Z,1736365439.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 521.20 m. 2025-01-08T19:43:59.702Z,1736365439.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 521.200012 m, nav range: 483.809631 m, bearing: 182.534215 deg, approach rate: 0.075024 m/s, LOS rate: -0.063467 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886817 deg. 2025-01-08T19:43:59.703Z,1736365439.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815133 target range: 521.200012 and range: 521.20 m. 2025-01-08T19:43:59.749Z,1736365439.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:43:59.749Z,1736365439.749 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:43:59.749Z,1736365439.749 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:43:59.750Z,1736365439.750 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:43:59.000Z,1736365440.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:00.001Z,1736365440.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751185 2025-01-08T19:44:00.032Z,1736365440.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:00.056Z,1736365440.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 521.20 m. 2025-01-08T19:44:00.063Z,1736365440.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 521.200012 m, nav range: 483.838287 m, bearing: 182.510629 deg, approach rate: 0.079026 m/s, LOS rate: -0.065043 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.904431 deg. 2025-01-08T19:44:00.065Z,1736365440.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815441 target range: 521.200012 and range: 521.20 m. 2025-01-08T19:44:00.252Z,1736365440.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:00.252Z,1736365440.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003058 2025-01-08T19:44:00.481Z,1736365440.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:00.489Z,1736365440.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 521.20 m. 2025-01-08T19:44:00.492Z,1736365440.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 521.200012 m, nav range: 483.878967 m, bearing: 182.480320 deg, approach rate: 0.094010 m/s, LOS rate: -0.070036 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884269 deg. 2025-01-08T19:44:00.493Z,1736365440.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815089 target range: 521.200012 and range: 521.20 m. 2025-01-08T19:44:00.504Z,1736365440.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:00.504Z,1736365440.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255124 2025-01-08T19:44:00.756Z,1736365440.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:00.756Z,1736365440.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506992 2025-01-08T19:44:00.847Z,1736365440.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:00.856Z,1736365440.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 521.20 m. 2025-01-08T19:44:00.858Z,1736365440.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 521.200012 m, nav range: 483.913116 m, bearing: 182.455647 deg, approach rate: 0.093278 m/s, LOS rate: -0.067389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.901173 deg. 2025-01-08T19:44:00.860Z,1736365440.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815384 target range: 521.200012 and range: 521.20 m. 2025-01-08T19:44:01.008Z,1736365441.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:01.009Z,1736365441.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759403 2025-01-08T19:44:01.239Z,1736365441.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:01.248Z,1736365441.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 521.20 m. 2025-01-08T19:44:01.251Z,1736365441.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 521.200012 m, nav range: 483.949615 m, bearing: 182.429235 deg, approach rate: 0.092925 m/s, LOS rate: -0.067239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.895956 deg. 2025-01-08T19:44:01.252Z,1736365441.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815293 target range: 521.200012 and range: 521.20 m. 2025-01-08T19:44:01.260Z,1736365441.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:01.261Z,1736365441.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011069 2025-01-08T19:44:01.512Z,1736365441.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:01.513Z,1736365441.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263256 2025-01-08T19:44:01.696Z,1736365441.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:01.702Z,1736365441.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:01.704Z,1736365441.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 521.20 m. 2025-01-08T19:44:01.707Z,1736365441.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 521.200012 m, nav range: 483.995972 m, bearing: 182.396783 deg, approach rate: 0.101583 m/s, LOS rate: -0.071107 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877840 deg. 2025-01-08T19:44:01.708Z,1736365441.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814977 target range: 521.200012 and range: 521.20 m. 2025-01-08T19:44:01.764Z,1736365441.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:01.765Z,1736365441.765 [DAT](INFO): DAT read: Rx Time:19:44:00.6043 2025-01-08T19:44:01.765Z,1736365441.765 [DAT](INFO): Rx dataTimestamp_ set to:1736365441.764860 2025-01-08T19:44:01.766Z,1736365441.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516303 2025-01-08T19:44:02.016Z,1736365442.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:02.016Z,1736365442.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766927 2025-01-08T19:44:02.080Z,1736365442.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:02.089Z,1736365442.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 521.20 m. 2025-01-08T19:44:02.092Z,1736365442.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 521.200012 m, nav range: 484.035095 m, bearing: 182.369496 deg, approach rate: 0.101826 m/s, LOS rate: -0.071015 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893331 deg. 2025-01-08T19:44:02.093Z,1736365442.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815247 target range: 521.200012 and range: 521.20 m. 2025-01-08T19:44:02.269Z,1736365442.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:02.273Z,1736365442.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022878 2025-01-08T19:44:02.501Z,1736365442.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:02.509Z,1736365442.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 521.20 m. 2025-01-08T19:44:02.520Z,1736365442.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:02.527Z,1736365442.527 [DAT](INFO): DAT read: 19:44:00.6043 LVL= 23504, 30785, 20114, 31731, AGC= 72, IDX= 409, 0.35, 0.982,-0.340, 1.150, 0.410, PHS= 0.660,-0.704, 0.737, RAW= 152.7, -9.9, CAL= 158.8, -17.4, ROT= 351.2, 17.4 2025-01-08T19:44:02.528Z,1736365442.528 [DAT](INFO): got valid direction response: 19:44:00.6043 LVL= 23504, 30785, 20114, 31731, AGC= 72, IDX= 409, 0.35, 0.982,-0.340, 1.150, 0.410, PHS= 0.660,-0.704, 0.737, RAW= 152.7, -9.9, CAL= 158.8, -17.4, ROT= 351.2, 17.4 2025-01-08T19:44:02.529Z,1736365442.529 [DAT](INFO): DAT read: Bearing 351.2, 17.4 (Local) 2025-01-08T19:44:02.530Z,1736365442.530 [DAT](INFO): Local bearing/azimuth received: Bearing 351.2, 17.4 (Local) 2025-01-08T19:44:02.534Z,1736365442.534 [DAT](INFO): DAT read: Range 10 to 50 : 512.2 m (Round-trip 683.0 ms) speed 0.4 m/s 2025-01-08T19:44:02.536Z,1736365442.536 [DAT](INFO): DAT read: user:790> 2025-01-08T19:44:02.537Z,1736365442.537 [DAT](INFO): DAT read: Tx time:19:44:01.7172 2025-01-08T19:44:02.537Z,1736365442.537 [DAT](INFO): Ping request sent. 2025-01-08T19:44:02.537Z,1736365442.537 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:02.537Z,1736365442.537 [DAT](INFO): DAT read: TxSync time:19:44:01.7165 2025-01-08T19:44:02.538Z,1736365442.538 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:44:02.539Z,1736365442.539 [DAT](INFO): direction in FSK: [0.074810,-0.855850,0.511785] 2025-01-08T19:44:02.539Z,1736365442.539 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:02.540Z,1736365442.540 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:02.543Z,1736365442.543 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:02.543Z,1736365442.543 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:02.564Z,1736365442.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 521.200012 m, nav range: 484.080048 m, bearing: 182.337754 deg, approach rate: 0.106896 m/s, LOS rate: -0.075473 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879972 deg. 2025-01-08T19:44:02.566Z,1736365442.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815014 target range: 521.200012 and range: 521.20 m. 2025-01-08T19:44:02.774Z,1736365442.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:02.888Z,1736365442.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:02.914Z,1736365442.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 512.200012 m, deltaT: 4.283579 s, deltaX: -9.000000 m, approachRate: -2.101047 m/s, rangeRepo size: 4 2025-01-08T19:44:02.920Z,1736365442.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 512.200012 m, bearing: 187.670864 deg, lat: 36.899607 deg, lon: -122.113633 deg, deltaT: 4.283579 s, deltaX: -9.000000 m, approachRate: -2.101047 m/s, posRepo size: 4 2025-01-08T19:44:02.921Z,1736365442.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.20 m. 2025-01-08T19:44:02.937Z,1736365442.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.200012 m, nav range: 484.120239 m, bearing: 182.308564 deg, approach rate: 0.000000 m/s, LOS rate: -0.075473 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883701 deg. 2025-01-08T19:44:02.960Z,1736365442.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815079 target range: 512.200012 and range: 512.20 m. 2025-01-08T19:44:03.024Z,1736365443.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:03.266Z,1736365443.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:03.276Z,1736365443.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:03.275Z,1736365443.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.20 m. 2025-01-08T19:44:03.281Z,1736365443.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.200012 m, nav range: 484.158844 m, bearing: 182.280004 deg, approach rate: 0.106737 m/s, LOS rate: -0.078957 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889515 deg. 2025-01-08T19:44:03.282Z,1736365443.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815180 target range: 512.200012 and range: 512.20 m. 2025-01-08T19:44:03.528Z,1736365443.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:03.706Z,1736365443.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:03.713Z,1736365443.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:03.715Z,1736365443.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.20 m. 2025-01-08T19:44:03.718Z,1736365443.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.200012 m, nav range: 484.198853 m, bearing: 182.245295 deg, approach rate: 0.090892 m/s, LOS rate: -0.078847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871066 deg. 2025-01-08T19:44:03.720Z,1736365443.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814858 target range: 512.200012 and range: 512.20 m. 2025-01-08T19:44:03.780Z,1736365443.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:03.780Z,1736365443.780 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:03.780Z,1736365443.780 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:03.781Z,1736365443.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:04.032Z,1736365444.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:04.032Z,1736365444.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495524 2025-01-08T19:44:04.073Z,1736365444.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:04.086Z,1736365444.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.20 m. 2025-01-08T19:44:04.093Z,1736365444.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.200012 m, nav range: 484.231873 m, bearing: 182.216276 deg, approach rate: 0.089076 m/s, LOS rate: -0.078278 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888136 deg. 2025-01-08T19:44:04.095Z,1736365444.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815156 target range: 512.200012 and range: 512.20 m. 2025-01-08T19:44:04.286Z,1736365444.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:04.287Z,1736365444.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750092 2025-01-08T19:44:04.499Z,1736365444.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:04.508Z,1736365444.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.20 m. 2025-01-08T19:44:04.510Z,1736365444.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.200012 m, nav range: 484.263489 m, bearing: 182.182016 deg, approach rate: 0.074988 m/s, LOS rate: -0.081253 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872415 deg. 2025-01-08T19:44:04.513Z,1736365444.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814882 target range: 512.200012 and range: 512.20 m. 2025-01-08T19:44:04.536Z,1736365444.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:04.537Z,1736365444.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999610 2025-01-08T19:44:04.788Z,1736365444.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:04.788Z,1736365444.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251536 2025-01-08T19:44:04.880Z,1736365444.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:04.889Z,1736365444.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.20 m. 2025-01-08T19:44:04.907Z,1736365444.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.200012 m, nav range: 484.291473 m, bearing: 182.151419 deg, approach rate: 0.073416 m/s, LOS rate: -0.080264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883401 deg. 2025-01-08T19:44:04.909Z,1736365444.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815073 target range: 512.200012 and range: 512.20 m. 2025-01-08T19:44:05.041Z,1736365445.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:05.043Z,1736365445.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505335 2025-01-08T19:44:05.284Z,1736365445.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:05.292Z,1736365445.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:05.292Z,1736365445.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755570 2025-01-08T19:44:05.295Z,1736365445.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.20 m. 2025-01-08T19:44:05.298Z,1736365445.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.200012 m, nav range: 484.321045 m, bearing: 182.118989 deg, approach rate: 0.072893 m/s, LOS rate: -0.079935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877901 deg. 2025-01-08T19:44:05.300Z,1736365445.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814978 target range: 512.200012 and range: 512.20 m. 2025-01-08T19:44:05.544Z,1736365445.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:05.545Z,1736365445.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007581 2025-01-08T19:44:05.725Z,1736365445.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:05.732Z,1736365445.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:05.734Z,1736365445.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.20 m. 2025-01-08T19:44:05.737Z,1736365445.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.200012 m, nav range: 484.346710 m, bearing: 182.083514 deg, approach rate: 0.058385 m/s, LOS rate: -0.080696 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868768 deg. 2025-01-08T19:44:05.738Z,1736365445.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814818 target range: 512.200012 and range: 512.20 m. 2025-01-08T19:44:05.796Z,1736365445.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:05.797Z,1736365445.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260383 2025-01-08T19:44:06.048Z,1736365446.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:06.049Z,1736365446.049 [DAT](INFO): DAT read: Rx Time:19:44:04.8002 2025-01-08T19:44:06.049Z,1736365446.049 [DAT](INFO): Rx dataTimestamp_ set to:1736365446.048794 2025-01-08T19:44:06.050Z,1736365446.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512690 2025-01-08T19:44:06.106Z,1736365446.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:06.115Z,1736365446.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.20 m. 2025-01-08T19:44:06.134Z,1736365446.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.200012 m, nav range: 484.368805 m, bearing: 182.052843 deg, approach rate: 0.057987 m/s, LOS rate: -0.080489 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883181 deg. 2025-01-08T19:44:06.143Z,1736365446.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815070 target range: 512.200012 and range: 512.20 m. 2025-01-08T19:44:06.300Z,1736365446.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:06.301Z,1736365446.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764078 2025-01-08T19:44:06.553Z,1736365446.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:06.562Z,1736365446.562 [DAT](INFO): DAT read: 19:44:04.8002 LVL= 24672, 32753, 20306, 32755, AGC= 70, IDX= 497,-0.46,-2.992, 2.054,-2.900, 2.715, PHS= 0.664,-0.613, 0.666, RAW= 150.0, -11.2, CAL= 156.8, -19.0, ROT= 353.2, 19.0 2025-01-08T19:44:06.565Z,1736365446.565 [DAT](INFO): got valid direction response: 19:44:04.8002 LVL= 24672, 32753, 20306, 32755, AGC= 70, IDX= 497,-0.46,-2.992, 2.054,-2.900, 2.715, PHS= 0.664,-0.613, 0.666, RAW= 150.0, -11.2, CAL= 156.8, -19.0, ROT= 353.2, 19.0 2025-01-08T19:44:06.584Z,1736365446.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:06.588Z,1736365446.588 [DAT](INFO): DAT read: Bearing 353.2, 19.0 (Local) 2025-01-08T19:44:06.588Z,1736365446.588 [DAT](INFO): Local bearing/azimuth received: Bearing 353.2, 19.0 (Local) 2025-01-08T19:44:06.589Z,1736365446.589 [DAT](INFO): DAT read: Range 10 to 50 : 509.1 m (Round-trip 678.9 ms) speed 0.5 m/s 2025-01-08T19:44:06.590Z,1736365446.590 [DAT](INFO): DAT read: user:791> 2025-01-08T19:44:06.591Z,1736365446.591 [DAT](INFO): DAT read: Tx time:19:44:05.9172 2025-01-08T19:44:06.603Z,1736365446.603 [DAT](INFO): Ping request sent. 2025-01-08T19:44:06.604Z,1736365446.604 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:06.604Z,1736365446.604 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:44:06.605Z,1736365446.605 [DAT](INFO): direction in FSK: [0.099383,-0.828179,0.551581] 2025-01-08T19:44:06.605Z,1736365446.605 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:06.605Z,1736365446.605 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:06.637Z,1736365446.637 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:06.637Z,1736365446.637 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:06.671Z,1736365446.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 509.100006 m, deltaT: 4.033053 s, deltaX: -3.100006 m, approachRate: -0.768650 m/s, rangeRepo size: 4 2025-01-08T19:44:06.684Z,1736365446.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 509.100006 m, bearing: 187.180360 deg, lat: 36.899779 deg, lon: -122.114049 deg, deltaT: 4.033053 s, deltaX: -3.100006 m, approachRate: -0.768650 m/s, posRepo size: 4 2025-01-08T19:44:06.685Z,1736365446.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T19:44:06.700Z,1736365446.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 468.076050 m, bearing: 186.632045 deg, approach rate: 0.000000 m/s, LOS rate: -0.080489 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841660 deg. 2025-01-08T19:44:06.701Z,1736365446.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814345 target range: 509.100006 and range: 509.10 m. 2025-01-08T19:44:06.804Z,1736365446.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:06.805Z,1736365446.805 [DAT](INFO): DAT read: TxSync time:19:44:05.9165 2025-01-08T19:44:07.015Z,1736365447.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:07.037Z,1736365447.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T19:44:07.046Z,1736365447.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 468.079559 m, bearing: 186.597269 deg, approach rate: 0.009509 m/s, LOS rate: -0.094227 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870861 deg. 2025-01-08T19:44:07.052Z,1736365447.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814855 target range: 509.100006 and range: 509.10 m. 2025-01-08T19:44:07.056Z,1736365447.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:07.309Z,1736365447.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:07.533Z,1736365447.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:07.542Z,1736365447.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T19:44:07.544Z,1736365447.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 468.085876 m, bearing: 186.556692 deg, approach rate: 0.012518 m/s, LOS rate: -0.080404 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853459 deg. 2025-01-08T19:44:07.546Z,1736365447.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814551 target range: 509.100006 and range: 509.10 m. 2025-01-08T19:44:07.560Z,1736365447.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:07.812Z,1736365447.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:07.903Z,1736365447.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:07.910Z,1736365447.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:07.913Z,1736365447.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T19:44:07.938Z,1736365447.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 468.089935 m, bearing: 186.528040 deg, approach rate: 0.010942 m/s, LOS rate: -0.077239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889230 deg. 2025-01-08T19:44:07.964Z,1736365447.964 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:44:07.965Z,1736365447.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815176 target range: 509.100006 and range: 509.10 m. 2025-01-08T19:44:08.064Z,1736365448.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:08.064Z,1736365448.064 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:08.064Z,1736365448.064 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:08.065Z,1736365448.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:08.316Z,1736365448.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:08.317Z,1736365448.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713502 2025-01-08T19:44:08.376Z,1736365448.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:08.398Z,1736365448.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T19:44:08.412Z,1736365448.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 468.096375 m, bearing: 186.491373 deg, approach rate: 0.013269 m/s, LOS rate: -0.075560 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865187 deg. 2025-01-08T19:44:08.420Z,1736365448.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814756 target range: 509.100006 and range: 509.10 m. 2025-01-08T19:44:08.573Z,1736365448.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:08.574Z,1736365448.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970259 2025-01-08T19:44:08.799Z,1736365448.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:08.824Z,1736365448.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:08.824Z,1736365448.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220858 2025-01-08T19:44:08.836Z,1736365448.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T19:44:08.838Z,1736365448.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 468.103760 m, bearing: 186.458598 deg, approach rate: 0.017032 m/s, LOS rate: -0.075585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876864 deg. 2025-01-08T19:44:08.844Z,1736365448.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814960 target range: 509.100006 and range: 509.10 m. 2025-01-08T19:44:08.968Z,1736365448.968 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:44:09.076Z,1736365449.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:09.076Z,1736365449.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472755 2025-01-08T19:44:09.188Z,1736365449.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:09.197Z,1736365449.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T19:44:09.200Z,1736365449.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 468.111389 m, bearing: 186.428359 deg, approach rate: 0.020848 m/s, LOS rate: -0.082631 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884472 deg. 2025-01-08T19:44:09.201Z,1736365449.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815093 target range: 509.100006 and range: 509.10 m. 2025-01-08T19:44:09.329Z,1736365449.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:09.330Z,1736365449.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726192 2025-01-08T19:44:09.580Z,1736365449.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:09.580Z,1736365449.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976832 2025-01-08T19:44:09.653Z,1736365449.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:09.692Z,1736365449.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T19:44:09.695Z,1736365449.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 468.123749 m, bearing: 186.391811 deg, approach rate: 0.024972 m/s, LOS rate: -0.073842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865545 deg. 2025-01-08T19:44:09.700Z,1736365449.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814762 target range: 509.100006 and range: 509.10 m. 2025-01-08T19:44:09.832Z,1736365449.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:09.832Z,1736365449.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228722 2025-01-08T19:44:10.002Z,1736365450.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:10.008Z,1736365450.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:10.011Z,1736365450.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T19:44:10.014Z,1736365450.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 468.134369 m, bearing: 186.364428 deg, approach rate: 0.033379 m/s, LOS rate: -0.086063 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893039 deg. 2025-01-08T19:44:10.016Z,1736365450.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815242 target range: 509.100006 and range: 509.10 m. 2025-01-08T19:44:10.084Z,1736365450.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:10.085Z,1736365450.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481118 2025-01-08T19:44:10.336Z,1736365450.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:10.336Z,1736365450.336 [DAT](INFO): DAT read: Rx Time:19:44:08.9966 2025-01-08T19:44:10.337Z,1736365450.337 [DAT](INFO): Rx dataTimestamp_ set to:1736365450.336540 2025-01-08T19:44:10.337Z,1736365450.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733751 2025-01-08T19:44:10.403Z,1736365450.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:10.412Z,1736365450.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T19:44:10.415Z,1736365450.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 468.146942 m, bearing: 186.332914 deg, approach rate: 0.031390 m/s, LOS rate: -0.078673 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880648 deg. 2025-01-08T19:44:10.416Z,1736365450.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815026 target range: 509.100006 and range: 509.10 m. 2025-01-08T19:44:10.588Z,1736365450.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:10.588Z,1736365450.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.984834 2025-01-08T19:44:10.823Z,1736365450.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:10.840Z,1736365450.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:10.847Z,1736365450.847 [DAT](INFO): DAT read: 19:44:08.9966 LVL= 20896, 25649, 18594, 29107, AGC= 65, IDX= 399,-0.47,-0.191,-1.513,-0.028,-0.819, PHS= 0.716,-0.648, 0.788, RAW= 152.5, -12.2, CAL= 159.4, -19.4, ROT= 350.6, 19.4 2025-01-08T19:44:10.848Z,1736365450.848 [DAT](INFO): got valid direction response: 19:44:08.9966 LVL= 20896, 25649, 18594, 29107, AGC= 65, IDX= 399,-0.47,-0.191,-1.513,-0.028,-0.819, PHS= 0.716,-0.648, 0.788, RAW= 152.5, -12.2, CAL= 159.4, -19.4, ROT= 350.6, 19.4 2025-01-08T19:44:10.849Z,1736365450.849 [DAT](INFO): DAT read: Bearing 350.6, 19.4 (Local) 2025-01-08T19:44:10.850Z,1736365450.850 [DAT](INFO): Local bearing/azimuth received: Bearing 350.6, 19.4 (Local) 2025-01-08T19:44:10.851Z,1736365450.851 [DAT](INFO): DAT read: Range 10 to 50 : 506.4 m (Round-trip 675.2 ms) speed 0.5 m/s 2025-01-08T19:44:10.852Z,1736365450.852 [DAT](INFO): DAT read: user:792> 2025-01-08T19:44:10.853Z,1736365450.853 [DAT](INFO): DAT read: Tx time:19:44:10.1172 2025-01-08T19:44:10.853Z,1736365450.853 [DAT](INFO): Ping request sent. 2025-01-08T19:44:10.853Z,1736365450.853 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:10.853Z,1736365450.853 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:44:10.854Z,1736365450.854 [DAT](INFO): direction in FSK: [0.119617,-0.849815,0.513328] 2025-01-08T19:44:10.854Z,1736365450.854 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:10.855Z,1736365450.855 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:10.866Z,1736365450.866 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:10.866Z,1736365450.866 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:10.883Z,1736365450.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 506.399994 m, deltaT: 4.286934 s, deltaX: -2.700012 m, approachRate: -0.629824 m/s, rangeRepo size: 4 2025-01-08T19:44:10.889Z,1736365450.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 506.399994 m, bearing: 189.301378 deg, lat: 36.899853 deg, lon: -122.114079 deg, deltaT: 4.286934 s, deltaX: -2.700012 m, approachRate: -0.629824 m/s, posRepo size: 4 2025-01-08T19:44:10.890Z,1736365450.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:10.897Z,1736365450.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.321045 m, bearing: 186.744651 deg, approach rate: 0.000000 m/s, LOS rate: -0.078673 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863983 deg. 2025-01-08T19:44:10.898Z,1736365450.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814735 target range: 506.399994 and range: 506.40 m. 2025-01-08T19:44:11.092Z,1736365451.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:11.093Z,1736365451.093 [DAT](INFO): DAT read: TxSync time:19:44:10.1165 2025-01-08T19:44:11.228Z,1736365451.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:11.248Z,1736365451.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:11.251Z,1736365451.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.334717 m, bearing: 186.711960 deg, approach rate: 0.037773 m/s, LOS rate: -0.090319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877115 deg. 2025-01-08T19:44:11.252Z,1736365451.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814964 target range: 506.399994 and range: 506.40 m. 2025-01-08T19:44:11.345Z,1736365451.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:11.596Z,1736365451.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:11.656Z,1736365451.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:11.687Z,1736365451.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:11.690Z,1736365451.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.351013 m, bearing: 186.675968 deg, approach rate: 0.037174 m/s, LOS rate: -0.082098 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867215 deg. 2025-01-08T19:44:11.696Z,1736365451.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814791 target range: 506.399994 and range: 506.40 m. 2025-01-08T19:44:11.848Z,1736365451.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:12.016Z,1736365452.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:12.023Z,1736365452.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:12.025Z,1736365452.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:12.028Z,1736365452.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.364166 m, bearing: 186.645551 deg, approach rate: 0.038429 m/s, LOS rate: -0.088865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883939 deg. 2025-01-08T19:44:12.030Z,1736365452.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815083 target range: 506.399994 and range: 506.40 m. 2025-01-08T19:44:12.100Z,1736365452.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:12.101Z,1736365452.101 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:12.101Z,1736365452.101 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:12.102Z,1736365452.102 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:12.352Z,1736365452.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:12.352Z,1736365452.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499378 2025-01-08T19:44:12.424Z,1736365452.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:12.433Z,1736365452.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:12.452Z,1736365452.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.378845 m, bearing: 186.611215 deg, approach rate: 0.035977 m/s, LOS rate: -0.084150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872184 deg. 2025-01-08T19:44:12.453Z,1736365452.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814878 target range: 506.399994 and range: 506.40 m. 2025-01-08T19:44:12.604Z,1736365452.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:12.604Z,1736365452.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751444 2025-01-08T19:44:12.856Z,1736365452.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:12.856Z,1736365452.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003442 2025-01-08T19:44:12.860Z,1736365452.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:12.870Z,1736365452.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:12.873Z,1736365452.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.392883 m, bearing: 186.573940 deg, approach rate: 0.032121 m/s, LOS rate: -0.085289 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863363 deg. 2025-01-08T19:44:12.874Z,1736365452.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814724 target range: 506.399994 and range: 506.40 m. 2025-01-08T19:44:13.108Z,1736365453.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:13.108Z,1736365453.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255490 2025-01-08T19:44:13.228Z,1736365453.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:13.252Z,1736365453.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:13.256Z,1736365453.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.404907 m, bearing: 186.542631 deg, approach rate: 0.031423 m/s, LOS rate: -0.081820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881263 deg. 2025-01-08T19:44:13.257Z,1736365453.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815036 target range: 506.399994 and range: 506.40 m. 2025-01-08T19:44:13.364Z,1736365453.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:13.365Z,1736365453.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512480 2025-01-08T19:44:13.612Z,1736365453.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:13.613Z,1736365453.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759620 2025-01-08T19:44:13.678Z,1736365453.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:13.700Z,1736365453.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:13.702Z,1736365453.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.415405 m, bearing: 186.504676 deg, approach rate: 0.023708 m/s, LOS rate: -0.085712 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861324 deg. 2025-01-08T19:44:13.708Z,1736365453.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814688 target range: 506.399994 and range: 506.40 m. 2025-01-08T19:44:13.864Z,1736365453.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:13.864Z,1736365453.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011489 2025-01-08T19:44:14.041Z,1736365454.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:14.054Z,1736365454.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:14.057Z,1736365454.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:14.064Z,1736365454.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.423645 m, bearing: 186.474096 deg, approach rate: 0.022750 m/s, LOS rate: -0.084428 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883450 deg. 2025-01-08T19:44:14.066Z,1736365454.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815074 target range: 506.399994 and range: 506.40 m. 2025-01-08T19:44:14.116Z,1736365454.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:14.117Z,1736365454.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263524 2025-01-08T19:44:14.368Z,1736365454.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:14.368Z,1736365454.368 [DAT](INFO): DAT read: Rx Time:19:44:13.2028 2025-01-08T19:44:14.369Z,1736365454.369 [DAT](INFO): Rx dataTimestamp_ set to:1736365454.368558 2025-01-08T19:44:14.369Z,1736365454.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516377 2025-01-08T19:44:14.443Z,1736365454.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:14.453Z,1736365454.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:14.456Z,1736365454.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.432587 m, bearing: 186.440203 deg, approach rate: 0.022623 m/s, LOS rate: -0.085752 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873509 deg. 2025-01-08T19:44:14.457Z,1736365454.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814901 target range: 506.399994 and range: 506.40 m. 2025-01-08T19:44:14.622Z,1736365454.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:14.623Z,1736365454.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770306 2025-01-08T19:44:14.876Z,1736365454.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:14.878Z,1736365454.878 [DAT](INFO): DAT read: Range 10 to 50 : 510.9 m (Round-trip 681.3 ms) speed 0.5 m/s 2025-01-08T19:44:14.879Z,1736365454.879 [DAT](INFO): DAT read: user:793> 2025-01-08T19:44:14.879Z,1736365454.879 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:44:14.880Z,1736365454.880 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:14.880Z,1736365454.880 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:14.880Z,1736365454.880 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:14.897Z,1736365454.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:14.948Z,1736365454.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 510.899994 m, deltaT: 4.035980 s, deltaX: 4.500000 m, approachRate: 1.114971 m/s, rangeRepo size: 4 2025-01-08T19:44:14.949Z,1736365454.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:14.956Z,1736365454.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.439209 m, bearing: 186.403109 deg, approach rate: 0.013640 m/s, LOS rate: -0.076402 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863906 deg. 2025-01-08T19:44:14.957Z,1736365454.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814734 target range: 506.399994 and range: 510.90 m. 2025-01-08T19:44:15.128Z,1736365455.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:15.129Z,1736365455.129 [DAT](INFO): DAT read: Tx time:19:44:14.3173 2025-01-08T19:44:15.130Z,1736365455.130 [DAT](INFO): Ping request sent. 2025-01-08T19:44:15.130Z,1736365455.130 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:15.130Z,1736365455.130 [DAT](INFO): DAT read: TxSync time:19:44:14.3166 2025-01-08T19:44:15.131Z,1736365455.131 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:15.132Z,1736365455.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001644 2025-01-08T19:44:15.263Z,1736365455.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:15.284Z,1736365455.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:15.291Z,1736365455.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.444244 m, bearing: 186.373286 deg, approach rate: 0.014546 m/s, LOS rate: -0.086149 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885722 deg. 2025-01-08T19:44:15.292Z,1736365455.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815114 target range: 506.399994 and range: 510.90 m. 2025-01-08T19:44:15.380Z,1736365455.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:15.381Z,1736365455.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250672 2025-01-08T19:44:15.632Z,1736365455.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:15.632Z,1736365455.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502569 2025-01-08T19:44:15.663Z,1736365455.663 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3278,-32:WE,-32768,-32768,-32768,V 2025-01-08T19:44:15.839Z,1736365455.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T19:44:15.847Z,1736365455.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:15.884Z,1736365455.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:15.884Z,1736365455.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754482 2025-01-08T19:44:15.885Z,1736365455.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:15.896Z,1736365455.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.451965 m, bearing: 186.326275 deg, approach rate: 0.013241 m/s, LOS rate: -0.080618 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834155 deg. 2025-01-08T19:44:15.897Z,1736365455.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814214 target range: 506.399994 and range: 510.90 m. 2025-01-08T19:44:16.136Z,1736365456.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:16.136Z,1736365456.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006555 2025-01-08T19:44:16.205Z,1736365456.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T19:44:16.205Z,1736365456.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:16.213Z,1736365456.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:16.215Z,1736365456.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:16.218Z,1736365456.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.456482 m, bearing: 186.296393 deg, approach rate: 0.012997 m/s, LOS rate: -0.085991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885542 deg. 2025-01-08T19:44:16.220Z,1736365456.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815111 target range: 506.399994 and range: 510.90 m. 2025-01-08T19:44:16.388Z,1736365456.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:16.388Z,1736365456.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258426 2025-01-08T19:44:16.640Z,1736365456.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:16.641Z,1736365456.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510798 2025-01-08T19:44:16.648Z,1736365456.648 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:44:16.672Z,1736365456.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:16.710Z,1736365456.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:16.735Z,1736365456.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.461243 m, bearing: 186.262031 deg, approach rate: 0.009622 m/s, LOS rate: -0.069445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872103 deg. 2025-01-08T19:44:16.737Z,1736365456.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814877 target range: 506.399994 and range: 510.90 m. 2025-01-08T19:44:16.892Z,1736365456.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:16.892Z,1736365456.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762504 2025-01-08T19:44:17.013Z,1736365457.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:17.037Z,1736365457.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:17.045Z,1736365457.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.465271 m, bearing: 186.236997 deg, approach rate: 0.012306 m/s, LOS rate: -0.076477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.900084 deg. 2025-01-08T19:44:17.046Z,1736365457.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815365 target range: 506.399994 and range: 510.90 m. 2025-01-08T19:44:17.144Z,1736365457.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:17.145Z,1736365457.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015393 2025-01-08T19:44:17.396Z,1736365457.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:17.397Z,1736365457.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266616 2025-01-08T19:44:17.428Z,1736365457.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:17.447Z,1736365457.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:17.454Z,1736365457.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.470917 m, bearing: 186.206530 deg, approach rate: 0.013820 m/s, LOS rate: -0.074576 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883787 deg. 2025-01-08T19:44:17.456Z,1736365457.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815081 target range: 506.399994 and range: 510.90 m. 2025-01-08T19:44:17.648Z,1736365457.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:17.649Z,1736365457.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519332 2025-01-08T19:44:17.872Z,1736365457.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:17.881Z,1736365457.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:17.885Z,1736365457.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.481995 m, bearing: 186.175133 deg, approach rate: 0.025449 m/s, LOS rate: -0.072125 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880998 deg. 2025-01-08T19:44:17.886Z,1736365457.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815032 target range: 506.399994 and range: 510.90 m. 2025-01-08T19:44:17.900Z,1736365457.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:17.900Z,1736365457.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770605 2025-01-08T19:44:18.153Z,1736365458.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:18.154Z,1736365458.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024076 2025-01-08T19:44:18.224Z,1736365458.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:18.231Z,1736365458.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:18.233Z,1736365458.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:18.252Z,1736365458.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.491364 m, bearing: 186.150307 deg, approach rate: 0.026607 m/s, LOS rate: -0.070502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.900712 deg. 2025-01-08T19:44:18.253Z,1736365458.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815376 target range: 506.399994 and range: 510.90 m. 2025-01-08T19:44:18.404Z,1736365458.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:18.404Z,1736365458.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274503 2025-01-08T19:44:18.656Z,1736365458.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:18.657Z,1736365458.657 [DAT](INFO): DAT read: Rx Time:19:44:17.3895 2025-01-08T19:44:18.658Z,1736365458.658 [DAT](INFO): Rx dataTimestamp_ set to:1736365458.657643 2025-01-08T19:44:18.659Z,1736365458.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528957 2025-01-08T19:44:18.725Z,1736365458.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:18.734Z,1736365458.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:18.758Z,1736365458.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.513153 m, bearing: 186.115703 deg, approach rate: 0.043480 m/s, LOS rate: -0.069048 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871378 deg. 2025-01-08T19:44:18.767Z,1736365458.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814864 target range: 506.399994 and range: 510.90 m. 2025-01-08T19:44:18.908Z,1736365458.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:18.908Z,1736365458.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778488 2025-01-08T19:44:19.091Z,1736365459.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:19.104Z,1736365459.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.40 m. 2025-01-08T19:44:19.107Z,1736365459.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.399994 m, nav range: 460.529083 m, bearing: 186.091420 deg, approach rate: 0.043157 m/s, LOS rate: -0.065781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.902342 deg. 2025-01-08T19:44:19.110Z,1736365459.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815404 target range: 506.399994 and range: 510.90 m. 2025-01-08T19:44:19.160Z,1736365459.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:19.167Z,1736365459.167 [DAT](INFO): DAT read: 19:44:17.3895 LVL= 32304, 32753, 24690, 32755, AGC= 67, IDX= 309,-0.44,-1.593,-2.851,-1.484,-2.226, PHS= 0.721,-0.578, 0.739, RAW= 150.7, -13.4, CAL= 157.6, -20.9, ROT= 352.4, 20.9 2025-01-08T19:44:19.168Z,1736365459.168 [DAT](INFO): got valid direction response: 19:44:17.3895 LVL= 32304, 32753, 24690, 32755, AGC= 67, IDX= 309,-0.44,-1.593,-2.851,-1.484,-2.226, PHS= 0.721,-0.578, 0.739, RAW= 150.7, -13.4, CAL= 157.6, -20.9, ROT= 352.4, 20.9 2025-01-08T19:44:19.169Z,1736365459.169 [DAT](INFO): DAT read: Bearing 352.4, 20.9 (Local) 2025-01-08T19:44:19.170Z,1736365459.170 [DAT](INFO): Local bearing/azimuth received: Bearing 352.4, 20.9 (Local) 2025-01-08T19:44:19.171Z,1736365459.171 [DAT](INFO): DAT read: Range 10 to 50 : 501.0 m (Round-trip 668.0 ms) speed 0.5 m/s 2025-01-08T19:44:19.172Z,1736365459.172 [DAT](INFO): DAT read: user:794> 2025-01-08T19:44:19.173Z,1736365459.173 [DAT](INFO): DAT read: Tx time:19:44:18.5173 2025-01-08T19:44:19.173Z,1736365459.173 [DAT](INFO): Ping request sent. 2025-01-08T19:44:19.173Z,1736365459.173 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:19.173Z,1736365459.173 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:44:19.174Z,1736365459.174 [DAT](INFO): direction in FSK: [0.142560,-0.829131,0.540572] 2025-01-08T19:44:19.174Z,1736365459.174 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:19.175Z,1736365459.175 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:19.179Z,1736365459.179 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:19.179Z,1736365459.179 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:19.413Z,1736365459.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:19.414Z,1736365459.414 [DAT](INFO): DAT read: TxSync time:19:44:18.5166 2025-01-08T19:44:19.465Z,1736365459.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:19.479Z,1736365459.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 501.000000 m, deltaT: 4.284016 s, deltaX: -9.899994 m, approachRate: -2.310914 m/s, rangeRepo size: 4 2025-01-08T19:44:19.501Z,1736365459.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 501.000000 m, bearing: 190.150535 deg, lat: 36.899907 deg, lon: -122.114117 deg, deltaT: 8.319996 s, deltaX: -5.399994 m, approachRate: -0.649038 m/s, posRepo size: 4 2025-01-08T19:44:19.504Z,1736365459.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m. 2025-01-08T19:44:19.506Z,1736365459.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.000000 m, nav range: 455.023621 m, bearing: 186.564092 deg, approach rate: 0.000000 m/s, LOS rate: -0.065781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.901389 deg. 2025-01-08T19:44:19.508Z,1736365459.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815388 target range: 501.000000 and range: 501.00 m. 2025-01-08T19:44:19.665Z,1736365459.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:19.903Z,1736365459.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:19.916Z,1736365459.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:19.917Z,1736365459.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m. 2025-01-08T19:44:19.920Z,1736365459.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.000000 m, nav range: 455.044067 m, bearing: 186.533616 deg, approach rate: 0.046680 m/s, LOS rate: -0.069574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883764 deg. 2025-01-08T19:44:19.921Z,1736365459.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815080 target range: 501.000000 and range: 501.00 m. 2025-01-08T19:44:20.168Z,1736365460.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:20.252Z,1736365460.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:20.258Z,1736365460.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:20.261Z,1736365460.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m. 2025-01-08T19:44:20.265Z,1736365460.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.000000 m, nav range: 455.061432 m, bearing: 186.507833 deg, approach rate: 0.050297 m/s, LOS rate: -0.074679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.897839 deg. 2025-01-08T19:44:20.266Z,1736365460.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815326 target range: 501.000000 and range: 501.00 m. 2025-01-08T19:44:20.420Z,1736365460.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:20.420Z,1736365460.420 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:20.420Z,1736365460.420 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:20.420Z,1736365460.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:20.674Z,1736365460.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:20.676Z,1736365460.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502786 2025-01-08T19:44:20.742Z,1736365460.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:20.758Z,1736365460.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m. 2025-01-08T19:44:20.769Z,1736365460.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.000000 m, nav range: 455.095642 m, bearing: 186.470693 deg, approach rate: 0.068764 m/s, LOS rate: -0.074646 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863777 deg. 2025-01-08T19:44:20.770Z,1736365460.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814731 target range: 501.000000 and range: 501.00 m. 2025-01-08T19:44:20.924Z,1736365460.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:20.924Z,1736365460.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751268 2025-01-08T19:44:21.065Z,1736365461.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:21.073Z,1736365461.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m. 2025-01-08T19:44:21.076Z,1736365461.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.000000 m, nav range: 455.118530 m, bearing: 186.446212 deg, approach rate: 0.072755 m/s, LOS rate: -0.077816 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.901746 deg. 2025-01-08T19:44:21.077Z,1736365461.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815394 target range: 501.000000 and range: 501.00 m. 2025-01-08T19:44:21.176Z,1736365461.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:21.177Z,1736365461.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003655 2025-01-08T19:44:21.428Z,1736365461.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:21.429Z,1736365461.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256093 2025-01-08T19:44:21.483Z,1736365461.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:21.491Z,1736365461.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m. 2025-01-08T19:44:21.494Z,1736365461.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.000000 m, nav range: 455.148621 m, bearing: 186.414511 deg, approach rate: 0.071919 m/s, LOS rate: -0.075764 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880090 deg. 2025-01-08T19:44:21.496Z,1736365461.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815016 target range: 501.000000 and range: 501.00 m. 2025-01-08T19:44:21.682Z,1736365461.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:21.683Z,1736365461.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510220 2025-01-08T19:44:21.925Z,1736365461.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:21.932Z,1736365461.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:21.933Z,1736365461.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759447 2025-01-08T19:44:21.958Z,1736365461.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m. 2025-01-08T19:44:21.981Z,1736365461.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.000000 m, nav range: 455.177338 m, bearing: 186.378451 deg, approach rate: 0.061586 m/s, LOS rate: -0.077329 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867013 deg. 2025-01-08T19:44:21.982Z,1736365461.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814788 target range: 501.000000 and range: 501.00 m. 2025-01-08T19:44:22.184Z,1736365462.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:22.185Z,1736365462.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011513 2025-01-08T19:44:22.284Z,1736365462.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:22.295Z,1736365462.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:22.297Z,1736365462.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m. 2025-01-08T19:44:22.300Z,1736365462.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.000000 m, nav range: 455.200989 m, bearing: 186.349243 deg, approach rate: 0.069587 m/s, LOS rate: -0.085930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887569 deg. 2025-01-08T19:44:22.301Z,1736365462.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815146 target range: 501.000000 and range: 501.00 m. 2025-01-08T19:44:22.438Z,1736365462.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:22.441Z,1736365462.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267497 2025-01-08T19:44:22.689Z,1736365462.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:22.692Z,1736365462.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518189 2025-01-08T19:44:22.776Z,1736365462.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:22.787Z,1736365462.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m. 2025-01-08T19:44:22.790Z,1736365462.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.000000 m, nav range: 455.235565 m, bearing: 186.306405 deg, approach rate: 0.070650 m/s, LOS rate: -0.087524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846682 deg. 2025-01-08T19:44:22.791Z,1736365462.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814433 target range: 501.000000 and range: 501.00 m. 2025-01-08T19:44:22.793Z,1736365462.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 57.943542 m. 2025-01-08T19:44:22.940Z,1736365462.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:22.941Z,1736365462.941 [DAT](INFO): DAT read: Rx Time:19:44:21.5860 2025-01-08T19:44:22.941Z,1736365462.941 [DAT](INFO): Rx dataTimestamp_ set to:1736365462.940766 2025-01-08T19:44:22.942Z,1736365462.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768488 2025-01-08T19:44:23.124Z,1736365463.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:23.148Z,1736365463.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m. 2025-01-08T19:44:23.151Z,1736365463.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.000000 m, nav range: 455.260040 m, bearing: 186.276105 deg, approach rate: 0.067728 m/s, LOS rate: -0.083842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884293 deg. 2025-01-08T19:44:23.156Z,1736365463.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815089 target range: 501.000000 and range: 501.00 m. 2025-01-08T19:44:23.192Z,1736365463.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:23.192Z,1736365463.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019330 2025-01-08T19:44:23.444Z,1736365463.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:23.451Z,1736365463.451 [DAT](INFO): DAT read: 19:44:21.5860 LVL= 22512, 28225, 16738, 32755, AGC= 65, IDX= 499, 0.21, 2.197, 0.919, 2.409, 1.603, PHS= 0.682,-0.638, 0.803, RAW= 154.3, -12.2, CAL= 160.9, -19.2, ROT= 349.1, 19.2 2025-01-08T19:44:23.452Z,1736365463.452 [DAT](INFO): got valid direction response: 19:44:21.5860 LVL= 22512, 28225, 16738, 32755, AGC= 65, IDX= 499, 0.21, 2.197, 0.919, 2.409, 1.603, PHS= 0.682,-0.638, 0.803, RAW= 154.3, -12.2, CAL= 160.9, -19.2, ROT= 349.1, 19.2 2025-01-08T19:44:23.453Z,1736365463.453 [DAT](INFO): DAT read: Bearing 349.1, 19.2 (Local) 2025-01-08T19:44:23.453Z,1736365463.453 [DAT](INFO): Local bearing/azimuth received: Bearing 349.1, 19.2 (Local) 2025-01-08T19:44:23.455Z,1736365463.455 [DAT](INFO): DAT read: Range 10 to 50 : 498.3 m (Round-trip 664.5 ms) speed 0.4 m/s 2025-01-08T19:44:23.457Z,1736365463.457 [DAT](INFO): DAT read: user:795> 2025-01-08T19:44:23.457Z,1736365463.457 [DAT](INFO): DAT read: Tx time:19:44:22.6674 2025-01-08T19:44:23.458Z,1736365463.458 [DAT](INFO): Ping request sent. 2025-01-08T19:44:23.458Z,1736365463.458 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:23.458Z,1736365463.458 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:44:23.459Z,1736365463.459 [DAT](INFO): direction in FSK: [0.121006,-0.865779,0.485577] 2025-01-08T19:44:23.474Z,1736365463.474 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:23.475Z,1736365463.475 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:23.502Z,1736365463.502 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:23.502Z,1736365463.502 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:23.601Z,1736365463.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:23.638Z,1736365463.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 498.299988 m, deltaT: 4.284300 s, deltaX: -2.700012 m, approachRate: -0.630211 m/s, rangeRepo size: 4 2025-01-08T19:44:23.660Z,1736365463.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 498.299988 m, bearing: 189.491889 deg, lat: 36.899907 deg, lon: -122.114314 deg, deltaT: 4.284300 s, deltaX: -2.700012 m, approachRate: -0.630211 m/s, posRepo size: 4 2025-01-08T19:44:23.663Z,1736365463.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T19:44:23.698Z,1736365463.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:23.700Z,1736365463.700 [DAT](INFO): DAT read: TxSync time:19:44:22.6666 2025-01-08T19:44:23.704Z,1736365463.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 457.518311 m, bearing: 188.407936 deg, approach rate: 0.000000 m/s, LOS rate: -0.083842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852014 deg. 2025-01-08T19:44:23.712Z,1736365463.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814526 target range: 498.299988 and range: 498.30 m. 2025-01-08T19:44:23.949Z,1736365463.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:24.056Z,1736365464.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:24.065Z,1736365464.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T19:44:24.068Z,1736365464.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 457.538483 m, bearing: 188.367628 deg, approach rate: 0.047201 m/s, LOS rate: -0.094311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854269 deg. 2025-01-08T19:44:24.069Z,1736365464.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814565 target range: 498.299988 and range: 498.30 m. 2025-01-08T19:44:24.200Z,1736365464.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:24.452Z,1736365464.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:24.495Z,1736365464.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:24.502Z,1736365464.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:24.504Z,1736365464.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T19:44:24.507Z,1736365464.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 457.555298 m, bearing: 188.328877 deg, approach rate: 0.038289 m/s, LOS rate: -0.088236 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858936 deg. 2025-01-08T19:44:24.509Z,1736365464.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814647 target range: 498.299988 and range: 498.30 m. 2025-01-08T19:44:24.706Z,1736365464.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:24.707Z,1736365464.707 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:24.707Z,1736365464.707 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:24.708Z,1736365464.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:24.919Z,1736365464.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:24.952Z,1736365464.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T19:44:24.957Z,1736365464.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:24.958Z,1736365464.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500276 2025-01-08T19:44:24.967Z,1736365464.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 457.568512 m, bearing: 188.290426 deg, approach rate: 0.029483 m/s, LOS rate: -0.085788 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859838 deg. 2025-01-08T19:44:24.973Z,1736365464.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814662 target range: 498.299988 and range: 498.30 m. 2025-01-08T19:44:25.208Z,1736365465.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:25.209Z,1736365465.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750966 2025-01-08T19:44:25.293Z,1736365465.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:25.319Z,1736365465.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T19:44:25.337Z,1736365465.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 457.580383 m, bearing: 188.256579 deg, approach rate: 0.032431 m/s, LOS rate: -0.092466 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873647 deg. 2025-01-08T19:44:25.344Z,1736365465.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814903 target range: 498.299988 and range: 498.30 m. 2025-01-08T19:44:25.460Z,1736365465.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:25.462Z,1736365465.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003887 2025-01-08T19:44:25.714Z,1736365465.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:25.717Z,1736365465.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259226 2025-01-08T19:44:25.812Z,1736365465.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:25.823Z,1736365465.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T19:44:25.826Z,1736365465.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 457.591400 m, bearing: 188.210207 deg, approach rate: 0.021831 m/s, LOS rate: -0.091887 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836075 deg. 2025-01-08T19:44:25.827Z,1736365465.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814248 target range: 498.299988 and range: 498.30 m. 2025-01-08T19:44:25.964Z,1736365465.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:25.966Z,1736365465.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507594 2025-01-08T19:44:26.216Z,1736365466.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:26.216Z,1736365466.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758731 2025-01-08T19:44:26.237Z,1736365466.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:26.246Z,1736365466.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T19:44:26.249Z,1736365466.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 457.600403 m, bearing: 188.172287 deg, approach rate: 0.021293 m/s, LOS rate: -0.089684 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861430 deg. 2025-01-08T19:44:26.250Z,1736365466.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814690 target range: 498.299988 and range: 498.30 m. 2025-01-08T19:44:26.471Z,1736365466.471 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:26.474Z,1736365466.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015990 2025-01-08T19:44:26.633Z,1736365466.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:26.667Z,1736365466.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:26.670Z,1736365466.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T19:44:26.676Z,1736365466.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 457.608978 m, bearing: 188.136934 deg, approach rate: 0.020238 m/s, LOS rate: -0.083431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869131 deg. 2025-01-08T19:44:26.678Z,1736365466.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814825 target range: 498.299988 and range: 498.30 m. 2025-01-08T19:44:26.722Z,1736365466.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:26.725Z,1736365466.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266315 2025-01-08T19:44:26.972Z,1736365466.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:26.973Z,1736365466.973 [DAT](INFO): DAT read: Rx Time:19:44:25.7327 2025-01-08T19:44:26.973Z,1736365466.973 [DAT](INFO): Rx dataTimestamp_ set to:1736365466.972696 2025-01-08T19:44:26.973Z,1736365466.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515789 2025-01-08T19:44:27.090Z,1736365467.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:27.099Z,1736365467.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T19:44:27.102Z,1736365467.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 457.613647 m, bearing: 188.097944 deg, approach rate: 0.010877 m/s, LOS rate: -0.090827 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858216 deg. 2025-01-08T19:44:27.103Z,1736365467.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814634 target range: 498.299988 and range: 498.30 m. 2025-01-08T19:44:27.224Z,1736365467.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:27.225Z,1736365467.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766863 2025-01-08T19:44:27.476Z,1736365467.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:27.483Z,1736365467.483 [DAT](INFO): DAT read: 19:44:25.7327 LVL= 20688, 26945, 19554, 32755, AGC= 68, IDX= 414,-0.00, 1.667, 0.230, 1.675, 1.022, PHS= 0.734,-0.745, 0.650, RAW= 147.1, -8.9, CAL= 153.4, -17.4, ROT= 356.6, 17.4 2025-01-08T19:44:27.484Z,1736365467.484 [DAT](INFO): got valid direction response: 19:44:25.7327 LVL= 20688, 26945, 19554, 32755, AGC= 68, IDX= 414,-0.00, 1.667, 0.230, 1.675, 1.022, PHS= 0.734,-0.745, 0.650, RAW= 147.1, -8.9, CAL= 153.4, -17.4, ROT= 356.6, 17.4 2025-01-08T19:44:27.485Z,1736365467.485 [DAT](INFO): DAT read: Bearing 356.6, 17.4 (Local) 2025-01-08T19:44:27.486Z,1736365467.486 [DAT](INFO): Local bearing/azimuth received: Bearing 356.6, 17.4 (Local) 2025-01-08T19:44:27.487Z,1736365467.487 [DAT](INFO): DAT read: Range 10 to 50 : 495.8 m (Round-trip 661.1 ms) speed 0.6 m/s 2025-01-08T19:44:27.488Z,1736365467.488 [DAT](INFO): DAT read: user:796> 2025-01-08T19:44:27.489Z,1736365467.489 [DAT](INFO): DAT read: Tx time:19:44:26.8174 2025-01-08T19:44:27.489Z,1736365467.489 [DAT](INFO): Ping request sent. 2025-01-08T19:44:27.489Z,1736365467.489 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:27.489Z,1736365467.489 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:44:27.490Z,1736365467.490 [DAT](INFO): direction in FSK: [0.052814,-0.800638,0.596816] 2025-01-08T19:44:27.491Z,1736365467.491 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:27.491Z,1736365467.491 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:27.513Z,1736365467.513 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:27.514Z,1736365467.514 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:27.586Z,1736365467.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:27.663Z,1736365467.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 495.799988 m, deltaT: 4.031740 s, deltaX: -2.500000 m, approachRate: -0.620080 m/s, rangeRepo size: 4 2025-01-08T19:44:27.680Z,1736365467.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 495.799988 m, bearing: 183.061877 deg, lat: 36.899907 deg, lon: -122.114314 deg, deltaT: 4.031740 s, deltaX: -2.500000 m, approachRate: -0.620080 m/s, posRepo size: 4 2025-01-08T19:44:27.681Z,1736365467.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T19:44:27.693Z,1736365467.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 457.618835 m, bearing: 188.055632 deg, approach rate: 0.000000 m/s, LOS rate: -0.090827 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821765 deg. 2025-01-08T19:44:27.694Z,1736365467.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813998 target range: 495.799988 and range: 495.80 m. 2025-01-08T19:44:27.730Z,1736365467.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:27.733Z,1736365467.733 [DAT](INFO): DAT read: TxSync time:19:44:26.8166 2025-01-08T19:44:27.981Z,1736365467.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:28.218Z,1736365468.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:28.226Z,1736365468.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T19:44:28.230Z,1736365468.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 457.624268 m, bearing: 188.004163 deg, approach rate: 0.009624 m/s, LOS rate: -0.091184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820784 deg. 2025-01-08T19:44:28.232Z,1736365468.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:28.233Z,1736365468.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813981 target range: 495.799988 and range: 495.80 m. 2025-01-08T19:44:28.484Z,1736365468.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:28.598Z,1736365468.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:28.607Z,1736365468.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T19:44:28.610Z,1736365468.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 457.627533 m, bearing: 187.973132 deg, approach rate: 0.008592 m/s, LOS rate: -0.081651 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882094 deg. 2025-01-08T19:44:28.612Z,1736365468.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815051 target range: 495.799988 and range: 495.80 m. 2025-01-08T19:44:28.738Z,1736365468.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:28.989Z,1736365468.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:29.014Z,1736365469.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:44:29.014Z,1736365469.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:29.040Z,1736365469.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:29.042Z,1736365469.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T19:44:29.046Z,1736365469.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 457.631470 m, bearing: 187.939221 deg, approach rate: 0.009030 m/s, LOS rate: -0.077782 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873454 deg. 2025-01-08T19:44:29.052Z,1736365469.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814900 target range: 495.799988 and range: 495.80 m. 2025-01-08T19:44:29.240Z,1736365469.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:29.240Z,1736365469.240 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:29.240Z,1736365469.240 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:29.240Z,1736365469.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:29.405Z,1736365469.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:44:29.405Z,1736365469.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:29.415Z,1736365469.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T19:44:29.418Z,1736365469.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 457.636230 m, bearing: 187.907159 deg, approach rate: 0.012785 m/s, LOS rate: -0.086104 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879003 deg. 2025-01-08T19:44:29.419Z,1736365469.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814997 target range: 495.799988 and range: 495.80 m. 2025-01-08T19:44:29.493Z,1736365469.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:29.494Z,1736365469.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004989 2025-01-08T19:44:29.746Z,1736365469.746 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:29.748Z,1736365469.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258554 2025-01-08T19:44:29.866Z,1736365469.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:29.904Z,1736365469.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T19:44:29.915Z,1736365469.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 457.632629 m, bearing: 187.873427 deg, approach rate: -0.007377 m/s, LOS rate: -0.069099 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873989 deg. 2025-01-08T19:44:29.917Z,1736365469.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814909 target range: 495.799988 and range: 495.80 m. 2025-01-08T19:44:29.997Z,1736365469.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:29.998Z,1736365469.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508452 2025-01-08T19:44:30.233Z,1736365470.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:30.241Z,1736365470.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T19:44:30.245Z,1736365470.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 457.629852 m, bearing: 187.846574 deg, approach rate: -0.008213 m/s, LOS rate: -0.079409 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894630 deg. 2025-01-08T19:44:30.246Z,1736365470.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815269 target range: 495.799988 and range: 495.80 m. 2025-01-08T19:44:30.248Z,1736365470.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:30.249Z,1736365470.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759483 2025-01-08T19:44:30.500Z,1736365470.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:30.500Z,1736365470.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011363 2025-01-08T19:44:30.622Z,1736365470.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:30.631Z,1736365470.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T19:44:30.634Z,1736365470.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 457.628754 m, bearing: 187.818075 deg, approach rate: -0.002821 m/s, LOS rate: -0.073187 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889687 deg. 2025-01-08T19:44:30.635Z,1736365470.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815184 target range: 495.799988 and range: 495.80 m. 2025-01-08T19:44:30.752Z,1736365470.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:30.753Z,1736365470.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263475 2025-01-08T19:44:31.004Z,1736365471.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:31.004Z,1736365471.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515438 2025-01-08T19:44:31.072Z,1736365471.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:31.099Z,1736365471.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:31.101Z,1736365471.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T19:44:31.110Z,1736365471.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 457.638397 m, bearing: 187.785645 deg, approach rate: 0.020507 m/s, LOS rate: -0.068959 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877901 deg. 2025-01-08T19:44:31.126Z,1736365471.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814978 target range: 495.799988 and range: 495.80 m. 2025-01-08T19:44:31.256Z,1736365471.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:31.256Z,1736365471.256 [DAT](INFO): DAT read: Rx Time:19:44:29.8888 2025-01-08T19:44:31.257Z,1736365471.257 [DAT](INFO): Rx dataTimestamp_ set to:1736365471.256656 2025-01-08T19:44:31.257Z,1736365471.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768417 2025-01-08T19:44:31.420Z,1736365471.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:31.448Z,1736365471.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T19:44:31.456Z,1736365471.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 457.646545 m, bearing: 187.760620 deg, approach rate: 0.023442 m/s, LOS rate: -0.071995 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.900113 deg. 2025-01-08T19:44:31.457Z,1736365471.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815365 target range: 495.799988 and range: 495.80 m. 2025-01-08T19:44:31.508Z,1736365471.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:31.509Z,1736365471.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020364 2025-01-08T19:44:31.760Z,1736365471.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:31.777Z,1736365471.777 [DAT](INFO): DAT read: 19:44:29.8888 LVL= 25584, 27697, 18274, 32755, AGC= 68, IDX= 508, 0.30,-0.521,-1.802,-0.344,-0.990, PHS= 0.557,-0.765, 0.642, RAW= 153.1, -6.4, CAL= 158.0, -14.4, ROT= 352.0, 14.4 2025-01-08T19:44:31.781Z,1736365471.781 [DAT](INFO): got valid direction response: 19:44:29.8888 LVL= 25584, 27697, 18274, 32755, AGC= 68, IDX= 508, 0.30,-0.521,-1.802,-0.344,-0.990, PHS= 0.557,-0.765, 0.642, RAW= 153.1, -6.4, CAL= 158.0, -14.4, ROT= 352.0, 14.4 2025-01-08T19:44:31.784Z,1736365471.784 [DAT](INFO): DAT read: Bearing 352.0, 14.4 (Local) 2025-01-08T19:44:31.786Z,1736365471.786 [DAT](INFO): Local bearing/azimuth received: Bearing 352.0, 14.4 (Local) 2025-01-08T19:44:31.823Z,1736365471.823 [DAT](INFO): DAT read: Range 10 to 50 : 500.4 m (Round-trip 667.2 ms) speed 0.4 m/s 2025-01-08T19:44:31.832Z,1736365471.832 [DAT](INFO): DAT read: user:797> 2025-01-08T19:44:31.833Z,1736365471.833 [DAT](INFO): DAT read: Tx time:19:44:31.0174 2025-01-08T19:44:31.834Z,1736365471.834 [DAT](INFO): Ping request sent. 2025-01-08T19:44:31.834Z,1736365471.834 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:31.834Z,1736365471.834 [DAT](INFO): DAT read: TxSync time:19:44:31.0166 2025-01-08T19:44:31.835Z,1736365471.835 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:44:31.844Z,1736365471.844 [DAT](INFO): direction in FSK: [0.006254,-0.862673,0.505723] 2025-01-08T19:44:31.844Z,1736365471.844 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:31.845Z,1736365471.845 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:31.865Z,1736365471.865 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:31.865Z,1736365471.865 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:31.955Z,1736365471.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:31.998Z,1736365471.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 500.399994 m, deltaT: 4.283878 s, deltaX: 4.600006 m, approachRate: 1.073795 m/s, rangeRepo size: 4 2025-01-08T19:44:32.005Z,1736365472.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 500.399994 m, bearing: 185.162986 deg, lat: 36.899896 deg, lon: -122.114314 deg, deltaT: 4.283878 s, deltaX: 4.600006 m, approachRate: 1.073795 m/s, posRepo size: 4 2025-01-08T19:44:32.006Z,1736365472.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:32.012Z,1736365472.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:32.024Z,1736365472.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 458.817780 m, bearing: 187.702319 deg, approach rate: 0.000000 m/s, LOS rate: -0.071995 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856519 deg. 2025-01-08T19:44:32.025Z,1736365472.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814605 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:32.268Z,1736365472.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:32.344Z,1736365472.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:32.362Z,1736365472.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:32.376Z,1736365472.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 458.832489 m, bearing: 187.674187 deg, approach rate: 0.040526 m/s, LOS rate: -0.077502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890796 deg. 2025-01-08T19:44:32.378Z,1736365472.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815203 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:32.520Z,1736365472.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:32.709Z,1736365472.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:32.718Z,1736365472.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:32.721Z,1736365472.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 458.845886 m, bearing: 187.647720 deg, approach rate: 0.037504 m/s, LOS rate: -0.074089 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.895787 deg. 2025-01-08T19:44:32.722Z,1736365472.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815290 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:32.773Z,1736365472.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:33.024Z,1736365473.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:33.135Z,1736365473.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:33.141Z,1736365473.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:33.160Z,1736365473.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:33.167Z,1736365473.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 458.870331 m, bearing: 187.616243 deg, approach rate: 0.057480 m/s, LOS rate: -0.074013 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880759 deg. 2025-01-08T19:44:33.168Z,1736365473.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815028 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:33.276Z,1736365473.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:33.276Z,1736365473.276 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:33.276Z,1736365473.276 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:33.277Z,1736365473.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:33.512Z,1736365473.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:33.521Z,1736365473.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:33.524Z,1736365473.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 458.893158 m, bearing: 187.588343 deg, approach rate: 0.060439 m/s, LOS rate: -0.073866 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.891491 deg. 2025-01-08T19:44:33.525Z,1736365473.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815215 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:33.529Z,1736365473.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:33.529Z,1736365473.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695627 2025-01-08T19:44:33.780Z,1736365473.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:33.781Z,1736365473.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947227 2025-01-08T19:44:33.952Z,1736365473.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:33.961Z,1736365473.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:33.964Z,1736365473.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 458.922974 m, bearing: 187.554086 deg, approach rate: 0.067827 m/s, LOS rate: -0.077923 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872425 deg. 2025-01-08T19:44:33.965Z,1736365473.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814882 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:34.033Z,1736365474.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:34.034Z,1736365474.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200124 2025-01-08T19:44:34.286Z,1736365474.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:34.287Z,1736365474.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452973 2025-01-08T19:44:34.317Z,1736365474.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:34.325Z,1736365474.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:34.338Z,1736365474.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 458.947998 m, bearing: 187.525695 deg, approach rate: 0.068602 m/s, LOS rate: -0.077828 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890017 deg. 2025-01-08T19:44:34.339Z,1736365474.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815189 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:34.536Z,1736365474.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:34.536Z,1736365474.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702689 2025-01-08T19:44:34.718Z,1736365474.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:34.727Z,1736365474.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:34.730Z,1736365474.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 458.975861 m, bearing: 187.494504 deg, approach rate: 0.069414 m/s, LOS rate: -0.077701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881619 deg. 2025-01-08T19:44:34.732Z,1736365474.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815042 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:34.793Z,1736365474.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:34.797Z,1736365474.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963091 2025-01-08T19:44:35.040Z,1736365475.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:35.040Z,1736365475.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206750 2025-01-08T19:44:35.152Z,1736365475.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:35.158Z,1736365475.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:35.177Z,1736365475.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:35.185Z,1736365475.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.011444 m, bearing: 187.459115 deg, approach rate: 0.079100 m/s, LOS rate: -0.078661 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869029 deg. 2025-01-08T19:44:35.186Z,1736365475.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814823 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:35.292Z,1736365475.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:35.292Z,1736365475.292 [DAT](INFO): DAT read: Rx Time:19:44:34.0752 2025-01-08T19:44:35.293Z,1736365475.293 [DAT](INFO): Rx dataTimestamp_ set to:1736365475.292621 2025-01-08T19:44:35.293Z,1736365475.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.459773 2025-01-08T19:44:35.545Z,1736365475.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:35.546Z,1736365475.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.712033 2025-01-08T19:44:35.618Z,1736365475.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:35.627Z,1736365475.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:35.630Z,1736365475.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.049835 m, bearing: 187.421129 deg, approach rate: 0.085301 m/s, LOS rate: -0.084394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861238 deg. 2025-01-08T19:44:35.644Z,1736365475.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814687 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:35.796Z,1736365475.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:35.812Z,1736365475.812 [DAT](INFO): DAT read: 19:44:34.0753 LVL= 31216, 31905, 26738, 32755, AGC= 73, IDX= 408, 0.01, 0.633,-0.903, 0.718,-0.049, PHS= 0.770,-0.807, 0.765, RAW= 149.8, -9.3, CAL= 156.0, -17.3, ROT= 354.0, 17.3 2025-01-08T19:44:35.813Z,1736365475.813 [DAT](INFO): got valid direction response: 19:44:34.0753 LVL= 31216, 31905, 26738, 32755, AGC= 73, IDX= 408, 0.01, 0.633,-0.903, 0.718,-0.049, PHS= 0.770,-0.807, 0.765, RAW= 149.8, -9.3, CAL= 156.0, -17.3, ROT= 354.0, 17.3 2025-01-08T19:44:35.814Z,1736365475.814 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:44:35.814Z,1736365475.814 [DAT](INFO): Received a bad header 2025-01-08T19:44:35.829Z,1736365475.829 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T19:44:35.845Z,1736365475.845 [DAT](INFO): direction in FSK: [0.061161,-0.828920,0.556013] 2025-01-08T19:44:35.885Z,1736365475.885 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:35.886Z,1736365475.886 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:35.886Z,1736365475.886 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:36.049Z,1736365476.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:36.050Z,1736365476.050 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:36.050Z,1736365476.050 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:36.050Z,1736365476.050 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:36.087Z,1736365476.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:36.108Z,1736365476.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:36.121Z,1736365476.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.093048 m, bearing: 187.381665 deg, approach rate: 0.090706 m/s, LOS rate: -0.082829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856807 deg. 2025-01-08T19:44:36.122Z,1736365476.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814610 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:36.300Z,1736365476.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:36.300Z,1736365476.300 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:36.300Z,1736365476.300 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:36.300Z,1736365476.300 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:36.552Z,1736365476.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:36.552Z,1736365476.552 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:36.552Z,1736365476.552 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:36.552Z,1736365476.552 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:36.569Z,1736365476.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:36.590Z,1736365476.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:36.605Z,1736365476.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.137451 m, bearing: 187.341075 deg, approach rate: 0.091277 m/s, LOS rate: -0.083431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853428 deg. 2025-01-08T19:44:36.613Z,1736365476.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814550 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:36.804Z,1736365476.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:36.804Z,1736365476.804 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:36.804Z,1736365476.804 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:36.804Z,1736365476.804 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:37.057Z,1736365477.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:37.057Z,1736365477.057 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:37.057Z,1736365477.057 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:37.057Z,1736365477.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:37.128Z,1736365477.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:37.138Z,1736365477.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:37.140Z,1736365477.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.192108 m, bearing: 187.293484 deg, approach rate: 0.099747 m/s, LOS rate: -0.086842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832430 deg. 2025-01-08T19:44:37.142Z,1736365477.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814184 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:37.308Z,1736365477.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:37.308Z,1736365477.308 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:37.308Z,1736365477.308 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:37.308Z,1736365477.308 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:37.488Z,1736365477.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:37.496Z,1736365477.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:37.498Z,1736365477.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:37.501Z,1736365477.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.227478 m, bearing: 187.262838 deg, approach rate: 0.098213 m/s, LOS rate: -0.085088 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883257 deg. 2025-01-08T19:44:37.502Z,1736365477.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815071 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:37.560Z,1736365477.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:37.560Z,1736365477.560 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:37.560Z,1736365477.560 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:37.560Z,1736365477.560 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:37.812Z,1736365477.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:37.813Z,1736365477.813 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:37.813Z,1736365477.813 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:37.813Z,1736365477.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:38.021Z,1736365478.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:38.030Z,1736365478.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:38.033Z,1736365478.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.277283 m, bearing: 187.216419 deg, approach rate: 0.093622 m/s, LOS rate: -0.087249 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835944 deg. 2025-01-08T19:44:38.034Z,1736365478.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814245 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:38.064Z,1736365478.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:38.126Z,1736365478.126 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:38.126Z,1736365478.126 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:38.127Z,1736365478.127 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:38.316Z,1736365478.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:38.316Z,1736365478.316 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:38.316Z,1736365478.316 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:38.316Z,1736365478.316 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:38.376Z,1736365478.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:38.394Z,1736365478.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:38.407Z,1736365478.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.309692 m, bearing: 187.185541 deg, approach rate: 0.089063 m/s, LOS rate: -0.084846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882562 deg. 2025-01-08T19:44:38.413Z,1736365478.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815059 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:38.568Z,1736365478.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:38.568Z,1736365478.568 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:38.568Z,1736365478.568 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:38.568Z,1736365478.568 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:38.820Z,1736365478.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:38.820Z,1736365478.820 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:38.821Z,1736365478.821 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:38.821Z,1736365478.821 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:38.964Z,1736365478.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:38.981Z,1736365478.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:38.988Z,1736365478.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.362976 m, bearing: 187.134379 deg, approach rate: 0.090678 m/s, LOS rate: -0.087059 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821716 deg. 2025-01-08T19:44:38.989Z,1736365478.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813997 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:39.022Z,1736365479.022 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:44:39.072Z,1736365479.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:39.072Z,1736365479.072 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:39.072Z,1736365479.072 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:39.072Z,1736365479.072 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:39.089Z,1736365479.089 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:44:39.324Z,1736365479.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:39.324Z,1736365479.324 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:39.324Z,1736365479.324 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:39.324Z,1736365479.324 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:39.441Z,1736365479.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:39.449Z,1736365479.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:39.453Z,1736365479.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.400726 m, bearing: 187.093927 deg, approach rate: 0.080622 m/s, LOS rate: -0.086384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853842 deg. 2025-01-08T19:44:39.454Z,1736365479.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814558 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:39.576Z,1736365479.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:39.576Z,1736365479.576 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:39.576Z,1736365479.576 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:39.577Z,1736365479.577 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:39.829Z,1736365479.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:39.829Z,1736365479.829 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:39.829Z,1736365479.829 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:39.829Z,1736365479.829 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:39.880Z,1736365479.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:39.911Z,1736365479.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:39.950Z,1736365479.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:39.958Z,1736365479.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.435791 m, bearing: 187.056594 deg, approach rate: 0.073385 m/s, LOS rate: -0.078125 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863198 deg. 2025-01-08T19:44:39.963Z,1736365479.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814721 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:40.080Z,1736365480.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:40.081Z,1736365480.081 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:40.081Z,1736365480.081 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:40.081Z,1736365480.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:40.092Z,1736365480.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:44:40.268Z,1736365480.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:40.296Z,1736365480.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:40.303Z,1736365480.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.465149 m, bearing: 187.024716 deg, approach rate: 0.079523 m/s, LOS rate: -0.086346 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879556 deg. 2025-01-08T19:44:40.305Z,1736365480.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815007 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:40.332Z,1736365480.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:40.332Z,1736365480.332 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:40.332Z,1736365480.332 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:40.333Z,1736365480.333 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:40.584Z,1736365480.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:40.584Z,1736365480.584 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:40.584Z,1736365480.584 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:40.585Z,1736365480.585 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:40.687Z,1736365480.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:40.698Z,1736365480.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:40.701Z,1736365480.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.496613 m, bearing: 186.990305 deg, approach rate: 0.078398 m/s, LOS rate: -0.085735 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871962 deg. 2025-01-08T19:44:40.702Z,1736365480.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814874 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:40.836Z,1736365480.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:40.836Z,1736365480.836 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:40.836Z,1736365480.836 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:40.836Z,1736365480.836 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:41.086Z,1736365481.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:41.088Z,1736365481.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:41.089Z,1736365481.089 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:41.089Z,1736365481.089 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:41.089Z,1736365481.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:41.097Z,1736365481.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:41.100Z,1736365481.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.521790 m, bearing: 186.958481 deg, approach rate: 0.062982 m/s, LOS rate: -0.079604 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879722 deg. 2025-01-08T19:44:41.102Z,1736365481.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815010 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:41.340Z,1736365481.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:41.340Z,1736365481.340 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:41.340Z,1736365481.340 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:41.340Z,1736365481.340 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:41.488Z,1736365481.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:41.513Z,1736365481.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:41.521Z,1736365481.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.547028 m, bearing: 186.926473 deg, approach rate: 0.060704 m/s, LOS rate: -0.076984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879167 deg. 2025-01-08T19:44:41.522Z,1736365481.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815000 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:41.592Z,1736365481.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:41.592Z,1736365481.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:41.592Z,1736365481.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:41.592Z,1736365481.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:44:41.844Z,1736365481.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:41.845Z,1736365481.845 [DAT](INFO): Reached modem response timeout 2025-01-08T19:44:41.845Z,1736365481.845 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:44:41.845Z,1736365481.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:41.893Z,1736365481.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:41.924Z,1736365481.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:41.956Z,1736365481.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:41.980Z,1736365481.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.572662 m, bearing: 186.894249 deg, approach rate: 0.060872 m/s, LOS rate: -0.076515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878520 deg. 2025-01-08T19:44:41.983Z,1736365481.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814989 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:42.096Z,1736365482.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:42.096Z,1736365482.096 [DAT](INFO): Reached modem response timeout 2025-01-08T19:44:42.096Z,1736365482.096 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:44:42.097Z,1736365482.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:42.317Z,1736365482.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:42.341Z,1736365482.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:42.348Z,1736365482.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:42.348Z,1736365482.348 [DAT](INFO): Reached modem response timeout 2025-01-08T19:44:42.348Z,1736365482.348 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:44:42.349Z,1736365482.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:42.356Z,1736365482.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.596222 m, bearing: 186.861646 deg, approach rate: 0.057923 m/s, LOS rate: -0.080153 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877383 deg. 2025-01-08T19:44:42.357Z,1736365482.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814969 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:42.600Z,1736365482.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:42.601Z,1736365482.601 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:44:42.601Z,1736365482.601 [DAT](INFO): response not received 2025-01-08T19:44:42.602Z,1736365482.602 [DAT](INFO): DAT read: user:799> 2025-01-08T19:44:42.602Z,1736365482.602 [DAT](INFO): DAT read: Tx time:19:44:41.9675 2025-01-08T19:44:42.603Z,1736365482.603 [DAT](INFO): Ping request sent. 2025-01-08T19:44:42.603Z,1736365482.603 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:42.603Z,1736365482.603 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:42.604Z,1736365482.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000842 2025-01-08T19:44:42.740Z,1736365482.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:42.756Z,1736365482.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:42.759Z,1736365482.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.620026 m, bearing: 186.829099 deg, approach rate: 0.057356 m/s, LOS rate: -0.078420 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877549 deg. 2025-01-08T19:44:42.762Z,1736365482.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814971 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:42.852Z,1736365482.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:42.853Z,1736365482.853 [DAT](INFO): DAT read: TxSync time:19:44:41.9667 2025-01-08T19:44:42.853Z,1736365482.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250501 2025-01-08T19:44:43.104Z,1736365483.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:43.104Z,1736365483.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501406 2025-01-08T19:44:43.245Z,1736365483.245 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for water velocity. Device response is::WS32768,V 2025-01-08T19:44:43.253Z,1736365483.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:44:43.253Z,1736365483.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:43.274Z,1736365483.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:43.293Z,1736365483.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.649078 m, bearing: 186.789669 deg, approach rate: 0.056072 m/s, LOS rate: -0.076094 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856906 deg. 2025-01-08T19:44:43.297Z,1736365483.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814611 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:43.356Z,1736365483.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:43.358Z,1736365483.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754625 2025-01-08T19:44:43.608Z,1736365483.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:43.608Z,1736365483.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005488 2025-01-08T19:44:43.715Z,1736365483.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T19:44:43.715Z,1736365483.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:43.723Z,1736365483.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:43.726Z,1736365483.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.673920 m, bearing: 186.754114 deg, approach rate: 0.055317 m/s, LOS rate: -0.079169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868528 deg. 2025-01-08T19:44:43.728Z,1736365483.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814814 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:43.860Z,1736365483.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:43.861Z,1736365483.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257643 2025-01-08T19:44:44.114Z,1736365484.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:44.115Z,1736365484.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511967 2025-01-08T19:44:44.215Z,1736365484.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:44.247Z,1736365484.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:44.249Z,1736365484.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:44.256Z,1736365484.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.690430 m, bearing: 186.717590 deg, approach rate: 0.031389 m/s, LOS rate: -0.069436 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865619 deg. 2025-01-08T19:44:44.257Z,1736365484.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814764 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:44.365Z,1736365484.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:44.366Z,1736365484.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762657 2025-01-08T19:44:44.581Z,1736365484.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:44.589Z,1736365484.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:44.592Z,1736365484.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.703094 m, bearing: 186.690816 deg, approach rate: 0.037254 m/s, LOS rate: -0.078756 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894867 deg. 2025-01-08T19:44:44.593Z,1736365484.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815274 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:44.616Z,1736365484.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:44.616Z,1736365484.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013578 2025-01-08T19:44:44.868Z,1736365484.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:44.869Z,1736365484.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265711 2025-01-08T19:44:45.081Z,1736365485.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:45.089Z,1736365485.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:45.092Z,1736365485.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.713348 m, bearing: 186.653785 deg, approach rate: 0.020503 m/s, LOS rate: -0.074044 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864094 deg. 2025-01-08T19:44:45.094Z,1736365485.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814737 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:45.120Z,1736365485.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:45.121Z,1736365485.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517624 2025-01-08T19:44:45.372Z,1736365485.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:45.372Z,1736365485.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769339 2025-01-08T19:44:45.403Z,1736365485.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:45.422Z,1736365485.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:45.430Z,1736365485.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.720306 m, bearing: 186.630213 deg, approach rate: 0.020924 m/s, LOS rate: -0.070882 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.904474 deg. 2025-01-08T19:44:45.431Z,1736365485.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815442 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:45.624Z,1736365485.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:45.624Z,1736365485.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021530 2025-01-08T19:44:45.788Z,1736365485.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:45.797Z,1736365485.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:45.820Z,1736365485.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.729065 m, bearing: 186.601417 deg, approach rate: 0.023325 m/s, LOS rate: -0.076687 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888800 deg. 2025-01-08T19:44:45.822Z,1736365485.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815168 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:45.876Z,1736365485.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:45.876Z,1736365485.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273566 2025-01-08T19:44:46.131Z,1736365486.131 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:46.132Z,1736365486.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528859 2025-01-08T19:44:46.243Z,1736365486.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:46.255Z,1736365486.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:46.257Z,1736365486.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:46.260Z,1736365486.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.739563 m, bearing: 186.567832 deg, approach rate: 0.022833 m/s, LOS rate: -0.073046 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874434 deg. 2025-01-08T19:44:46.261Z,1736365486.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814917 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:46.384Z,1736365486.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:46.384Z,1736365486.384 [DAT](INFO): DAT read: Rx Time:19:44:45.0373 2025-01-08T19:44:46.385Z,1736365486.385 [DAT](INFO): Rx dataTimestamp_ set to:1736365486.384621 2025-01-08T19:44:46.385Z,1736365486.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782535 2025-01-08T19:44:46.606Z,1736365486.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:46.615Z,1736365486.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.40 m. 2025-01-08T19:44:46.618Z,1736365486.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.399994 m, nav range: 459.748077 m, bearing: 186.541033 deg, approach rate: 0.023819 m/s, LOS rate: -0.074967 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894792 deg. 2025-01-08T19:44:46.619Z,1736365486.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815272 target range: 500.399994 and range: 500.40 m. 2025-01-08T19:44:46.636Z,1736365486.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:46.637Z,1736365486.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033625 2025-01-08T19:44:46.888Z,1736365486.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:46.896Z,1736365486.896 [DAT](INFO): DAT read: 19:44:45.0373 LVL= 21696, 27345, 17986, 26035, AGC= 72, IDX= 75, 0.06, 2.623, 0.824, 2.666, 1.846, PHS= 0.865,-0.975, 0.817, RAW= 148.7, -7.8, CAL= 154.5, -16.2, ROT= 355.5, 16.2 2025-01-08T19:44:46.897Z,1736365486.897 [DAT](INFO): got valid direction response: 19:44:45.0373 LVL= 21696, 27345, 17986, 26035, AGC= 72, IDX= 75, 0.06, 2.623, 0.824, 2.666, 1.846, PHS= 0.865,-0.975, 0.817, RAW= 148.7, -7.8, CAL= 154.5, -16.2, ROT= 355.5, 16.2 2025-01-08T19:44:46.898Z,1736365486.898 [DAT](INFO): DAT read: Bearing 355.5, 16.2 (Local) 2025-01-08T19:44:46.898Z,1736365486.898 [DAT](INFO): Local bearing/azimuth received: Bearing 355.5, 16.2 (Local) 2025-01-08T19:44:46.900Z,1736365486.900 [DAT](INFO): DAT read: Range 10 to 50 : 499.1 m (Round-trip 665.5 ms) speed 0.8 m/s 2025-01-08T19:44:46.901Z,1736365486.901 [DAT](INFO): DAT read: user:800> 2025-01-08T19:44:46.901Z,1736365486.901 [DAT](INFO): DAT read: Tx time:19:44:46.1176 2025-01-08T19:44:46.902Z,1736365486.902 [DAT](INFO): Ping request sent. 2025-01-08T19:44:46.902Z,1736365486.902 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:46.902Z,1736365486.902 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:44:46.903Z,1736365486.903 [DAT](INFO): direction in FSK: [0.031999,-0.818574,0.573509] 2025-01-08T19:44:46.903Z,1736365486.903 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:46.903Z,1736365486.903 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:46.906Z,1736365486.906 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:46.907Z,1736365486.907 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:47.085Z,1736365487.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:47.124Z,1736365487.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 499.100006 m, deltaT: 15.127996 s, deltaX: -1.299988 m, approachRate: -0.085933 m/s, rangeRepo size: 4 2025-01-08T19:44:47.126Z,1736365487.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 499.100006 m, bearing: 190.632123 deg, lat: 36.899992 deg, lon: -122.114414 deg, deltaT: 15.127996 s, deltaX: -1.299988 m, approachRate: -0.085933 m/s, posRepo size: 4 2025-01-08T19:44:47.132Z,1736365487.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.10 m. 2025-01-08T19:44:47.134Z,1736365487.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.100006 m, nav range: 450.240723 m, bearing: 187.794912 deg, approach rate: 0.000000 m/s, LOS rate: -0.074967 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861711 deg. 2025-01-08T19:44:47.140Z,1736365487.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:47.141Z,1736365487.141 [DAT](INFO): DAT read: TxSync time:19:44:46.1168 2025-01-08T19:44:47.148Z,1736365487.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814695 target range: 499.100006 and range: 499.10 m. 2025-01-08T19:44:47.392Z,1736365487.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:47.454Z,1736365487.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:47.463Z,1736365487.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.10 m. 2025-01-08T19:44:47.466Z,1736365487.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.100006 m, nav range: 450.246521 m, bearing: 187.766128 deg, approach rate: 0.016867 m/s, LOS rate: -0.083732 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888835 deg. 2025-01-08T19:44:47.467Z,1736365487.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815168 target range: 499.100006 and range: 499.10 m. 2025-01-08T19:44:47.644Z,1736365487.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:47.804Z,1736365487.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:47.813Z,1736365487.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.10 m. 2025-01-08T19:44:47.816Z,1736365487.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.100006 m, nav range: 450.251587 m, bearing: 187.738839 deg, approach rate: 0.014463 m/s, LOS rate: -0.077905 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893322 deg. 2025-01-08T19:44:47.817Z,1736365487.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815247 target range: 499.100006 and range: 499.10 m. 2025-01-08T19:44:47.898Z,1736365487.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:48.148Z,1736365488.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:48.242Z,1736365488.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:48.292Z,1736365488.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:48.294Z,1736365488.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.10 m. 2025-01-08T19:44:48.325Z,1736365488.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.100006 m, nav range: 450.256256 m, bearing: 187.702958 deg, approach rate: 0.009704 m/s, LOS rate: -0.074574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867545 deg. 2025-01-08T19:44:48.326Z,1736365488.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814797 target range: 499.100006 and range: 499.10 m. 2025-01-08T19:44:48.400Z,1736365488.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:48.400Z,1736365488.400 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:48.400Z,1736365488.400 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:48.400Z,1736365488.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:48.652Z,1736365488.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:48.653Z,1736365488.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751591 2025-01-08T19:44:48.669Z,1736365488.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:48.702Z,1736365488.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.10 m. 2025-01-08T19:44:48.710Z,1736365488.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.100006 m, nav range: 450.261169 m, bearing: 187.668128 deg, approach rate: 0.012053 m/s, LOS rate: -0.085441 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870697 deg. 2025-01-08T19:44:48.716Z,1736365488.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814852 target range: 499.100006 and range: 499.10 m. 2025-01-08T19:44:48.904Z,1736365488.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:48.904Z,1736365488.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002714 2025-01-08T19:44:49.140Z,1736365489.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:49.150Z,1736365489.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.10 m. 2025-01-08T19:44:49.153Z,1736365489.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.100006 m, nav range: 450.279449 m, bearing: 187.627931 deg, approach rate: 0.040821 m/s, LOS rate: -0.089762 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854599 deg. 2025-01-08T19:44:49.154Z,1736365489.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814571 target range: 499.100006 and range: 499.10 m. 2025-01-08T19:44:49.156Z,1736365489.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:49.157Z,1736365489.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254924 2025-01-08T19:44:49.408Z,1736365489.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:49.408Z,1736365489.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506593 2025-01-08T19:44:49.486Z,1736365489.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:49.494Z,1736365489.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.10 m. 2025-01-08T19:44:49.498Z,1736365489.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.100006 m, nav range: 450.292847 m, bearing: 187.598537 deg, approach rate: 0.038950 m/s, LOS rate: -0.085455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887007 deg. 2025-01-08T19:44:49.500Z,1736365489.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815136 target range: 499.100006 and range: 499.10 m. 2025-01-08T19:44:49.661Z,1736365489.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:49.662Z,1736365489.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760730 2025-01-08T19:44:49.868Z,1736365489.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:49.895Z,1736365489.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.10 m. 2025-01-08T19:44:49.898Z,1736365489.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.100006 m, nav range: 450.307556 m, bearing: 187.565962 deg, approach rate: 0.038191 m/s, LOS rate: -0.084572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877465 deg. 2025-01-08T19:44:49.903Z,1736365489.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814970 target range: 499.100006 and range: 499.10 m. 2025-01-08T19:44:49.912Z,1736365489.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:49.913Z,1736365489.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011037 2025-01-08T19:44:50.165Z,1736365490.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:50.167Z,1736365490.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264875 2025-01-08T19:44:50.310Z,1736365490.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:50.343Z,1736365490.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:50.349Z,1736365490.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.10 m. 2025-01-08T19:44:50.356Z,1736365490.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.100006 m, nav range: 450.329865 m, bearing: 187.527446 deg, approach rate: 0.047442 m/s, LOS rate: -0.081906 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859644 deg. 2025-01-08T19:44:50.357Z,1736365490.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814659 target range: 499.100006 and range: 499.10 m. 2025-01-08T19:44:50.416Z,1736365490.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:50.417Z,1736365490.417 [DAT](INFO): DAT read: Rx Time:19:44:49.1824 2025-01-08T19:44:50.417Z,1736365490.417 [DAT](INFO): Rx dataTimestamp_ set to:1736365490.417198 2025-01-08T19:44:50.418Z,1736365490.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516715 2025-01-08T19:44:50.668Z,1736365490.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:50.669Z,1736365490.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767484 2025-01-08T19:44:50.714Z,1736365490.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:50.723Z,1736365490.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.10 m. 2025-01-08T19:44:50.725Z,1736365490.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.100006 m, nav range: 450.350464 m, bearing: 187.492170 deg, approach rate: 0.055173 m/s, LOS rate: -0.094477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869365 deg. 2025-01-08T19:44:50.727Z,1736365490.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814829 target range: 499.100006 and range: 499.10 m. 2025-01-08T19:44:50.921Z,1736365490.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:50.930Z,1736365490.930 [DAT](INFO): DAT read: 19:44:49.1824 LVL= 25136, 27361, 16978, 31347, AGC= 69, IDX= 393, 0.14,-2.999, 1.666,-2.987, 2.511, PHS= 0.861,-0.798, 0.783, RAW= 147.6, -10.4, CAL= 154.3, -18.8, ROT= 355.7, 18.8 2025-01-08T19:44:50.931Z,1736365490.931 [DAT](INFO): got valid direction response: 19:44:49.1824 LVL= 25136, 27361, 16978, 31347, AGC= 69, IDX= 393, 0.14,-2.999, 1.666,-2.987, 2.511, PHS= 0.861,-0.798, 0.783, RAW= 147.6, -10.4, CAL= 154.3, -18.8, ROT= 355.7, 18.8 2025-01-08T19:44:50.937Z,1736365490.937 [DAT](INFO): DAT read: Bearing 355.7, 18.8 (Local) 2025-01-08T19:44:50.938Z,1736365490.938 [DAT](INFO): Local bearing/azimuth received: Bearing 355.7, 18.8 (Local) 2025-01-08T19:44:50.940Z,1736365490.940 [DAT](INFO): DAT read: Range 10 to 50 : 495.4 m (Round-trip 660.6 ms) speed 0.5 m/s 2025-01-08T19:44:50.941Z,1736365490.941 [DAT](INFO): DAT read: user:801> 2025-01-08T19:44:50.941Z,1736365490.941 [DAT](INFO): DAT read: Tx time:19:44:50.2676 2025-01-08T19:44:50.942Z,1736365490.942 [DAT](INFO): Ping request sent. 2025-01-08T19:44:50.942Z,1736365490.942 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:50.942Z,1736365490.942 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:44:50.943Z,1736365490.943 [DAT](INFO): direction in FSK: [0.083192,-0.804091,0.588657] 2025-01-08T19:44:50.944Z,1736365490.944 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:50.944Z,1736365490.944 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:50.950Z,1736365490.950 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:50.950Z,1736365490.950 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:51.172Z,1736365491.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:51.173Z,1736365491.173 [DAT](INFO): DAT read: TxSync time:19:44:50.2668 2025-01-08T19:44:51.205Z,1736365491.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:51.244Z,1736365491.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 495.399994 m, deltaT: 4.033652 s, deltaX: -3.700012 m, approachRate: -0.917286 m/s, rangeRepo size: 4 2025-01-08T19:44:51.246Z,1736365491.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 495.399994 m, bearing: 192.574682 deg, lat: 36.900097 deg, lon: -122.114414 deg, deltaT: 4.033652 s, deltaX: -3.700012 m, approachRate: -0.917286 m/s, posRepo size: 4 2025-01-08T19:44:51.246Z,1736365491.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.40 m. 2025-01-08T19:44:51.250Z,1736365491.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.399994 m, nav range: 438.807404 m, bearing: 187.646387 deg, approach rate: 0.000000 m/s, LOS rate: -0.094477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828904 deg. 2025-01-08T19:44:51.260Z,1736365491.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814123 target range: 495.399994 and range: 495.40 m. 2025-01-08T19:44:51.424Z,1736365491.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:51.556Z,1736365491.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:51.567Z,1736365491.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.40 m. 2025-01-08T19:44:51.570Z,1736365491.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.399994 m, nav range: 438.826721 m, bearing: 187.614464 deg, approach rate: 0.058875 m/s, LOS rate: -0.097287 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879423 deg. 2025-01-08T19:44:51.571Z,1736365491.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815004 target range: 495.399994 and range: 495.40 m. 2025-01-08T19:44:51.676Z,1736365491.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:51.929Z,1736365491.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:51.959Z,1736365491.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:51.969Z,1736365491.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.40 m. 2025-01-08T19:44:51.972Z,1736365491.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.399994 m, nav range: 438.847900 m, bearing: 187.577855 deg, approach rate: 0.052657 m/s, LOS rate: -0.091016 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865364 deg. 2025-01-08T19:44:51.973Z,1736365491.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814759 target range: 495.399994 and range: 495.40 m. 2025-01-08T19:44:52.180Z,1736365492.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:52.401Z,1736365492.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:52.423Z,1736365492.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:52.433Z,1736365492.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:52.449Z,1736365492.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.40 m. 2025-01-08T19:44:52.456Z,1736365492.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.399994 m, nav range: 438.879211 m, bearing: 187.537795 deg, approach rate: 0.065279 m/s, LOS rate: -0.083513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855016 deg. 2025-01-08T19:44:52.457Z,1736365492.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814578 target range: 495.399994 and range: 495.40 m. 2025-01-08T19:44:52.684Z,1736365492.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:52.685Z,1736365492.685 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:52.685Z,1736365492.685 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:52.685Z,1736365492.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:52.761Z,1736365492.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:52.770Z,1736365492.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.40 m. 2025-01-08T19:44:52.773Z,1736365492.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.399994 m, nav range: 438.903961 m, bearing: 187.505116 deg, approach rate: 0.077097 m/s, LOS rate: -0.101793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877154 deg. 2025-01-08T19:44:52.774Z,1736365492.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814965 target range: 495.399994 and range: 495.40 m. 2025-01-08T19:44:52.936Z,1736365492.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:52.937Z,1736365492.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994869 2025-01-08T19:44:53.188Z,1736365493.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:53.189Z,1736365493.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246975 2025-01-08T19:44:53.249Z,1736365493.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:53.260Z,1736365493.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.40 m. 2025-01-08T19:44:53.262Z,1736365493.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.399994 m, nav range: 438.932587 m, bearing: 187.462832 deg, approach rate: 0.058432 m/s, LOS rate: -0.086304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848346 deg. 2025-01-08T19:44:53.264Z,1736365493.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814462 target range: 495.399994 and range: 495.40 m. 2025-01-08T19:44:53.440Z,1736365493.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:53.440Z,1736365493.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498692 2025-01-08T19:44:53.576Z,1736365493.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:53.608Z,1736365493.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.40 m. 2025-01-08T19:44:53.610Z,1736365493.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.399994 m, nav range: 438.951843 m, bearing: 187.434526 deg, approach rate: 0.055498 m/s, LOS rate: -0.081575 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890272 deg. 2025-01-08T19:44:53.613Z,1736365493.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815194 target range: 495.399994 and range: 495.40 m. 2025-01-08T19:44:53.694Z,1736365493.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:53.695Z,1736365493.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752787 2025-01-08T19:44:53.944Z,1736365493.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:53.945Z,1736365493.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003176 2025-01-08T19:44:53.982Z,1736365493.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:53.996Z,1736365493.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.40 m. 2025-01-08T19:44:53.999Z,1736365493.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.399994 m, nav range: 438.975922 m, bearing: 187.399413 deg, approach rate: 0.062066 m/s, LOS rate: -0.090505 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869853 deg. 2025-01-08T19:44:54.013Z,1736365494.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814837 target range: 495.399994 and range: 495.40 m. 2025-01-08T19:44:54.196Z,1736365494.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:54.196Z,1736365494.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254759 2025-01-08T19:44:54.403Z,1736365494.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:54.420Z,1736365494.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.40 m. 2025-01-08T19:44:54.423Z,1736365494.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.399994 m, nav range: 439.004974 m, bearing: 187.364493 deg, approach rate: 0.068247 m/s, LOS rate: -0.082025 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870434 deg. 2025-01-08T19:44:54.424Z,1736365494.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814847 target range: 495.399994 and range: 495.40 m. 2025-01-08T19:44:54.449Z,1736365494.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:54.451Z,1736365494.451 [DAT](INFO): DAT read: Rx Time:19:44:53.3090 2025-01-08T19:44:54.452Z,1736365494.452 [DAT](INFO): Rx dataTimestamp_ set to:1736365494.451669 2025-01-08T19:44:54.453Z,1736365494.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511477 2025-01-08T19:44:54.700Z,1736365494.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:54.700Z,1736365494.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758679 2025-01-08T19:44:54.803Z,1736365494.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:54.814Z,1736365494.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:54.817Z,1736365494.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.40 m. 2025-01-08T19:44:54.820Z,1736365494.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.399994 m, nav range: 439.032745 m, bearing: 187.331272 deg, approach rate: 0.070004 m/s, LOS rate: -0.083737 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875530 deg. 2025-01-08T19:44:54.821Z,1736365494.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814936 target range: 495.399994 and range: 495.40 m. 2025-01-08T19:44:54.952Z,1736365494.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:54.952Z,1736365494.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010700 2025-01-08T19:44:55.207Z,1736365495.207 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:55.221Z,1736365495.221 [DAT](INFO): DAT read: 19:44:53.3090 LVL= 30192, 26865, 20594, 32755, AGC= 72, IDX= 202, 0.20, 1.969, 0.545, 2.086, 1.682, PHS= 0.375,-1.090, 0.401, RAW= 150.9, 4.3, CAL= 152.7, -4.6, ROT= 357.3, 4.6 2025-01-08T19:44:55.222Z,1736365495.222 [DAT](INFO): got valid direction response: 19:44:53.3090 LVL= 30192, 26865, 20594, 32755, AGC= 72, IDX= 202, 0.20, 1.969, 0.545, 2.086, 1.682, PHS= 0.375,-1.090, 0.401, RAW= 150.9, 4.3, CAL= 152.7, -4.6, ROT= 357.3, 4.6 2025-01-08T19:44:55.223Z,1736365495.223 [DAT](INFO): DAT read: Bearing 357.3, 4.6 (Local) 2025-01-08T19:44:55.223Z,1736365495.223 [DAT](INFO): Local bearing/azimuth received: Bearing 357.3, 4.6 (Local) 2025-01-08T19:44:55.225Z,1736365495.225 [DAT](INFO): DAT read: Range 10 to 50 : 477.9 m (Round-trip 637.3 ms) speed 0.3 m/s 2025-01-08T19:44:55.226Z,1736365495.226 [DAT](INFO): DAT read: user:802> 2025-01-08T19:44:55.227Z,1736365495.227 [DAT](INFO): DAT read: Tx time:19:44:54.4176 2025-01-08T19:44:55.227Z,1736365495.227 [DAT](INFO): Ping request sent. 2025-01-08T19:44:55.227Z,1736365495.227 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:55.232Z,1736365495.232 [DAT](INFO): DAT read: TxSync time:19:44:54.4168 2025-01-08T19:44:55.232Z,1736365495.232 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:44:55.233Z,1736365495.233 [DAT](INFO): direction in FSK: [-0.203604,-0.826976,0.524077] 2025-01-08T19:44:55.234Z,1736365495.234 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:55.234Z,1736365495.234 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:55.241Z,1736365495.241 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:55.241Z,1736365495.241 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:55.327Z,1736365495.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:55.365Z,1736365495.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 477.899994 m, deltaT: 4.285312 s, deltaX: -17.500000 m, approachRate: -4.083717 m/s, rangeRepo size: 4 2025-01-08T19:44:55.376Z,1736365495.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 477.899994 m, bearing: 173.082381 deg, lat: 36.900102 deg, lon: -122.114089 deg, deltaT: 4.285312 s, deltaX: -17.500000 m, approachRate: -4.083717 m/s, posRepo size: 4 2025-01-08T19:44:55.377Z,1736365495.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.90 m. 2025-01-08T19:44:55.392Z,1736365495.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.899994 m, nav range: 435.857635 m, bearing: 183.528039 deg, approach rate: 0.000000 m/s, LOS rate: -0.083737 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839001 deg. 2025-01-08T19:44:55.393Z,1736365495.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814299 target range: 477.899994 and range: 477.90 m. 2025-01-08T19:44:55.457Z,1736365495.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:55.686Z,1736365495.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:55.708Z,1736365495.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:55.720Z,1736365495.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.90 m. 2025-01-08T19:44:55.723Z,1736365495.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.899994 m, nav range: 435.894226 m, bearing: 183.499810 deg, approach rate: 0.103917 m/s, LOS rate: -0.080165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890505 deg. 2025-01-08T19:44:55.730Z,1736365495.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815197 target range: 477.899994 and range: 477.90 m. 2025-01-08T19:44:55.960Z,1736365495.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:56.066Z,1736365496.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:56.075Z,1736365496.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.90 m. 2025-01-08T19:44:56.096Z,1736365496.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.899994 m, nav range: 435.932831 m, bearing: 183.470188 deg, approach rate: 0.106097 m/s, LOS rate: -0.081403 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886328 deg. 2025-01-08T19:44:56.097Z,1736365496.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815125 target range: 477.899994 and range: 477.90 m. 2025-01-08T19:44:56.214Z,1736365496.214 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:56.464Z,1736365496.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:56.519Z,1736365496.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:56.539Z,1736365496.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.90 m. 2025-01-08T19:44:56.542Z,1736365496.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.899994 m, nav range: 435.972107 m, bearing: 183.436739 deg, approach rate: 0.085377 m/s, LOS rate: -0.072702 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874851 deg. 2025-01-08T19:44:56.547Z,1736365496.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814925 target range: 477.899994 and range: 477.90 m. 2025-01-08T19:44:56.717Z,1736365496.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:56.869Z,1736365496.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:56.896Z,1736365496.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:56.898Z,1736365496.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.90 m. 2025-01-08T19:44:56.916Z,1736365496.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.899994 m, nav range: 436.003296 m, bearing: 183.410803 deg, approach rate: 0.085832 m/s, LOS rate: -0.071372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.897382 deg. 2025-01-08T19:44:56.919Z,1736365496.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815318 target range: 477.899994 and range: 477.90 m. 2025-01-08T19:44:56.968Z,1736365496.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:56.968Z,1736365496.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:44:56.968Z,1736365496.968 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:44:56.969Z,1736365496.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:44:57.222Z,1736365497.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:57.223Z,1736365497.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996091 2025-01-08T19:44:57.325Z,1736365497.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:57.333Z,1736365497.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.90 m. 2025-01-08T19:44:57.336Z,1736365497.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.899994 m, nav range: 436.038544 m, bearing: 183.377335 deg, approach rate: 0.081026 m/s, LOS rate: -0.076927 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874793 deg. 2025-01-08T19:44:57.337Z,1736365497.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814923 target range: 477.899994 and range: 477.90 m. 2025-01-08T19:44:57.472Z,1736365497.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:57.472Z,1736365497.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245376 2025-01-08T19:44:57.696Z,1736365497.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:57.704Z,1736365497.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.90 m. 2025-01-08T19:44:57.708Z,1736365497.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.899994 m, nav range: 436.068817 m, bearing: 183.350165 deg, approach rate: 0.081611 m/s, LOS rate: -0.073239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893683 deg. 2025-01-08T19:44:57.709Z,1736365497.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815253 target range: 477.899994 and range: 477.90 m. 2025-01-08T19:44:57.725Z,1736365497.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:57.726Z,1736365497.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499020 2025-01-08T19:44:57.976Z,1736365497.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:57.977Z,1736365497.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749582 2025-01-08T19:44:58.089Z,1736365498.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:58.098Z,1736365498.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.90 m. 2025-01-08T19:44:58.121Z,1736365498.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.899994 m, nav range: 436.101624 m, bearing: 183.321339 deg, approach rate: 0.083248 m/s, LOS rate: -0.073144 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888713 deg. 2025-01-08T19:44:58.122Z,1736365498.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815166 target range: 477.899994 and range: 477.90 m. 2025-01-08T19:44:58.231Z,1736365498.231 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:58.232Z,1736365498.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005113 2025-01-08T19:44:58.484Z,1736365498.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:58.484Z,1736365498.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257367 2025-01-08T19:44:58.646Z,1736365498.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:58.689Z,1736365498.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.90 m. 2025-01-08T19:44:58.696Z,1736365498.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.899994 m, nav range: 436.144928 m, bearing: 183.280031 deg, approach rate: 0.073330 m/s, LOS rate: -0.069941 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851277 deg. 2025-01-08T19:44:58.697Z,1736365498.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814513 target range: 477.899994 and range: 477.90 m. 2025-01-08T19:44:58.737Z,1736365498.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:58.738Z,1736365498.738 [DAT](INFO): DAT read: Rx Time:19:44:57.4770 2025-01-08T19:44:58.739Z,1736365498.739 [DAT](INFO): Rx dataTimestamp_ set to:1736365498.738357 2025-01-08T19:44:58.740Z,1736365498.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512952 2025-01-08T19:44:58.971Z,1736365498.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:58.978Z,1736365498.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:44:58.988Z,1736365498.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:58.988Z,1736365498.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761303 2025-01-08T19:44:59.001Z,1736365499.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.90 m. 2025-01-08T19:44:59.016Z,1736365499.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.899994 m, nav range: 436.170502 m, bearing: 183.255928 deg, approach rate: 0.082045 m/s, LOS rate: -0.077324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.902880 deg. 2025-01-08T19:44:59.017Z,1736365499.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815413 target range: 477.899994 and range: 477.90 m. 2025-01-08T19:44:59.242Z,1736365499.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:59.270Z,1736365499.270 [DAT](INFO): DAT read: 19:44:57.4770 LVL= 16736, 17393, 15506, 23731, AGC= 69, IDX= 113,-0.42, 0.178,-1.170, 0.203,-0.539, PHS= 0.805,-0.584, 0.740, RAW= 147.6, -14.0, CAL= 154.3, -22.0, ROT= 355.7, 22.0 2025-01-08T19:44:59.271Z,1736365499.271 [DAT](INFO): got valid direction response: 19:44:57.4770 LVL= 16736, 17393, 15506, 23731, AGC= 69, IDX= 113,-0.42, 0.178,-1.170, 0.203,-0.539, PHS= 0.805,-0.584, 0.740, RAW= 147.6, -14.0, CAL= 154.3, -22.0, ROT= 355.7, 22.0 2025-01-08T19:44:59.272Z,1736365499.272 [DAT](INFO): DAT read: Bearing 355.7, 22.0 (Local) 2025-01-08T19:44:59.272Z,1736365499.272 [DAT](INFO): Local bearing/azimuth received: Bearing 355.7, 22.0 (Local) 2025-01-08T19:44:59.275Z,1736365499.275 [DAT](INFO): DAT read: Range 10 to 50 : 491.3 m (Round-trip 655.1 ms) speed 0.4 m/s 2025-01-08T19:44:59.277Z,1736365499.277 [DAT](INFO): DAT read: user:803> 2025-01-08T19:44:59.278Z,1736365499.278 [DAT](INFO): DAT read: Tx time:19:44:58.5677 2025-01-08T19:44:59.278Z,1736365499.278 [DAT](INFO): Ping request sent. 2025-01-08T19:44:59.279Z,1736365499.279 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:44:59.279Z,1736365499.279 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:44:59.282Z,1736365499.282 [DAT](INFO): direction in FSK: [0.153802,-0.796479,0.584779] 2025-01-08T19:44:59.282Z,1736365499.282 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:59.282Z,1736365499.282 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:59.286Z,1736365499.286 [DAT](INFO): publishing transmit ping time 2025-01-08T19:44:59.287Z,1736365499.287 [DAT](INFO): publishing direction and range info 2025-01-08T19:44:59.475Z,1736365499.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:59.493Z,1736365499.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:59.493Z,1736365499.493 [DAT](INFO): DAT read: TxSync time:19:44:58.5669 2025-01-08T19:44:59.508Z,1736365499.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 491.299988 m, deltaT: 4.036914 s, deltaX: 13.399994 m, approachRate: 3.319366 m/s, rangeRepo size: 4 2025-01-08T19:44:59.510Z,1736365499.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 491.299988 m, bearing: 196.824101 deg, lat: 36.900125 deg, lon: -122.114645 deg, deltaT: 4.036914 s, deltaX: 13.399994 m, approachRate: 3.319366 m/s, posRepo size: 4 2025-01-08T19:44:59.513Z,1736365499.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:44:59.526Z,1736365499.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.236877 m, bearing: 189.680904 deg, approach rate: 0.000000 m/s, LOS rate: -0.077324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858577 deg. 2025-01-08T19:44:59.532Z,1736365499.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814641 target range: 491.299988 and range: 491.30 m. 2025-01-08T19:44:59.744Z,1736365499.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:44:59.816Z,1736365499.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:44:59.825Z,1736365499.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:44:59.828Z,1736365499.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.238922 m, bearing: 189.653805 deg, approach rate: 0.006366 m/s, LOS rate: -0.084375 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893889 deg. 2025-01-08T19:44:59.829Z,1736365499.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815257 target range: 491.299988 and range: 491.30 m. 2025-01-08T19:44:59.996Z,1736365499.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:00.250Z,1736365500.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:00.283Z,1736365500.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:00.313Z,1736365500.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:00.328Z,1736365500.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.245239 m, bearing: 189.614954 deg, approach rate: 0.012941 m/s, LOS rate: -0.079583 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858637 deg. 2025-01-08T19:45:00.330Z,1736365500.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814641 target range: 491.299988 and range: 491.30 m. 2025-01-08T19:45:00.500Z,1736365500.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:00.621Z,1736365500.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:00.650Z,1736365500.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:00.664Z,1736365500.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.249481 m, bearing: 189.586770 deg, approach rate: 0.012578 m/s, LOS rate: -0.083568 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890633 deg. 2025-01-08T19:45:00.666Z,1736365500.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815200 target range: 491.299988 and range: 491.30 m. 2025-01-08T19:45:00.752Z,1736365500.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:01.004Z,1736365501.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:01.039Z,1736365501.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:01.047Z,1736365501.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:01.050Z,1736365501.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:01.052Z,1736365501.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.254608 m, bearing: 189.551919 deg, approach rate: 0.012830 m/s, LOS rate: -0.087212 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870635 deg. 2025-01-08T19:45:01.054Z,1736365501.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814851 target range: 491.299988 and range: 491.30 m. 2025-01-08T19:45:01.258Z,1736365501.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:01.260Z,1736365501.260 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:01.260Z,1736365501.260 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:01.261Z,1736365501.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:01.479Z,1736365501.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:01.487Z,1736365501.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:01.490Z,1736365501.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.256592 m, bearing: 189.512346 deg, approach rate: 0.004535 m/s, LOS rate: -0.090468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856469 deg. 2025-01-08T19:45:01.491Z,1736365501.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814604 target range: 491.299988 and range: 491.30 m. 2025-01-08T19:45:01.508Z,1736365501.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:01.508Z,1736365501.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229867 2025-01-08T19:45:01.760Z,1736365501.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:01.760Z,1736365501.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481858 2025-01-08T19:45:01.837Z,1736365501.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:01.846Z,1736365501.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:01.849Z,1736365501.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.258240 m, bearing: 189.480111 deg, approach rate: 0.004589 m/s, LOS rate: -0.089773 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878482 deg. 2025-01-08T19:45:01.850Z,1736365501.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814988 target range: 491.299988 and range: 491.30 m. 2025-01-08T19:45:02.012Z,1736365502.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:02.013Z,1736365502.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734490 2025-01-08T19:45:02.265Z,1736365502.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:02.269Z,1736365502.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989559 2025-01-08T19:45:02.332Z,1736365502.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:02.340Z,1736365502.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:02.343Z,1736365502.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.262146 m, bearing: 189.433394 deg, approach rate: 0.007904 m/s, LOS rate: -0.094527 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835037 deg. 2025-01-08T19:45:02.345Z,1736365502.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814229 target range: 491.299988 and range: 491.30 m. 2025-01-08T19:45:02.517Z,1736365502.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:02.519Z,1736365502.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240006 2025-01-08T19:45:02.650Z,1736365502.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:02.664Z,1736365502.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:02.669Z,1736365502.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.264252 m, bearing: 189.403385 deg, approach rate: 0.006518 m/s, LOS rate: -0.092885 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885163 deg. 2025-01-08T19:45:02.671Z,1736365502.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815104 target range: 491.299988 and range: 491.30 m. 2025-01-08T19:45:02.768Z,1736365502.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:02.769Z,1736365502.769 [DAT](INFO): DAT read: Rx Time:19:45:01.6137 2025-01-08T19:45:02.769Z,1736365502.769 [DAT](INFO): Rx dataTimestamp_ set to:1736365502.768752 2025-01-08T19:45:02.770Z,1736365502.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491001 2025-01-08T19:45:03.020Z,1736365503.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:03.020Z,1736365503.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741738 2025-01-08T19:45:03.080Z,1736365503.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:03.096Z,1736365503.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:03.105Z,1736365503.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:03.113Z,1736365503.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.266754 m, bearing: 189.362788 deg, approach rate: 0.005666 m/s, LOS rate: -0.091927 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853395 deg. 2025-01-08T19:45:03.114Z,1736365503.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814550 target range: 491.299988 and range: 491.30 m. 2025-01-08T19:45:03.274Z,1736365503.274 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:03.278Z,1736365503.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.998260 2025-01-08T19:45:03.507Z,1736365503.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:03.524Z,1736365503.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:03.526Z,1736365503.526 [DAT](INFO): DAT read: Range 10 to 50 : 481.3 m (Round-trip 641.8 ms) speed 0.9 m/s 2025-01-08T19:45:03.526Z,1736365503.526 [DAT](INFO): DAT read: user:804> 2025-01-08T19:45:03.527Z,1736365503.527 [DAT](INFO): DAT read: Tx time:19:45:02.7177 2025-01-08T19:45:03.528Z,1736365503.528 [DAT](INFO): Ping request sent. 2025-01-08T19:45:03.528Z,1736365503.528 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:03.528Z,1736365503.528 [DAT](INFO): DAT read: TxSync time:19:45:02.7169 2025-01-08T19:45:03.529Z,1736365503.529 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:45:03.529Z,1736365503.529 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:03.530Z,1736365503.530 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:03.539Z,1736365503.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 481.299988 m, deltaT: 4.280210 s, deltaX: -10.000000 m, approachRate: -2.336334 m/s, rangeRepo size: 4 2025-01-08T19:45:03.549Z,1736365503.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:03.559Z,1736365503.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.268524 m, bearing: 189.321421 deg, approach rate: 0.004088 m/s, LOS rate: -0.095543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851088 deg. 2025-01-08T19:45:03.564Z,1736365503.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814510 target range: 491.299988 and range: 481.30 m. 2025-01-08T19:45:03.780Z,1736365503.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:03.864Z,1736365503.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:03.873Z,1736365503.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:03.876Z,1736365503.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.268982 m, bearing: 189.286757 deg, approach rate: 0.001365 m/s, LOS rate: -0.103360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871194 deg. 2025-01-08T19:45:03.878Z,1736365503.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814861 target range: 491.299988 and range: 481.30 m. 2025-01-08T19:45:04.028Z,1736365504.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:04.282Z,1736365504.283 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:04.353Z,1736365504.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:04.365Z,1736365504.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:04.372Z,1736365504.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.268188 m, bearing: 189.239327 deg, approach rate: -0.001613 m/s, LOS rate: -0.096430 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832899 deg. 2025-01-08T19:45:04.373Z,1736365504.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814192 target range: 491.299988 and range: 481.30 m. 2025-01-08T19:45:04.532Z,1736365504.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:04.687Z,1736365504.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:04.696Z,1736365504.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:04.699Z,1736365504.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.267792 m, bearing: 189.206848 deg, approach rate: -0.001199 m/s, LOS rate: -0.098145 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877749 deg. 2025-01-08T19:45:04.700Z,1736365504.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814975 target range: 491.299988 and range: 481.30 m. 2025-01-08T19:45:04.784Z,1736365504.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:05.036Z,1736365505.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:05.078Z,1736365505.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:05.104Z,1736365505.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:05.107Z,1736365505.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.266083 m, bearing: 189.168889 deg, approach rate: -0.004367 m/s, LOS rate: -0.096993 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861310 deg. 2025-01-08T19:45:05.113Z,1736365505.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814688 target range: 491.299988 and range: 481.30 m. 2025-01-08T19:45:05.289Z,1736365505.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:05.509Z,1736365505.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:05.522Z,1736365505.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:05.540Z,1736365505.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:05.547Z,1736365505.547 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:05.548Z,1736365505.548 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:05.548Z,1736365505.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:05.552Z,1736365505.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:05.563Z,1736365505.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.264008 m, bearing: 189.127866 deg, approach rate: -0.004465 m/s, LOS rate: -0.088255 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852119 deg. 2025-01-08T19:45:05.567Z,1736365505.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814528 target range: 491.299988 and range: 481.30 m. 2025-01-08T19:45:05.792Z,1736365505.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:05.792Z,1736365505.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264588 2025-01-08T19:45:05.912Z,1736365505.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:05.938Z,1736365505.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:05.953Z,1736365505.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.262573 m, bearing: 189.089651 deg, approach rate: -0.003726 m/s, LOS rate: -0.099275 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860541 deg. 2025-01-08T19:45:05.960Z,1736365505.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814675 target range: 491.299988 and range: 481.30 m. 2025-01-08T19:45:06.044Z,1736365506.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:06.046Z,1736365506.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517869 2025-01-08T19:45:06.297Z,1736365506.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:06.300Z,1736365506.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771299 2025-01-08T19:45:06.417Z,1736365506.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:06.426Z,1736365506.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:06.430Z,1736365506.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.263763 m, bearing: 189.044113 deg, approach rate: 0.002436 m/s, LOS rate: -0.093193 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838574 deg. 2025-01-08T19:45:06.432Z,1736365506.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814291 target range: 491.299988 and range: 481.30 m. 2025-01-08T19:45:06.549Z,1736365506.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:06.551Z,1736365506.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023016 2025-01-08T19:45:06.720Z,1736365506.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:06.730Z,1736365506.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:06.749Z,1736365506.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.265045 m, bearing: 189.016868 deg, approach rate: 0.004212 m/s, LOS rate: -0.089541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893451 deg. 2025-01-08T19:45:06.750Z,1736365506.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815249 target range: 491.299988 and range: 481.30 m. 2025-01-08T19:45:06.800Z,1736365506.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:06.801Z,1736365506.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272774 2025-01-08T19:45:07.052Z,1736365507.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:07.053Z,1736365507.053 [DAT](INFO): DAT read: Rx Time:19:45:05.7586 2025-01-08T19:45:07.053Z,1736365507.053 [DAT](INFO): Rx dataTimestamp_ set to:1736365507.052738 2025-01-08T19:45:07.054Z,1736365507.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525806 2025-01-08T19:45:07.148Z,1736365507.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:07.165Z,1736365507.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.30 m. 2025-01-08T19:45:07.172Z,1736365507.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.299988 m, nav range: 439.267334 m, bearing: 188.979237 deg, approach rate: 0.005264 m/s, LOS rate: -0.086543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862294 deg. 2025-01-08T19:45:07.173Z,1736365507.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814705 target range: 491.299988 and range: 481.30 m. 2025-01-08T19:45:07.306Z,1736365507.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:07.310Z,1736365507.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781790 2025-01-08T19:45:07.556Z,1736365507.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:07.573Z,1736365507.573 [DAT](INFO): DAT read: 19:45:05.7586 LVL= 26000, 29585, 19858, 32755, AGC= 69, IDX= 389,-0.34,-1.517,-2.788,-1.308,-1.786, PHS= 0.357,-0.955, 0.475, RAW= 154.3, 1.8, CAL= 156.5, -7.1, ROT= 353.5, 7.1 2025-01-08T19:45:07.574Z,1736365507.574 [DAT](INFO): got valid direction response: 19:45:05.7586 LVL= 26000, 29585, 19858, 32755, AGC= 69, IDX= 389,-0.34,-1.517,-2.788,-1.308,-1.786, PHS= 0.357,-0.955, 0.475, RAW= 154.3, 1.8, CAL= 156.5, -7.1, ROT= 353.5, 7.1 2025-01-08T19:45:07.575Z,1736365507.575 [DAT](INFO): DAT read: Bearing 353.5, 7.1 (Local) 2025-01-08T19:45:07.575Z,1736365507.575 [DAT](INFO): Local bearing/azimuth received: Bearing 353.5, 7.1 (Local) 2025-01-08T19:45:07.585Z,1736365507.585 [DAT](INFO): DAT read: Range 10 to 50 : 477.6 m (Round-trip 636.8 ms) speed 0.6 m/s 2025-01-08T19:45:07.585Z,1736365507.585 [DAT](INFO): DAT read: user:805> 2025-01-08T19:45:07.586Z,1736365507.586 [DAT](INFO): DAT read: Tx time:19:45:06.8677 2025-01-08T19:45:07.586Z,1736365507.586 [DAT](INFO): Ping request sent. 2025-01-08T19:45:07.587Z,1736365507.587 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:07.587Z,1736365507.587 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:45:07.592Z,1736365507.592 [DAT](INFO): direction in FSK: [-0.153554,-0.865420,0.476938] 2025-01-08T19:45:07.592Z,1736365507.592 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:07.593Z,1736365507.593 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:07.595Z,1736365507.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:07.599Z,1736365507.599 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:07.607Z,1736365507.607 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:07.676Z,1736365507.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 477.600006 m, deltaT: 4.032702 s, deltaX: -3.699982 m, approachRate: -0.917494 m/s, rangeRepo size: 4 2025-01-08T19:45:07.689Z,1736365507.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 477.600006 m, bearing: 175.981037 deg, lat: 36.900125 deg, lon: -122.114645 deg, deltaT: 8.312912 s, deltaX: -13.699982 m, approachRate: -1.648036 m/s, posRepo size: 4 2025-01-08T19:45:07.689Z,1736365507.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:07.692Z,1736365507.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.274658 m, bearing: 188.941143 deg, approach rate: 0.000000 m/s, LOS rate: -0.086543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844164 deg. 2025-01-08T19:45:07.694Z,1736365507.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814389 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:07.808Z,1736365507.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:07.809Z,1736365507.809 [DAT](INFO): DAT read: TxSync time:19:45:06.8669 2025-01-08T19:45:08.015Z,1736365508.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:08.060Z,1736365508.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:08.069Z,1736365508.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:08.076Z,1736365508.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.282227 m, bearing: 188.905809 deg, approach rate: 0.018964 m/s, LOS rate: -0.088537 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869186 deg. 2025-01-08T19:45:08.077Z,1736365508.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814826 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:08.314Z,1736365508.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:08.422Z,1736365508.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:08.430Z,1736365508.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:08.433Z,1736365508.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:08.435Z,1736365508.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.292999 m, bearing: 188.873466 deg, approach rate: 0.029609 m/s, LOS rate: -0.088892 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878161 deg. 2025-01-08T19:45:08.437Z,1736365508.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814982 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:08.566Z,1736365508.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:08.568Z,1736365508.568 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:08.568Z,1736365508.568 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:08.568Z,1736365508.568 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:08.788Z,1736365508.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:08.797Z,1736365508.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:08.800Z,1736365508.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.303040 m, bearing: 188.844690 deg, approach rate: 0.027533 m/s, LOS rate: -0.078910 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888861 deg. 2025-01-08T19:45:08.801Z,1736365508.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815169 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:08.816Z,1736365508.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:08.816Z,1736365508.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229621 2025-01-08T19:45:09.068Z,1736365509.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:09.069Z,1736365509.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482269 2025-01-08T19:45:09.205Z,1736365509.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:09.233Z,1736365509.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:09.236Z,1736365509.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.315369 m, bearing: 188.811906 deg, approach rate: 0.028281 m/s, LOS rate: -0.075200 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876835 deg. 2025-01-08T19:45:09.237Z,1736365509.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814959 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:09.321Z,1736365509.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:09.323Z,1736365509.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736113 2025-01-08T19:45:09.572Z,1736365509.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:09.572Z,1736365509.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985644 2025-01-08T19:45:09.662Z,1736365509.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:09.710Z,1736365509.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:09.717Z,1736365509.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.334534 m, bearing: 188.777846 deg, approach rate: 0.040184 m/s, LOS rate: -0.071409 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873014 deg. 2025-01-08T19:45:09.718Z,1736365509.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814892 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:09.824Z,1736365509.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:09.824Z,1736365509.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237767 2025-01-08T19:45:10.007Z,1736365510.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:10.017Z,1736365510.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:10.019Z,1736365510.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.349945 m, bearing: 188.752079 deg, approach rate: 0.050287 m/s, LOS rate: -0.084077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.897886 deg. 2025-01-08T19:45:10.021Z,1736365510.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815327 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:10.076Z,1736365510.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:10.078Z,1736365510.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490733 2025-01-08T19:45:10.216Z,1736365510.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:45:10.328Z,1736365510.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:10.329Z,1736365510.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742174 2025-01-08T19:45:10.478Z,1736365510.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:10.487Z,1736365510.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:10.489Z,1736365510.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:10.492Z,1736365510.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.373688 m, bearing: 188.718445 deg, approach rate: 0.050240 m/s, LOS rate: -0.071166 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874291 deg. 2025-01-08T19:45:10.493Z,1736365510.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814915 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:10.580Z,1736365510.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:10.581Z,1736365510.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994099 2025-01-08T19:45:10.807Z,1736365510.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:10.815Z,1736365510.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:10.818Z,1736365510.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.390961 m, bearing: 188.695002 deg, approach rate: 0.052978 m/s, LOS rate: -0.071898 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.904862 deg. 2025-01-08T19:45:10.819Z,1736365510.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815448 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:10.832Z,1736365510.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:10.833Z,1736365510.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245910 2025-01-08T19:45:11.084Z,1736365511.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:11.084Z,1736365511.084 [DAT](INFO): DAT read: Rx Time:19:45:09.8952 2025-01-08T19:45:11.085Z,1736365511.085 [DAT](INFO): Rx dataTimestamp_ set to:1736365511.084556 2025-01-08T19:45:11.085Z,1736365511.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498731 2025-01-08T19:45:11.219Z,1736365511.219 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:45:11.226Z,1736365511.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:11.235Z,1736365511.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:11.238Z,1736365511.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.413116 m, bearing: 188.665115 deg, approach rate: 0.052795 m/s, LOS rate: -0.071214 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885531 deg. 2025-01-08T19:45:11.239Z,1736365511.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815111 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:11.336Z,1736365511.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:11.337Z,1736365511.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750019 2025-01-08T19:45:11.590Z,1736365511.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:11.606Z,1736365511.606 [DAT](INFO): DAT read: 19:45:09.8953 LVL= 24336, 29345, 20978, 32755, AGC= 73, IDX= 401, 0.11,-1.280,-2.649,-1.140,-1.899, PHS= 0.706,-0.704, 0.755, RAW= 151.7, -10.6, CAL= 158.1, -18.2, ROT= 351.9, 18.2 2025-01-08T19:45:11.607Z,1736365511.607 [DAT](INFO): got valid direction response: 19:45:09.8953 LVL= 24336, 29345, 20978, 32755, AGC= 73, IDX= 401, 0.11,-1.280,-2.649,-1.140,-1.899, PHS= 0.706,-0.704, 0.755, RAW= 151.7, -10.6, CAL= 158.1, -18.2, ROT= 351.9, 18.2 2025-01-08T19:45:11.617Z,1736365511.617 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:45:11.618Z,1736365511.618 [DAT](INFO): Received a bad header 2025-01-08T19:45:11.632Z,1736365511.632 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T19:45:11.634Z,1736365511.634 [DAT](INFO): direction in FSK: [0.087321,-0.845117,0.527402] 2025-01-08T19:45:11.637Z,1736365511.637 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:11.637Z,1736365511.637 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:11.638Z,1736365511.638 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:11.760Z,1736365511.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:11.773Z,1736365511.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:11.801Z,1736365511.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.442047 m, bearing: 188.626736 deg, approach rate: 0.053739 m/s, LOS rate: -0.071286 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860057 deg. 2025-01-08T19:45:11.802Z,1736365511.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814666 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:11.840Z,1736365511.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:11.840Z,1736365511.840 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:11.840Z,1736365511.840 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:11.840Z,1736365511.840 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:12.082Z,1736365512.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:12.091Z,1736365512.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:12.092Z,1736365512.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:12.093Z,1736365512.093 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:12.093Z,1736365512.093 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:12.093Z,1736365512.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:12.099Z,1736365512.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.459961 m, bearing: 188.603597 deg, approach rate: 0.056451 m/s, LOS rate: -0.072915 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.905772 deg. 2025-01-08T19:45:12.100Z,1736365512.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815464 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:12.344Z,1736365512.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:12.346Z,1736365512.346 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:12.346Z,1736365512.346 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:12.347Z,1736365512.347 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:12.508Z,1736365512.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:12.516Z,1736365512.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:12.518Z,1736365512.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:12.521Z,1736365512.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.482849 m, bearing: 188.572447 deg, approach rate: 0.053596 m/s, LOS rate: -0.072937 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881743 deg. 2025-01-08T19:45:12.522Z,1736365512.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815045 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:12.597Z,1736365512.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:12.597Z,1736365512.597 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:12.598Z,1736365512.598 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:12.598Z,1736365512.598 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:12.848Z,1736365512.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:12.848Z,1736365512.848 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:12.848Z,1736365512.848 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:12.848Z,1736365512.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:12.894Z,1736365512.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:12.902Z,1736365512.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:12.917Z,1736365512.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.503815 m, bearing: 188.544285 deg, approach rate: 0.054478 m/s, LOS rate: -0.073173 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890706 deg. 2025-01-08T19:45:12.919Z,1736365512.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815201 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:13.100Z,1736365513.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:13.100Z,1736365513.100 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:13.100Z,1736365513.100 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:13.100Z,1736365513.100 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:13.281Z,1736365513.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:13.307Z,1736365513.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:13.310Z,1736365513.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.525085 m, bearing: 188.515965 deg, approach rate: 0.052603 m/s, LOS rate: -0.070033 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890230 deg. 2025-01-08T19:45:13.312Z,1736365513.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815193 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:13.352Z,1736365513.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:13.352Z,1736365513.352 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:13.352Z,1736365513.352 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:13.352Z,1736365513.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:13.604Z,1736365513.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:13.604Z,1736365513.604 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:13.605Z,1736365513.605 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:13.605Z,1736365513.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:13.796Z,1736365513.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:13.804Z,1736365513.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:13.808Z,1736365513.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.550934 m, bearing: 188.477048 deg, approach rate: 0.051949 m/s, LOS rate: -0.078209 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858442 deg. 2025-01-08T19:45:13.809Z,1736365513.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814638 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:13.858Z,1736365513.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:13.859Z,1736365513.859 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:13.859Z,1736365513.859 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:13.859Z,1736365513.859 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:14.108Z,1736365514.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:14.108Z,1736365514.108 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:14.108Z,1736365514.108 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:14.108Z,1736365514.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:14.190Z,1736365514.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:14.207Z,1736365514.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:14.214Z,1736365514.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.570892 m, bearing: 188.447198 deg, approach rate: 0.049586 m/s, LOS rate: -0.074157 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885642 deg. 2025-01-08T19:45:14.220Z,1736365514.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815113 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:14.360Z,1736365514.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:14.360Z,1736365514.360 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:14.360Z,1736365514.360 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:14.361Z,1736365514.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:14.612Z,1736365514.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:14.612Z,1736365514.612 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:14.612Z,1736365514.612 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:14.612Z,1736365514.612 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:14.705Z,1736365514.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:14.711Z,1736365514.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:14.714Z,1736365514.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:14.721Z,1736365514.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.588257 m, bearing: 188.406342 deg, approach rate: 0.034277 m/s, LOS rate: -0.080644 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852625 deg. 2025-01-08T19:45:14.722Z,1736365514.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814537 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:14.864Z,1736365514.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:14.864Z,1736365514.864 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:14.864Z,1736365514.864 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:14.864Z,1736365514.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:15.116Z,1736365515.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:15.117Z,1736365515.117 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:15.117Z,1736365515.117 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:15.117Z,1736365515.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:15.129Z,1736365515.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:15.138Z,1736365515.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:15.141Z,1736365515.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.602356 m, bearing: 188.372636 deg, approach rate: 0.033209 m/s, LOS rate: -0.079389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874071 deg. 2025-01-08T19:45:15.142Z,1736365515.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814911 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:15.368Z,1736365515.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:15.369Z,1736365515.369 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:15.369Z,1736365515.369 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:15.369Z,1736365515.369 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:15.557Z,1736365515.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:15.567Z,1736365515.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:15.570Z,1736365515.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.613007 m, bearing: 188.336722 deg, approach rate: 0.024841 m/s, LOS rate: -0.083761 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867447 deg. 2025-01-08T19:45:15.571Z,1736365515.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814795 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:15.620Z,1736365515.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:15.621Z,1736365515.621 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:15.621Z,1736365515.621 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:15.621Z,1736365515.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:15.872Z,1736365515.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:15.872Z,1736365515.872 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:15.872Z,1736365515.872 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:15.872Z,1736365515.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:15.942Z,1736365515.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:15.960Z,1736365515.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:15.969Z,1736365515.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.622223 m, bearing: 188.304463 deg, approach rate: 0.023408 m/s, LOS rate: -0.081931 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878410 deg. 2025-01-08T19:45:15.970Z,1736365515.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814987 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:16.127Z,1736365516.127 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:16.134Z,1736365516.134 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:16.134Z,1736365516.134 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:16.134Z,1736365516.134 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:16.346Z,1736365516.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:16.355Z,1736365516.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:16.358Z,1736365516.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.631470 m, bearing: 188.271496 deg, approach rate: 0.023438 m/s, LOS rate: -0.083559 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876288 deg. 2025-01-08T19:45:16.359Z,1736365516.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814950 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:16.378Z,1736365516.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:16.379Z,1736365516.379 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:16.379Z,1736365516.379 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:16.380Z,1736365516.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:16.629Z,1736365516.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:16.629Z,1736365516.629 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:16.629Z,1736365516.629 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:16.629Z,1736365516.629 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:16.783Z,1736365516.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:16.789Z,1736365516.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:16.792Z,1736365516.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:16.794Z,1736365516.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.634033 m, bearing: 188.231049 deg, approach rate: 0.005875 m/s, LOS rate: -0.092702 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853849 deg. 2025-01-08T19:45:16.796Z,1736365516.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814558 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:16.880Z,1736365516.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:16.881Z,1736365516.881 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:16.881Z,1736365516.881 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:16.882Z,1736365516.882 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:17.132Z,1736365517.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:17.132Z,1736365517.132 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:17.132Z,1736365517.132 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:17.133Z,1736365517.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:17.153Z,1736365517.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:17.163Z,1736365517.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:17.198Z,1736365517.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.635986 m, bearing: 188.197565 deg, approach rate: 0.005260 m/s, LOS rate: -0.090169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874735 deg. 2025-01-08T19:45:17.199Z,1736365517.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814922 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:17.384Z,1736365517.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:17.384Z,1736365517.384 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:17.384Z,1736365517.384 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:17.384Z,1736365517.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:45:17.575Z,1736365517.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:17.584Z,1736365517.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:17.587Z,1736365517.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.631104 m, bearing: 188.158871 deg, approach rate: -0.011601 m/s, LOS rate: -0.091939 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859102 deg. 2025-01-08T19:45:17.588Z,1736365517.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814650 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:17.636Z,1736365517.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:17.636Z,1736365517.636 [DAT](INFO): Reached modem response timeout 2025-01-08T19:45:17.637Z,1736365517.637 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:45:17.637Z,1736365517.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:17.888Z,1736365517.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:17.888Z,1736365517.888 [DAT](INFO): Reached modem response timeout 2025-01-08T19:45:17.888Z,1736365517.888 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:45:17.888Z,1736365517.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:18.041Z,1736365518.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:18.050Z,1736365518.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:18.069Z,1736365518.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.625397 m, bearing: 188.116033 deg, approach rate: -0.012226 m/s, LOS rate: -0.091772 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846672 deg. 2025-01-08T19:45:18.070Z,1736365518.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814433 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:18.140Z,1736365518.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:18.141Z,1736365518.141 [DAT](INFO): Reached modem response timeout 2025-01-08T19:45:18.141Z,1736365518.141 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:45:18.141Z,1736365518.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:18.392Z,1736365518.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:18.393Z,1736365518.393 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:45:18.393Z,1736365518.393 [DAT](INFO): response not received 2025-01-08T19:45:18.393Z,1736365518.393 [DAT](INFO): DAT read: user:807> 2025-01-08T19:45:18.394Z,1736365518.394 [DAT](ERROR): No response from remote modem. 2025-01-08T19:45:18.394Z,1736365518.394 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:45:18.394Z,1736365518.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:18.530Z,1736365518.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:18.551Z,1736365518.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:18.554Z,1736365518.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.619202 m, bearing: 188.071165 deg, approach rate: -0.012470 m/s, LOS rate: -0.090312 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840582 deg. 2025-01-08T19:45:18.559Z,1736365518.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814326 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:18.644Z,1736365518.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:18.645Z,1736365518.645 [DAT](INFO): DAT read: Tx time:19:45:17.8178 2025-01-08T19:45:18.646Z,1736365518.646 [DAT](INFO): Ping request sent. 2025-01-08T19:45:18.646Z,1736365518.646 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:18.647Z,1736365518.647 [DAT](INFO): DAT read: TxSync time:19:45:17.8170 2025-01-08T19:45:18.647Z,1736365518.647 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:18.648Z,1736365518.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002585 2025-01-08T19:45:18.896Z,1736365518.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:18.896Z,1736365518.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250492 2025-01-08T19:45:18.985Z,1736365518.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:18.992Z,1736365518.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:18.994Z,1736365518.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:18.998Z,1736365518.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.612488 m, bearing: 188.027175 deg, approach rate: -0.015037 m/s, LOS rate: -0.098527 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843216 deg. 2025-01-08T19:45:18.999Z,1736365518.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814373 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:19.148Z,1736365519.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:19.148Z,1736365519.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502554 2025-01-08T19:45:19.373Z,1736365519.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:19.384Z,1736365519.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:19.387Z,1736365519.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.606110 m, bearing: 187.989680 deg, approach rate: -0.016339 m/s, LOS rate: -0.096051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862700 deg. 2025-01-08T19:45:19.388Z,1736365519.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814713 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:19.400Z,1736365519.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:19.401Z,1736365519.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754762 2025-01-08T19:45:19.652Z,1736365519.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:19.653Z,1736365519.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006893 2025-01-08T19:45:19.815Z,1736365519.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:19.827Z,1736365519.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:19.831Z,1736365519.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.600891 m, bearing: 187.946459 deg, approach rate: -0.011778 m/s, LOS rate: -0.097551 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845521 deg. 2025-01-08T19:45:19.833Z,1736365519.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814413 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:19.904Z,1736365519.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:19.905Z,1736365519.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258849 2025-01-08T19:45:20.156Z,1736365520.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:20.156Z,1736365520.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510475 2025-01-08T19:45:20.182Z,1736365520.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:20.192Z,1736365520.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:20.196Z,1736365520.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.596497 m, bearing: 187.910612 deg, approach rate: -0.012033 m/s, LOS rate: -0.098153 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867647 deg. 2025-01-08T19:45:20.197Z,1736365520.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814799 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:20.408Z,1736365520.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:20.409Z,1736365520.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762712 2025-01-08T19:45:20.637Z,1736365520.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:20.660Z,1736365520.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:20.662Z,1736365520.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015717 2025-01-08T19:45:20.669Z,1736365520.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:20.681Z,1736365520.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.589905 m, bearing: 187.866067 deg, approach rate: -0.013846 m/s, LOS rate: -0.093565 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841550 deg. 2025-01-08T19:45:20.688Z,1736365520.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814343 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:20.912Z,1736365520.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:20.913Z,1736365520.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267151 2025-01-08T19:45:20.989Z,1736365520.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:21.008Z,1736365521.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:21.010Z,1736365521.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:21.017Z,1736365521.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.584991 m, bearing: 187.831663 deg, approach rate: -0.014402 m/s, LOS rate: -0.100847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871974 deg. 2025-01-08T19:45:21.018Z,1736365521.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814874 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:21.164Z,1736365521.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:21.164Z,1736365521.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518495 2025-01-08T19:45:21.390Z,1736365521.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:21.413Z,1736365521.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:21.416Z,1736365521.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:21.417Z,1736365521.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771010 2025-01-08T19:45:21.418Z,1736365521.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.579407 m, bearing: 187.792423 deg, approach rate: -0.013855 m/s, LOS rate: -0.097354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857465 deg. 2025-01-08T19:45:21.419Z,1736365521.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814621 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:21.670Z,1736365521.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:21.671Z,1736365521.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024710 2025-01-08T19:45:21.837Z,1736365521.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:21.845Z,1736365521.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:21.848Z,1736365521.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.578430 m, bearing: 187.750060 deg, approach rate: -0.002258 m/s, LOS rate: -0.097939 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848098 deg. 2025-01-08T19:45:21.849Z,1736365521.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814457 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:21.921Z,1736365521.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:21.922Z,1736365521.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275901 2025-01-08T19:45:22.172Z,1736365522.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:22.172Z,1736365522.172 [DAT](INFO): DAT read: Rx Time:19:45:20.8358 2025-01-08T19:45:22.173Z,1736365522.173 [DAT](INFO): Rx dataTimestamp_ set to:1736365522.172573 2025-01-08T19:45:22.173Z,1736365522.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527576 2025-01-08T19:45:22.199Z,1736365522.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:22.232Z,1736365522.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:22.235Z,1736365522.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.577667 m, bearing: 187.715739 deg, approach rate: -0.001972 m/s, LOS rate: -0.088696 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872223 deg. 2025-01-08T19:45:22.240Z,1736365522.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814878 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:22.424Z,1736365522.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:22.424Z,1736365522.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778551 2025-01-08T19:45:22.649Z,1736365522.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:22.664Z,1736365522.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.60 m. 2025-01-08T19:45:22.669Z,1736365522.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.600006 m, nav range: 439.588593 m, bearing: 187.674929 deg, approach rate: 0.025335 m/s, LOS rate: -0.094634 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852760 deg. 2025-01-08T19:45:22.671Z,1736365522.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814539 target range: 477.600006 and range: 477.60 m. 2025-01-08T19:45:22.676Z,1736365522.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:22.689Z,1736365522.689 [DAT](INFO): DAT read: 19:45:20.8358 LVL= 27088, 32753, 18002, 32755, AGC= 69, IDX= 361,-0.16, 2.931, 1.731, 3.126, 2.623, PHS= 0.396,-0.846, 0.500, RAW= 154.0, -0.8, CAL= 157.0, -9.5, ROT= 353.0, 9.5 2025-01-08T19:45:22.691Z,1736365522.691 [DAT](INFO): got valid direction response: 19:45:20.8358 LVL= 27088, 32753, 18002, 32755, AGC= 69, IDX= 361,-0.16, 2.931, 1.731, 3.126, 2.623, PHS= 0.396,-0.846, 0.500, RAW= 154.0, -0.8, CAL= 157.0, -9.5, ROT= 353.0, 9.5 2025-01-08T19:45:22.692Z,1736365522.692 [DAT](INFO): DAT read: Bearing 353.0, 9.5 (Local) 2025-01-08T19:45:22.692Z,1736365522.692 [DAT](INFO): Local bearing/azimuth received: Bearing 353.0, 9.5 (Local) 2025-01-08T19:45:22.693Z,1736365522.693 [DAT](INFO): DAT read: Range 10 to 50 : 460.2 m (Round-trip 613.7 ms) speed 0.6 m/s 2025-01-08T19:45:22.695Z,1736365522.695 [DAT](INFO): DAT read: user:808> 2025-01-08T19:45:22.718Z,1736365522.718 [DAT](INFO): DAT read: Tx time:19:45:21.9179 2025-01-08T19:45:22.718Z,1736365522.718 [DAT](INFO): Ping request sent. 2025-01-08T19:45:22.718Z,1736365522.718 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:22.728Z,1736365522.728 [DAT](INFO): DAT read: TxSync time:19:45:21.9171 2025-01-08T19:45:22.729Z,1736365522.729 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:45:22.730Z,1736365522.730 [DAT](INFO): direction in FSK: [-0.103521,-0.867817,0.485980] 2025-01-08T19:45:22.730Z,1736365522.730 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:22.730Z,1736365522.730 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:22.742Z,1736365522.742 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:22.742Z,1736365522.742 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:22.929Z,1736365522.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:23.060Z,1736365523.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:23.088Z,1736365523.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 460.200012 m, deltaT: 15.119740 s, deltaX: -17.399994 m, approachRate: -1.150813 m/s, rangeRepo size: 4 2025-01-08T19:45:23.090Z,1736365523.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 460.200012 m, bearing: 177.615343 deg, lat: 36.900125 deg, lon: -122.113537 deg, deltaT: 15.119740 s, deltaX: -17.399994 m, approachRate: -1.150813 m/s, posRepo size: 4 2025-01-08T19:45:23.091Z,1736365523.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:23.098Z,1736365523.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 437.538269 m, bearing: 174.744323 deg, approach rate: 0.000000 m/s, LOS rate: -0.094634 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856060 deg. 2025-01-08T19:45:23.099Z,1736365523.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814597 target range: 460.200012 and range: 460.20 m. 2025-01-08T19:45:23.180Z,1736365523.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:23.424Z,1736365523.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:23.432Z,1736365523.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:23.434Z,1736365523.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:23.436Z,1736365523.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:23.440Z,1736365523.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 437.603607 m, bearing: 174.712302 deg, approach rate: 0.184798 m/s, LOS rate: -0.090554 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879137 deg. 2025-01-08T19:45:23.441Z,1736365523.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814999 target range: 460.200012 and range: 460.20 m. 2025-01-08T19:45:23.684Z,1736365523.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:23.684Z,1736365523.684 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:23.685Z,1736365523.685 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:23.685Z,1736365523.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:23.851Z,1736365523.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:23.860Z,1736365523.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:23.862Z,1736365523.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 437.681335 m, bearing: 174.677600 deg, approach rate: 0.183918 m/s, LOS rate: -0.082095 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871101 deg. 2025-01-08T19:45:23.864Z,1736365523.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814859 target range: 460.200012 and range: 460.20 m. 2025-01-08T19:45:23.937Z,1736365523.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:23.940Z,1736365523.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220622 2025-01-08T19:45:24.188Z,1736365524.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:24.188Z,1736365524.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469807 2025-01-08T19:45:24.214Z,1736365524.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:24.242Z,1736365524.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:24.246Z,1736365524.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 437.748016 m, bearing: 174.648093 deg, approach rate: 0.173952 m/s, LOS rate: -0.076965 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886678 deg. 2025-01-08T19:45:24.252Z,1736365524.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815131 target range: 460.200012 and range: 460.20 m. 2025-01-08T19:45:24.440Z,1736365524.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:24.440Z,1736365524.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721867 2025-01-08T19:45:24.673Z,1736365524.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:24.685Z,1736365524.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:24.688Z,1736365524.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 437.829803 m, bearing: 174.613769 deg, approach rate: 0.184684 m/s, LOS rate: -0.077492 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872234 deg. 2025-01-08T19:45:24.689Z,1736365524.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814879 target range: 460.200012 and range: 460.20 m. 2025-01-08T19:45:24.708Z,1736365524.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:24.709Z,1736365524.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990011 2025-01-08T19:45:24.960Z,1736365524.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:24.961Z,1736365524.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242765 2025-01-08T19:45:25.019Z,1736365525.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:25.060Z,1736365525.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:25.065Z,1736365525.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 437.892120 m, bearing: 174.587875 deg, approach rate: 0.166148 m/s, LOS rate: -0.069029 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.897515 deg. 2025-01-08T19:45:25.066Z,1736365525.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815320 target range: 460.200012 and range: 460.20 m. 2025-01-08T19:45:25.213Z,1736365525.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:25.213Z,1736365525.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494973 2025-01-08T19:45:25.427Z,1736365525.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:25.456Z,1736365525.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:25.459Z,1736365525.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 437.966156 m, bearing: 174.557381 deg, approach rate: 0.187039 m/s, LOS rate: -0.077024 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883722 deg. 2025-01-08T19:45:25.464Z,1736365525.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:25.465Z,1736365525.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746110 2025-01-08T19:45:25.466Z,1736365525.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815079 target range: 460.200012 and range: 460.20 m. 2025-01-08T19:45:25.716Z,1736365525.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:25.718Z,1736365525.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998652 2025-01-08T19:45:25.882Z,1736365525.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:25.905Z,1736365525.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:25.911Z,1736365525.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:25.914Z,1736365525.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 438.051697 m, bearing: 174.525994 deg, approach rate: 0.189660 m/s, LOS rate: -0.069578 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881043 deg. 2025-01-08T19:45:25.920Z,1736365525.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815032 target range: 460.200012 and range: 460.20 m. 2025-01-08T19:45:25.969Z,1736365525.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:25.970Z,1736365525.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251425 2025-01-08T19:45:26.220Z,1736365526.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:26.220Z,1736365526.220 [DAT](INFO): DAT read: Rx Time:19:45:24.9318 2025-01-08T19:45:26.221Z,1736365526.221 [DAT](INFO): Rx dataTimestamp_ set to:1736365526.220682 2025-01-08T19:45:26.221Z,1736365526.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503006 2025-01-08T19:45:26.242Z,1736365526.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:26.283Z,1736365526.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:26.290Z,1736365526.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 438.120117 m, bearing: 174.501293 deg, approach rate: 0.182314 m/s, LOS rate: -0.065807 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.901097 deg. 2025-01-08T19:45:26.299Z,1736365526.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815382 target range: 460.200012 and range: 460.20 m. 2025-01-08T19:45:26.472Z,1736365526.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:26.472Z,1736365526.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753975 2025-01-08T19:45:26.717Z,1736365526.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:26.724Z,1736365526.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:26.731Z,1736365526.731 [DAT](INFO): DAT read: 19:45:24.9318 LVL= 25248, 27745, 16498, 30963, AGC= 69, IDX= 509,-0.29,-0.776,-2.376,-0.662,-1.425, PHS= 0.738,-0.904, 0.760, RAW= 150.7, -7.2, CAL= 156.1, -15.4, ROT= 353.9, 15.4 2025-01-08T19:45:26.733Z,1736365526.733 [DAT](INFO): got valid direction response: 19:45:24.9318 LVL= 25248, 27745, 16498, 30963, AGC= 69, IDX= 509,-0.29,-0.776,-2.376,-0.662,-1.425, PHS= 0.738,-0.904, 0.760, RAW= 150.7, -7.2, CAL= 156.1, -15.4, ROT= 353.9, 15.4 2025-01-08T19:45:26.733Z,1736365526.733 [DAT](INFO): DAT read: Bearing 353.9, 15.4 (Local) 2025-01-08T19:45:26.734Z,1736365526.734 [DAT](INFO): Local bearing/azimuth received: Bearing 353.9, 15.4 (Local) 2025-01-08T19:45:26.736Z,1736365526.736 [DAT](INFO): DAT read: Range 10 to 50 : 457.2 m (Round-trip 609.7 ms) speed 0.7 m/s 2025-01-08T19:45:26.736Z,1736365526.736 [DAT](INFO): DAT read: user:809> 2025-01-08T19:45:26.737Z,1736365526.737 [DAT](INFO): DAT read: Tx time:19:45:26.0179 2025-01-08T19:45:26.737Z,1736365526.737 [DAT](INFO): Ping request sent. 2025-01-08T19:45:26.738Z,1736365526.738 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:26.738Z,1736365526.738 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:45:26.739Z,1736365526.739 [DAT](INFO): direction in FSK: [0.021246,-0.839058,0.543627] 2025-01-08T19:45:26.739Z,1736365526.739 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:26.740Z,1736365526.740 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:26.742Z,1736365526.742 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:26.743Z,1736365526.743 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:26.746Z,1736365526.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 457.200012 m, deltaT: 4.047768 s, deltaX: -3.000000 m, approachRate: -0.741149 m/s, rangeRepo size: 4 2025-01-08T19:45:26.761Z,1736365526.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:26.764Z,1736365526.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 438.208649 m, bearing: 174.470493 deg, approach rate: 0.191144 m/s, LOS rate: -0.066486 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882805 deg. 2025-01-08T19:45:26.765Z,1736365526.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815063 target range: 460.200012 and range: 457.20 m. 2025-01-08T19:45:26.977Z,1736365526.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:26.979Z,1736365526.979 [DAT](INFO): DAT read: TxSync time:19:45:26.0171 2025-01-08T19:45:27.082Z,1736365527.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:27.110Z,1736365527.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:27.130Z,1736365527.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 438.277374 m, bearing: 174.446841 deg, approach rate: 0.188580 m/s, LOS rate: -0.064890 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.904242 deg. 2025-01-08T19:45:27.135Z,1736365527.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815437 target range: 460.200012 and range: 457.20 m. 2025-01-08T19:45:27.229Z,1736365527.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:27.457Z,1736365527.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:27.466Z,1736365527.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:27.475Z,1736365527.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 438.347870 m, bearing: 174.422576 deg, approach rate: 0.198188 m/s, LOS rate: -0.068206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.902404 deg. 2025-01-08T19:45:27.476Z,1736365527.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815405 target range: 460.200012 and range: 457.20 m. 2025-01-08T19:45:27.480Z,1736365527.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:27.732Z,1736365527.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:27.905Z,1736365527.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:27.911Z,1736365527.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:27.913Z,1736365527.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:27.920Z,1736365527.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 438.430756 m, bearing: 174.393113 deg, approach rate: 0.185206 m/s, LOS rate: -0.065821 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886815 deg. 2025-01-08T19:45:27.921Z,1736365527.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815133 target range: 460.200012 and range: 457.20 m. 2025-01-08T19:45:27.984Z,1736365527.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:27.985Z,1736365527.985 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:27.985Z,1736365527.985 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:27.986Z,1736365527.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:28.236Z,1736365528.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:28.236Z,1736365528.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498750 2025-01-08T19:45:28.280Z,1736365528.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:28.289Z,1736365528.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:28.292Z,1736365528.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 438.500610 m, bearing: 174.368438 deg, approach rate: 0.185846 m/s, LOS rate: -0.065636 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.901174 deg. 2025-01-08T19:45:28.293Z,1736365528.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815384 target range: 460.200012 and range: 457.20 m. 2025-01-08T19:45:28.488Z,1736365528.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:28.490Z,1736365528.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752353 2025-01-08T19:45:28.716Z,1736365528.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:28.724Z,1736365528.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:28.727Z,1736365528.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 438.581757 m, bearing: 174.338770 deg, approach rate: 0.186665 m/s, LOS rate: -0.068235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886199 deg. 2025-01-08T19:45:28.729Z,1736365528.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815123 target range: 460.200012 and range: 457.20 m. 2025-01-08T19:45:28.740Z,1736365528.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:28.740Z,1736365528.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002886 2025-01-08T19:45:28.992Z,1736365528.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:28.993Z,1736365528.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255500 2025-01-08T19:45:29.068Z,1736365529.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:29.076Z,1736365529.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:29.116Z,1736365529.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 438.648163 m, bearing: 174.314767 deg, approach rate: 0.188697 m/s, LOS rate: -0.068196 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.903188 deg. 2025-01-08T19:45:29.117Z,1736365529.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815419 target range: 460.200012 and range: 457.20 m. 2025-01-08T19:45:29.244Z,1736365529.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:29.245Z,1736365529.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507191 2025-01-08T19:45:29.475Z,1736365529.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:29.496Z,1736365529.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:29.496Z,1736365529.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758773 2025-01-08T19:45:29.501Z,1736365529.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:29.508Z,1736365529.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 438.725403 m, bearing: 174.287046 deg, approach rate: 0.181764 m/s, LOS rate: -0.065223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.892039 deg. 2025-01-08T19:45:29.509Z,1736365529.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815225 target range: 460.200012 and range: 457.20 m. 2025-01-08T19:45:29.748Z,1736365529.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:29.750Z,1736365529.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011919 2025-01-08T19:45:29.920Z,1736365529.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:29.935Z,1736365529.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:29.948Z,1736365529.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:29.950Z,1736365529.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 438.805450 m, bearing: 174.256393 deg, approach rate: 0.180850 m/s, LOS rate: -0.069240 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883246 deg. 2025-01-08T19:45:29.956Z,1736365529.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815071 target range: 460.200012 and range: 457.20 m. 2025-01-08T19:45:29.000Z,1736365530.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:30.001Z,1736365530.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263078 2025-01-08T19:45:30.252Z,1736365530.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:30.252Z,1736365530.252 [DAT](INFO): DAT read: Rx Time:19:45:29.0291 2025-01-08T19:45:30.253Z,1736365530.253 [DAT](INFO): Rx dataTimestamp_ set to:1736365530.252624 2025-01-08T19:45:30.253Z,1736365530.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515842 2025-01-08T19:45:30.284Z,1736365530.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:30.293Z,1736365530.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T19:45:30.309Z,1736365530.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 438.878021 m, bearing: 174.228573 deg, approach rate: 0.207732 m/s, LOS rate: -0.079621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.891740 deg. 2025-01-08T19:45:30.310Z,1736365530.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815219 target range: 460.200012 and range: 457.20 m. 2025-01-08T19:45:30.507Z,1736365530.507 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:30.508Z,1736365530.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769919 2025-01-08T19:45:30.757Z,1736365530.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:30.768Z,1736365530.768 [DAT](INFO): DAT read: 19:45:29.0291 LVL= 23024, 31857, 17346, 32755, AGC= 67, IDX= 419, 0.03, 0.263,-0.985, 0.445,-0.174, PHS= 0.525,-0.763, 0.616, RAW= 153.4, -5.7, CAL= 158.1, -13.8, ROT= 351.9, 13.8 2025-01-08T19:45:30.771Z,1736365530.771 [DAT](INFO): got valid direction response: 19:45:29.0291 LVL= 23024, 31857, 17346, 32755, AGC= 67, IDX= 419, 0.03, 0.263,-0.985, 0.445,-0.174, PHS= 0.525,-0.763, 0.616, RAW= 153.4, -5.7, CAL= 158.1, -13.8, ROT= 351.9, 13.8 2025-01-08T19:45:30.784Z,1736365530.784 [DAT](INFO): DAT read: Bearing 351.9, 13.8 (Local) 2025-01-08T19:45:30.784Z,1736365530.784 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 13.8 (Local) 2025-01-08T19:45:30.786Z,1736365530.786 [DAT](INFO): DAT read: Range 10 to 50 : 455.1 m (Round-trip 606.9 ms) speed 0.6 m/s 2025-01-08T19:45:30.786Z,1736365530.786 [DAT](INFO): DAT read: user:810> 2025-01-08T19:45:30.795Z,1736365530.795 [DAT](INFO): DAT read: Tx time:19:45:30.1180 2025-01-08T19:45:30.796Z,1736365530.796 [DAT](INFO): Ping request sent. 2025-01-08T19:45:30.796Z,1736365530.796 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:30.796Z,1736365530.796 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:45:30.797Z,1736365530.797 [DAT](INFO): direction in FSK: [-0.007221,-0.865571,0.500735] 2025-01-08T19:45:30.797Z,1736365530.797 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:30.797Z,1736365530.797 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:30.805Z,1736365530.805 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:30.805Z,1736365530.805 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:30.872Z,1736365530.872 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:45:30.899Z,1736365530.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:30.961Z,1736365530.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 455.100006 m, deltaT: 4.032991 s, deltaX: -2.100006 m, approachRate: -0.520707 m/s, rangeRepo size: 4 2025-01-08T19:45:30.968Z,1736365530.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 455.100006 m, bearing: 184.064357 deg, lat: 36.900174 deg, lon: -122.113786 deg, deltaT: 8.080759 s, deltaX: -5.100006 m, approachRate: -0.631130 m/s, posRepo size: 4 2025-01-08T19:45:30.968Z,1736365530.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T19:45:30.975Z,1736365530.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 431.765350 m, bearing: 177.032095 deg, approach rate: 0.000000 m/s, LOS rate: -0.079621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815655 deg. 2025-01-08T19:45:30.976Z,1736365530.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813891 target range: 455.100006 and range: 455.10 m. 2025-01-08T19:45:31.009Z,1736365531.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:31.010Z,1736365531.010 [DAT](INFO): DAT read: TxSync time:19:45:30.1172 2025-01-08T19:45:31.257Z,1736365531.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:31.260Z,1736365531.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:31.288Z,1736365531.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T19:45:31.291Z,1736365531.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 431.819305 m, bearing: 177.002522 deg, approach rate: 0.164828 m/s, LOS rate: -0.090331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886479 deg. 2025-01-08T19:45:31.297Z,1736365531.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815127 target range: 455.100006 and range: 455.10 m. 2025-01-08T19:45:31.512Z,1736365531.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:31.735Z,1736365531.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:31.744Z,1736365531.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T19:45:31.748Z,1736365531.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 431.889252 m, bearing: 176.963494 deg, approach rate: 0.153639 m/s, LOS rate: -0.085713 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858120 deg. 2025-01-08T19:45:31.749Z,1736365531.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814632 target range: 455.100006 and range: 455.10 m. 2025-01-08T19:45:31.764Z,1736365531.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:32.016Z,1736365532.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:32.109Z,1736365532.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:32.116Z,1736365532.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:32.118Z,1736365532.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T19:45:32.121Z,1736365532.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 431.941315 m, bearing: 176.930040 deg, approach rate: 0.139007 m/s, LOS rate: -0.089310 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874838 deg. 2025-01-08T19:45:32.122Z,1736365532.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814924 target range: 455.100006 and range: 455.10 m. 2025-01-08T19:45:32.268Z,1736365532.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:32.269Z,1736365532.269 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:32.269Z,1736365532.269 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:32.269Z,1736365532.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:32.488Z,1736365532.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:32.498Z,1736365532.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T19:45:32.501Z,1736365532.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 431.993317 m, bearing: 176.896477 deg, approach rate: 0.136881 m/s, LOS rate: -0.088336 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874509 deg. 2025-01-08T19:45:32.502Z,1736365532.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814919 target range: 455.100006 and range: 455.10 m. 2025-01-08T19:45:32.520Z,1736365532.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:32.521Z,1736365532.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725292 2025-01-08T19:45:32.773Z,1736365532.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:32.774Z,1736365532.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978176 2025-01-08T19:45:32.932Z,1736365532.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:32.940Z,1736365532.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T19:45:32.943Z,1736365532.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 432.054688 m, bearing: 176.854523 deg, approach rate: 0.138726 m/s, LOS rate: -0.094820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849344 deg. 2025-01-08T19:45:32.960Z,1736365532.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814479 target range: 455.100006 and range: 455.10 m. 2025-01-08T19:45:33.025Z,1736365533.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:33.026Z,1736365533.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230280 2025-01-08T19:45:33.276Z,1736365533.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:33.276Z,1736365533.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480617 2025-01-08T19:45:33.303Z,1736365533.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:33.317Z,1736365533.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T19:45:33.336Z,1736365533.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 432.105927 m, bearing: 176.819442 deg, approach rate: 0.135989 m/s, LOS rate: -0.093094 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869957 deg. 2025-01-08T19:45:33.337Z,1736365533.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814839 target range: 455.100006 and range: 455.10 m. 2025-01-08T19:45:33.528Z,1736365533.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:33.529Z,1736365533.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733402 2025-01-08T19:45:33.780Z,1736365533.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:33.781Z,1736365533.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984797 2025-01-08T19:45:33.829Z,1736365533.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:33.852Z,1736365533.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T19:45:33.854Z,1736365533.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 432.173157 m, bearing: 176.767742 deg, approach rate: 0.126808 m/s, LOS rate: -0.097500 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820112 deg. 2025-01-08T19:45:33.860Z,1736365533.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813969 target range: 455.100006 and range: 455.10 m. 2025-01-08T19:45:34.033Z,1736365534.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:34.035Z,1736365534.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238561 2025-01-08T19:45:34.192Z,1736365534.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:34.199Z,1736365534.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:34.201Z,1736365534.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T19:45:34.204Z,1736365534.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 432.219330 m, bearing: 176.732157 deg, approach rate: 0.130445 m/s, LOS rate: -0.100521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868444 deg. 2025-01-08T19:45:34.205Z,1736365534.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814813 target range: 455.100006 and range: 455.10 m. 2025-01-08T19:45:34.285Z,1736365534.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:34.287Z,1736365534.287 [DAT](INFO): DAT read: Rx Time:19:45:33.1259 2025-01-08T19:45:34.288Z,1736365534.288 [DAT](INFO): Rx dataTimestamp_ set to:1736365534.287893 2025-01-08T19:45:34.289Z,1736365534.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493339 2025-01-08T19:45:34.536Z,1736365534.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:34.536Z,1736365534.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740590 2025-01-08T19:45:34.602Z,1736365534.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:34.610Z,1736365534.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T19:45:34.614Z,1736365534.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 432.269684 m, bearing: 176.692974 deg, approach rate: 0.123055 m/s, LOS rate: -0.095746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857649 deg. 2025-01-08T19:45:34.615Z,1736365534.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814624 target range: 455.100006 and range: 455.10 m. 2025-01-08T19:45:34.793Z,1736365534.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:34.796Z,1736365534.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000009 2025-01-08T19:45:35.040Z,1736365535.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:35.044Z,1736365535.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:35.055Z,1736365535.055 [DAT](INFO): DAT read: 19:45:33.1259 LVL= 21200, 29793, 19522, 32755, AGC= 70, IDX= 403, 0.05, 1.453, 0.144, 1.634, 0.952, PHS= 0.589,-0.761, 0.679, RAW= 153.2, -7.3, CAL= 158.4, -15.2, ROT= 351.6, 15.2 2025-01-08T19:45:35.056Z,1736365535.056 [DAT](INFO): got valid direction response: 19:45:33.1259 LVL= 21200, 29793, 19522, 32755, AGC= 70, IDX= 403, 0.05, 1.453, 0.144, 1.634, 0.952, PHS= 0.589,-0.761, 0.679, RAW= 153.2, -7.3, CAL= 158.4, -15.2, ROT= 351.6, 15.2 2025-01-08T19:45:35.057Z,1736365535.057 [DAT](INFO): DAT read: Bearing 351.6, 15.2 (Local) 2025-01-08T19:45:35.057Z,1736365535.057 [DAT](INFO): Local bearing/azimuth received: Bearing 351.6, 15.2 (Local) 2025-01-08T19:45:35.059Z,1736365535.059 [DAT](INFO): DAT read: Range 10 to 50 : 452.8 m (Round-trip 603.8 ms) speed 0.7 m/s 2025-01-08T19:45:35.065Z,1736365535.065 [DAT](INFO): DAT read: user:811> 2025-01-08T19:45:35.065Z,1736365535.065 [DAT](INFO): DAT read: Tx time:19:45:34.2180 2025-01-08T19:45:35.066Z,1736365535.066 [DAT](INFO): Ping request sent. 2025-01-08T19:45:35.066Z,1736365535.066 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:35.066Z,1736365535.066 [DAT](INFO): DAT read: TxSync time:19:45:34.2172 2025-01-08T19:45:35.067Z,1736365535.067 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:45:35.085Z,1736365535.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T19:45:35.092Z,1736365535.092 [DAT](INFO): direction in FSK: [0.024139,-0.863175,0.504328] 2025-01-08T19:45:35.092Z,1736365535.092 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:35.092Z,1736365535.092 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:35.093Z,1736365535.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 432.326385 m, bearing: 176.648910 deg, approach rate: 0.119548 m/s, LOS rate: -0.092890 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843014 deg. 2025-01-08T19:45:35.094Z,1736365535.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814369 target range: 455.100006 and range: 455.10 m. 2025-01-08T19:45:35.102Z,1736365535.102 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:35.102Z,1736365535.102 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:35.296Z,1736365535.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:35.421Z,1736365535.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:35.457Z,1736365535.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 452.799988 m, deltaT: 4.286817 s, deltaX: -2.300018 m, approachRate: -0.536533 m/s, rangeRepo size: 4 2025-01-08T19:45:35.459Z,1736365535.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 452.799988 m, bearing: 184.001666 deg, lat: 36.900276 deg, lon: -122.114373 deg, deltaT: 4.286817 s, deltaX: -2.300018 m, approachRate: -0.536533 m/s, posRepo size: 4 2025-01-08T19:45:35.472Z,1736365535.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.80 m. 2025-01-08T19:45:35.475Z,1736365535.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.799988 m, nav range: 421.182953 m, bearing: 183.626118 deg, approach rate: 0.000000 m/s, LOS rate: -0.092890 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871631 deg. 2025-01-08T19:45:35.480Z,1736365535.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814868 target range: 452.799988 and range: 452.80 m. 2025-01-08T19:45:35.548Z,1736365535.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:35.800Z,1736365535.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:35.848Z,1736365535.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:35.857Z,1736365535.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.80 m. 2025-01-08T19:45:35.865Z,1736365535.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.799988 m, nav range: 421.202362 m, bearing: 183.584415 deg, approach rate: 0.048474 m/s, LOS rate: -0.104148 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850083 deg. 2025-01-08T19:45:35.866Z,1736365535.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814492 target range: 452.799988 and range: 452.80 m. 2025-01-08T19:45:36.052Z,1736365536.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:36.216Z,1736365536.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:36.239Z,1736365536.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:36.241Z,1736365536.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.80 m. 2025-01-08T19:45:36.248Z,1736365536.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.799988 m, nav range: 421.218567 m, bearing: 183.548429 deg, approach rate: 0.042134 m/s, LOS rate: -0.093563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867234 deg. 2025-01-08T19:45:36.249Z,1736365536.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814792 target range: 452.799988 and range: 452.80 m. 2025-01-08T19:45:36.304Z,1736365536.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:36.304Z,1736365536.304 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:36.304Z,1736365536.304 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:36.305Z,1736365536.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:36.556Z,1736365536.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:36.556Z,1736365536.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490591 2025-01-08T19:45:36.626Z,1736365536.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:36.636Z,1736365536.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.80 m. 2025-01-08T19:45:36.638Z,1736365536.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.799988 m, nav range: 421.235962 m, bearing: 183.508424 deg, approach rate: 0.044146 m/s, LOS rate: -0.101521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855179 deg. 2025-01-08T19:45:36.640Z,1736365536.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814581 target range: 452.799988 and range: 452.80 m. 2025-01-08T19:45:36.808Z,1736365536.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:36.809Z,1736365536.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742833 2025-01-08T19:45:37.060Z,1736365537.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:37.060Z,1736365537.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994725 2025-01-08T19:45:37.086Z,1736365537.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:37.102Z,1736365537.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.80 m. 2025-01-08T19:45:37.111Z,1736365537.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.799988 m, nav range: 421.260101 m, bearing: 183.465590 deg, approach rate: 0.051662 m/s, LOS rate: -0.091667 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846691 deg. 2025-01-08T19:45:37.116Z,1736365537.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814433 target range: 452.799988 and range: 452.80 m. 2025-01-08T19:45:37.312Z,1736365537.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:37.313Z,1736365537.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247210 2025-01-08T19:45:37.447Z,1736365537.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:37.469Z,1736365537.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.80 m. 2025-01-08T19:45:37.472Z,1736365537.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.799988 m, nav range: 421.279388 m, bearing: 183.431797 deg, approach rate: 0.052654 m/s, LOS rate: -0.092252 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873811 deg. 2025-01-08T19:45:37.473Z,1736365537.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814906 target range: 452.799988 and range: 452.80 m. 2025-01-08T19:45:37.565Z,1736365537.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:37.566Z,1736365537.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500146 2025-01-08T19:45:37.817Z,1736365537.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:37.827Z,1736365537.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753401 2025-01-08T19:45:37.881Z,1736365537.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:37.907Z,1736365537.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.80 m. 2025-01-08T19:45:37.914Z,1736365537.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.799988 m, nav range: 421.308105 m, bearing: 183.393453 deg, approach rate: 0.065587 m/s, LOS rate: -0.087569 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860163 deg. 2025-01-08T19:45:37.915Z,1736365537.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814668 target range: 452.799988 and range: 452.80 m. 2025-01-08T19:45:38.068Z,1736365538.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:38.068Z,1736365538.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002717 2025-01-08T19:45:38.263Z,1736365538.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:38.270Z,1736365538.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:38.272Z,1736365538.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.80 m. 2025-01-08T19:45:38.275Z,1736365538.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.799988 m, nav range: 421.333618 m, bearing: 183.359796 deg, approach rate: 0.069812 m/s, LOS rate: -0.092091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874224 deg. 2025-01-08T19:45:38.276Z,1736365538.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814914 target range: 452.799988 and range: 452.80 m. 2025-01-08T19:45:38.320Z,1736365538.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:38.322Z,1736365538.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255912 2025-01-08T19:45:38.572Z,1736365538.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:38.572Z,1736365538.572 [DAT](INFO): DAT read: Rx Time:19:45:37.2333 2025-01-08T19:45:38.573Z,1736365538.573 [DAT](INFO): Rx dataTimestamp_ set to:1736365538.572608 2025-01-08T19:45:38.573Z,1736365538.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507728 2025-01-08T19:45:38.670Z,1736365538.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:38.684Z,1736365538.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.80 m. 2025-01-08T19:45:38.707Z,1736365538.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.799988 m, nav range: 421.361115 m, bearing: 183.323895 deg, approach rate: 0.066677 m/s, LOS rate: -0.087053 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867490 deg. 2025-01-08T19:45:38.709Z,1736365538.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814796 target range: 452.799988 and range: 452.80 m. 2025-01-08T19:45:38.824Z,1736365538.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:38.824Z,1736365538.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758752 2025-01-08T19:45:39.076Z,1736365539.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:39.085Z,1736365539.085 [DAT](INFO): DAT read: 19:45:37.2333 LVL= 22400, 28081, 18018, 29683, AGC= 69, IDX= 509,-0.09,-2.370, 2.498,-2.202,-3.067, PHS= 0.784,-0.671, 0.862, RAW= 152.6, -13.0, CAL= 159.6, -20.1, ROT= 350.4, 20.1 2025-01-08T19:45:39.086Z,1736365539.086 [DAT](INFO): got valid direction response: 19:45:37.2333 LVL= 22400, 28081, 18018, 29683, AGC= 69, IDX= 509,-0.09,-2.370, 2.498,-2.202,-3.067, PHS= 0.784,-0.671, 0.862, RAW= 152.6, -13.0, CAL= 159.6, -20.1, ROT= 350.4, 20.1 2025-01-08T19:45:39.096Z,1736365539.096 [DAT](INFO): DAT read: Bearing 350.4, 20.1 (Local) 2025-01-08T19:45:39.096Z,1736365539.096 [DAT](INFO): Local bearing/azimuth received: Bearing 350.4, 20.1 (Local) 2025-01-08T19:45:39.098Z,1736365539.098 [DAT](INFO): DAT read: Range 10 to 50 : 458.3 m (Round-trip 611.1 ms) speed 0.4 m/s 2025-01-08T19:45:39.098Z,1736365539.098 [DAT](INFO): DAT read: user:812> 2025-01-08T19:45:39.111Z,1736365539.111 [DAT](INFO): DAT read: Tx time:19:45:38.3180 2025-01-08T19:45:39.112Z,1736365539.112 [DAT](INFO): Ping request sent. 2025-01-08T19:45:39.112Z,1736365539.112 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:39.113Z,1736365539.113 [DAT](INFO): DAT read: TxSync time:19:45:38.3172 2025-01-08T19:45:39.113Z,1736365539.113 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:45:39.137Z,1736365539.137 [DAT](INFO): direction in FSK: [0.135150,-0.848225,0.512103] 2025-01-08T19:45:39.137Z,1736365539.137 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:39.138Z,1736365539.138 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:39.154Z,1736365539.154 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:39.154Z,1736365539.154 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:39.162Z,1736365539.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:39.222Z,1736365539.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 458.299988 m, deltaT: 4.032051 s, deltaX: 5.500000 m, approachRate: 1.364070 m/s, rangeRepo size: 4 2025-01-08T19:45:39.227Z,1736365539.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 458.299988 m, bearing: 190.240321 deg, lat: 36.900308 deg, lon: -122.114402 deg, deltaT: 4.032051 s, deltaX: 5.500000 m, approachRate: 1.364070 m/s, posRepo size: 4 2025-01-08T19:45:39.236Z,1736365539.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.30 m. 2025-01-08T19:45:39.243Z,1736365539.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.299988 m, nav range: 417.958374 m, bearing: 183.655466 deg, approach rate: 0.000000 m/s, LOS rate: -0.087053 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835079 deg. 2025-01-08T19:45:39.245Z,1736365539.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814230 target range: 458.299988 and range: 458.30 m. 2025-01-08T19:45:39.334Z,1736365539.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:39.524Z,1736365539.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:39.534Z,1736365539.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.30 m. 2025-01-08T19:45:39.537Z,1736365539.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.299988 m, nav range: 417.989990 m, bearing: 183.624869 deg, approach rate: 0.101129 m/s, LOS rate: -0.097862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883402 deg. 2025-01-08T19:45:39.538Z,1736365539.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815073 target range: 458.299988 and range: 458.30 m. 2025-01-08T19:45:39.598Z,1736365539.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:39.849Z,1736365539.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:39.965Z,1736365539.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:39.974Z,1736365539.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.30 m. 2025-01-08T19:45:39.977Z,1736365539.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.299988 m, nav range: 418.037415 m, bearing: 183.589397 deg, approach rate: 0.107721 m/s, LOS rate: -0.080563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868783 deg. 2025-01-08T19:45:39.980Z,1736365539.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814818 target range: 458.299988 and range: 458.30 m. 2025-01-08T19:45:40.101Z,1736365540.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:40.319Z,1736365540.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:40.326Z,1736365540.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:40.329Z,1736365540.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.30 m. 2025-01-08T19:45:40.332Z,1736365540.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.299988 m, nav range: 418.074707 m, bearing: 183.560950 deg, approach rate: 0.105287 m/s, LOS rate: -0.080306 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889853 deg. 2025-01-08T19:45:40.334Z,1736365540.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815187 target range: 458.299988 and range: 458.30 m. 2025-01-08T19:45:40.352Z,1736365540.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:40.352Z,1736365540.352 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:40.352Z,1736365540.352 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:40.353Z,1736365540.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:40.609Z,1736365540.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:40.610Z,1736365540.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498044 2025-01-08T19:45:40.722Z,1736365540.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:40.733Z,1736365540.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.30 m. 2025-01-08T19:45:40.736Z,1736365540.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.299988 m, nav range: 418.117523 m, bearing: 183.528555 deg, approach rate: 0.105701 m/s, LOS rate: -0.079966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878012 deg. 2025-01-08T19:45:40.737Z,1736365540.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814980 target range: 458.299988 and range: 458.30 m. 2025-01-08T19:45:40.861Z,1736365540.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:40.862Z,1736365540.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750086 2025-01-08T19:45:41.112Z,1736365541.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:41.114Z,1736365541.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001282 2025-01-08T19:45:41.175Z,1736365541.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:41.187Z,1736365541.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.30 m. 2025-01-08T19:45:41.190Z,1736365541.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.299988 m, nav range: 418.171295 m, bearing: 183.492712 deg, approach rate: 0.118422 m/s, LOS rate: -0.078926 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867672 deg. 2025-01-08T19:45:41.191Z,1736365541.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814799 target range: 458.299988 and range: 458.30 m. 2025-01-08T19:45:41.348Z,1736365541.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:45:41.364Z,1736365541.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:41.365Z,1736365541.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253252 2025-01-08T19:45:41.537Z,1736365541.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:41.547Z,1736365541.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.30 m. 2025-01-08T19:45:41.550Z,1736365541.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.299988 m, nav range: 418.214722 m, bearing: 183.464002 deg, approach rate: 0.120643 m/s, LOS rate: -0.079751 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889066 deg. 2025-01-08T19:45:41.552Z,1736365541.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815173 target range: 458.299988 and range: 458.30 m. 2025-01-08T19:45:41.616Z,1736365541.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:41.616Z,1736365541.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504299 2025-01-08T19:45:41.869Z,1736365541.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:41.872Z,1736365541.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759031 2025-01-08T19:45:41.965Z,1736365541.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:41.974Z,1736365541.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.30 m. 2025-01-08T19:45:41.977Z,1736365541.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.299988 m, nav range: 418.266571 m, bearing: 183.430123 deg, approach rate: 0.121446 m/s, LOS rate: -0.079345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873562 deg. 2025-01-08T19:45:41.980Z,1736365541.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814902 target range: 458.299988 and range: 458.30 m. 2025-01-08T19:45:42.120Z,1736365542.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:42.120Z,1736365542.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008428 2025-01-08T19:45:42.336Z,1736365542.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:42.343Z,1736365542.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:42.346Z,1736365542.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.30 m. 2025-01-08T19:45:42.349Z,1736365542.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.299988 m, nav range: 418.311859 m, bearing: 183.400809 deg, approach rate: 0.121870 m/s, LOS rate: -0.078877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887252 deg. 2025-01-08T19:45:42.350Z,1736365542.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815141 target range: 458.299988 and range: 458.30 m. 2025-01-08T19:45:42.352Z,1736365542.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:45:42.372Z,1736365542.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:42.372Z,1736365542.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260335 2025-01-08T19:45:42.624Z,1736365542.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:42.624Z,1736365542.624 [DAT](INFO): DAT read: Rx Time:19:45:41.3179 2025-01-08T19:45:42.625Z,1736365542.625 [DAT](INFO): Rx dataTimestamp_ set to:1736365542.624675 2025-01-08T19:45:42.625Z,1736365542.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513548 2025-01-08T19:45:42.743Z,1736365542.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:42.752Z,1736365542.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.30 m. 2025-01-08T19:45:42.756Z,1736365542.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.299988 m, nav range: 418.361694 m, bearing: 183.368693 deg, approach rate: 0.122481 m/s, LOS rate: -0.078921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878852 deg. 2025-01-08T19:45:42.757Z,1736365542.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814994 target range: 458.299988 and range: 458.30 m. 2025-01-08T19:45:42.877Z,1736365542.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:42.880Z,1736365542.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767804 2025-01-08T19:45:43.128Z,1736365543.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:43.134Z,1736365543.134 [DAT](INFO): DAT read: 19:45:41.3179 LVL= 20976, 27121, 17938, 32755, AGC= 69, IDX= 288,-0.38, 0.509,-0.844, 0.698,-0.043, PHS= 0.641,-0.754, 0.738, RAW= 153.3, -8.7, CAL= 159.0, -16.3, ROT= 351.0, 16.3 2025-01-08T19:45:43.136Z,1736365543.136 [DAT](INFO): got valid direction response: 19:45:41.3179 LVL= 20976, 27121, 17938, 32755, AGC= 69, IDX= 288,-0.38, 0.509,-0.844, 0.698,-0.043, PHS= 0.641,-0.754, 0.738, RAW= 153.3, -8.7, CAL= 159.0, -16.3, ROT= 351.0, 16.3 2025-01-08T19:45:43.137Z,1736365543.137 [DAT](INFO): DAT read: Bearing 351.0, 16.3 (Local) 2025-01-08T19:45:43.137Z,1736365543.137 [DAT](INFO): Local bearing/azimuth received: Bearing 351.0, 16.3 (Local) 2025-01-08T19:45:43.138Z,1736365543.138 [DAT](INFO): DAT read: Range 10 to 50 : 446.7 m (Round-trip 595.7 ms) speed 0.5 m/s 2025-01-08T19:45:43.139Z,1736365543.139 [DAT](INFO): DAT read: user:813> 2025-01-08T19:45:43.140Z,1736365543.140 [DAT](INFO): DAT read: Tx time:19:45:42.4181 2025-01-08T19:45:43.140Z,1736365543.140 [DAT](INFO): Ping request sent. 2025-01-08T19:45:43.140Z,1736365543.140 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:43.141Z,1736365543.141 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:45:43.141Z,1736365543.141 [DAT](INFO): direction in FSK: [0.051368,-0.863080,0.502448] 2025-01-08T19:45:43.142Z,1736365543.142 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:43.142Z,1736365543.142 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:43.162Z,1736365543.161 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:43.162Z,1736365543.162 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:43.267Z,1736365543.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:43.318Z,1736365543.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 446.700012 m, deltaT: 4.051906 s, deltaX: -11.599976 m, approachRate: -2.862844 m/s, rangeRepo size: 4 2025-01-08T19:45:43.339Z,1736365543.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 446.700012 m, bearing: 184.957795 deg, lat: 36.900336 deg, lon: -122.114439 deg, deltaT: 4.051906 s, deltaX: -11.599976 m, approachRate: -2.862844 m/s, posRepo size: 4 2025-01-08T19:45:43.340Z,1736365543.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.70 m. 2025-01-08T19:45:43.343Z,1736365543.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 446.700012 m, nav range: 415.601196 m, bearing: 183.810264 deg, approach rate: 0.000000 m/s, LOS rate: -0.078921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841567 deg. 2025-01-08T19:45:43.348Z,1736365543.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814343 target range: 446.700012 and range: 446.70 m. 2025-01-08T19:45:43.380Z,1736365543.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:43.381Z,1736365543.381 [DAT](INFO): DAT read: TxSync time:19:45:42.4173 2025-01-08T19:45:43.632Z,1736365543.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:43.646Z,1736365543.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:43.661Z,1736365543.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.70 m. 2025-01-08T19:45:43.666Z,1736365543.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 446.700012 m, nav range: 415.642365 m, bearing: 183.780011 deg, approach rate: 0.119831 m/s, LOS rate: -0.088050 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884437 deg. 2025-01-08T19:45:43.669Z,1736365543.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815092 target range: 446.700012 and range: 446.70 m. 2025-01-08T19:45:43.886Z,1736365543.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:44.069Z,1736365544.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:44.077Z,1736365544.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.70 m. 2025-01-08T19:45:44.081Z,1736365544.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 446.700012 m, nav range: 415.683868 m, bearing: 183.745369 deg, approach rate: 0.099669 m/s, LOS rate: -0.083182 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871272 deg. 2025-01-08T19:45:44.082Z,1736365544.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814862 target range: 446.700012 and range: 446.70 m. 2025-01-08T19:45:44.136Z,1736365544.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:44.388Z,1736365544.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:44.432Z,1736365544.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:44.467Z,1736365544.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:44.469Z,1736365544.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.70 m. 2025-01-08T19:45:44.476Z,1736365544.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 446.700012 m, nav range: 415.719391 m, bearing: 183.715565 deg, approach rate: 0.090503 m/s, LOS rate: -0.075928 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885782 deg. 2025-01-08T19:45:44.480Z,1736365544.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815115 target range: 446.700012 and range: 446.70 m. 2025-01-08T19:45:44.640Z,1736365544.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:44.641Z,1736365544.641 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:44.641Z,1736365544.641 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:44.641Z,1736365544.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:44.893Z,1736365544.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:44.897Z,1736365544.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755575 2025-01-08T19:45:44.966Z,1736365544.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:44.975Z,1736365544.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.70 m. 2025-01-08T19:45:44.998Z,1736365544.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 446.700012 m, nav range: 415.765869 m, bearing: 183.671376 deg, approach rate: 0.091996 m/s, LOS rate: -0.087456 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842634 deg. 2025-01-08T19:45:45.003Z,1736365545.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814362 target range: 446.700012 and range: 446.70 m. 2025-01-08T19:45:45.145Z,1736365545.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:45.146Z,1736365545.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005628 2025-01-08T19:45:45.396Z,1736365545.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:45.397Z,1736365545.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256686 2025-01-08T19:45:45.425Z,1736365545.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:45.442Z,1736365545.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.70 m. 2025-01-08T19:45:45.469Z,1736365545.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 446.700012 m, nav range: 415.806824 m, bearing: 183.633422 deg, approach rate: 0.087591 m/s, LOS rate: -0.081165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861337 deg. 2025-01-08T19:45:45.471Z,1736365545.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814689 target range: 446.700012 and range: 446.70 m. 2025-01-08T19:45:45.648Z,1736365545.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:45.650Z,1736365545.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509666 2025-01-08T19:45:45.892Z,1736365545.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:45.901Z,1736365545.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:45.904Z,1736365545.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762742 2025-01-08T19:45:45.953Z,1736365545.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.70 m. 2025-01-08T19:45:45.964Z,1736365545.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 446.700012 m, nav range: 415.848999 m, bearing: 183.594831 deg, approach rate: 0.082619 m/s, LOS rate: -0.075589 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859427 deg. 2025-01-08T19:45:45.965Z,1736365545.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814655 target range: 446.700012 and range: 446.70 m. 2025-01-08T19:45:46.152Z,1736365546.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:46.152Z,1736365546.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012001 2025-01-08T19:45:46.306Z,1736365546.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:46.314Z,1736365546.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.70 m. 2025-01-08T19:45:46.318Z,1736365546.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 446.700012 m, nav range: 415.874664 m, bearing: 183.559847 deg, approach rate: 0.071031 m/s, LOS rate: -0.096815 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870241 deg. 2025-01-08T19:45:46.320Z,1736365546.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814844 target range: 446.700012 and range: 446.70 m. 2025-01-08T19:45:46.404Z,1736365546.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:46.405Z,1736365546.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264393 2025-01-08T19:45:46.656Z,1736365546.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:46.658Z,1736365546.658 [DAT](INFO): DAT read: Rx Time:19:45:45.4152 2025-01-08T19:45:46.658Z,1736365546.658 [DAT](INFO): Rx dataTimestamp_ set to:1736365546.657766 2025-01-08T19:45:46.660Z,1736365546.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518656 2025-01-08T19:45:46.716Z,1736365546.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:46.722Z,1736365546.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:46.733Z,1736365546.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.70 m. 2025-01-08T19:45:46.740Z,1736365546.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 446.700012 m, nav range: 415.900543 m, bearing: 183.525179 deg, approach rate: 0.061803 m/s, LOS rate: -0.082787 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871189 deg. 2025-01-08T19:45:46.741Z,1736365546.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814860 target range: 446.700012 and range: 446.70 m. 2025-01-08T19:45:46.909Z,1736365546.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:46.913Z,1736365546.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771724 2025-01-08T19:45:47.146Z,1736365547.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:47.155Z,1736365547.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.70 m. 2025-01-08T19:45:47.158Z,1736365547.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 446.700012 m, nav range: 415.922882 m, bearing: 183.489067 deg, approach rate: 0.052932 m/s, LOS rate: -0.085563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866857 deg. 2025-01-08T19:45:47.159Z,1736365547.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814785 target range: 446.700012 and range: 446.70 m. 2025-01-08T19:45:47.160Z,1736365547.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:47.180Z,1736365547.180 [DAT](INFO): DAT read: 19:45:45.4152 LVL= 26304, 32753, 17874, 32755, AGC= 67, IDX= 419, 0.48, 3.110, 1.974,-2.933, 2.676, PHS= 0.522,-0.655, 0.671, RAW= 155.9, -8.6, CAL= 161.1, -16.0, ROT= 348.9, 16.0 2025-01-08T19:45:47.181Z,1736365547.181 [DAT](INFO): got valid direction response: 19:45:45.4152 LVL= 26304, 32753, 17874, 32755, AGC= 67, IDX= 419, 0.48, 3.110, 1.974,-2.933, 2.676, PHS= 0.522,-0.655, 0.671, RAW= 155.9, -8.6, CAL= 161.1, -16.0, ROT= 348.9, 16.0 2025-01-08T19:45:47.182Z,1736365547.182 [DAT](INFO): DAT read: Bearing 348.9, 16.0 (Local) 2025-01-08T19:45:47.182Z,1736365547.182 [DAT](INFO): Local bearing/azimuth received: Bearing 348.9, 16.0 (Local) 2025-01-08T19:45:47.184Z,1736365547.184 [DAT](INFO): DAT read: Range 10 to 50 : 444.6 m (Round-trip 592.9 ms) speed 0.3 m/s 2025-01-08T19:45:47.185Z,1736365547.185 [DAT](INFO): DAT read: user:814> 2025-01-08T19:45:47.186Z,1736365547.186 [DAT](INFO): DAT read: Tx time:19:45:46.5181 2025-01-08T19:45:47.186Z,1736365547.186 [DAT](INFO): Ping request sent. 2025-01-08T19:45:47.186Z,1736365547.186 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:47.186Z,1736365547.186 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:45:47.215Z,1736365547.215 [DAT](INFO): direction in FSK: [0.051259,-0.885417,0.461963] 2025-01-08T19:45:47.216Z,1736365547.216 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:47.216Z,1736365547.216 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:47.219Z,1736365547.219 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:47.236Z,1736365547.236 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:47.412Z,1736365547.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:47.413Z,1736365547.413 [DAT](INFO): DAT read: TxSync time:19:45:46.5173 2025-01-08T19:45:47.516Z,1736365547.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:47.542Z,1736365547.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 444.600006 m, deltaT: 4.032048 s, deltaX: -2.100006 m, approachRate: -0.520829 m/s, rangeRepo size: 4 2025-01-08T19:45:47.548Z,1736365547.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 444.600006 m, bearing: 185.325958 deg, lat: 36.900321 deg, lon: -122.114530 deg, deltaT: 4.032048 s, deltaX: -2.100006 m, approachRate: -0.520829 m/s, posRepo size: 4 2025-01-08T19:45:47.549Z,1736365547.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.60 m. 2025-01-08T19:45:47.556Z,1736365547.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.600006 m, nav range: 418.119202 m, bearing: 184.553610 deg, approach rate: 0.000000 m/s, LOS rate: -0.085563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876010 deg. 2025-01-08T19:45:47.557Z,1736365547.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814945 target range: 444.600006 and range: 444.60 m. 2025-01-08T19:45:47.666Z,1736365547.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:47.917Z,1736365547.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:48.053Z,1736365548.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:48.080Z,1736365548.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.60 m. 2025-01-08T19:45:48.082Z,1736365548.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.600006 m, nav range: 418.139679 m, bearing: 184.508583 deg, approach rate: 0.039216 m/s, LOS rate: -0.086227 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840111 deg. 2025-01-08T19:45:48.086Z,1736365548.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814318 target range: 444.600006 and range: 444.60 m. 2025-01-08T19:45:48.168Z,1736365548.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:48.422Z,1736365548.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:48.515Z,1736365548.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:48.523Z,1736365548.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.60 m. 2025-01-08T19:45:48.526Z,1736365548.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.600006 m, nav range: 418.157410 m, bearing: 184.469897 deg, approach rate: 0.038560 m/s, LOS rate: -0.084130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859134 deg. 2025-01-08T19:45:48.527Z,1736365548.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814650 target range: 444.600006 and range: 444.60 m. 2025-01-08T19:45:48.672Z,1736365548.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:48.925Z,1736365548.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:49.036Z,1736365549.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:49.042Z,1736365549.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:49.045Z,1736365549.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.60 m. 2025-01-08T19:45:49.048Z,1736365549.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.600006 m, nav range: 418.172211 m, bearing: 184.426541 deg, approach rate: 0.028393 m/s, LOS rate: -0.083166 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845125 deg. 2025-01-08T19:45:49.049Z,1736365549.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814405 target range: 444.600006 and range: 444.60 m. 2025-01-08T19:45:49.176Z,1736365549.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:49.176Z,1736365549.176 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:49.176Z,1736365549.176 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:49.176Z,1736365549.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:49.366Z,1736365549.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:49.385Z,1736365549.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.60 m. 2025-01-08T19:45:49.388Z,1736365549.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.600006 m, nav range: 418.183105 m, bearing: 184.399033 deg, approach rate: 0.032074 m/s, LOS rate: -0.080982 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.892663 deg. 2025-01-08T19:45:49.389Z,1736365549.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815235 target range: 444.600006 and range: 444.60 m. 2025-01-08T19:45:49.429Z,1736365549.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:49.430Z,1736365549.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243866 2025-01-08T19:45:49.680Z,1736365549.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:49.681Z,1736365549.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494872 2025-01-08T19:45:49.762Z,1736365549.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:49.771Z,1736365549.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.60 m. 2025-01-08T19:45:49.773Z,1736365549.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.600006 m, nav range: 418.196747 m, bearing: 184.366058 deg, approach rate: 0.035288 m/s, LOS rate: -0.085297 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876266 deg. 2025-01-08T19:45:49.775Z,1736365549.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814949 target range: 444.600006 and range: 444.60 m. 2025-01-08T19:45:49.932Z,1736365549.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:49.934Z,1736365549.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747614 2025-01-08T19:45:50.184Z,1736365550.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:50.184Z,1736365550.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998467 2025-01-08T19:45:50.196Z,1736365550.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:50.205Z,1736365550.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.60 m. 2025-01-08T19:45:50.208Z,1736365550.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.600006 m, nav range: 418.214447 m, bearing: 184.329448 deg, approach rate: 0.040730 m/s, LOS rate: -0.084241 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865361 deg. 2025-01-08T19:45:50.209Z,1736365550.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814759 target range: 444.600006 and range: 444.60 m. 2025-01-08T19:45:50.436Z,1736365550.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:50.438Z,1736365550.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251351 2025-01-08T19:45:50.571Z,1736365550.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:50.580Z,1736365550.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.60 m. 2025-01-08T19:45:50.583Z,1736365550.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.600006 m, nav range: 418.230255 m, bearing: 184.297711 deg, approach rate: 0.042154 m/s, LOS rate: -0.084627 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879979 deg. 2025-01-08T19:45:50.604Z,1736365550.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815014 target range: 444.600006 and range: 444.60 m. 2025-01-08T19:45:50.688Z,1736365550.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:50.689Z,1736365550.689 [DAT](INFO): DAT read: Rx Time:19:45:49.5354 2025-01-08T19:45:50.690Z,1736365550.690 [DAT](INFO): Rx dataTimestamp_ set to:1736365550.689870 2025-01-08T19:45:50.691Z,1736365550.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505132 2025-01-08T19:45:50.941Z,1736365550.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:50.945Z,1736365550.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758315 2025-01-08T19:45:51.063Z,1736365551.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:51.090Z,1736365551.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:51.092Z,1736365551.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.60 m. 2025-01-08T19:45:51.100Z,1736365551.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.600006 m, nav range: 418.256317 m, bearing: 184.255343 deg, approach rate: 0.050880 m/s, LOS rate: -0.082708 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848092 deg. 2025-01-08T19:45:51.101Z,1736365551.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814457 target range: 444.600006 and range: 444.60 m. 2025-01-08T19:45:51.194Z,1736365551.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:51.197Z,1736365551.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010879 2025-01-08T19:45:51.385Z,1736365551.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:51.432Z,1736365551.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.60 m. 2025-01-08T19:45:51.435Z,1736365551.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.600006 m, nav range: 418.273651 m, bearing: 184.227412 deg, approach rate: 0.051845 m/s, LOS rate: -0.083537 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.891397 deg. 2025-01-08T19:45:51.440Z,1736365551.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815213 target range: 444.600006 and range: 444.60 m. 2025-01-08T19:45:51.444Z,1736365551.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:51.453Z,1736365551.453 [DAT](INFO): DAT read: 19:45:49.5354 LVL= 20336, 25041, 15746, 26163, AGC= 74, IDX= 130,-0.37, 1.473, 0.252, 1.612, 0.836, PHS= 0.726,-0.537, 0.774, RAW= 151.9, -14.8, CAL= 158.4, -22.0, ROT= 351.6, 22.0 2025-01-08T19:45:51.454Z,1736365551.454 [DAT](INFO): got valid direction response: 19:45:49.5354 LVL= 20336, 25041, 15746, 26163, AGC= 74, IDX= 130,-0.37, 1.473, 0.252, 1.612, 0.836, PHS= 0.726,-0.537, 0.774, RAW= 151.9, -14.8, CAL= 158.4, -22.0, ROT= 351.6, 22.0 2025-01-08T19:45:51.455Z,1736365551.455 [DAT](INFO): DAT read: Bearing 351.6, 22.0 (Local) 2025-01-08T19:45:51.455Z,1736365551.455 [DAT](INFO): Local bearing/azimuth received: Bearing 351.6, 22.0 (Local) 2025-01-08T19:45:51.457Z,1736365551.457 [DAT](INFO): DAT read: Range 10 to 50 : 459.7 m (Round-trip 613.0 ms) speed 0.4 m/s 2025-01-08T19:45:51.458Z,1736365551.458 [DAT](INFO): DAT read: user:815> 2025-01-08T19:45:51.458Z,1736365551.458 [DAT](INFO): DAT read: Tx time:19:45:50.6182 2025-01-08T19:45:51.459Z,1736365551.459 [DAT](INFO): Ping request sent. 2025-01-08T19:45:51.459Z,1736365551.459 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:51.464Z,1736365551.464 [DAT](INFO): DAT read: TxSync time:19:45:50.6174 2025-01-08T19:45:51.464Z,1736365551.464 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:45:51.465Z,1736365551.465 [DAT](INFO): direction in FSK: [0.170409,-0.836156,0.521349] 2025-01-08T19:45:51.465Z,1736365551.465 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:51.466Z,1736365551.466 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:51.477Z,1736365551.477 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:51.478Z,1736365551.478 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:51.701Z,1736365551.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:51.794Z,1736365551.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:51.809Z,1736365551.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 459.700012 m, deltaT: 4.284002 s, deltaX: 15.100006 m, approachRate: 3.524743 m/s, rangeRepo size: 4 2025-01-08T19:45:51.813Z,1736365551.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 459.700012 m, bearing: 193.019846 deg, lat: 36.900344 deg, lon: -122.114594 deg, deltaT: 4.284002 s, deltaX: 15.100006 m, approachRate: 3.524743 m/s, posRepo size: 4 2025-01-08T19:45:51.814Z,1736365551.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:51.819Z,1736365551.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.167847 m, bearing: 184.995724 deg, approach rate: 0.000000 m/s, LOS rate: -0.083537 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879506 deg. 2025-01-08T19:45:51.820Z,1736365551.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815006 target range: 459.700012 and range: 459.70 m. 2025-01-08T19:45:51.952Z,1736365551.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:52.205Z,1736365552.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:52.254Z,1736365552.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:52.269Z,1736365552.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:52.276Z,1736365552.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.191254 m, bearing: 184.954248 deg, approach rate: 0.050823 m/s, LOS rate: -0.090051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850766 deg. 2025-01-08T19:45:52.277Z,1736365552.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814504 target range: 459.700012 and range: 459.70 m. 2025-01-08T19:45:52.456Z,1736365552.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:52.597Z,1736365552.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:52.605Z,1736365552.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:52.608Z,1736365552.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.208221 m, bearing: 184.923311 deg, approach rate: 0.050542 m/s, LOS rate: -0.092148 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882380 deg. 2025-01-08T19:45:52.609Z,1736365552.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815056 target range: 459.700012 and range: 459.70 m. 2025-01-08T19:45:52.709Z,1736365552.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:52.960Z,1736365552.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:53.096Z,1736365553.096 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-01-08T19:45:53.096Z,1736365553.096 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-01-08T19:45:53.096Z,1736365553.096 [RDI_Pathfinder](ERROR): Communications Fault 2025-01-08T19:45:53.109Z,1736365553.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:45:53.109Z,1736365553.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:53.141Z,1736365553.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:53.144Z,1736365553.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:53.155Z,1736365553.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.233826 m, bearing: 184.877149 deg, approach rate: 0.047569 m/s, LOS rate: -0.085757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836709 deg. 2025-01-08T19:45:53.157Z,1736365553.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814259 target range: 459.700012 and range: 459.70 m. 2025-01-08T19:45:53.213Z,1736365553.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:53.214Z,1736365553.214 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:53.214Z,1736365553.214 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:53.214Z,1736365553.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:53.411Z,1736365553.411 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-01-08T19:45:53.431Z,1736365553.431 [RDI_Pathfinder](INFO): Powering down 2025-01-08T19:45:53.441Z,1736365553.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:45:53.442Z,1736365553.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:53.464Z,1736365553.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:53.464Z,1736365553.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005646 2025-01-08T19:45:53.474Z,1736365553.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:53.481Z,1736365553.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.250580 m, bearing: 184.847231 deg, approach rate: 0.050611 m/s, LOS rate: -0.090372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885436 deg. 2025-01-08T19:45:53.482Z,1736365553.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815109 target range: 459.700012 and range: 459.70 m. 2025-01-08T19:45:53.716Z,1736365553.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:53.717Z,1736365553.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258187 2025-01-08T19:45:53.853Z,1736365553.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T19:45:53.853Z,1736365553.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:53.863Z,1736365553.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:53.866Z,1736365553.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.271301 m, bearing: 184.810034 deg, approach rate: 0.053332 m/s, LOS rate: -0.095731 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863602 deg. 2025-01-08T19:45:53.867Z,1736365553.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814728 target range: 459.700012 and range: 459.70 m. 2025-01-08T19:45:53.968Z,1736365553.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:53.969Z,1736365553.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509897 2025-01-08T19:45:54.220Z,1736365554.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:54.220Z,1736365554.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761534 2025-01-08T19:45:54.278Z,1736365554.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T19:45:54.279Z,1736365554.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:54.290Z,1736365554.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:54.292Z,1736365554.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.292816 m, bearing: 184.771685 deg, approach rate: 0.050391 m/s, LOS rate: -0.089815 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860146 deg. 2025-01-08T19:45:54.294Z,1736365554.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814668 target range: 459.700012 and range: 459.70 m. 2025-01-08T19:45:54.472Z,1736365554.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:54.472Z,1736365554.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013540 2025-01-08T19:45:54.532Z,1736365554.532 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-01-08T19:45:54.532Z,1736365554.532 [RDI_Pathfinder] No Fault, FailCount= 1 2025-01-08T19:45:54.650Z,1736365554.650 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-08T19:45:54.689Z,1736365554.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T19:45:54.689Z,1736365554.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:54.706Z,1736365554.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:54.714Z,1736365554.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.312592 m, bearing: 184.734594 deg, approach rate: 0.047492 m/s, LOS rate: -0.089071 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863921 deg. 2025-01-08T19:45:54.715Z,1736365554.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814734 target range: 459.700012 and range: 459.70 m. 2025-01-08T19:45:54.724Z,1736365554.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:54.725Z,1736365554.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265927 2025-01-08T19:45:54.976Z,1736365554.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:54.976Z,1736365554.976 [DAT](INFO): DAT read: Rx Time:19:45:53.6314 2025-01-08T19:45:54.977Z,1736365554.977 [DAT](INFO): Rx dataTimestamp_ set to:1736365554.976668 2025-01-08T19:45:54.977Z,1736365554.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518731 2025-01-08T19:45:55.060Z,1736365555.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T19:45:55.060Z,1736365555.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:55.069Z,1736365555.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:55.072Z,1736365555.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.329865 m, bearing: 184.701165 deg, approach rate: 0.047538 m/s, LOS rate: -0.092000 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874902 deg. 2025-01-08T19:45:55.073Z,1736365555.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814925 target range: 459.700012 and range: 459.70 m. 2025-01-08T19:45:55.228Z,1736365555.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:55.229Z,1736365555.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770360 2025-01-08T19:45:55.478Z,1736365555.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T19:45:55.478Z,1736365555.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:55.480Z,1736365555.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:55.490Z,1736365555.490 [DAT](INFO): DAT read: 19:45:53.6314 LVL= 23856, 30113, 17890, 32755, AGC= 66, IDX= 392, 0.15,-2.094, 3.060,-1.900,-2.691, PHS= 0.685,-0.485, 0.788, RAW= 154.2, -15.9, CAL= 160.4, -22.7, ROT= 349.6, 22.7 2025-01-08T19:45:55.491Z,1736365555.491 [DAT](INFO): got valid direction response: 19:45:53.6314 LVL= 23856, 30113, 17890, 32755, AGC= 66, IDX= 392, 0.15,-2.094, 3.060,-1.900,-2.691, PHS= 0.685,-0.485, 0.788, RAW= 154.2, -15.9, CAL= 160.4, -22.7, ROT= 349.6, 22.7 2025-01-08T19:45:55.492Z,1736365555.492 [DAT](INFO): DAT read: Bearing 349.6, 22.7 (Local) 2025-01-08T19:45:55.493Z,1736365555.493 [DAT](INFO): Local bearing/azimuth received: Bearing 349.6, 22.7 (Local) 2025-01-08T19:45:55.494Z,1736365555.494 [DAT](INFO): DAT read: Range 10 to 50 : 456.7 m (Round-trip 609.0 ms) speed 0.5 m/s 2025-01-08T19:45:55.500Z,1736365555.500 [DAT](INFO): DAT read: user:816> 2025-01-08T19:45:55.501Z,1736365555.501 [DAT](INFO): DAT read: Tx time:19:45:54.7182 2025-01-08T19:45:55.501Z,1736365555.501 [DAT](INFO): Ping request sent. 2025-01-08T19:45:55.501Z,1736365555.501 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:55.501Z,1736365555.501 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:45:55.502Z,1736365555.502 [DAT](INFO): direction in FSK: [0.193025,-0.853211,0.484532] 2025-01-08T19:45:55.502Z,1736365555.502 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:55.503Z,1736365555.503 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:55.506Z,1736365555.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:55.514Z,1736365555.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 456.700012 m, deltaT: 4.036921 s, deltaX: -3.000000 m, approachRate: -0.743141 m/s, rangeRepo size: 4 2025-01-08T19:45:55.533Z,1736365555.533 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:55.533Z,1736365555.533 [DAT](INFO): publishing direction and range info 2025-01-08T19:45:55.565Z,1736365555.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:55.569Z,1736365555.569 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:45:55.570Z,1736365555.570 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:45:55.570Z,1736365555.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:45:55.583Z,1736365555.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.348419 m, bearing: 184.664740 deg, approach rate: 0.041751 m/s, LOS rate: -0.081958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865917 deg. 2025-01-08T19:45:55.586Z,1736365555.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814768 target range: 459.700012 and range: 456.70 m. 2025-01-08T19:45:55.732Z,1736365555.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:55.733Z,1736365555.733 [DAT](INFO): DAT read: TxSync time:19:45:54.7174 2025-01-08T19:45:55.733Z,1736365555.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.232497 2025-01-08T19:45:55.874Z,1736365555.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T19:45:55.874Z,1736365555.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:55.920Z,1736365555.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:55.922Z,1736365555.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.366882 m, bearing: 184.627686 deg, approach rate: 0.045768 m/s, LOS rate: -0.091848 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864030 deg. 2025-01-08T19:45:55.924Z,1736365555.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814735 target range: 459.700012 and range: 456.70 m. 2025-01-08T19:45:55.984Z,1736365555.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:55.985Z,1736365555.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.484403 2025-01-08T19:45:56.236Z,1736365556.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:56.236Z,1736365556.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.735361 2025-01-08T19:45:56.285Z,1736365556.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T19:45:56.286Z,1736365556.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:56.294Z,1736365556.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:56.298Z,1736365556.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.385529 m, bearing: 184.590563 deg, approach rate: 0.049498 m/s, LOS rate: -0.098541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863823 deg. 2025-01-08T19:45:56.300Z,1736365556.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814732 target range: 459.700012 and range: 456.70 m. 2025-01-08T19:45:56.490Z,1736365556.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:56.492Z,1736365556.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990621 2025-01-08T19:45:56.713Z,1736365556.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T19:45:56.714Z,1736365556.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:56.729Z,1736365556.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:56.732Z,1736365556.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.405029 m, bearing: 184.552162 deg, approach rate: 0.044774 m/s, LOS rate: -0.088165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859990 deg. 2025-01-08T19:45:56.733Z,1736365556.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814665 target range: 459.700012 and range: 456.70 m. 2025-01-08T19:45:56.740Z,1736365556.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:56.740Z,1736365556.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239509 2025-01-08T19:45:56.992Z,1736365556.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:56.993Z,1736365556.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491694 2025-01-08T19:45:57.071Z,1736365557.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T19:45:57.072Z,1736365557.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:57.101Z,1736365557.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:57.108Z,1736365557.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.420074 m, bearing: 184.519727 deg, approach rate: 0.040527 m/s, LOS rate: -0.087366 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877887 deg. 2025-01-08T19:45:57.109Z,1736365557.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814978 target range: 459.700012 and range: 456.70 m. 2025-01-08T19:45:57.244Z,1736365557.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:57.245Z,1736365557.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744104 2025-01-08T19:45:57.482Z,1736365557.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T19:45:57.483Z,1736365557.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:57.491Z,1736365557.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:57.494Z,1736365557.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.437775 m, bearing: 184.482622 deg, approach rate: 0.045344 m/s, LOS rate: -0.095051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863876 deg. 2025-01-08T19:45:57.496Z,1736365557.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:57.496Z,1736365557.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995536 2025-01-08T19:45:57.512Z,1736365557.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814733 target range: 459.700012 and range: 456.70 m. 2025-01-08T19:45:57.748Z,1736365557.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:57.748Z,1736365557.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247362 2025-01-08T19:45:57.892Z,1736365557.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T19:45:57.892Z,1736365557.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:57.901Z,1736365557.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:57.903Z,1736365557.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:57.906Z,1736365557.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.455536 m, bearing: 184.445761 deg, approach rate: 0.043122 m/s, LOS rate: -0.089488 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864610 deg. 2025-01-08T19:45:57.907Z,1736365557.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814746 target range: 459.700012 and range: 456.70 m. 2025-01-08T19:45:58.000Z,1736365558.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:58.002Z,1736365558.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500555 2025-01-08T19:45:58.256Z,1736365558.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:58.256Z,1736365558.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755467 2025-01-08T19:45:58.297Z,1736365558.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T19:45:58.297Z,1736365558.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:58.318Z,1736365558.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:58.326Z,1736365558.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.473511 m, bearing: 184.409226 deg, approach rate: 0.043328 m/s, LOS rate: -0.088065 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865585 deg. 2025-01-08T19:45:58.332Z,1736365558.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814763 target range: 459.700012 and range: 456.70 m. 2025-01-08T19:45:58.508Z,1736365558.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:58.508Z,1736365558.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007407 2025-01-08T19:45:58.693Z,1736365558.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T19:45:58.693Z,1736365558.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:58.723Z,1736365558.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:58.726Z,1736365558.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.491272 m, bearing: 184.373491 deg, approach rate: 0.044266 m/s, LOS rate: -0.089057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867988 deg. 2025-01-08T19:45:58.735Z,1736365558.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814805 target range: 459.700012 and range: 456.70 m. 2025-01-08T19:45:58.763Z,1736365558.763 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:58.764Z,1736365558.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262856 2025-01-08T19:45:59.016Z,1736365559.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:59.016Z,1736365559.016 [DAT](INFO): DAT read: Rx Time:19:45:57.7160 2025-01-08T19:45:59.017Z,1736365559.017 [DAT](INFO): Rx dataTimestamp_ set to:1736365559.016673 2025-01-08T19:45:59.017Z,1736365559.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516537 2025-01-08T19:45:59.105Z,1736365559.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T19:45:59.105Z,1736365559.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:59.123Z,1736365559.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:59.131Z,1736365559.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.510162 m, bearing: 184.336386 deg, approach rate: 0.046804 m/s, LOS rate: -0.091931 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863876 deg. 2025-01-08T19:45:59.136Z,1736365559.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814733 target range: 459.700012 and range: 456.70 m. 2025-01-08T19:45:59.268Z,1736365559.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:59.269Z,1736365559.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768510 2025-01-08T19:45:59.499Z,1736365559.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T19:45:59.499Z,1736365559.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:59.520Z,1736365559.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:59.521Z,1736365559.521 [DAT](INFO): DAT read: Range 10 to 50 : 445.1 m (Round-trip 593.5 ms) speed 0.5 m/s 2025-01-08T19:45:59.522Z,1736365559.522 [DAT](INFO): DAT read: user:817> 2025-01-08T19:45:59.523Z,1736365559.523 [DAT](INFO): DAT read: Tx time:19:45:58.8183 2025-01-08T19:45:59.523Z,1736365559.523 [DAT](INFO): Ping request sent. 2025-01-08T19:45:59.523Z,1736365559.523 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:45:59.524Z,1736365559.524 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:45:59.524Z,1736365559.524 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:59.524Z,1736365559.524 [DAT](INFO): publishing transmit ping time 2025-01-08T19:45:59.531Z,1736365559.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:59.534Z,1736365559.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.528717 m, bearing: 184.300915 deg, approach rate: 0.047734 m/s, LOS rate: -0.091249 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868777 deg. 2025-01-08T19:45:59.540Z,1736365559.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814818 target range: 459.700012 and range: 456.70 m. 2025-01-08T19:45:59.772Z,1736365559.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:45:59.772Z,1736365559.772 [DAT](INFO): DAT read: TxSync time:19:45:58.8175 2025-01-08T19:45:59.901Z,1736365559.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T19:45:59.901Z,1736365559.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:45:59.927Z,1736365559.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:45:59.931Z,1736365559.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 445.100006 m, deltaT: 4.038943 s, deltaX: -11.600006 m, approachRate: -2.872040 m/s, rangeRepo size: 4 2025-01-08T19:45:59.932Z,1736365559.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:45:59.934Z,1736365559.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.548157 m, bearing: 184.264676 deg, approach rate: 0.046413 m/s, LOS rate: -0.086516 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866477 deg. 2025-01-08T19:45:59.937Z,1736365559.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814778 target range: 459.700012 and range: 445.10 m. 2025-01-08T19:46:00.025Z,1736365560.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:00.025Z,1736365560.025 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:00.025Z,1736365560.025 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:00.026Z,1736365560.026 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:00.276Z,1736365560.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:00.276Z,1736365560.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752881 2025-01-08T19:46:00.304Z,1736365560.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T19:46:00.304Z,1736365560.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:00.313Z,1736365560.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:00.316Z,1736365560.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.567505 m, bearing: 184.228397 deg, approach rate: 0.050535 m/s, LOS rate: -0.094751 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866355 deg. 2025-01-08T19:46:00.317Z,1736365560.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814776 target range: 459.700012 and range: 445.10 m. 2025-01-08T19:46:00.528Z,1736365560.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:00.529Z,1736365560.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005557 2025-01-08T19:46:00.709Z,1736365560.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T19:46:00.709Z,1736365560.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:00.718Z,1736365560.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:00.721Z,1736365560.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.587128 m, bearing: 184.191941 deg, approach rate: 0.048482 m/s, LOS rate: -0.090068 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865824 deg. 2025-01-08T19:46:00.722Z,1736365560.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814767 target range: 459.700012 and range: 445.10 m. 2025-01-08T19:46:00.781Z,1736365560.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:00.782Z,1736365560.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258600 2025-01-08T19:46:01.032Z,1736365561.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:01.032Z,1736365561.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509003 2025-01-08T19:46:01.116Z,1736365561.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T19:46:01.116Z,1736365561.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:01.131Z,1736365561.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:01.134Z,1736365561.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.607697 m, bearing: 184.155261 deg, approach rate: 0.049783 m/s, LOS rate: -0.088773 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865152 deg. 2025-01-08T19:46:01.135Z,1736365561.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814755 target range: 459.700012 and range: 445.10 m. 2025-01-08T19:46:01.284Z,1736365561.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:01.285Z,1736365561.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761079 2025-01-08T19:46:01.527Z,1736365561.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T19:46:01.527Z,1736365561.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:01.536Z,1736365561.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:01.537Z,1736365561.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013262 2025-01-08T19:46:01.590Z,1736365561.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:01.597Z,1736365561.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.629059 m, bearing: 184.118321 deg, approach rate: 0.046543 m/s, LOS rate: -0.080479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864372 deg. 2025-01-08T19:46:01.598Z,1736365561.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814742 target range: 459.700012 and range: 445.10 m. 2025-01-08T19:46:01.788Z,1736365561.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:01.788Z,1736365561.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264943 2025-01-08T19:46:01.934Z,1736365561.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T19:46:01.934Z,1736365561.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:01.941Z,1736365561.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:01.943Z,1736365561.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:01.947Z,1736365561.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.650421 m, bearing: 184.081670 deg, approach rate: 0.060499 m/s, LOS rate: -0.103790 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865241 deg. 2025-01-08T19:46:01.948Z,1736365561.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814757 target range: 459.700012 and range: 445.10 m. 2025-01-08T19:46:02.041Z,1736365562.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:02.042Z,1736365562.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518090 2025-01-08T19:46:02.292Z,1736365562.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:02.292Z,1736365562.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768931 2025-01-08T19:46:02.369Z,1736365562.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s. 2025-01-08T19:46:02.369Z,1736365562.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:02.378Z,1736365562.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:02.382Z,1736365562.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.673431 m, bearing: 184.042510 deg, approach rate: 0.052930 m/s, LOS rate: -0.090074 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857712 deg. 2025-01-08T19:46:02.383Z,1736365562.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814625 target range: 459.700012 and range: 445.10 m. 2025-01-08T19:46:02.544Z,1736365562.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:02.545Z,1736365562.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021109 2025-01-08T19:46:02.737Z,1736365562.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T19:46:02.737Z,1736365562.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:02.746Z,1736365562.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:02.765Z,1736365562.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.695740 m, bearing: 184.009444 deg, approach rate: 0.060520 m/s, LOS rate: -0.089698 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875995 deg. 2025-01-08T19:46:02.766Z,1736365562.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814944 target range: 459.700012 and range: 445.10 m. 2025-01-08T19:46:02.796Z,1736365562.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:02.797Z,1736365562.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273383 2025-01-08T19:46:03.049Z,1736365563.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:03.050Z,1736365563.050 [DAT](INFO): DAT read: Rx Time:19:46:01.8252 2025-01-08T19:46:03.050Z,1736365563.050 [DAT](INFO): Rx dataTimestamp_ set to:1736365563.049869 2025-01-08T19:46:03.051Z,1736365563.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527255 2025-01-08T19:46:03.140Z,1736365563.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s. 2025-01-08T19:46:03.140Z,1736365563.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:03.150Z,1736365563.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:03.153Z,1736365563.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.720917 m, bearing: 183.973243 deg, approach rate: 0.062417 m/s, LOS rate: -0.089741 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866591 deg. 2025-01-08T19:46:03.154Z,1736365563.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814780 target range: 459.700012 and range: 445.10 m. 2025-01-08T19:46:03.300Z,1736365563.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:03.300Z,1736365563.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777043 2025-01-08T19:46:03.543Z,1736365563.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s. 2025-01-08T19:46:03.544Z,1736365563.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:03.553Z,1736365563.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:03.555Z,1736365563.555 [DAT](INFO): DAT read: Range 10 to 50 : 452.1 m (Round-trip 602.8 ms) speed 0.3 m/s 2025-01-08T19:46:03.555Z,1736365563.555 [DAT](INFO): DAT read: user:818> 2025-01-08T19:46:03.556Z,1736365563.556 [DAT](INFO): DAT read: Tx time:19:46:02.9183 2025-01-08T19:46:03.557Z,1736365563.557 [DAT](INFO): Ping request sent. 2025-01-08T19:46:03.557Z,1736365563.557 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:03.557Z,1736365563.557 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:46:03.557Z,1736365563.557 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:03.558Z,1736365563.558 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:03.564Z,1736365563.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 452.100006 m, deltaT: 4.033257 s, deltaX: 7.000000 m, approachRate: 1.735570 m/s, rangeRepo size: 4 2025-01-08T19:46:03.565Z,1736365563.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:03.568Z,1736365563.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.747009 m, bearing: 183.936939 deg, approach rate: 0.063189 m/s, LOS rate: -0.087914 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866280 deg. 2025-01-08T19:46:03.569Z,1736365563.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814775 target range: 459.700012 and range: 452.10 m. 2025-01-08T19:46:03.804Z,1736365563.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:03.805Z,1736365563.805 [DAT](INFO): DAT read: TxSync time:19:46:02.9175 2025-01-08T19:46:03.960Z,1736365563.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.4 s old, using for 20.0 s. 2025-01-08T19:46:03.960Z,1736365563.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:03.985Z,1736365563.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:03.988Z,1736365563.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:03.990Z,1736365563.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.774048 m, bearing: 183.899537 deg, approach rate: 0.063656 m/s, LOS rate: -0.088046 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862990 deg. 2025-01-08T19:46:03.992Z,1736365563.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814717 target range: 459.700012 and range: 452.10 m. 2025-01-08T19:46:04.056Z,1736365564.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:04.057Z,1736365564.057 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:04.057Z,1736365564.057 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:04.057Z,1736365564.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:04.308Z,1736365564.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:04.308Z,1736365564.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751683 2025-01-08T19:46:04.358Z,1736365564.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.8 s old, using for 20.0 s. 2025-01-08T19:46:04.358Z,1736365564.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:04.368Z,1736365564.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:04.370Z,1736365564.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.799622 m, bearing: 183.863694 deg, approach rate: 0.067339 m/s, LOS rate: -0.094375 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867663 deg. 2025-01-08T19:46:04.372Z,1736365564.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814799 target range: 459.700012 and range: 452.10 m. 2025-01-08T19:46:04.560Z,1736365564.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:04.560Z,1736365564.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003764 2025-01-08T19:46:04.752Z,1736365564.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.2 s old, using for 20.0 s. 2025-01-08T19:46:04.753Z,1736365564.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:04.761Z,1736365564.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:04.781Z,1736365564.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.824524 m, bearing: 183.828248 deg, approach rate: 0.063263 m/s, LOS rate: -0.090044 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868855 deg. 2025-01-08T19:46:04.782Z,1736365564.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814820 target range: 459.700012 and range: 452.10 m. 2025-01-08T19:46:04.813Z,1736365564.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:04.813Z,1736365564.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256681 2025-01-08T19:46:05.064Z,1736365565.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:05.065Z,1736365565.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507952 2025-01-08T19:46:05.167Z,1736365565.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.6 s old, using for 20.0 s. 2025-01-08T19:46:05.167Z,1736365565.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:05.176Z,1736365565.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:05.179Z,1736365565.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.850220 m, bearing: 183.792028 deg, approach rate: 0.062022 m/s, LOS rate: -0.087418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866535 deg. 2025-01-08T19:46:05.180Z,1736365565.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814779 target range: 459.700012 and range: 452.10 m. 2025-01-08T19:46:05.316Z,1736365565.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:05.317Z,1736365565.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759948 2025-01-08T19:46:05.565Z,1736365565.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.0 s old, using for 20.0 s. 2025-01-08T19:46:05.565Z,1736365565.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:05.568Z,1736365565.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:05.569Z,1736365565.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011883 2025-01-08T19:46:05.575Z,1736365565.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:05.578Z,1736365565.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.876892 m, bearing: 183.755210 deg, approach rate: 0.066665 m/s, LOS rate: -0.092018 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864739 deg. 2025-01-08T19:46:05.579Z,1736365565.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814748 target range: 459.700012 and range: 452.10 m. 2025-01-08T19:46:05.820Z,1736365565.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:05.821Z,1736365565.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264448 2025-01-08T19:46:05.982Z,1736365565.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.4 s old, using for 20.0 s. 2025-01-08T19:46:05.982Z,1736365565.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:05.989Z,1736365565.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:05.991Z,1736365565.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:05.994Z,1736365565.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.904175 m, bearing: 183.717770 deg, approach rate: 0.065630 m/s, LOS rate: -0.090059 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862873 deg. 2025-01-08T19:46:05.996Z,1736365565.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814715 target range: 459.700012 and range: 452.10 m. 2025-01-08T19:46:06.072Z,1736365566.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:06.073Z,1736365566.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515968 2025-01-08T19:46:06.324Z,1736365566.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:06.324Z,1736365566.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767762 2025-01-08T19:46:06.380Z,1736365566.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.8 s old, using for 20.0 s. 2025-01-08T19:46:06.380Z,1736365566.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:06.389Z,1736365566.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:06.392Z,1736365566.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.930847 m, bearing: 183.681978 deg, approach rate: 0.067013 m/s, LOS rate: -0.089919 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867819 deg. 2025-01-08T19:46:06.393Z,1736365566.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814802 target range: 459.700012 and range: 452.10 m. 2025-01-08T19:46:06.576Z,1736365566.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:06.576Z,1736365566.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019722 2025-01-08T19:46:06.769Z,1736365566.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.2 s old, using for 20.0 s. 2025-01-08T19:46:06.770Z,1736365566.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:06.779Z,1736365566.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:06.782Z,1736365566.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.956818 m, bearing: 183.647018 deg, approach rate: 0.066720 m/s, LOS rate: -0.089810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870312 deg. 2025-01-08T19:46:06.783Z,1736365566.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814845 target range: 459.700012 and range: 452.10 m. 2025-01-08T19:46:06.831Z,1736365566.831 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:06.832Z,1736365566.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275377 2025-01-08T19:46:07.084Z,1736365567.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:07.085Z,1736365567.085 [DAT](INFO): DAT read: Rx Time:19:46:05.9112 2025-01-08T19:46:07.085Z,1736365567.085 [DAT](INFO): Rx dataTimestamp_ set to:1736365567.084739 2025-01-08T19:46:07.086Z,1736365567.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528914 2025-01-08T19:46:07.190Z,1736365567.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.6 s old, using for 20.0 s. 2025-01-08T19:46:07.190Z,1736365567.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:07.201Z,1736365567.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:07.204Z,1736365567.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 416.985016 m, bearing: 183.609238 deg, approach rate: 0.066761 m/s, LOS rate: -0.089439 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861857 deg. 2025-01-08T19:46:07.205Z,1736365567.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814698 target range: 459.700012 and range: 452.10 m. 2025-01-08T19:46:07.336Z,1736365567.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:07.336Z,1736365567.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779812 2025-01-08T19:46:07.589Z,1736365567.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:07.592Z,1736365567.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034320 2025-01-08T19:46:07.626Z,1736365567.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.0 s old, using for 20.0 s. 2025-01-08T19:46:07.627Z,1736365567.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:07.635Z,1736365567.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.70 m. 2025-01-08T19:46:07.660Z,1736365567.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.700012 m, nav range: 417.014038 m, bearing: 183.570050 deg, approach rate: 0.066815 m/s, LOS rate: -0.090213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857631 deg. 2025-01-08T19:46:07.662Z,1736365567.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814624 target range: 459.700012 and range: 452.10 m. 2025-01-08T19:46:07.840Z,1736365567.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:07.848Z,1736365567.848 [DAT](INFO): DAT read: 19:46:05.9113 LVL= 29072, 28785, 20002, 32755, AGC= 66, IDX= 297,-0.36, 1.951, 0.827, 2.220, 1.420, PHS= 0.619,-0.546, 0.797, RAW= 157.0, -13.7, CAL= 163.4, -20.2, ROT= 346.6, 20.2 2025-01-08T19:46:07.849Z,1736365567.849 [DAT](INFO): got valid direction response: 19:46:05.9113 LVL= 29072, 28785, 20002, 32755, AGC= 66, IDX= 297,-0.36, 1.951, 0.827, 2.220, 1.420, PHS= 0.619,-0.546, 0.797, RAW= 157.0, -13.7, CAL= 163.4, -20.2, ROT= 346.6, 20.2 2025-01-08T19:46:07.850Z,1736365567.850 [DAT](INFO): DAT read: Bearing 346.6, 20.2 (Local) 2025-01-08T19:46:07.850Z,1736365567.850 [DAT](INFO): Local bearing/azimuth received: Bearing 346.6, 20.2 (Local) 2025-01-08T19:46:07.852Z,1736365567.852 [DAT](INFO): DAT read: Range 10 to 50 : 441.5 m (Round-trip 588.7 ms) speed 0.5 m/s 2025-01-08T19:46:07.853Z,1736365567.853 [DAT](INFO): DAT read: user:819> 2025-01-08T19:46:07.854Z,1736365567.854 [DAT](INFO): DAT read: Tx time:19:46:07.0184 2025-01-08T19:46:07.854Z,1736365567.854 [DAT](INFO): Ping request sent. 2025-01-08T19:46:07.854Z,1736365567.854 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:07.855Z,1736365567.855 [DAT](INFO): DAT read: TxSync time:19:46:07.0176 2025-01-08T19:46:07.855Z,1736365567.855 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:46:07.856Z,1736365567.856 [DAT](INFO): direction in FSK: [0.151470,-0.883826,0.442615] 2025-01-08T19:46:07.857Z,1736365567.857 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:07.857Z,1736365567.857 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:07.860Z,1736365567.860 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:07.860Z,1736365567.860 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:08.092Z,1736365568.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:08.146Z,1736365568.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:08.185Z,1736365568.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 441.500000 m, deltaT: 4.286845 s, deltaX: -10.600006 m, approachRate: -2.472682 m/s, rangeRepo size: 4 2025-01-08T19:46:08.192Z,1736365568.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 441.500000 m, bearing: 192.124450 deg, lat: 36.900407 deg, lon: -122.115242 deg, deltaT: 16.395966 s, deltaX: -18.200012 m, approachRate: -1.110030 m/s, posRepo size: 4 2025-01-08T19:46:08.193Z,1736365568.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T19:46:08.197Z,1736365568.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 417.645538 m, bearing: 191.488805 deg, approach rate: 0.000000 m/s, LOS rate: -0.090213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826392 deg. 2025-01-08T19:46:08.198Z,1736365568.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814079 target range: 441.500000 and range: 441.50 m. 2025-01-08T19:46:08.344Z,1736365568.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:08.468Z,1736365568.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:08.474Z,1736365568.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:08.477Z,1736365568.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T19:46:08.481Z,1736365568.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 417.634186 m, bearing: 191.455306 deg, approach rate: -0.038896 m/s, LOS rate: -0.114774 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874689 deg. 2025-01-08T19:46:08.482Z,1736365568.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814922 target range: 441.500000 and range: 441.50 m. 2025-01-08T19:46:08.597Z,1736365568.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:08.598Z,1736365568.598 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:08.598Z,1736365568.598 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:08.599Z,1736365568.599 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:08.848Z,1736365568.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:08.848Z,1736365568.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994389 2025-01-08T19:46:08.868Z,1736365568.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:08.876Z,1736365568.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T19:46:08.880Z,1736365568.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 417.619568 m, bearing: 191.413862 deg, approach rate: -0.036602 m/s, LOS rate: -0.103777 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850849 deg. 2025-01-08T19:46:08.881Z,1736365568.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814506 target range: 441.500000 and range: 441.50 m. 2025-01-08T19:46:09.101Z,1736365569.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:09.103Z,1736365569.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248380 2025-01-08T19:46:09.298Z,1736365569.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:09.308Z,1736365569.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T19:46:09.311Z,1736365569.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 417.596588 m, bearing: 191.369502 deg, approach rate: -0.053274 m/s, LOS rate: -0.102845 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842100 deg. 2025-01-08T19:46:09.312Z,1736365569.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814353 target range: 441.500000 and range: 441.50 m. 2025-01-08T19:46:09.352Z,1736365569.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:09.354Z,1736365569.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499386 2025-01-08T19:46:09.605Z,1736365569.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:09.607Z,1736365569.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752541 2025-01-08T19:46:09.693Z,1736365569.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:09.701Z,1736365569.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T19:46:09.705Z,1736365569.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 417.576111 m, bearing: 191.328933 deg, approach rate: -0.051971 m/s, LOS rate: -0.102969 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853474 deg. 2025-01-08T19:46:09.710Z,1736365569.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814551 target range: 441.500000 and range: 441.50 m. 2025-01-08T19:46:09.856Z,1736365569.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:09.857Z,1736365569.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002856 2025-01-08T19:46:10.104Z,1736365570.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:10.108Z,1736365570.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:10.109Z,1736365570.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254578 2025-01-08T19:46:10.134Z,1736365570.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T19:46:10.141Z,1736365570.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 417.554413 m, bearing: 191.286632 deg, approach rate: -0.050125 m/s, LOS rate: -0.097724 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848278 deg. 2025-01-08T19:46:10.142Z,1736365570.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814461 target range: 441.500000 and range: 441.50 m. 2025-01-08T19:46:10.360Z,1736365570.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:10.361Z,1736365570.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506871 2025-01-08T19:46:10.482Z,1736365570.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:10.501Z,1736365570.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:10.508Z,1736365570.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T19:46:10.510Z,1736365570.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 417.534576 m, bearing: 191.247714 deg, approach rate: -0.053766 m/s, LOS rate: -0.105492 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858426 deg. 2025-01-08T19:46:10.516Z,1736365570.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814638 target range: 441.500000 and range: 441.50 m. 2025-01-08T19:46:10.613Z,1736365570.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:10.615Z,1736365570.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760340 2025-01-08T19:46:10.864Z,1736365570.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:10.865Z,1736365570.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010607 2025-01-08T19:46:10.886Z,1736365570.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:10.896Z,1736365570.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T19:46:10.898Z,1736365570.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 417.513580 m, bearing: 191.206145 deg, approach rate: -0.053638 m/s, LOS rate: -0.106200 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850475 deg. 2025-01-08T19:46:10.900Z,1736365570.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814499 target range: 441.500000 and range: 441.50 m. 2025-01-08T19:46:11.116Z,1736365571.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:11.117Z,1736365571.117 [DAT](INFO): DAT read: Rx Time:19:46:10.0065 2025-01-08T19:46:11.117Z,1736365571.117 [DAT](INFO): Rx dataTimestamp_ set to:1736365571.116785 2025-01-08T19:46:11.118Z,1736365571.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263674 2025-01-08T19:46:11.310Z,1736365571.310 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-2768,V 2025-01-08T19:46:11.337Z,1736365571.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:46:11.337Z,1736365571.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:11.347Z,1736365571.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T19:46:11.350Z,1736365571.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 417.490479 m, bearing: 191.159828 deg, approach rate: -0.051102 m/s, LOS rate: -0.102461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836228 deg. 2025-01-08T19:46:11.351Z,1736365571.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814250 target range: 441.500000 and range: 441.50 m. 2025-01-08T19:46:11.369Z,1736365571.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:11.370Z,1736365571.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515647 2025-01-08T19:46:11.620Z,1736365571.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:11.621Z,1736365571.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766982 2025-01-08T19:46:11.737Z,1736365571.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T19:46:11.738Z,1736365571.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:11.754Z,1736365571.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T19:46:11.757Z,1736365571.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 417.470093 m, bearing: 191.118655 deg, approach rate: -0.049998 m/s, LOS rate: -0.100986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851661 deg. 2025-01-08T19:46:11.758Z,1736365571.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814520 target range: 441.500000 and range: 441.50 m. 2025-01-08T19:46:11.872Z,1736365571.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:11.879Z,1736365571.879 [DAT](INFO): DAT read: 19:46:10.0066 LVL= 23328, 32753, 16338, 32755, AGC= 70, IDX= 393,-0.17, 0.805,-0.431, 0.958, 0.121, PHS= 0.772,-0.505, 0.834, RAW= 152.4, -16.6, CAL= 158.5, -23.6, ROT= 351.5, 23.6 2025-01-08T19:46:11.880Z,1736365571.880 [DAT](INFO): got valid direction response: 19:46:10.0066 LVL= 23328, 32753, 16338, 32755, AGC= 70, IDX= 393,-0.17, 0.805,-0.431, 0.958, 0.121, PHS= 0.772,-0.505, 0.834, RAW= 152.4, -16.6, CAL= 158.5, -23.6, ROT= 351.5, 23.6 2025-01-08T19:46:11.881Z,1736365571.881 [DAT](INFO): DAT read: Bearing 351.5, 23.6 (Local) 2025-01-08T19:46:11.882Z,1736365571.882 [DAT](INFO): Local bearing/azimuth received: Bearing 351.5, 23.6 (Local) 2025-01-08T19:46:11.883Z,1736365571.883 [DAT](INFO): DAT read: Range 10 to 50 : 438.0 m (Round-trip 584.0 ms) speed 0.7 m/s 2025-01-08T19:46:11.884Z,1736365571.884 [DAT](INFO): DAT read: user:820> 2025-01-08T19:46:11.885Z,1736365571.885 [DAT](INFO): DAT read: Tx time:19:46:11.1200 2025-01-08T19:46:11.885Z,1736365571.885 [DAT](INFO): Ping request sent. 2025-01-08T19:46:11.885Z,1736365571.885 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:11.885Z,1736365571.885 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:46:11.886Z,1736365571.886 [DAT](INFO): direction in FSK: [0.204441,-0.834740,0.511285] 2025-01-08T19:46:11.887Z,1736365571.887 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:11.887Z,1736365571.887 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:11.898Z,1736365571.898 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:11.899Z,1736365571.899 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:12.124Z,1736365572.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:12.125Z,1736365572.125 [DAT](INFO): DAT read: TxSync time:19:46:11.1192 2025-01-08T19:46:12.142Z,1736365572.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:12.173Z,1736365572.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 438.000000 m, deltaT: 4.032051 s, deltaX: -3.500000 m, approachRate: -0.868045 m/s, rangeRepo size: 4 2025-01-08T19:46:12.181Z,1736365572.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 438.000000 m, bearing: 194.202143 deg, lat: 36.900423 deg, lon: -122.115286 deg, deltaT: 4.032051 s, deltaX: -3.500000 m, approachRate: -0.868045 m/s, posRepo size: 4 2025-01-08T19:46:12.182Z,1736365572.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m. 2025-01-08T19:46:12.189Z,1736365572.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.000000 m, nav range: 416.495270 m, bearing: 191.653360 deg, approach rate: 0.000000 m/s, LOS rate: -0.100986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850199 deg. 2025-01-08T19:46:12.190Z,1736365572.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814494 target range: 438.000000 and range: 438.00 m. 2025-01-08T19:46:12.376Z,1736365572.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:12.480Z,1736365572.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:46:12.525Z,1736365572.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:12.532Z,1736365572.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:12.534Z,1736365572.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m. 2025-01-08T19:46:12.538Z,1736365572.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.000000 m, nav range: 416.477844 m, bearing: 191.617534 deg, approach rate: -0.047439 m/s, LOS rate: -0.097536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867705 deg. 2025-01-08T19:46:12.539Z,1736365572.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814800 target range: 438.000000 and range: 438.00 m. 2025-01-08T19:46:12.628Z,1736365572.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:12.629Z,1736365572.629 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:12.629Z,1736365572.629 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:12.630Z,1736365572.630 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:12.880Z,1736365572.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:12.880Z,1736365572.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995073 2025-01-08T19:46:12.912Z,1736365572.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:12.933Z,1736365572.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m. 2025-01-08T19:46:12.940Z,1736365572.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.000000 m, nav range: 416.459930 m, bearing: 191.581444 deg, approach rate: -0.044923 m/s, LOS rate: -0.090508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866911 deg. 2025-01-08T19:46:12.941Z,1736365572.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814786 target range: 438.000000 and range: 438.00 m. 2025-01-08T19:46:13.132Z,1736365573.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:13.132Z,1736365573.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247251 2025-01-08T19:46:13.340Z,1736365573.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:46:13.341Z,1736365573.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:13.350Z,1736365573.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m. 2025-01-08T19:46:13.370Z,1736365573.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.000000 m, nav range: 416.439819 m, bearing: 191.541352 deg, approach rate: -0.048179 m/s, LOS rate: -0.096050 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854906 deg. 2025-01-08T19:46:13.371Z,1736365573.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814576 target range: 438.000000 and range: 438.00 m. 2025-01-08T19:46:13.384Z,1736365573.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:13.384Z,1736365573.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499250 2025-01-08T19:46:13.484Z,1736365573.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:46:13.636Z,1736365573.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:13.638Z,1736365573.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752396 2025-01-08T19:46:13.728Z,1736365573.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:46:13.728Z,1736365573.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:13.737Z,1736365573.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m. 2025-01-08T19:46:13.743Z,1736365573.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.000000 m, nav range: 416.422424 m, bearing: 191.505112 deg, approach rate: -0.045056 m/s, LOS rate: -0.093872 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866461 deg. 2025-01-08T19:46:13.744Z,1736365573.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814778 target range: 438.000000 and range: 438.00 m. 2025-01-08T19:46:13.888Z,1736365573.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:13.888Z,1736365573.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003193 2025-01-08T19:46:14.140Z,1736365574.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:14.140Z,1736365574.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255173 2025-01-08T19:46:14.208Z,1736365574.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:14.240Z,1736365574.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m. 2025-01-08T19:46:14.242Z,1736365574.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.000000 m, nav range: 416.425812 m, bearing: 191.467416 deg, approach rate: 0.006737 m/s, LOS rate: -0.074974 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862102 deg. 2025-01-08T19:46:14.244Z,1736365574.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814702 target range: 438.000000 and range: 438.00 m. 2025-01-08T19:46:14.392Z,1736365574.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:14.393Z,1736365574.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507370 2025-01-08T19:46:14.519Z,1736365574.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:14.540Z,1736365574.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m. 2025-01-08T19:46:14.549Z,1736365574.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.000000 m, nav range: 416.428589 m, bearing: 191.443052 deg, approach rate: 0.009640 m/s, LOS rate: -0.084571 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.902094 deg. 2025-01-08T19:46:14.550Z,1736365574.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815400 target range: 438.000000 and range: 438.00 m. 2025-01-08T19:46:14.645Z,1736365574.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:14.646Z,1736365574.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760517 2025-01-08T19:46:14.896Z,1736365574.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:14.897Z,1736365574.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011331 2025-01-08T19:46:14.923Z,1736365574.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:14.930Z,1736365574.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:14.933Z,1736365574.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m. 2025-01-08T19:46:14.938Z,1736365574.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.000000 m, nav range: 416.432556 m, bearing: 191.411372 deg, approach rate: 0.009792 m/s, LOS rate: -0.078194 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880149 deg. 2025-01-08T19:46:14.941Z,1736365574.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815017 target range: 438.000000 and range: 438.00 m. 2025-01-08T19:46:15.148Z,1736365575.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:15.148Z,1736365575.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263213 2025-01-08T19:46:15.374Z,1736365575.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:15.384Z,1736365575.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m. 2025-01-08T19:46:15.387Z,1736365575.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.000000 m, nav range: 416.447968 m, bearing: 191.378280 deg, approach rate: 0.034130 m/s, LOS rate: -0.073283 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875913 deg. 2025-01-08T19:46:15.388Z,1736365575.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814943 target range: 438.000000 and range: 438.00 m. 2025-01-08T19:46:15.400Z,1736365575.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:15.401Z,1736365575.401 [DAT](INFO): DAT read: Rx Time:19:46:14.1045 2025-01-08T19:46:15.401Z,1736365575.401 [DAT](INFO): Rx dataTimestamp_ set to:1736365575.400768 2025-01-08T19:46:15.402Z,1736365575.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516344 2025-01-08T19:46:15.652Z,1736365575.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:15.653Z,1736365575.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768039 2025-01-08T19:46:15.770Z,1736365575.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:15.823Z,1736365575.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.00 m. 2025-01-08T19:46:15.826Z,1736365575.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.000000 m, nav range: 416.462219 m, bearing: 191.349279 deg, approach rate: 0.032751 m/s, LOS rate: -0.066642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888188 deg. 2025-01-08T19:46:15.832Z,1736365575.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815157 target range: 438.000000 and range: 438.00 m. 2025-01-08T19:46:15.905Z,1736365575.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:15.916Z,1736365575.916 [DAT](INFO): DAT read: 19:46:14.1045 LVL= 21728, 30369, 18386, 30771, AGC= 66, IDX= 404,-0.04,-2.337, 2.719,-2.085,-2.871, PHS= 0.622,-0.646, 0.783, RAW= 155.9, -11.2, CAL= 161.9, -18.2, ROT= 348.1, 18.2 2025-01-08T19:46:15.917Z,1736365575.917 [DAT](INFO): got valid direction response: 19:46:14.1045 LVL= 21728, 30369, 18386, 30771, AGC= 66, IDX= 404,-0.04,-2.337, 2.719,-2.085,-2.871, PHS= 0.622,-0.646, 0.783, RAW= 155.9, -11.2, CAL= 161.9, -18.2, ROT= 348.1, 18.2 2025-01-08T19:46:15.920Z,1736365575.920 [DAT](INFO): DAT read: Bearing 348.1, 18.2 (Local) 2025-01-08T19:46:15.921Z,1736365575.921 [DAT](INFO): Local bearing/azimuth received: Bearing 348.1, 18.2 (Local) 2025-01-08T19:46:15.923Z,1736365575.923 [DAT](INFO): DAT read: Range 10 to 50 : 435.3 m (Round-trip 580.4 ms) speed 0.2 m/s 2025-01-08T19:46:15.925Z,1736365575.925 [DAT](INFO): DAT read: user:821> 2025-01-08T19:46:15.926Z,1736365575.926 [DAT](INFO): DAT read: Tx time:19:46:15.2184 2025-01-08T19:46:15.926Z,1736365575.926 [DAT](INFO): Ping request sent. 2025-01-08T19:46:15.926Z,1736365575.926 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:15.931Z,1736365575.931 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:46:15.932Z,1736365575.932 [DAT](INFO): direction in FSK: [0.102267,-0.881257,0.461440] 2025-01-08T19:46:15.933Z,1736365575.933 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:15.933Z,1736365575.933 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:15.946Z,1736365575.946 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:15.946Z,1736365575.946 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:16.156Z,1736365576.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:16.157Z,1736365576.157 [DAT](INFO): DAT read: TxSync time:19:46:15.2176 2025-01-08T19:46:16.213Z,1736365576.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:16.235Z,1736365576.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 435.299988 m, deltaT: 4.033748 s, deltaX: -2.700012 m, approachRate: -0.669356 m/s, rangeRepo size: 4 2025-01-08T19:46:16.241Z,1736365576.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 435.299988 m, bearing: 189.157010 deg, lat: 36.900443 deg, lon: -122.115286 deg, deltaT: 4.033748 s, deltaX: -2.700012 m, approachRate: -0.669356 m/s, posRepo size: 4 2025-01-08T19:46:16.242Z,1736365576.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:16.249Z,1736365576.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 414.347412 m, bearing: 191.376813 deg, approach rate: 0.000000 m/s, LOS rate: -0.066642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.892233 deg. 2025-01-08T19:46:16.250Z,1736365576.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815228 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:16.408Z,1736365576.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:16.543Z,1736365576.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:16.571Z,1736365576.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:16.574Z,1736365576.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 414.367188 m, bearing: 191.353011 deg, approach rate: 0.058677 m/s, LOS rate: -0.070620 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.903785 deg. 2025-01-08T19:46:16.576Z,1736365576.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815430 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:16.660Z,1736365576.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:16.914Z,1736365576.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:16.945Z,1736365576.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:16.952Z,1736365576.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:16.954Z,1736365576.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:16.957Z,1736365576.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 414.391602 m, bearing: 191.324085 deg, approach rate: 0.063749 m/s, LOS rate: -0.075525 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888415 deg. 2025-01-08T19:46:16.958Z,1736365576.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815161 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:17.164Z,1736365577.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:17.164Z,1736365577.164 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:17.165Z,1736365577.165 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:17.165Z,1736365577.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:17.385Z,1736365577.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:17.394Z,1736365577.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:17.398Z,1736365577.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 414.420593 m, bearing: 191.292364 deg, approach rate: 0.065933 m/s, LOS rate: -0.072135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880030 deg. 2025-01-08T19:46:17.416Z,1736365577.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:17.416Z,1736365577.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489768 2025-01-08T19:46:17.417Z,1736365577.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815015 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:17.668Z,1736365577.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:17.669Z,1736365577.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742706 2025-01-08T19:46:17.763Z,1736365577.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:17.771Z,1736365577.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:17.774Z,1736365577.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 414.446136 m, bearing: 191.265205 deg, approach rate: 0.067706 m/s, LOS rate: -0.071983 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893716 deg. 2025-01-08T19:46:17.776Z,1736365577.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815254 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:17.920Z,1736365577.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:17.920Z,1736365577.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993819 2025-01-08T19:46:18.172Z,1736365578.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:18.173Z,1736365578.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246307 2025-01-08T19:46:18.181Z,1736365578.181 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010811470, +11.1, 0.0,1493.7, 0 2025-01-08T19:46:18.189Z,1736365578.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:46:18.189Z,1736365578.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:18.215Z,1736365578.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:18.222Z,1736365578.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 414.475067 m, bearing: 191.234599 deg, approach rate: 0.065216 m/s, LOS rate: -0.068989 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883375 deg. 2025-01-08T19:46:18.223Z,1736365578.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815073 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:18.426Z,1736365578.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:18.427Z,1736365578.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500825 2025-01-08T19:46:18.560Z,1736365578.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:46:18.561Z,1736365578.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:18.590Z,1736365578.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:18.601Z,1736365578.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 414.501221 m, bearing: 191.207859 deg, approach rate: 0.069730 m/s, LOS rate: -0.071288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894972 deg. 2025-01-08T19:46:18.602Z,1736365578.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815276 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:18.676Z,1736365578.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:18.677Z,1736365578.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750869 2025-01-08T19:46:18.928Z,1736365578.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:18.929Z,1736365578.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002581 2025-01-08T19:46:18.971Z,1736365578.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:46:18.971Z,1736365578.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:18.980Z,1736365578.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:18.982Z,1736365578.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:18.985Z,1736365578.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 414.530334 m, bearing: 191.178342 deg, approach rate: 0.074272 m/s, LOS rate: -0.075297 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886640 deg. 2025-01-08T19:46:18.986Z,1736365578.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815130 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:19.180Z,1736365579.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:19.180Z,1736365579.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253933 2025-01-08T19:46:19.401Z,1736365579.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:19.409Z,1736365579.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:19.413Z,1736365579.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 414.562012 m, bearing: 191.142938 deg, approach rate: 0.074099 m/s, LOS rate: -0.082810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868983 deg. 2025-01-08T19:46:19.414Z,1736365579.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814822 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:19.432Z,1736365579.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:19.432Z,1736365579.432 [DAT](INFO): DAT read: Rx Time:19:46:18.2008 2025-01-08T19:46:19.433Z,1736365579.433 [DAT](INFO): Rx dataTimestamp_ set to:1736365579.432530 2025-01-08T19:46:19.433Z,1736365579.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506799 2025-01-08T19:46:19.684Z,1736365579.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:19.685Z,1736365579.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757973 2025-01-08T19:46:19.794Z,1736365579.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:19.802Z,1736365579.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:19.805Z,1736365579.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 414.590912 m, bearing: 191.110628 deg, approach rate: 0.073583 m/s, LOS rate: -0.082258 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878265 deg. 2025-01-08T19:46:19.807Z,1736365579.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814984 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:19.937Z,1736365579.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:19.945Z,1736365579.945 [DAT](INFO): DAT read: 19:46:18.2008 LVL= 26704, 31985, 21794, 32755, AGC= 66, IDX= 413, 0.15,-0.253,-1.515,-0.071,-0.856, PHS= 0.692,-0.611, 0.783, RAW= 153.3, -12.7, CAL= 160.3, -19.8, ROT= 349.7, 19.8 2025-01-08T19:46:19.946Z,1736365579.946 [DAT](INFO): got valid direction response: 19:46:18.2008 LVL= 26704, 31985, 21794, 32755, AGC= 66, IDX= 413, 0.15,-0.253,-1.515,-0.071,-0.856, PHS= 0.692,-0.611, 0.783, RAW= 153.3, -12.7, CAL= 160.3, -19.8, ROT= 349.7, 19.8 2025-01-08T19:46:19.947Z,1736365579.947 [DAT](INFO): DAT read: Bearing 349.7, 19.8 (Local) 2025-01-08T19:46:19.948Z,1736365579.948 [DAT](INFO): Local bearing/azimuth received: Bearing 349.7, 19.8 (Local) 2025-01-08T19:46:19.949Z,1736365579.949 [DAT](INFO): DAT read: Range 10 to 50 : 433.7 m (Round-trip 578.3 ms) speed 0.4 m/s 2025-01-08T19:46:19.950Z,1736365579.950 [DAT](INFO): DAT read: user:822> 2025-01-08T19:46:19.950Z,1736365579.950 [DAT](INFO): DAT read: Tx time:19:46:19.3184 2025-01-08T19:46:19.951Z,1736365579.951 [DAT](INFO): Ping request sent. 2025-01-08T19:46:19.951Z,1736365579.951 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:19.957Z,1736365579.957 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:46:19.958Z,1736365579.958 [DAT](INFO): direction in FSK: [0.130930,-0.855677,0.500674] 2025-01-08T19:46:19.959Z,1736365579.959 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:19.959Z,1736365579.959 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:19.966Z,1736365579.966 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:19.966Z,1736365579.966 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:20.188Z,1736365580.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:20.188Z,1736365580.188 [DAT](INFO): DAT read: TxSync time:19:46:19.3176 2025-01-08T19:46:20.239Z,1736365580.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:20.275Z,1736365580.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 433.700012 m, deltaT: 4.031233 s, deltaX: -1.599976 m, approachRate: -0.396895 m/s, rangeRepo size: 4 2025-01-08T19:46:20.281Z,1736365580.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 433.700012 m, bearing: 191.164354 deg, lat: 36.900476 deg, lon: -122.115286 deg, deltaT: 4.031233 s, deltaX: -1.599976 m, approachRate: -0.396895 m/s, posRepo size: 4 2025-01-08T19:46:20.282Z,1736365580.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:20.289Z,1736365580.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.961029 m, bearing: 191.170631 deg, approach rate: 0.000000 m/s, LOS rate: -0.082258 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858670 deg. 2025-01-08T19:46:20.290Z,1736365580.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814642 target range: 433.700012 and range: 433.70 m. 2025-01-08T19:46:20.440Z,1736365580.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:20.589Z,1736365580.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:20.606Z,1736365580.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:20.614Z,1736365580.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.972076 m, bearing: 191.139292 deg, approach rate: 0.033299 m/s, LOS rate: -0.094458 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881173 deg. 2025-01-08T19:46:20.618Z,1736365580.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815035 target range: 433.700012 and range: 433.70 m. 2025-01-08T19:46:20.693Z,1736365580.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:20.944Z,1736365580.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:21.006Z,1736365581.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:21.013Z,1736365581.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:21.015Z,1736365581.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:21.018Z,1736365581.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.985352 m, bearing: 191.102011 deg, approach rate: 0.032481 m/s, LOS rate: -0.091214 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863348 deg. 2025-01-08T19:46:21.019Z,1736365581.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814723 target range: 433.700012 and range: 433.70 m. 2025-01-08T19:46:21.196Z,1736365581.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:21.197Z,1736365581.197 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:21.197Z,1736365581.197 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:21.197Z,1736365581.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:21.423Z,1736365581.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:21.432Z,1736365581.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:21.435Z,1736365581.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.989746 m, bearing: 191.061969 deg, approach rate: 0.010529 m/s, LOS rate: -0.095936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855064 deg. 2025-01-08T19:46:21.436Z,1736365581.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814579 target range: 433.700012 and range: 433.70 m. 2025-01-08T19:46:21.448Z,1736365581.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:21.449Z,1736365581.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497757 2025-01-08T19:46:21.700Z,1736365581.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:21.700Z,1736365581.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749597 2025-01-08T19:46:21.807Z,1736365581.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:21.820Z,1736365581.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:21.822Z,1736365581.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.992279 m, bearing: 191.025142 deg, approach rate: 0.006545 m/s, LOS rate: -0.095164 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864705 deg. 2025-01-08T19:46:21.824Z,1736365581.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814747 target range: 433.700012 and range: 433.70 m. 2025-01-08T19:46:21.952Z,1736365581.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:21.953Z,1736365581.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001845 2025-01-08T19:46:22.204Z,1736365582.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:22.205Z,1736365582.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253821 2025-01-08T19:46:22.239Z,1736365582.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:22.249Z,1736365582.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:22.253Z,1736365582.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.990204 m, bearing: 190.981563 deg, approach rate: -0.004823 m/s, LOS rate: -0.101283 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844449 deg. 2025-01-08T19:46:22.254Z,1736365582.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814394 target range: 433.700012 and range: 433.70 m. 2025-01-08T19:46:22.456Z,1736365582.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:22.456Z,1736365582.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505528 2025-01-08T19:46:22.604Z,1736365582.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:22.633Z,1736365582.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:22.642Z,1736365582.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.988159 m, bearing: 190.944828 deg, approach rate: -0.005330 m/s, LOS rate: -0.095768 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864980 deg. 2025-01-08T19:46:22.649Z,1736365582.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814752 target range: 433.700012 and range: 433.70 m. 2025-01-08T19:46:22.678Z,1736365582.678 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T19:36:22.3Z 2025-01-08T19:46:22.678Z,1736365582.678 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T19:46:22.678Z,1736365582.678 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T19:46:22.679Z,1736365582.679 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T19:46:22.679Z,1736365582.679 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T19:46:22.679Z,1736365582.679 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T19:46:22.708Z,1736365582.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:22.709Z,1736365582.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758048 2025-01-08T19:46:22.960Z,1736365582.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:22.960Z,1736365582.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009601 2025-01-08T19:46:23.012Z,1736365583.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:23.018Z,1736365583.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:23.020Z,1736365583.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:23.023Z,1736365583.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.985809 m, bearing: 190.903838 deg, approach rate: -0.006064 m/s, LOS rate: -0.105779 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852217 deg. 2025-01-08T19:46:23.025Z,1736365583.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814529 target range: 433.700012 and range: 433.70 m. 2025-01-08T19:46:23.029Z,1736365583.029 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T19:46:23.029Z,1736365583.029 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T19:46:23.030Z,1736365583.030 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T19:46:23.030Z,1736365583.030 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T19:46:23.030Z,1736365583.030 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T19:46:23.213Z,1736365583.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:23.214Z,1736365583.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262860 2025-01-08T19:46:23.464Z,1736365583.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:23.465Z,1736365583.465 [DAT](INFO): DAT read: Rx Time:19:46:22.2970 2025-01-08T19:46:23.465Z,1736365583.465 [DAT](INFO): Rx dataTimestamp_ set to:1736365583.464714 2025-01-08T19:46:23.466Z,1736365583.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514710 2025-01-08T19:46:23.582Z,1736365583.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:23.590Z,1736365583.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:23.593Z,1736365583.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.974548 m, bearing: 190.844871 deg, approach rate: -0.019763 m/s, LOS rate: -0.103491 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.798281 deg. 2025-01-08T19:46:23.594Z,1736365583.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813588 target range: 433.700012 and range: 433.70 m. 2025-01-08T19:46:23.716Z,1736365583.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:23.717Z,1736365583.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766624 2025-01-08T19:46:23.968Z,1736365583.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:23.969Z,1736365583.969 [DAT](INFO): DAT read: Range 10 to 50 : 430.8 m (Round-trip 574.4 ms) speed 0.4 m/s 2025-01-08T19:46:23.970Z,1736365583.970 [DAT](INFO): DAT read: user:823> 2025-01-08T19:46:23.971Z,1736365583.971 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:46:23.971Z,1736365583.971 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:23.972Z,1736365583.972 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:23.972Z,1736365583.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:23.981Z,1736365583.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:23.990Z,1736365583.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 430.799988 m, deltaT: 4.031057 s, deltaX: -2.900024 m, approachRate: -0.719420 m/s, rangeRepo size: 4 2025-01-08T19:46:23.991Z,1736365583.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:23.994Z,1736365583.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.966522 m, bearing: 190.803602 deg, approach rate: -0.020100 m/s, LOS rate: -0.103352 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851377 deg. 2025-01-08T19:46:23.996Z,1736365583.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814515 target range: 433.700012 and range: 430.80 m. 2025-01-08T19:46:24.220Z,1736365584.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:24.221Z,1736365584.221 [DAT](INFO): DAT read: Tx time:19:46:23.4185 2025-01-08T19:46:24.221Z,1736365584.221 [DAT](INFO): Ping request sent. 2025-01-08T19:46:24.222Z,1736365584.222 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:24.222Z,1736365584.222 [DAT](INFO): DAT read: TxSync time:19:46:23.4177 2025-01-08T19:46:24.223Z,1736365584.223 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:24.223Z,1736365584.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001585 2025-01-08T19:46:24.435Z,1736365584.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:24.448Z,1736365584.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:24.454Z,1736365584.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.953674 m, bearing: 190.756872 deg, approach rate: -0.028302 m/s, LOS rate: -0.102942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834993 deg. 2025-01-08T19:46:24.455Z,1736365584.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814229 target range: 433.700012 and range: 430.80 m. 2025-01-08T19:46:24.472Z,1736365584.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:24.472Z,1736365584.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250908 2025-01-08T19:46:24.724Z,1736365584.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:24.724Z,1736365584.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502796 2025-01-08T19:46:24.782Z,1736365584.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:24.792Z,1736365584.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:24.795Z,1736365584.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.943542 m, bearing: 190.720480 deg, approach rate: -0.029056 m/s, LOS rate: -0.104367 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866009 deg. 2025-01-08T19:46:24.812Z,1736365584.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814770 target range: 433.700012 and range: 430.80 m. 2025-01-08T19:46:24.976Z,1736365584.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:24.976Z,1736365584.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754948 2025-01-08T19:46:25.210Z,1736365585.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:25.229Z,1736365585.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:25.232Z,1736365585.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009486 2025-01-08T19:46:25.253Z,1736365585.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:25.259Z,1736365585.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:25.281Z,1736365585.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.930389 m, bearing: 190.676109 deg, approach rate: -0.028416 m/s, LOS rate: -0.095864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842068 deg. 2025-01-08T19:46:25.282Z,1736365585.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814353 target range: 433.700012 and range: 430.80 m. 2025-01-08T19:46:25.480Z,1736365585.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:25.480Z,1736365585.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258768 2025-01-08T19:46:25.619Z,1736365585.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:25.629Z,1736365585.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:25.649Z,1736365585.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.919952 m, bearing: 190.635679 deg, approach rate: -0.027992 m/s, LOS rate: -0.108433 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853897 deg. 2025-01-08T19:46:25.651Z,1736365585.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814559 target range: 433.700012 and range: 430.80 m. 2025-01-08T19:46:25.732Z,1736365585.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:25.733Z,1736365585.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511849 2025-01-08T19:46:25.985Z,1736365585.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:25.987Z,1736365585.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765135 2025-01-08T19:46:26.020Z,1736365586.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:26.037Z,1736365586.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:26.041Z,1736365586.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.909943 m, bearing: 190.596105 deg, approach rate: -0.024506 m/s, LOS rate: -0.096888 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856462 deg. 2025-01-08T19:46:26.044Z,1736365586.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814603 target range: 433.700012 and range: 430.80 m. 2025-01-08T19:46:26.237Z,1736365586.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:26.240Z,1736365586.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017494 2025-01-08T19:46:26.424Z,1736365586.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:26.434Z,1736365586.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:26.449Z,1736365586.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.898712 m, bearing: 190.558588 deg, approach rate: -0.028255 m/s, LOS rate: -0.094393 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862631 deg. 2025-01-08T19:46:26.452Z,1736365586.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814711 target range: 433.700012 and range: 430.80 m. 2025-01-08T19:46:26.488Z,1736365586.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:26.489Z,1736365586.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267753 2025-01-08T19:46:26.740Z,1736365586.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:26.740Z,1736365586.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518827 2025-01-08T19:46:26.799Z,1736365586.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:26.829Z,1736365586.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:26.836Z,1736365586.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.889282 m, bearing: 190.523820 deg, approach rate: -0.024225 m/s, LOS rate: -0.089316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870883 deg. 2025-01-08T19:46:26.837Z,1736365586.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814855 target range: 433.700012 and range: 430.80 m. 2025-01-08T19:46:26.992Z,1736365586.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:26.994Z,1736365586.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771996 2025-01-08T19:46:27.246Z,1736365587.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:27.248Z,1736365587.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026462 2025-01-08T19:46:27.342Z,1736365587.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:27.350Z,1736365587.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:27.353Z,1736365587.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:27.376Z,1736365587.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.888214 m, bearing: 190.474866 deg, approach rate: -0.002017 m/s, LOS rate: -0.092457 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828324 deg. 2025-01-08T19:46:27.377Z,1736365587.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814112 target range: 433.700012 and range: 430.80 m. 2025-01-08T19:46:27.497Z,1736365587.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:27.498Z,1736365587.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276168 2025-01-08T19:46:27.714Z,1736365587.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:27.722Z,1736365587.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:27.725Z,1736365587.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.887878 m, bearing: 190.441369 deg, approach rate: -0.000908 m/s, LOS rate: -0.090580 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874694 deg. 2025-01-08T19:46:27.726Z,1736365587.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814922 target range: 433.700012 and range: 430.80 m. 2025-01-08T19:46:27.748Z,1736365587.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:27.749Z,1736365587.749 [DAT](INFO): DAT read: Rx Time:19:46:26.3939 2025-01-08T19:46:27.749Z,1736365587.749 [DAT](INFO): Rx dataTimestamp_ set to:1736365587.748741 2025-01-08T19:46:27.750Z,1736365587.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528019 2025-01-08T19:46:27.000Z,1736365588.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:28.000Z,1736365588.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778774 2025-01-08T19:46:28.177Z,1736365588.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:28.191Z,1736365588.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:28.194Z,1736365588.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.887787 m, bearing: 190.399637 deg, approach rate: -0.000195 m/s, LOS rate: -0.089076 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849993 deg. 2025-01-08T19:46:28.196Z,1736365588.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814491 target range: 433.700012 and range: 430.80 m. 2025-01-08T19:46:28.257Z,1736365588.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:28.275Z,1736365588.275 [DAT](INFO): DAT read: 19:46:26.3939 LVL= 22480, 32753, 20082, 32755, AGC= 68, IDX= 405,-0.17,-1.653,-2602,-2.412, PHS= 0.847,-0.358, 0.807, RAW= 148.3, -21.1, CAL= 153.5, -28.1, ROT= 356.5, 28.1 2025-01-08T19:46:28.276Z,1736365588.276 [DAT](INFO): unknown deviceResponse_: 19:46:26.3939 LVL= 22480, 32753, 20082, 32755, AGC= 68, IDX= 405,-0.17,-1.653,-2602,-2.412, PHS= 0.847,-0.358, 0.807, RAW= 148.3, -21.1, CAL= 153.5, -28.1, ROT= 356.5, 28.1 2025-01-08T19:46:28.277Z,1736365588.277 [DAT](INFO): DAT read: Bearing 356.5, 28.1 (Local) 2025-01-08T19:46:28.277Z,1736365588.277 [DAT](INFO): Local bearing/azimuth received: Bearing 356.5, 28.1 (Local) 2025-01-08T19:46:28.284Z,1736365588.284 [DAT](INFO): DAT read: Range 10 to 50 : 428.4 m (Round-trip 571.2 ms) speed 0.4 m/s 2025-01-08T19:46:28.286Z,1736365588.286 [DAT](INFO): DAT read: user:824> 2025-01-08T19:46:28.288Z,1736365588.288 [DAT](INFO): DAT read: Tx time:19:46:27.5185 2025-01-08T19:46:28.289Z,1736365588.289 [DAT](INFO): Ping request sent. 2025-01-08T19:46:28.289Z,1736365588.289 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:28.290Z,1736365588.290 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:46:28.290Z,1736365588.290 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:28.291Z,1736365588.291 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:28.514Z,1736365588.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:28.515Z,1736365588.515 [DAT](INFO): DAT read: TxSync time:19:46:27.5177 2025-01-08T19:46:28.614Z,1736365588.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:28.624Z,1736365588.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 428.399994 m, deltaT: 4.289803 s, deltaX: -2.399994 m, approachRate: -0.559465 m/s, rangeRepo size: 4 2025-01-08T19:46:28.624Z,1736365588.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:28.627Z,1736365588.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.891571 m, bearing: 190.362760 deg, approach rate: 0.008764 m/s, LOS rate: -0.085404 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864557 deg. 2025-01-08T19:46:28.629Z,1736365588.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814745 target range: 433.700012 and range: 428.40 m. 2025-01-08T19:46:28.768Z,1736365588.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:28.987Z,1736365588.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:29.000Z,1736365589.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:29.003Z,1736365589.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.894379 m, bearing: 190.331222 deg, approach rate: 0.007437 m/s, LOS rate: -0.083545 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880573 deg. 2025-01-08T19:46:29.004Z,1736365589.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815024 target range: 433.700012 and range: 428.40 m. 2025-01-08T19:46:29.020Z,1736365589.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:29.273Z,1736365589.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:29.448Z,1736365589.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:29.454Z,1736365589.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:29.461Z,1736365589.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:29.469Z,1736365589.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.910217 m, bearing: 190.293200 deg, approach rate: 0.034407 m/s, LOS rate: -0.082594 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861127 deg. 2025-01-08T19:46:29.470Z,1736365589.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814685 target range: 433.700012 and range: 428.40 m. 2025-01-08T19:46:29.524Z,1736365589.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:29.524Z,1736365589.524 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:29.524Z,1736365589.524 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:29.525Z,1736365589.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:29.776Z,1736365589.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:29.776Z,1736365589.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487371 2025-01-08T19:46:29.791Z,1736365589.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:29.824Z,1736365589.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:29.831Z,1736365589.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.922394 m, bearing: 190.264852 deg, approach rate: 0.033457 m/s, LOS rate: -0.077891 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890144 deg. 2025-01-08T19:46:29.833Z,1736365589.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815191 target range: 433.700012 and range: 428.40 m. 2025-01-08T19:46:30.028Z,1736365590.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:30.028Z,1736365590.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739534 2025-01-08T19:46:30.207Z,1736365590.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:30.239Z,1736365590.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:30.262Z,1736365590.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.937256 m, bearing: 190.230534 deg, approach rate: 0.035985 m/s, LOS rate: -0.083091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872236 deg. 2025-01-08T19:46:30.288Z,1736365590.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:30.292Z,1736365590.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001702 2025-01-08T19:46:30.298Z,1736365590.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814879 target range: 433.700012 and range: 428.40 m. 2025-01-08T19:46:30.541Z,1736365590.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:30.542Z,1736365590.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252749 2025-01-08T19:46:30.772Z,1736365590.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:30.792Z,1736365590.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:30.792Z,1736365590.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503477 2025-01-08T19:46:30.805Z,1736365590.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:30.812Z,1736365590.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.964294 m, bearing: 190.184936 deg, approach rate: 0.047666 m/s, LOS rate: -0.080379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838403 deg. 2025-01-08T19:46:30.813Z,1736365590.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814288 target range: 433.700012 and range: 428.40 m. 2025-01-08T19:46:31.044Z,1736365591.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:31.044Z,1736365591.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755388 2025-01-08T19:46:31.234Z,1736365591.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:31.242Z,1736365591.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:31.247Z,1736365591.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 410.987549 m, bearing: 190.147645 deg, approach rate: 0.053187 m/s, LOS rate: -0.085287 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863319 deg. 2025-01-08T19:46:31.251Z,1736365591.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814723 target range: 433.700012 and range: 428.40 m. 2025-01-08T19:46:31.298Z,1736365591.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:31.300Z,1736365591.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010829 2025-01-08T19:46:31.549Z,1736365591.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:31.550Z,1736365591.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260491 2025-01-08T19:46:31.690Z,1736365591.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:31.716Z,1736365591.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:31.718Z,1736365591.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:31.721Z,1736365591.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 411.016632 m, bearing: 190.109766 deg, approach rate: 0.061061 m/s, LOS rate: -0.079520 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861561 deg. 2025-01-08T19:46:31.723Z,1736365591.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814692 target range: 433.700012 and range: 428.40 m. 2025-01-08T19:46:31.801Z,1736365591.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:31.802Z,1736365591.802 [DAT](INFO): DAT read: Rx Time:19:46:30.5031 2025-01-08T19:46:31.803Z,1736365591.803 [DAT](INFO): Rx dataTimestamp_ set to:1736365591.802642 2025-01-08T19:46:31.804Z,1736365591.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515071 2025-01-08T19:46:32.050Z,1736365592.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:32.052Z,1736365592.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:32.053Z,1736365592.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763576 2025-01-08T19:46:32.060Z,1736365592.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 433.70 m. 2025-01-08T19:46:32.062Z,1736365592.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 433.700012 m, nav range: 411.040222 m, bearing: 190.079863 deg, approach rate: 0.069059 m/s, LOS rate: -0.087536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885482 deg. 2025-01-08T19:46:32.064Z,1736365592.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815110 target range: 433.700012 and range: 428.40 m. 2025-01-08T19:46:32.306Z,1736365592.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:32.345Z,1736365592.345 [DAT](INFO): DAT read: 19:46:30.5031 LVL= 17904, 21393, 13042, 17875, AGC= 69, IDX= 19, 0.16,-0.929,-2.421,-0.663,-1.593, PHS= 0.751,-0.781, 0.927, RAW= 155.4, -11.0, CAL= 161.4, -18.1, ROT= 348.6, 18.1 2025-01-08T19:46:32.346Z,1736365592.346 [DAT](INFO): got valid direction response: 19:46:30.5031 LVL= 17904, 21393, 13042, 17875, AGC= 69, IDX= 19, 0.16,-0.929,-2.421,-0.663,-1.593, PHS= 0.751,-0.781, 0.927, RAW= 155.4, -11.0, CAL= 161.4, -18.1, ROT= 348.6, 18.1 2025-01-08T19:46:32.348Z,1736365592.348 [DAT](INFO): DAT read: Bearing 348.6, 18.1 (Local) 2025-01-08T19:46:32.348Z,1736365592.348 [DAT](INFO): Local bearing/azimuth received: Bearing 348.6, 18.1 (Local) 2025-01-08T19:46:32.350Z,1736365592.350 [DAT](INFO): DAT read: Range 10 to 50 : 435.3 m (Round-trip 580.4 ms) speed 0.6 m/s 2025-01-08T19:46:32.350Z,1736365592.350 [DAT](INFO): DAT read: user:825> 2025-01-08T19:46:32.352Z,1736365592.352 [DAT](INFO): DAT read: Tx time:19:46:31.6185 2025-01-08T19:46:32.352Z,1736365592.352 [DAT](INFO): Ping request sent. 2025-01-08T19:46:32.352Z,1736365592.352 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:32.353Z,1736365592.353 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:46:32.354Z,1736365592.354 [DAT](INFO): direction in FSK: [0.098637,-0.877207,0.469871] 2025-01-08T19:46:32.354Z,1736365592.354 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:32.354Z,1736365592.354 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:32.357Z,1736365592.357 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:32.358Z,1736365592.358 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:32.512Z,1736365592.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:32.549Z,1736365592.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 435.299988 m, deltaT: 4.048919 s, deltaX: 6.899994 m, approachRate: 1.704157 m/s, rangeRepo size: 4 2025-01-08T19:46:32.551Z,1736365592.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 435.299988 m, bearing: 189.690584 deg, lat: 36.900514 deg, lon: -122.115256 deg, deltaT: 12.369779 s, deltaX: 1.599976 m, approachRate: 0.129346 m/s, posRepo size: 4 2025-01-08T19:46:32.556Z,1736365592.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:32.557Z,1736365592.557 [DAT](INFO): DAT read: TxSync time:19:46:31.6178 2025-01-08T19:46:32.561Z,1736365592.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:32.568Z,1736365592.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.511322 m, bearing: 189.772809 deg, approach rate: 0.000000 m/s, LOS rate: -0.087536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849221 deg. 2025-01-08T19:46:32.569Z,1736365592.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814477 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:32.808Z,1736365592.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:32.871Z,1736365592.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:32.891Z,1736365592.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:32.894Z,1736365592.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.537720 m, bearing: 189.741946 deg, approach rate: 0.075085 m/s, LOS rate: -0.087780 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882604 deg. 2025-01-08T19:46:32.900Z,1736365592.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815060 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:33.061Z,1736365593.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:33.279Z,1736365593.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:33.314Z,1736365593.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:33.318Z,1736365593.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:33.360Z,1736365593.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.567352 m, bearing: 189.707466 deg, approach rate: 0.071169 m/s, LOS rate: -0.082805 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871754 deg. 2025-01-08T19:46:33.368Z,1736365593.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814870 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:33.564Z,1736365593.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:33.699Z,1736365593.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:33.722Z,1736365593.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:33.729Z,1736365593.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:33.736Z,1736365593.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.600250 m, bearing: 189.670431 deg, approach rate: 0.077979 m/s, LOS rate: -0.087778 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864090 deg. 2025-01-08T19:46:33.738Z,1736365593.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814737 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:33.816Z,1736365593.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:33.817Z,1736365593.817 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:33.817Z,1736365593.817 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:33.817Z,1736365593.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:34.068Z,1736365594.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:34.068Z,1736365594.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715743 2025-01-08T19:46:34.082Z,1736365594.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:34.116Z,1736365594.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:34.125Z,1736365594.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.630493 m, bearing: 189.636714 deg, approach rate: 0.079182 m/s, LOS rate: -0.088272 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874042 deg. 2025-01-08T19:46:34.126Z,1736365594.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814910 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:34.321Z,1736365594.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:34.324Z,1736365594.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970923 2025-01-08T19:46:34.506Z,1736365594.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:34.515Z,1736365594.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:34.518Z,1736365594.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.662964 m, bearing: 189.598445 deg, approach rate: 0.080434 m/s, LOS rate: -0.094790 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860389 deg. 2025-01-08T19:46:34.520Z,1736365594.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814672 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:34.572Z,1736365594.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:34.573Z,1736365594.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220836 2025-01-08T19:46:34.824Z,1736365594.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:34.824Z,1736365594.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471845 2025-01-08T19:46:34.876Z,1736365594.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:34.894Z,1736365594.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:34.897Z,1736365594.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.691956 m, bearing: 189.564977 deg, approach rate: 0.076561 m/s, LOS rate: -0.088376 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874789 deg. 2025-01-08T19:46:34.898Z,1736365594.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814923 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:35.077Z,1736365595.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:35.078Z,1736365595.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725243 2025-01-08T19:46:35.280Z,1736365595.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:35.288Z,1736365595.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:35.291Z,1736365595.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.723633 m, bearing: 189.528503 deg, approach rate: 0.080288 m/s, LOS rate: -0.092439 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865773 deg. 2025-01-08T19:46:35.293Z,1736365595.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814766 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:35.330Z,1736365595.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:35.332Z,1736365595.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978983 2025-01-08T19:46:35.580Z,1736365595.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:35.581Z,1736365595.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228029 2025-01-08T19:46:35.716Z,1736365595.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:35.723Z,1736365595.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:35.725Z,1736365595.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:35.748Z,1736365595.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.756195 m, bearing: 189.487452 deg, approach rate: 0.074529 m/s, LOS rate: -0.093950 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852045 deg. 2025-01-08T19:46:35.749Z,1736365595.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814527 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:35.833Z,1736365595.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:35.834Z,1736365595.834 [DAT](INFO): DAT read: Rx Time:19:46:34.6008 2025-01-08T19:46:35.835Z,1736365595.835 [DAT](INFO): Rx dataTimestamp_ set to:1736365595.833979 2025-01-08T19:46:35.836Z,1736365595.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483491 2025-01-08T19:46:36.085Z,1736365596.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:36.087Z,1736365596.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734015 2025-01-08T19:46:36.094Z,1736365596.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:36.102Z,1736365596.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:36.110Z,1736365596.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.784454 m, bearing: 189.451953 deg, approach rate: 0.074980 m/s, LOS rate: -0.094181 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868698 deg. 2025-01-08T19:46:36.111Z,1736365596.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814817 target range: 435.299988 and range: 435.30 m. 2025-01-08T19:46:36.338Z,1736365596.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:36.343Z,1736365596.343 [DAT](INFO): DAT read: Range 10 to 50 : 433.5 m (Round-trip 578.1 ms) speed 0.5 m/s 2025-01-08T19:46:36.346Z,1736365596.346 [DAT](INFO): DAT read: user:826> 2025-01-08T19:46:36.357Z,1736365596.357 [DAT](INFO): DAT read: Tx time:19:46:35.7186 2025-01-08T19:46:36.358Z,1736365596.358 [DAT](INFO): Ping request sent. 2025-01-08T19:46:36.359Z,1736365596.359 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:36.361Z,1736365596.361 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:46:36.361Z,1736365596.361 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:36.386Z,1736365596.386 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:36.530Z,1736365596.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:36.540Z,1736365596.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 433.500000 m, deltaT: 4.031411 s, deltaX: -1.799988 m, approachRate: -0.446491 m/s, rangeRepo size: 4 2025-01-08T19:46:36.541Z,1736365596.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:36.543Z,1736365596.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.815063 m, bearing: 189.410665 deg, approach rate: 0.070084 m/s, LOS rate: -0.094529 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851331 deg. 2025-01-08T19:46:36.545Z,1736365596.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814514 target range: 435.299988 and range: 433.50 m. 2025-01-08T19:46:36.588Z,1736365596.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:36.589Z,1736365596.589 [DAT](INFO): DAT read: TxSync time:19:46:35.7178 2025-01-08T19:46:36.840Z,1736365596.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:36.906Z,1736365596.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:36.915Z,1736365596.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:36.918Z,1736365596.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.841980 m, bearing: 189.375152 deg, approach rate: 0.071555 m/s, LOS rate: -0.094400 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868657 deg. 2025-01-08T19:46:36.919Z,1736365596.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814816 target range: 435.299988 and range: 433.50 m. 2025-01-08T19:46:37.092Z,1736365597.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:37.301Z,1736365597.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:37.318Z,1736365597.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:37.324Z,1736365597.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.869812 m, bearing: 189.337770 deg, approach rate: 0.069136 m/s, LOS rate: -0.092853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863047 deg. 2025-01-08T19:46:37.327Z,1736365597.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814718 target range: 435.299988 and range: 433.50 m. 2025-01-08T19:46:37.344Z,1736365597.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:37.596Z,1736365597.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:37.731Z,1736365597.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:37.738Z,1736365597.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:37.760Z,1736365597.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:37.768Z,1736365597.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.901062 m, bearing: 189.296013 deg, approach rate: 0.070658 m/s, LOS rate: -0.094406 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849927 deg. 2025-01-08T19:46:37.769Z,1736365597.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814489 target range: 435.299988 and range: 433.50 m. 2025-01-08T19:46:37.848Z,1736365597.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:37.849Z,1736365597.849 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:37.849Z,1736365597.849 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:37.850Z,1736365597.850 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:38.100Z,1736365598.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:38.100Z,1736365598.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742307 2025-01-08T19:46:38.137Z,1736365598.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:38.159Z,1736365598.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:38.162Z,1736365598.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.931030 m, bearing: 189.256617 deg, approach rate: 0.075770 m/s, LOS rate: -0.099601 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857006 deg. 2025-01-08T19:46:38.173Z,1736365598.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814613 target range: 435.299988 and range: 433.50 m. 2025-01-08T19:46:38.356Z,1736365598.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:38.359Z,1736365598.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999711 2025-01-08T19:46:38.533Z,1736365598.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:38.542Z,1736365598.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:38.546Z,1736365598.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.959808 m, bearing: 189.217744 deg, approach rate: 0.074446 m/s, LOS rate: -0.100553 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858576 deg. 2025-01-08T19:46:38.547Z,1736365598.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814641 target range: 435.299988 and range: 433.50 m. 2025-01-08T19:46:38.609Z,1736365598.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:38.610Z,1736365598.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251758 2025-01-08T19:46:38.862Z,1736365598.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:38.863Z,1736365598.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504623 2025-01-08T19:46:38.940Z,1736365598.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:38.949Z,1736365598.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:38.952Z,1736365598.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 406.989655 m, bearing: 189.177880 deg, approach rate: 0.073264 m/s, LOS rate: -0.097848 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855603 deg. 2025-01-08T19:46:38.953Z,1736365598.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814589 target range: 435.299988 and range: 433.50 m. 2025-01-08T19:46:39.112Z,1736365599.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:39.112Z,1736365599.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754110 2025-01-08T19:46:39.319Z,1736365599.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:39.327Z,1736365599.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:39.331Z,1736365599.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 407.017792 m, bearing: 189.140724 deg, approach rate: 0.074492 m/s, LOS rate: -0.098361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863727 deg. 2025-01-08T19:46:39.333Z,1736365599.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814730 target range: 435.299988 and range: 433.50 m. 2025-01-08T19:46:39.366Z,1736365599.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:39.369Z,1736365599.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010171 2025-01-08T19:46:39.616Z,1736365599.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:39.617Z,1736365599.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259033 2025-01-08T19:46:39.762Z,1736365599.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:39.769Z,1736365599.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:39.771Z,1736365599.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:39.774Z,1736365599.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 407.046021 m, bearing: 189.097554 deg, approach rate: 0.063561 m/s, LOS rate: -0.097196 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845686 deg. 2025-01-08T19:46:39.775Z,1736365599.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814415 target range: 435.299988 and range: 433.50 m. 2025-01-08T19:46:39.868Z,1736365599.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:39.870Z,1736365599.870 [DAT](INFO): DAT read: Rx Time:19:46:38.6855 2025-01-08T19:46:39.870Z,1736365599.870 [DAT](INFO): Rx dataTimestamp_ set to:1736365599.869731 2025-01-08T19:46:39.871Z,1736365599.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512747 2025-01-08T19:46:40.120Z,1736365600.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:40.120Z,1736365600.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762308 2025-01-08T19:46:40.134Z,1736365600.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:40.142Z,1736365600.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.30 m. 2025-01-08T19:46:40.145Z,1736365600.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.299988 m, nav range: 407.069489 m, bearing: 189.061241 deg, approach rate: 0.063287 m/s, LOS rate: -0.097921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866254 deg. 2025-01-08T19:46:40.146Z,1736365600.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814775 target range: 435.299988 and range: 433.50 m. 2025-01-08T19:46:40.373Z,1736365600.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:40.391Z,1736365600.391 [DAT](INFO): DAT read: 19:46:38.6855 LVL= 26096, 23889, 21394, 32755, AGC= 69, IDX= 267,-0.30,-1.925, 3.075,-1.704,-2.492, PHS= 0.655,-0.669, 0.785, RAW= 154.6, -11.1, CAL= 160.8, -18.2, ROT= 349.2, 18.2 2025-01-08T19:46:40.399Z,1736365600.399 [DAT](INFO): got valid direction response: 19:46:38.6855 LVL= 26096, 23889, 21394, 32755, AGC= 69, IDX= 267,-0.30,-1.925, 3.075,-1.704,-2.492, PHS= 0.655,-0.669, 0.785, RAW= 154.6, -11.1, CAL= 160.8, -18.2, ROT= 349.2, 18.2 2025-01-08T19:46:40.406Z,1736365600.406 [DAT](INFO): DAT read: Bearing 349.2, 18.2 (Local) 2025-01-08T19:46:40.414Z,1736365600.414 [DAT](INFO): Local bearing/azimuth received: Bearing 349.2, 18.2 (Local) 2025-01-08T19:46:40.464Z,1736365600.464 [DAT](INFO): DAT read: Range 10 to 50 : 422.0 m (Round-trip 562.7 ms) speed 0.5 m/s 2025-01-08T19:46:40.465Z,1736365600.465 [DAT](INFO): DAT read: user:827> 2025-01-08T19:46:40.465Z,1736365600.465 [DAT](INFO): DAT read: Tx time:19:46:39.7686 2025-01-08T19:46:40.466Z,1736365600.466 [DAT](INFO): Ping request sent. 2025-01-08T19:46:40.466Z,1736365600.466 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:40.466Z,1736365600.466 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:46:40.467Z,1736365600.467 [DAT](INFO): direction in FSK: [0.098926,-0.870819,0.481547] 2025-01-08T19:46:40.472Z,1736365600.472 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:40.472Z,1736365600.472 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:40.475Z,1736365600.475 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:40.475Z,1736365600.475 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:40.600Z,1736365600.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:40.624Z,1736365600.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:40.625Z,1736365600.625 [DAT](INFO): DAT read: TxSync time:19:46:39.7678 2025-01-08T19:46:40.644Z,1736365600.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 422.000000 m, deltaT: 4.035070 s, deltaX: -11.500000 m, approachRate: -2.850013 m/s, rangeRepo size: 4 2025-01-08T19:46:40.652Z,1736365600.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 422.000000 m, bearing: 190.235153 deg, lat: 36.900596 deg, lon: -122.115256 deg, deltaT: 8.066481 s, deltaX: -13.299988 m, approachRate: -1.648797 m/s, posRepo size: 4 2025-01-08T19:46:40.653Z,1736365600.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.00 m. 2025-01-08T19:46:40.662Z,1736365600.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.000000 m, nav range: 398.050415 m, bearing: 189.223150 deg, approach rate: 0.000000 m/s, LOS rate: -0.097921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829138 deg. 2025-01-08T19:46:40.668Z,1736365600.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814126 target range: 422.000000 and range: 422.00 m. 2025-01-08T19:46:40.876Z,1736365600.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:40.977Z,1736365600.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:41.001Z,1736365601.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.00 m. 2025-01-08T19:46:41.008Z,1736365601.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.000000 m, nav range: 398.076538 m, bearing: 189.185990 deg, approach rate: 0.072196 m/s, LOS rate: -0.102691 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863715 deg. 2025-01-08T19:46:41.009Z,1736365601.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814730 target range: 422.000000 and range: 422.00 m. 2025-01-08T19:46:41.130Z,1736365601.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:41.372Z,1736365601.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:41.389Z,1736365601.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:41.402Z,1736365601.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.00 m. 2025-01-08T19:46:41.410Z,1736365601.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.000000 m, nav range: 398.102753 m, bearing: 189.147041 deg, approach rate: 0.065327 m/s, LOS rate: -0.097056 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858347 deg. 2025-01-08T19:46:41.416Z,1736365601.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814636 target range: 422.000000 and range: 422.00 m. 2025-01-08T19:46:41.640Z,1736365601.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:41.816Z,1736365601.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:41.837Z,1736365601.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:41.841Z,1736365601.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.00 m. 2025-01-08T19:46:41.850Z,1736365601.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.000000 m, nav range: 398.128479 m, bearing: 189.106265 deg, approach rate: 0.058631 m/s, LOS rate: -0.092924 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852867 deg. 2025-01-08T19:46:41.876Z,1736365601.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814541 target range: 422.000000 and range: 422.00 m. 2025-01-08T19:46:41.892Z,1736365601.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:41.892Z,1736365601.892 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:41.892Z,1736365601.892 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:41.893Z,1736365601.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:42.144Z,1736365602.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:42.144Z,1736365602.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678642 2025-01-08T19:46:42.202Z,1736365602.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:42.224Z,1736365602.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.00 m. 2025-01-08T19:46:42.227Z,1736365602.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.000000 m, nav range: 398.152802 m, bearing: 189.067761 deg, approach rate: 0.063461 m/s, LOS rate: -0.100456 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859682 deg. 2025-01-08T19:46:42.242Z,1736365602.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814660 target range: 422.000000 and range: 422.00 m. 2025-01-08T19:46:42.397Z,1736365602.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:42.401Z,1736365602.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.934753 2025-01-08T19:46:42.651Z,1736365602.651 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:42.652Z,1736365602.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.186510 2025-01-08T19:46:42.731Z,1736365602.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:42.740Z,1736365602.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.00 m. 2025-01-08T19:46:42.742Z,1736365602.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.000000 m, nav range: 398.182465 m, bearing: 189.017854 deg, approach rate: 0.057595 m/s, LOS rate: -0.096893 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825477 deg. 2025-01-08T19:46:42.744Z,1736365602.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814063 target range: 422.000000 and range: 422.00 m. 2025-01-08T19:46:42.900Z,1736365602.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:42.901Z,1736365602.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434917 2025-01-08T19:46:43.117Z,1736365603.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:43.126Z,1736365603.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.00 m. 2025-01-08T19:46:43.129Z,1736365603.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.000000 m, nav range: 398.204132 m, bearing: 188.981381 deg, approach rate: 0.056072 m/s, LOS rate: -0.094382 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865773 deg. 2025-01-08T19:46:43.130Z,1736365603.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814766 target range: 422.000000 and range: 422.00 m. 2025-01-08T19:46:43.153Z,1736365603.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:43.155Z,1736365603.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.688406 2025-01-08T19:46:43.404Z,1736365603.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:43.405Z,1736365603.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.938774 2025-01-08T19:46:43.588Z,1736365603.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:43.597Z,1736365603.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.00 m. 2025-01-08T19:46:43.600Z,1736365603.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.000000 m, nav range: 398.232941 m, bearing: 188.937897 deg, approach rate: 0.061107 m/s, LOS rate: -0.092229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844745 deg. 2025-01-08T19:46:43.602Z,1736365603.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814399 target range: 422.000000 and range: 422.00 m. 2025-01-08T19:46:43.604Z,1736365603.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:46:43.656Z,1736365603.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:43.657Z,1736365603.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191708 2025-01-08T19:46:43.908Z,1736365603.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:43.909Z,1736365603.909 [DAT](INFO): DAT read: Rx Time:19:46:42.7444 2025-01-08T19:46:43.909Z,1736365603.909 [DAT](INFO): Rx dataTimestamp_ set to:1736365603.908895 2025-01-08T19:46:43.910Z,1736365603.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443957 2025-01-08T19:46:43.963Z,1736365603.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:43.982Z,1736365603.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:43.985Z,1736365603.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.00 m. 2025-01-08T19:46:43.988Z,1736365603.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.000000 m, nav range: 398.255554 m, bearing: 188.903136 deg, approach rate: 0.058284 m/s, LOS rate: -0.089588 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870908 deg. 2025-01-08T19:46:43.989Z,1736365603.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814856 target range: 422.000000 and range: 422.00 m. 2025-01-08T19:46:44.160Z,1736365604.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:44.160Z,1736365604.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.694667 2025-01-08T19:46:44.384Z,1736365604.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:44.396Z,1736365604.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.00 m. 2025-01-08T19:46:44.414Z,1736365604.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:44.416Z,1736365604.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.949588 2025-01-08T19:46:44.468Z,1736365604.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.000000 m, nav range: 398.281158 m, bearing: 188.864095 deg, approach rate: 0.062593 m/s, LOS rate: -0.095434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858072 deg. 2025-01-08T19:46:44.477Z,1736365604.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814631 target range: 422.000000 and range: 422.00 m. 2025-01-08T19:46:44.608Z,1736365604.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:46:44.664Z,1736365604.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:44.674Z,1736365604.674 [DAT](INFO): DAT read: 19:46:42.7444 LVL= 14448, 16081, 10562, 17347, AGC= 70, IDX= 16,-0.35,-0.997,-2.063,-0.801,-1.590, PHS= 0.681,-0.426, 0.785, RAW= 154.5, -17.6, CAL= 160.2, -24.3, ROT= 349.8, 24.3 2025-01-08T19:46:44.676Z,1736365604.676 [DAT](INFO): got valid direction response: 19:46:42.7444 LVL= 14448, 16081, 10562, 17347, AGC= 70, IDX= 16,-0.35,-0.997,-2.063,-0.801,-1.590, PHS= 0.681,-0.426, 0.785, RAW= 154.5, -17.6, CAL= 160.2, -24.3, ROT= 349.8, 24.3 2025-01-08T19:46:44.677Z,1736365604.677 [DAT](INFO): DAT read: Bearing 349.8, 24.3 (Local) 2025-01-08T19:46:44.678Z,1736365604.678 [DAT](INFO): Local bearing/azimuth received: Bearing 349.8, 24.3 (Local) 2025-01-08T19:46:44.680Z,1736365604.680 [DAT](INFO): DAT read: Range 10 to 50 : 428.6 m (Round-trip 571.5 ms) speed 0.4 m/s 2025-01-08T19:46:44.682Z,1736365604.682 [DAT](INFO): DAT read: user:828> 2025-01-08T19:46:44.683Z,1736365604.683 [DAT](INFO): DAT read: Tx time:19:46:43.8687 2025-01-08T19:46:44.683Z,1736365604.683 [DAT](INFO): Ping request sent. 2025-01-08T19:46:44.683Z,1736365604.683 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:44.684Z,1736365604.684 [DAT](INFO): DAT read: TxSync time:19:46:43.8679 2025-01-08T19:46:44.684Z,1736365604.684 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:46:44.685Z,1736365604.685 [DAT](INFO): direction in FSK: [0.224500,-0.849142,0.478078] 2025-01-08T19:46:44.685Z,1736365604.685 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:44.686Z,1736365604.686 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:44.720Z,1736365604.720 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:44.720Z,1736365604.720 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:44.893Z,1736365604.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:44.916Z,1736365604.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:44.923Z,1736365604.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 428.600006 m, deltaT: 4.291307 s, deltaX: 6.600006 m, approachRate: 1.537994 m/s, rangeRepo size: 4 2025-01-08T19:46:44.925Z,1736365604.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 428.600006 m, bearing: 197.583047 deg, lat: 36.900596 deg, lon: -122.115256 deg, deltaT: 4.291307 s, deltaX: 6.600006 m, approachRate: 1.537994 m/s, posRepo size: 4 2025-01-08T19:46:44.926Z,1736365604.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m. 2025-01-08T19:46:44.933Z,1736365604.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 428.600006 m, nav range: 398.312195 m, bearing: 188.819241 deg, approach rate: 0.000000 m/s, LOS rate: -0.095434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825075 deg. 2025-01-08T19:46:44.940Z,1736365604.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814056 target range: 428.600006 and range: 428.60 m. 2025-01-08T19:46:45.168Z,1736365605.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:45.254Z,1736365605.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:45.267Z,1736365605.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m. 2025-01-08T19:46:45.270Z,1736365605.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 428.600006 m, nav range: 398.333740 m, bearing: 188.787377 deg, approach rate: 0.061852 m/s, LOS rate: -0.091469 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879600 deg. 2025-01-08T19:46:45.271Z,1736365605.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815007 target range: 428.600006 and range: 428.60 m. 2025-01-08T19:46:45.420Z,1736365605.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:45.672Z,1736365605.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:45.700Z,1736365605.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:45.717Z,1736365605.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m. 2025-01-08T19:46:45.731Z,1736365605.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 428.600006 m, nav range: 398.361542 m, bearing: 188.747475 deg, approach rate: 0.061722 m/s, LOS rate: -0.088581 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855488 deg. 2025-01-08T19:46:45.732Z,1736365605.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814587 target range: 428.600006 and range: 428.60 m. 2025-01-08T19:46:45.924Z,1736365605.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:46.033Z,1736365606.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:46.040Z,1736365606.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:46.042Z,1736365606.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m. 2025-01-08T19:46:46.046Z,1736365606.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 428.600006 m, nav range: 398.382233 m, bearing: 188.717662 deg, approach rate: 0.063652 m/s, LOS rate: -0.091708 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885754 deg. 2025-01-08T19:46:46.068Z,1736365606.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815115 target range: 428.600006 and range: 428.60 m. 2025-01-08T19:46:46.180Z,1736365606.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:46.181Z,1736365606.181 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:46.181Z,1736365606.181 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:46.181Z,1736365606.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:46.432Z,1736365606.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:46.433Z,1736365606.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749529 2025-01-08T19:46:46.438Z,1736365606.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:46.450Z,1736365606.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m. 2025-01-08T19:46:46.490Z,1736365606.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 428.600006 m, nav range: 398.407562 m, bearing: 188.681492 deg, approach rate: 0.062592 m/s, LOS rate: -0.089375 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866683 deg. 2025-01-08T19:46:46.507Z,1736365606.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814782 target range: 428.600006 and range: 428.60 m. 2025-01-08T19:46:46.684Z,1736365606.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:46.684Z,1736365606.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001170 2025-01-08T19:46:46.877Z,1736365606.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:46.886Z,1736365606.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m. 2025-01-08T19:46:46.889Z,1736365606.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 428.600006 m, nav range: 398.432129 m, bearing: 188.641956 deg, approach rate: 0.055952 m/s, LOS rate: -0.090040 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856586 deg. 2025-01-08T19:46:46.890Z,1736365606.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814606 target range: 428.600006 and range: 428.60 m. 2025-01-08T19:46:46.936Z,1736365606.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:46.937Z,1736365606.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253581 2025-01-08T19:46:47.188Z,1736365607.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:47.188Z,1736365607.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505219 2025-01-08T19:46:47.250Z,1736365607.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:47.259Z,1736365607.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m. 2025-01-08T19:46:47.262Z,1736365607.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 428.600006 m, nav range: 398.454041 m, bearing: 188.608334 deg, approach rate: 0.058772 m/s, LOS rate: -0.090177 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874327 deg. 2025-01-08T19:46:47.263Z,1736365607.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814915 target range: 428.600006 and range: 428.60 m. 2025-01-08T19:46:47.441Z,1736365607.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:47.442Z,1736365607.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758649 2025-01-08T19:46:47.692Z,1736365607.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:47.693Z,1736365607.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009599 2025-01-08T19:46:47.755Z,1736365607.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:47.777Z,1736365607.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m. 2025-01-08T19:46:47.785Z,1736365607.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 428.600006 m, nav range: 398.486847 m, bearing: 188.562135 deg, approach rate: 0.063318 m/s, LOS rate: -0.089158 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836602 deg. 2025-01-08T19:46:47.786Z,1736365607.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814257 target range: 428.600006 and range: 428.60 m. 2025-01-08T19:46:47.944Z,1736365607.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:47.945Z,1736365607.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261574 2025-01-08T19:46:48.124Z,1736365608.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:48.131Z,1736365608.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:48.133Z,1736365608.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m. 2025-01-08T19:46:48.136Z,1736365608.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 428.600006 m, nav range: 398.511414 m, bearing: 188.528334 deg, approach rate: 0.068954 m/s, LOS rate: -0.094869 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873789 deg. 2025-01-08T19:46:48.137Z,1736365608.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814906 target range: 428.600006 and range: 428.60 m. 2025-01-08T19:46:48.196Z,1736365608.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:48.197Z,1736365608.197 [DAT](INFO): DAT read: Rx Time:19:46:46.8423 2025-01-08T19:46:48.197Z,1736365608.197 [DAT](INFO): Rx dataTimestamp_ set to:1736365608.196822 2025-01-08T19:46:48.198Z,1736365608.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514548 2025-01-08T19:46:48.448Z,1736365608.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:48.449Z,1736365608.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765578 2025-01-08T19:46:48.665Z,1736365608.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:48.686Z,1736365608.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.60 m. 2025-01-08T19:46:48.693Z,1736365608.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 428.600006 m, nav range: 398.549896 m, bearing: 188.476746 deg, approach rate: 0.069645 m/s, LOS rate: -0.093353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820439 deg. 2025-01-08T19:46:48.694Z,1736365608.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813975 target range: 428.600006 and range: 428.60 m. 2025-01-08T19:46:48.700Z,1736365608.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:48.707Z,1736365608.707 [DAT](INFO): DAT read: 19:46:46.8423 LVL= 26544, 30865, 20882, 32755, AGC= 63, IDX= 411,-0.05,-0.514,-1.673,-0.273,-1.153, PHS= 0.726,-0.474, 0.877, RAW= 155.8, -17.3, CAL= 161.5, -23.9, ROT= 348.5, 23.9 2025-01-08T19:46:48.708Z,1736365608.708 [DAT](INFO): got valid direction response: 19:46:46.8423 LVL= 26544, 30865, 20882, 32755, AGC= 63, IDX= 411,-0.05,-0.514,-1.673,-0.273,-1.153, PHS= 0.726,-0.474, 0.877, RAW= 155.8, -17.3, CAL= 161.5, -23.9, ROT= 348.5, 23.9 2025-01-08T19:46:48.709Z,1736365608.709 [DAT](INFO): DAT read: Bearing 348.5, 23.9 (Local) 2025-01-08T19:46:48.709Z,1736365608.709 [DAT](INFO): Local bearing/azimuth received: Bearing 348.5, 23.9 (Local) 2025-01-08T19:46:48.711Z,1736365608.711 [DAT](INFO): DAT read: Range 10 to 50 : 427.1 m (Round-trip 569.5 ms) speed 0.5 m/s 2025-01-08T19:46:48.713Z,1736365608.713 [DAT](INFO): DAT read: user:829> 2025-01-08T19:46:48.714Z,1736365608.714 [DAT](INFO): DAT read: Tx time:19:46:47.9687 2025-01-08T19:46:48.714Z,1736365608.714 [DAT](INFO): Ping request sent. 2025-01-08T19:46:48.714Z,1736365608.714 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:48.715Z,1736365608.715 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:46:48.716Z,1736365608.716 [DAT](INFO): direction in FSK: [0.220298,-0.861819,0.456878] 2025-01-08T19:46:48.716Z,1736365608.716 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:48.716Z,1736365608.716 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:48.731Z,1736365608.731 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:48.732Z,1736365608.732 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:48.953Z,1736365608.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:48.954Z,1736365608.954 [DAT](INFO): DAT read: TxSync time:19:46:47.9679 2025-01-08T19:46:49.010Z,1736365609.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:49.040Z,1736365609.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 427.100006 m, deltaT: 4.035706 s, deltaX: -1.500000 m, approachRate: -0.371682 m/s, rangeRepo size: 4 2025-01-08T19:46:49.042Z,1736365609.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 427.100006 m, bearing: 197.978323 deg, lat: 36.900666 deg, lon: -122.115320 deg, deltaT: 4.035706 s, deltaX: -1.500000 m, approachRate: -0.371682 m/s, posRepo size: 4 2025-01-08T19:46:49.051Z,1736365609.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.10 m. 2025-01-08T19:46:49.054Z,1736365609.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 427.100006 m, nav range: 391.816772 m, bearing: 189.441772 deg, approach rate: 0.000000 m/s, LOS rate: -0.093353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877279 deg. 2025-01-08T19:46:49.059Z,1736365609.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814967 target range: 427.100006 and range: 427.10 m. 2025-01-08T19:46:49.204Z,1736365609.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:49.432Z,1736365609.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:49.444Z,1736365609.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.10 m. 2025-01-08T19:46:49.452Z,1736365609.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 427.100006 m, nav range: 391.842499 m, bearing: 189.400773 deg, approach rate: 0.062982 m/s, LOS rate: -0.100363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852199 deg. 2025-01-08T19:46:49.453Z,1736365609.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814529 target range: 427.100006 and range: 427.10 m. 2025-01-08T19:46:49.456Z,1736365609.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:49.708Z,1736365609.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:49.824Z,1736365609.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:49.834Z,1736365609.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.10 m. 2025-01-08T19:46:49.837Z,1736365609.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 427.100006 m, nav range: 391.860931 m, bearing: 189.360303 deg, approach rate: 0.047292 m/s, LOS rate: -0.103829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853782 deg. 2025-01-08T19:46:49.838Z,1736365609.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814557 target range: 427.100006 and range: 427.10 m. 2025-01-08T19:46:49.960Z,1736365609.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:50.212Z,1736365610.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:50.274Z,1736365610.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:50.297Z,1736365610.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:50.303Z,1736365610.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.10 m. 2025-01-08T19:46:50.306Z,1736365610.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 427.100006 m, nav range: 391.882080 m, bearing: 189.314022 deg, approach rate: 0.045442 m/s, LOS rate: -0.099438 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836352 deg. 2025-01-08T19:46:50.316Z,1736365610.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814252 target range: 427.100006 and range: 427.10 m. 2025-01-08T19:46:50.467Z,1736365610.467 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:50.467Z,1736365610.467 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:50.468Z,1736365610.468 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:50.468Z,1736365610.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:50.706Z,1736365610.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:50.717Z,1736365610.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.10 m. 2025-01-08T19:46:50.732Z,1736365610.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:50.732Z,1736365610.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017999 2025-01-08T19:46:50.740Z,1736365610.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 427.100006 m, nav range: 391.903564 m, bearing: 189.267126 deg, approach rate: 0.051623 m/s, LOS rate: -0.112675 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834508 deg. 2025-01-08T19:46:50.742Z,1736365610.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814220 target range: 427.100006 and range: 427.10 m. 2025-01-08T19:46:50.984Z,1736365610.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:50.984Z,1736365610.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270058 2025-01-08T19:46:51.132Z,1736365611.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:51.160Z,1736365611.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.10 m. 2025-01-08T19:46:51.164Z,1736365611.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 427.100006 m, nav range: 391.925171 m, bearing: 189.221048 deg, approach rate: 0.048546 m/s, LOS rate: -0.103524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836960 deg. 2025-01-08T19:46:51.165Z,1736365611.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814263 target range: 427.100006 and range: 427.10 m. 2025-01-08T19:46:51.236Z,1736365611.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:51.237Z,1736365611.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522350 2025-01-08T19:46:51.488Z,1736365611.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:51.488Z,1736365611.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773989 2025-01-08T19:46:51.552Z,1736365611.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:51.560Z,1736365611.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.10 m. 2025-01-08T19:46:51.580Z,1736365611.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 427.100006 m, nav range: 391.946381 m, bearing: 189.175570 deg, approach rate: 0.053012 m/s, LOS rate: -0.113663 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838760 deg. 2025-01-08T19:46:51.588Z,1736365611.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814294 target range: 427.100006 and range: 427.10 m. 2025-01-08T19:46:51.741Z,1736365611.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:51.741Z,1736365611.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026990 2025-01-08T19:46:51.966Z,1736365611.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:51.982Z,1736365611.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.10 m. 2025-01-08T19:46:51.993Z,1736365611.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:51.995Z,1736365611.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280981 2025-01-08T19:46:52.006Z,1736365612.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 427.100006 m, nav range: 391.967926 m, bearing: 189.129204 deg, approach rate: 0.051211 m/s, LOS rate: -0.110201 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836097 deg. 2025-01-08T19:46:52.013Z,1736365612.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814248 target range: 427.100006 and range: 427.10 m. 2025-01-08T19:46:52.244Z,1736365612.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:52.245Z,1736365612.245 [DAT](INFO): DAT read: Rx Time:19:46:50.9237 2025-01-08T19:46:52.245Z,1736365612.245 [DAT](INFO): Rx dataTimestamp_ set to:1736365612.245084 2025-01-08T19:46:52.246Z,1736365612.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531566 2025-01-08T19:46:52.349Z,1736365612.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:52.358Z,1736365612.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:52.377Z,1736365612.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.10 m. 2025-01-08T19:46:52.385Z,1736365612.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 427.100006 m, nav range: 391.987457 m, bearing: 189.086312 deg, approach rate: 0.049288 m/s, LOS rate: -0.108237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846516 deg. 2025-01-08T19:46:52.386Z,1736365612.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814430 target range: 427.100006 and range: 427.10 m. 2025-01-08T19:46:52.496Z,1736365612.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:52.497Z,1736365612.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782931 2025-01-08T19:46:52.748Z,1736365612.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:52.754Z,1736365612.754 [DAT](INFO): DAT read: 19:46:50.9237 LVL= 28784, 22721, 22194, 31811, AGC= 69, IDX= 245,-0.35,-0.320,-1.622,-0.137,-0.861, PHS= 0.629,-0.714, 0.721, RAW= 153.3, -9.2, CAL= 159.1, -16.8, ROT= 350.9, 16.8 2025-01-08T19:46:52.756Z,1736365612.756 [DAT](INFO): got valid direction response: 19:46:50.9237 LVL= 28784, 22721, 22194, 31811, AGC= 69, IDX= 245,-0.35,-0.320,-1.622,-0.137,-0.861, PHS= 0.629,-0.714, 0.721, RAW= 153.3, -9.2, CAL= 159.1, -16.8, ROT= 350.9, 16.8 2025-01-08T19:46:52.757Z,1736365612.757 [DAT](INFO): DAT read: Bearing 350.9, 16.8 (Local) 2025-01-08T19:46:52.757Z,1736365612.757 [DAT](INFO): Local bearing/azimuth received: Bearing 350.9, 16.8 (Local) 2025-01-08T19:46:52.759Z,1736365612.759 [DAT](INFO): DAT read: Range 10 to 50 : 413.1 m (Round-trip 550.8 ms) speed 0.9 m/s 2025-01-08T19:46:52.760Z,1736365612.760 [DAT](INFO): DAT read: user:830> 2025-01-08T19:46:52.760Z,1736365612.760 [DAT](INFO): DAT read: Tx time:19:46:52.0187 2025-01-08T19:46:52.761Z,1736365612.761 [DAT](INFO): Ping request sent. 2025-01-08T19:46:52.761Z,1736365612.761 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:52.761Z,1736365612.761 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:46:52.763Z,1736365612.763 [DAT](INFO): direction in FSK: [0.061024,-0.862027,0.503175] 2025-01-08T19:46:52.763Z,1736365612.763 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:52.768Z,1736365612.768 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:52.775Z,1736365612.775 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:52.775Z,1736365612.775 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:52.845Z,1736365612.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:46:52.846Z,1736365612.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:52.886Z,1736365612.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 413.100006 m, deltaT: 4.047832 s, deltaX: -14.000000 m, approachRate: -3.458642 m/s, rangeRepo size: 4 2025-01-08T19:46:52.909Z,1736365612.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 413.100006 m, bearing: 187.996504 deg, lat: 36.900712 deg, lon: -122.115320 deg, deltaT: 4.047832 s, deltaX: -14.000000 m, approachRate: -3.458642 m/s, posRepo size: 4 2025-01-08T19:46:52.910Z,1736365612.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.10 m. 2025-01-08T19:46:52.917Z,1736365612.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.100006 m, nav range: 386.939667 m, bearing: 189.150000 deg, approach rate: 0.000000 m/s, LOS rate: -0.108237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810082 deg. 2025-01-08T19:46:52.918Z,1736365612.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813794 target range: 413.100006 and range: 413.10 m. 2025-01-08T19:46:53.000Z,1736365613.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:53.001Z,1736365613.001 [DAT](INFO): DAT read: TxSync time:19:46:52.0179 2025-01-08T19:46:53.211Z,1736365613.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T19:46:53.211Z,1736365613.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:53.232Z,1736365613.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.10 m. 2025-01-08T19:46:53.234Z,1736365613.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.100006 m, nav range: 386.957367 m, bearing: 189.108398 deg, approach rate: 0.051423 m/s, LOS rate: -0.120859 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850384 deg. 2025-01-08T19:46:53.236Z,1736365613.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814497 target range: 413.100006 and range: 413.10 m. 2025-01-08T19:46:53.252Z,1736365613.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:53.504Z,1736365613.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:53.673Z,1736365613.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T19:46:53.673Z,1736365613.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:53.697Z,1736365613.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.10 m. 2025-01-08T19:46:53.704Z,1736365613.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.100006 m, nav range: 386.978668 m, bearing: 189.055858 deg, approach rate: 0.045657 m/s, LOS rate: -0.112606 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817578 deg. 2025-01-08T19:46:53.705Z,1736365613.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813925 target range: 413.100006 and range: 413.10 m. 2025-01-08T19:46:53.756Z,1736365613.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:54.008Z,1736365614.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:54.054Z,1736365614.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:54.080Z,1736365614.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.10 m. 2025-01-08T19:46:54.082Z,1736365614.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.100006 m, nav range: 386.994568 m, bearing: 189.014435 deg, approach rate: 0.043388 m/s, LOS rate: -0.113036 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850921 deg. 2025-01-08T19:46:54.088Z,1736365614.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814507 target range: 413.100006 and range: 413.10 m. 2025-01-08T19:46:54.261Z,1736365614.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:54.424Z,1736365614.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:54.430Z,1736365614.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:54.433Z,1736365614.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.10 m. 2025-01-08T19:46:54.436Z,1736365614.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.100006 m, nav range: 387.008789 m, bearing: 188.974253 deg, approach rate: 0.038461 m/s, LOS rate: -0.108669 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854645 deg. 2025-01-08T19:46:54.437Z,1736365614.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814572 target range: 413.100006 and range: 413.10 m. 2025-01-08T19:46:54.513Z,1736365614.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:54.513Z,1736365614.513 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:54.513Z,1736365614.513 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:54.514Z,1736365614.514 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:54.764Z,1736365614.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:54.764Z,1736365614.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003819 2025-01-08T19:46:54.904Z,1736365614.904 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 55.41, 58.81, 61.52 2025-01-08T19:46:54.912Z,1736365614.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:46:54.912Z,1736365614.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:54.921Z,1736365614.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.10 m. 2025-01-08T19:46:54.924Z,1736365614.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.100006 m, nav range: 387.028809 m, bearing: 188.921410 deg, approach rate: 0.041029 m/s, LOS rate: -0.108292 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816669 deg. 2025-01-08T19:46:54.925Z,1736365614.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813909 target range: 413.100006 and range: 413.10 m. 2025-01-08T19:46:55.016Z,1736365615.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:55.017Z,1736365615.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256480 2025-01-08T19:46:55.268Z,1736365615.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:55.268Z,1736365615.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507678 2025-01-08T19:46:55.316Z,1736365615.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T19:46:55.316Z,1736365615.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:55.333Z,1736365615.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.10 m. 2025-01-08T19:46:55.340Z,1736365615.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.100006 m, nav range: 387.046295 m, bearing: 188.877432 deg, approach rate: 0.042420 m/s, LOS rate: -0.106682 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843258 deg. 2025-01-08T19:46:55.341Z,1736365615.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814373 target range: 413.100006 and range: 413.10 m. 2025-01-08T19:46:55.520Z,1736365615.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:55.521Z,1736365615.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759907 2025-01-08T19:46:55.772Z,1736365615.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:55.772Z,1736365615.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011764 2025-01-08T19:46:55.837Z,1736365615.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:55.849Z,1736365615.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.10 m. 2025-01-08T19:46:55.856Z,1736365615.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.100006 m, nav range: 387.071869 m, bearing: 188.828226 deg, approach rate: 0.049516 m/s, LOS rate: -0.095267 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827580 deg. 2025-01-08T19:46:55.860Z,1736365615.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814099 target range: 413.100006 and range: 413.10 m. 2025-01-08T19:46:56.024Z,1736365616.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:56.025Z,1736365616.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264461 2025-01-08T19:46:56.252Z,1736365616.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:56.261Z,1736365616.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.10 m. 2025-01-08T19:46:56.265Z,1736365616.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.100006 m, nav range: 387.092957 m, bearing: 188.788954 deg, approach rate: 0.051261 m/s, LOS rate: -0.095461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857376 deg. 2025-01-08T19:46:56.266Z,1736365616.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814620 target range: 413.100006 and range: 413.10 m. 2025-01-08T19:46:56.276Z,1736365616.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:56.277Z,1736365616.277 [DAT](INFO): DAT read: Rx Time:19:46:54.9707 2025-01-08T19:46:56.277Z,1736365616.277 [DAT](INFO): Rx dataTimestamp_ set to:1736365616.276789 2025-01-08T19:46:56.278Z,1736365616.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516968 2025-01-08T19:46:56.532Z,1736365616.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:56.533Z,1736365616.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772122 2025-01-08T19:46:56.756Z,1736365616.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:56.764Z,1736365616.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:56.766Z,1736365616.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.10 m. 2025-01-08T19:46:56.769Z,1736365616.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.100006 m, nav range: 387.119324 m, bearing: 188.744829 deg, approach rate: 0.052217 m/s, LOS rate: -0.087379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842821 deg. 2025-01-08T19:46:56.770Z,1736365616.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814365 target range: 413.100006 and range: 413.10 m. 2025-01-08T19:46:56.784Z,1736365616.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:56.790Z,1736365616.790 [DAT](INFO): DAT read: 19:46:54.9707 LVL= 32752, 30705, 24466, 32755, AGC= 69, IDX= 405,-0.41, 0.654,-0.587, 0.861, 0.084, PHS= 0.658,-0.623, 0.774, RAW= 154.3, -12.0, CAL= 160.8, -19.1, ROT= 349.2, 19.1 2025-01-08T19:46:56.796Z,1736365616.796 [DAT](INFO): got valid direction response: 19:46:54.9707 LVL= 32752, 30705, 24466, 32755, AGC= 69, IDX= 405,-0.41, 0.654,-0.587, 0.861, 0.084, PHS= 0.658,-0.623, 0.774, RAW= 154.3, -12.0, CAL= 160.8, -19.1, ROT= 349.2, 19.1 2025-01-08T19:46:56.797Z,1736365616.797 [DAT](INFO): DAT read: Bearing 349.2, 19.1 (Local) 2025-01-08T19:46:56.797Z,1736365616.797 [DAT](INFO): Local bearing/azimuth received: Bearing 349.2, 19.1 (Local) 2025-01-08T19:46:56.803Z,1736365616.803 [DAT](INFO): DAT read: Range 10 to 50 : 410.7 m (Round-trip 547.7 ms) speed 0.5 m/s 2025-01-08T19:46:56.804Z,1736365616.804 [DAT](INFO): DAT read: user:831> 2025-01-08T19:46:56.805Z,1736365616.805 [DAT](INFO): DAT read: Tx time:19:46:56.0688 2025-01-08T19:46:56.805Z,1736365616.805 [DAT](INFO): Ping request sent. 2025-01-08T19:46:56.805Z,1736365616.805 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:46:56.805Z,1736365616.805 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:46:56.806Z,1736365616.806 [DAT](INFO): direction in FSK: [0.117456,-0.865767,0.486468] 2025-01-08T19:46:56.807Z,1736365616.807 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:56.807Z,1736365616.807 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:56.819Z,1736365616.819 [DAT](INFO): publishing transmit ping time 2025-01-08T19:46:56.820Z,1736365616.820 [DAT](INFO): publishing direction and range info 2025-01-08T19:46:57.036Z,1736365617.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:57.037Z,1736365617.037 [DAT](INFO): DAT read: TxSync time:19:46:56.0680 2025-01-08T19:46:57.137Z,1736365617.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:57.152Z,1736365617.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 410.700012 m, deltaT: 4.035853 s, deltaX: -2.399994 m, approachRate: -0.594668 m/s, rangeRepo size: 4 2025-01-08T19:46:57.154Z,1736365617.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 410.700012 m, bearing: 191.973250 deg, lat: 36.900744 deg, lon: -122.115556 deg, deltaT: 4.035853 s, deltaX: -2.399994 m, approachRate: -0.594668 m/s, posRepo size: 4 2025-01-08T19:46:57.155Z,1736365617.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m. 2025-01-08T19:46:57.158Z,1736365617.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 410.700012 m, nav range: 387.340637 m, bearing: 191.854177 deg, approach rate: 0.000000 m/s, LOS rate: -0.087379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874238 deg. 2025-01-08T19:46:57.159Z,1736365617.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814914 target range: 410.700012 and range: 410.70 m. 2025-01-08T19:46:57.288Z,1736365617.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:57.532Z,1736365617.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:57.540Z,1736365617.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:57.542Z,1736365617.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m. 2025-01-08T19:46:57.546Z,1736365617.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 410.700012 m, nav range: 387.350098 m, bearing: 191.819397 deg, approach rate: 0.024174 m/s, LOS rate: -0.088871 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870848 deg. 2025-01-08T19:46:57.548Z,1736365617.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814855 target range: 410.700012 and range: 410.70 m. 2025-01-08T19:46:57.792Z,1736365617.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:57.976Z,1736365617.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:57.991Z,1736365617.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m. 2025-01-08T19:46:57.999Z,1736365617.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 410.700012 m, nav range: 387.361023 m, bearing: 191.782270 deg, approach rate: 0.024369 m/s, LOS rate: -0.082809 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863810 deg. 2025-01-08T19:46:58.004Z,1736365618.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814732 target range: 410.700012 and range: 410.70 m. 2025-01-08T19:46:58.044Z,1736365618.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:58.297Z,1736365618.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:58.361Z,1736365618.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:58.384Z,1736365618.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m. 2025-01-08T19:46:58.387Z,1736365618.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 410.700012 m, nav range: 387.371338 m, bearing: 191.750088 deg, approach rate: 0.026520 m/s, LOS rate: -0.082741 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878642 deg. 2025-01-08T19:46:58.392Z,1736365618.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814991 target range: 410.700012 and range: 410.70 m. 2025-01-08T19:46:58.548Z,1736365618.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:58.800Z,1736365618.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:58.887Z,1736365618.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:58.894Z,1736365618.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:46:58.897Z,1736365618.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m. 2025-01-08T19:46:58.900Z,1736365618.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 410.700012 m, nav range: 387.389557 m, bearing: 191.705523 deg, approach rate: 0.035206 m/s, LOS rate: -0.086110 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841501 deg. 2025-01-08T19:46:58.901Z,1736365618.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814342 target range: 410.700012 and range: 410.70 m. 2025-01-08T19:46:59.052Z,1736365619.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:59.052Z,1736365619.052 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:46:59.052Z,1736365619.052 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:46:59.052Z,1736365619.052 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:46:59.240Z,1736365619.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:59.250Z,1736365619.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m. 2025-01-08T19:46:59.253Z,1736365619.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 410.700012 m, nav range: 387.404297 m, bearing: 191.675566 deg, approach rate: 0.041789 m/s, LOS rate: -0.084928 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885318 deg. 2025-01-08T19:46:59.254Z,1736365619.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815107 target range: 410.700012 and range: 410.70 m. 2025-01-08T19:46:59.304Z,1736365619.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:59.305Z,1736365619.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499409 2025-01-08T19:46:59.557Z,1736365619.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:59.558Z,1736365619.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752595 2025-01-08T19:46:59.648Z,1736365619.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:46:59.662Z,1736365619.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m. 2025-01-08T19:46:59.671Z,1736365619.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 410.700012 m, nav range: 387.422424 m, bearing: 191.641003 deg, approach rate: 0.044023 m/s, LOS rate: -0.083933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871502 deg. 2025-01-08T19:46:59.673Z,1736365619.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814866 target range: 410.700012 and range: 410.70 m. 2025-01-08T19:46:59.808Z,1736365619.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:46:59.809Z,1736365619.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003818 2025-01-08T19:47:00.060Z,1736365620.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:00.061Z,1736365620.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255472 2025-01-08T19:47:00.080Z,1736365620.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:00.109Z,1736365620.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m. 2025-01-08T19:47:00.114Z,1736365620.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 410.700012 m, nav range: 387.438843 m, bearing: 191.603213 deg, approach rate: 0.036688 m/s, LOS rate: -0.084440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861823 deg. 2025-01-08T19:47:00.115Z,1736365620.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814697 target range: 410.700012 and range: 410.70 m. 2025-01-08T19:47:00.312Z,1736365620.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:00.313Z,1736365620.313 [DAT](INFO): DAT read: Rx Time:19:46:59.0172 2025-01-08T19:47:00.313Z,1736365620.313 [DAT](INFO): Rx dataTimestamp_ set to:1736365620.313155 2025-01-08T19:47:00.314Z,1736365620.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508828 2025-01-08T19:47:00.469Z,1736365620.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:00.477Z,1736365620.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m. 2025-01-08T19:47:00.481Z,1736365620.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 410.700012 m, nav range: 387.454407 m, bearing: 191.569204 deg, approach rate: 0.042279 m/s, LOS rate: -0.092381 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873164 deg. 2025-01-08T19:47:00.485Z,1736365620.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814895 target range: 410.700012 and range: 410.70 m. 2025-01-08T19:47:00.564Z,1736365620.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:00.565Z,1736365620.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759454 2025-01-08T19:47:00.816Z,1736365620.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:00.855Z,1736365620.855 [DAT](INFO): DAT read: 19:46:59.0172 LVL= 27312, 32753, 19794, 32755, AGC= 71, IDX= 398,-0.20,-0.856,-2.019,-0.561,-1.359, PHS= 0.591,-0.613, 0.795, RAW= 157.7, -11.7, CAL= 163.5, -18.5, ROT= 346.5, 18.5 2025-01-08T19:47:00.856Z,1736365620.856 [DAT](INFO): got valid direction response: 19:46:59.0172 LVL= 27312, 32753, 19794, 32755, AGC= 71, IDX= 398,-0.20,-0.856,-2.019,-0.561,-1.359, PHS= 0.591,-0.613, 0.795, RAW= 157.7, -11.7, CAL= 163.5, -18.5, ROT= 346.5, 18.5 2025-01-08T19:47:00.857Z,1736365620.857 [DAT](INFO): DAT read: Bearing 346.5, 18.5 (Local) 2025-01-08T19:47:00.858Z,1736365620.858 [DAT](INFO): Local bearing/azimuth received: Bearing 346.5, 18.5 (Local) 2025-01-08T19:47:00.861Z,1736365620.861 [DAT](INFO): DAT read: Range 10 to 50 : 408.2 m (Round-trip 544.3 ms) speed 0.3 m/s 2025-01-08T19:47:00.863Z,1736365620.863 [DAT](INFO): DAT read: user:832> 2025-01-08T19:47:00.876Z,1736365620.876 [DAT](INFO): DAT read: Tx time:19:47:00.1188 2025-01-08T19:47:00.876Z,1736365620.876 [DAT](INFO): Ping request sent. 2025-01-08T19:47:00.876Z,1736365620.876 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:47:00.876Z,1736365620.876 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:47:00.877Z,1736365620.877 [DAT](INFO): direction in FSK: [0.113652,-0.894443,0.432498] 2025-01-08T19:47:00.878Z,1736365620.878 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:00.878Z,1736365620.878 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:00.894Z,1736365620.894 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:00.894Z,1736365620.894 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:00.968Z,1736365620.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:01.037Z,1736365621.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 408.200012 m, deltaT: 4.031992 s, deltaX: -2.500000 m, approachRate: -0.620041 m/s, rangeRepo size: 4 2025-01-08T19:47:01.043Z,1736365621.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 408.200012 m, bearing: 193.630271 deg, lat: 36.900748 deg, lon: -122.115717 deg, deltaT: 4.031992 s, deltaX: -2.500000 m, approachRate: -0.620041 m/s, posRepo size: 4 2025-01-08T19:47:01.044Z,1736365621.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.20 m. 2025-01-08T19:47:01.052Z,1736365621.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.200012 m, nav range: 390.188629 m, bearing: 193.595719 deg, approach rate: 0.000000 m/s, LOS rate: -0.092381 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820176 deg. 2025-01-08T19:47:01.053Z,1736365621.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813970 target range: 408.200012 and range: 408.20 m. 2025-01-08T19:47:01.068Z,1736365621.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:01.069Z,1736365621.069 [DAT](INFO): DAT read: TxSync time:19:47:00.1180 2025-01-08T19:47:01.320Z,1736365621.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:01.347Z,1736365621.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:01.353Z,1736365621.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:01.356Z,1736365621.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.20 m. 2025-01-08T19:47:01.358Z,1736365621.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.200012 m, nav range: 390.193451 m, bearing: 193.560112 deg, approach rate: 0.015125 m/s, LOS rate: -0.111695 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868366 deg. 2025-01-08T19:47:01.360Z,1736365621.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814811 target range: 408.200012 and range: 408.20 m. 2025-01-08T19:47:01.572Z,1736365621.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:01.573Z,1736365621.573 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:47:01.573Z,1736365621.573 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:47:01.573Z,1736365621.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:01.824Z,1736365621.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:01.824Z,1736365621.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.948297 2025-01-08T19:47:01.839Z,1736365621.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:01.884Z,1736365621.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.20 m. 2025-01-08T19:47:01.886Z,1736365621.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.200012 m, nav range: 390.196259 m, bearing: 193.509590 deg, approach rate: 0.005361 m/s, LOS rate: -0.096461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823621 deg. 2025-01-08T19:47:01.940Z,1736365621.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814030 target range: 408.200012 and range: 408.20 m. 2025-01-08T19:47:02.076Z,1736365622.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:02.076Z,1736365622.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200203 2025-01-08T19:47:02.204Z,1736365622.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:02.213Z,1736365622.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.20 m. 2025-01-08T19:47:02.217Z,1736365622.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.200012 m, nav range: 390.196686 m, bearing: 193.472119 deg, approach rate: 0.001278 m/s, LOS rate: -0.112049 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862777 deg. 2025-01-08T19:47:02.218Z,1736365622.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814714 target range: 408.200012 and range: 408.20 m. 2025-01-08T19:47:02.328Z,1736365622.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:02.329Z,1736365622.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.453100 2025-01-08T19:47:02.585Z,1736365622.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:02.586Z,1736365622.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709831 2025-01-08T19:47:02.666Z,1736365622.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:02.690Z,1736365622.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.20 m. 2025-01-08T19:47:02.704Z,1736365622.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.200012 m, nav range: 390.197357 m, bearing: 193.424776 deg, approach rate: 0.001409 m/s, LOS rate: -0.099372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833157 deg. 2025-01-08T19:47:02.705Z,1736365622.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814197 target range: 408.200012 and range: 408.20 m. 2025-01-08T19:47:02.836Z,1736365622.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:02.836Z,1736365622.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960212 2025-01-08T19:47:03.096Z,1736365623.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:03.098Z,1736365623.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221649 2025-01-08T19:47:03.210Z,1736365623.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:03.220Z,1736365623.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.20 m. 2025-01-08T19:47:03.222Z,1736365623.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.200012 m, nav range: 390.192047 m, bearing: 193.365148 deg, approach rate: -0.010027 m/s, LOS rate: -0.112600 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796302 deg. 2025-01-08T19:47:03.250Z,1736365623.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813553 target range: 408.200012 and range: 408.20 m. 2025-01-08T19:47:03.340Z,1736365623.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:03.340Z,1736365623.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464262 2025-01-08T19:47:03.593Z,1736365623.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:03.595Z,1736365623.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718279 2025-01-08T19:47:03.693Z,1736365623.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:03.700Z,1736365623.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:03.702Z,1736365623.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.20 m. 2025-01-08T19:47:03.705Z,1736365623.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.200012 m, nav range: 390.186096 m, bearing: 193.312399 deg, approach rate: -0.012324 m/s, LOS rate: -0.109240 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816937 deg. 2025-01-08T19:47:03.706Z,1736365623.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813914 target range: 408.200012 and range: 408.20 m. 2025-01-08T19:47:03.844Z,1736365623.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:03.846Z,1736365623.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969457 2025-01-08T19:47:04.096Z,1736365624.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:04.097Z,1736365624.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220983 2025-01-08T19:47:04.101Z,1736365624.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:04.109Z,1736365624.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.20 m. 2025-01-08T19:47:04.113Z,1736365624.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.200012 m, nav range: 390.177551 m, bearing: 193.266130 deg, approach rate: -0.020997 m/s, LOS rate: -0.113697 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836376 deg. 2025-01-08T19:47:04.114Z,1736365624.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814253 target range: 408.200012 and range: 408.20 m. 2025-01-08T19:47:04.348Z,1736365624.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:04.349Z,1736365624.349 [DAT](INFO): DAT read: Rx Time:19:47:03.0644 2025-01-08T19:47:04.350Z,1736365624.350 [DAT](INFO): Rx dataTimestamp_ set to:1736365624.349621 2025-01-08T19:47:04.350Z,1736365624.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474326 2025-01-08T19:47:04.483Z,1736365624.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:04.491Z,1736365624.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.20 m. 2025-01-08T19:47:04.494Z,1736365624.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.200012 m, nav range: 390.168976 m, bearing: 193.222760 deg, approach rate: -0.022442 m/s, LOS rate: -0.113502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845074 deg. 2025-01-08T19:47:04.497Z,1736365624.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814405 target range: 408.200012 and range: 408.20 m. 2025-01-08T19:47:04.600Z,1736365624.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:04.600Z,1736365624.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.724370 2025-01-08T19:47:04.852Z,1736365624.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:04.858Z,1736365624.858 [DAT](INFO): DAT read: 19:47:03.0644 LVL= 31024, 29425, 24994, 32755, AGC= 67, IDX= 398, 0.12, 1.191,-0.170, 1.442, 0.607, PHS= 0.672,-0.730, 0.832, RAW= 155.3, -10.4, CAL= 161.2, -17.6, ROT= 348.8, 17.6 2025-01-08T19:47:04.883Z,1736365624.883 [DAT](INFO): got valid direction response: 19:47:03.0644 LVL= 31024, 29425, 24994, 32755, AGC= 67, IDX= 398, 0.12, 1.191,-0.170, 1.442, 0.607, PHS= 0.672,-0.730, 0.832, RAW= 155.3, -10.4, CAL= 161.2, -17.6, ROT= 348.8, 17.6 2025-01-08T19:47:04.884Z,1736365624.884 [DAT](INFO): DAT read: Bearing 348.8, 17.6 (Local) 2025-01-08T19:47:04.885Z,1736365624.885 [DAT](INFO): Local bearing/azimuth received: Bearing 348.8, 17.6 (Local) 2025-01-08T19:47:04.886Z,1736365624.886 [DAT](INFO): DAT read: Range 10 to 50 : 406.1 m (Round-trip 541.5 ms) speed 0.5 m/s 2025-01-08T19:47:04.891Z,1736365624.891 [DAT](INFO): DAT read: user:833> 2025-01-08T19:47:04.892Z,1736365624.892 [DAT](INFO): DAT read: Tx time:19:47:04.1688 2025-01-08T19:47:04.892Z,1736365624.892 [DAT](INFO): Ping request sent. 2025-01-08T19:47:04.892Z,1736365624.892 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:47:04.893Z,1736365624.893 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:47:04.894Z,1736365624.894 [DAT](INFO): direction in FSK: [0.086629,-0.878100,0.470570] 2025-01-08T19:47:04.894Z,1736365624.894 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:04.894Z,1736365624.894 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:04.902Z,1736365624.902 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:04.902Z,1736365624.902 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:04.991Z,1736365624.991 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010811481012,35.0, +11.0, .5, 0 2025-01-08T19:47:05.012Z,1736365625.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:47:05.012Z,1736365625.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:05.076Z,1736365625.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 406.100006 m, deltaT: 4.035923 s, deltaX: -2.100006 m, approachRate: -0.520329 m/s, rangeRepo size: 4 2025-01-08T19:47:05.087Z,1736365625.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 406.100006 m, bearing: 191.509271 deg, lat: 36.900757 deg, lon: -122.115571 deg, deltaT: 4.035923 s, deltaX: -2.100006 m, approachRate: -0.520329 m/s, posRepo size: 4 2025-01-08T19:47:05.088Z,1736365625.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T19:47:05.091Z,1736365625.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 386.417938 m, bearing: 191.329598 deg, approach rate: 0.000000 m/s, LOS rate: -0.113502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.780382 deg. 2025-01-08T19:47:05.097Z,1736365625.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813276 target range: 406.100006 and range: 406.10 m. 2025-01-08T19:47:05.104Z,1736365625.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:05.105Z,1736365625.105 [DAT](INFO): DAT read: TxSync time:19:47:04.1680 2025-01-08T19:47:05.357Z,1736365625.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:05.398Z,1736365625.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T19:47:05.399Z,1736365625.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:05.407Z,1736365625.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T19:47:05.410Z,1736365625.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 386.417908 m, bearing: 191.283887 deg, approach rate: -0.000089 m/s, LOS rate: -0.132963 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838054 deg. 2025-01-08T19:47:05.412Z,1736365625.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814282 target range: 406.100006 and range: 406.10 m. 2025-01-08T19:47:05.608Z,1736365625.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:05.853Z,1736365625.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T19:47:05.854Z,1736365625.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:05.861Z,1736365625.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:05.880Z,1736365625.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:05.882Z,1736365625.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T19:47:05.889Z,1736365625.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 386.416443 m, bearing: 191.231766 deg, approach rate: -0.003087 m/s, LOS rate: -0.109844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818824 deg. 2025-01-08T19:47:05.890Z,1736365625.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813947 target range: 406.100006 and range: 406.10 m. 2025-01-08T19:47:06.112Z,1736365626.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:06.113Z,1736365626.113 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:47:06.113Z,1736365626.113 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:47:06.113Z,1736365626.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:06.218Z,1736365626.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:06.227Z,1736365626.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T19:47:06.256Z,1736365626.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 386.417480 m, bearing: 191.190183 deg, approach rate: 0.003008 m/s, LOS rate: -0.120541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850438 deg. 2025-01-08T19:47:06.257Z,1736365626.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814498 target range: 406.100006 and range: 406.10 m. 2025-01-08T19:47:06.364Z,1736365626.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:06.365Z,1736365626.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472096 2025-01-08T19:47:06.616Z,1736365626.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:06.616Z,1736365626.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724017 2025-01-08T19:47:06.618Z,1736365626.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:06.627Z,1736365626.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T19:47:06.630Z,1736365626.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 386.418274 m, bearing: 191.144582 deg, approach rate: 0.001981 m/s, LOS rate: -0.113846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838384 deg. 2025-01-08T19:47:06.631Z,1736365626.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814288 target range: 406.100006 and range: 406.10 m. 2025-01-08T19:47:06.869Z,1736365626.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:06.870Z,1736365626.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977869 2025-01-08T19:47:07.058Z,1736365627.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:07.067Z,1736365627.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T19:47:07.070Z,1736365627.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 386.422272 m, bearing: 191.096659 deg, approach rate: 0.009091 m/s, LOS rate: -0.108970 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831420 deg. 2025-01-08T19:47:07.071Z,1736365627.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814167 target range: 406.100006 and range: 406.10 m. 2025-01-08T19:47:07.120Z,1736365627.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:07.121Z,1736365627.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228470 2025-01-08T19:47:07.372Z,1736365627.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:07.372Z,1736365627.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479938 2025-01-08T19:47:07.446Z,1736365627.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:07.454Z,1736365627.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T19:47:07.457Z,1736365627.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 386.426056 m, bearing: 191.054305 deg, approach rate: 0.009772 m/s, LOS rate: -0.109373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848127 deg. 2025-01-08T19:47:07.458Z,1736365627.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814458 target range: 406.100006 and range: 406.10 m. 2025-01-08T19:47:07.500Z,1736365627.500 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:47:07.625Z,1736365627.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:07.626Z,1736365627.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733960 2025-01-08T19:47:07.876Z,1736365627.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:07.877Z,1736365627.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984126 2025-01-08T19:47:07.915Z,1736365627.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:07.922Z,1736365627.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:07.924Z,1736365627.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T19:47:07.926Z,1736365627.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 386.440155 m, bearing: 191.005290 deg, approach rate: 0.030024 m/s, LOS rate: -0.104371 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828149 deg. 2025-01-08T19:47:07.928Z,1736365627.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814109 target range: 406.100006 and range: 406.10 m. 2025-01-08T19:47:08.128Z,1736365628.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:08.130Z,1736365628.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237094 2025-01-08T19:47:08.238Z,1736365628.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:08.248Z,1736365628.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T19:47:08.250Z,1736365628.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 386.450043 m, bearing: 190.971526 deg, approach rate: 0.030545 m/s, LOS rate: -0.104301 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873898 deg. 2025-01-08T19:47:08.252Z,1736365628.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814908 target range: 406.100006 and range: 406.10 m. 2025-01-08T19:47:08.380Z,1736365628.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:08.381Z,1736365628.381 [DAT](INFO): DAT read: Rx Time:19:47:07.1249 2025-01-08T19:47:08.381Z,1736365628.381 [DAT](INFO): Rx dataTimestamp_ set to:1736365628.380952 2025-01-08T19:47:08.382Z,1736365628.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489310 2025-01-08T19:47:08.630Z,1736365628.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:08.632Z,1736365628.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:08.633Z,1736365628.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740085 2025-01-08T19:47:08.645Z,1736365628.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T19:47:08.650Z,1736365628.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 386.462555 m, bearing: 190.930475 deg, approach rate: 0.031530 m/s, LOS rate: -0.103442 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852037 deg. 2025-01-08T19:47:08.652Z,1736365628.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814526 target range: 406.100006 and range: 406.10 m. 2025-01-08T19:47:08.884Z,1736365628.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:08.898Z,1736365628.898 [DAT](INFO): DAT read: 19:47:07.1249 LVL= 23024, 24817, 18994, 28627, AGC= 63, IDX= 31,-0.22, 2.880, 1.661,-3.103, 2.393, PHS= 0.575,-0.686, 0.784, RAW= 157.6, -9.8, CAL= 162.8, -16.9, ROT= 347.2, 16.9 2025-01-08T19:47:08.907Z,1736365628.907 [DAT](INFO): got valid direction response: 19:47:07.1249 LVL= 23024, 24817, 18994, 28627, AGC= 63, IDX= 31,-0.22, 2.880, 1.661,-3.103, 2.393, PHS= 0.575,-0.686, 0.784, RAW= 157.6, -9.8, CAL= 162.8, -16.9, ROT= 347.2, 16.9 2025-01-08T19:47:08.936Z,1736365628.936 [DAT](INFO): DAT read: Bearing 347.2, 16.9 (Local) 2025-01-08T19:47:08.936Z,1736365628.936 [DAT](INFO): Local bearing/azimuth received: Bearing 347.2, 16.9 (Local) 2025-01-08T19:47:08.938Z,1736365628.938 [DAT](INFO): DAT read: Range 10 to 50 : 413.8 m (Round-trip 551.8 ms) speed 0.2 m/s 2025-01-08T19:47:08.938Z,1736365628.938 [DAT](INFO): DAT read: user:834> 2025-01-08T19:47:08.948Z,1736365628.948 [DAT](INFO): DAT read: Tx time:19:47:08.2189 2025-01-08T19:47:08.948Z,1736365628.948 [DAT](INFO): Ping request sent. 2025-01-08T19:47:08.948Z,1736365628.948 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:47:08.948Z,1736365628.948 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:47:08.949Z,1736365628.949 [DAT](INFO): direction in FSK: [0.076083,-0.897077,0.435275] 2025-01-08T19:47:08.949Z,1736365628.949 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:08.950Z,1736365628.950 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:08.962Z,1736365628.962 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:08.962Z,1736365628.962 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:09.097Z,1736365629.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:09.127Z,1736365629.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 413.799988 m, deltaT: 4.032103 s, deltaX: 7.699982 m, approachRate: 1.909669 m/s, rangeRepo size: 4 2025-01-08T19:47:09.133Z,1736365629.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 413.799988 m, bearing: 190.772331 deg, lat: 36.900757 deg, lon: -122.115571 deg, deltaT: 4.032103 s, deltaX: 7.699982 m, approachRate: 1.909669 m/s, posRepo size: 4 2025-01-08T19:47:09.134Z,1736365629.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m. 2025-01-08T19:47:09.136Z,1736365629.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:09.137Z,1736365629.137 [DAT](INFO): DAT read: TxSync time:19:47:08.2181 2025-01-08T19:47:09.141Z,1736365629.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.799988 m, nav range: 386.478546 m, bearing: 190.883865 deg, approach rate: 0.000000 m/s, LOS rate: -0.103442 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825705 deg. 2025-01-08T19:47:09.142Z,1736365629.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814067 target range: 413.799988 and range: 413.80 m. 2025-01-08T19:47:09.388Z,1736365629.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:09.441Z,1736365629.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:09.450Z,1736365629.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m. 2025-01-08T19:47:09.453Z,1736365629.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.799988 m, nav range: 386.489624 m, bearing: 190.849551 deg, approach rate: 0.034214 m/s, LOS rate: -0.105976 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872248 deg. 2025-01-08T19:47:09.454Z,1736365629.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814879 target range: 413.799988 and range: 413.80 m. 2025-01-08T19:47:09.640Z,1736365629.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:09.902Z,1736365629.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:09.956Z,1736365629.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:09.964Z,1736365629.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:09.966Z,1736365629.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m. 2025-01-08T19:47:09.969Z,1736365629.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.799988 m, nav range: 386.510193 m, bearing: 190.801153 deg, approach rate: 0.039869 m/s, LOS rate: -0.093807 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829999 deg. 2025-01-08T19:47:09.970Z,1736365629.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814142 target range: 413.799988 and range: 413.80 m. 2025-01-08T19:47:10.152Z,1736365630.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:10.152Z,1736365630.152 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:47:10.152Z,1736365630.152 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:47:10.152Z,1736365630.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:10.255Z,1736365630.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:10.264Z,1736365630.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m. 2025-01-08T19:47:10.267Z,1736365630.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.799988 m, nav range: 386.522675 m, bearing: 190.773023 deg, approach rate: 0.041799 m/s, LOS rate: -0.094197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890801 deg. 2025-01-08T19:47:10.268Z,1736365630.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815203 target range: 413.799988 and range: 413.80 m. 2025-01-08T19:47:10.404Z,1736365630.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:10.405Z,1736365630.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.456593 2025-01-08T19:47:10.656Z,1736365630.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:10.658Z,1736365630.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709652 2025-01-08T19:47:10.684Z,1736365630.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:10.692Z,1736365630.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m. 2025-01-08T19:47:10.711Z,1736365630.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.799988 m, nav range: 386.541382 m, bearing: 190.732740 deg, approach rate: 0.043707 m/s, LOS rate: -0.094112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854342 deg. 2025-01-08T19:47:10.715Z,1736365630.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814567 target range: 413.799988 and range: 413.80 m. 2025-01-08T19:47:10.908Z,1736365630.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:10.908Z,1736365630.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960477 2025-01-08T19:47:11.089Z,1736365631.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:11.098Z,1736365631.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m. 2025-01-08T19:47:11.101Z,1736365631.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.799988 m, nav range: 386.560730 m, bearing: 190.695354 deg, approach rate: 0.047703 m/s, LOS rate: -0.092170 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863036 deg. 2025-01-08T19:47:11.102Z,1736365631.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814718 target range: 413.799988 and range: 413.80 m. 2025-01-08T19:47:11.161Z,1736365631.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:11.163Z,1736365631.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214786 2025-01-08T19:47:11.412Z,1736365631.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:11.413Z,1736365631.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465108 2025-01-08T19:47:11.469Z,1736365631.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:11.477Z,1736365631.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m. 2025-01-08T19:47:11.481Z,1736365631.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.799988 m, nav range: 386.579590 m, bearing: 190.660303 deg, approach rate: 0.049758 m/s, LOS rate: -0.092469 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870040 deg. 2025-01-08T19:47:11.482Z,1736365631.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814840 target range: 413.799988 and range: 413.80 m. 2025-01-08T19:47:11.665Z,1736365631.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:11.667Z,1736365631.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718500 2025-01-08T19:47:11.926Z,1736365631.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:11.928Z,1736365631.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979325 2025-01-08T19:47:11.936Z,1736365631.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:11.953Z,1736365631.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m. 2025-01-08T19:47:11.964Z,1736365631.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.799988 m, nav range: 386.603546 m, bearing: 190.617202 deg, approach rate: 0.050371 m/s, LOS rate: -0.090620 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845891 deg. 2025-01-08T19:47:11.965Z,1736365631.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814419 target range: 413.799988 and range: 413.80 m. 2025-01-08T19:47:12.177Z,1736365632.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:12.178Z,1736365632.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229699 2025-01-08T19:47:12.326Z,1736365632.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:12.333Z,1736365632.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:12.336Z,1736365632.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m. 2025-01-08T19:47:12.338Z,1736365632.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.799988 m, nav range: 386.624756 m, bearing: 190.582156 deg, approach rate: 0.055437 m/s, LOS rate: -0.091597 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870054 deg. 2025-01-08T19:47:12.340Z,1736365632.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814841 target range: 413.799988 and range: 413.80 m. 2025-01-08T19:47:12.429Z,1736365632.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:12.430Z,1736365632.430 [DAT](INFO): DAT read: Rx Time:19:47:11.1555 2025-01-08T19:47:12.430Z,1736365632.430 [DAT](INFO): Rx dataTimestamp_ set to:1736365632.429975 2025-01-08T19:47:12.431Z,1736365632.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482827 2025-01-08T19:47:12.680Z,1736365632.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:12.682Z,1736365632.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733768 2025-01-08T19:47:12.697Z,1736365632.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:12.736Z,1736365632.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.80 m. 2025-01-08T19:47:12.750Z,1736365632.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.799988 m, nav range: 386.645386 m, bearing: 190.548849 deg, approach rate: 0.051475 m/s, LOS rate: -0.083101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875271 deg. 2025-01-08T19:47:12.756Z,1736365632.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814932 target range: 413.799988 and range: 413.80 m. 2025-01-08T19:47:12.934Z,1736365632.934 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:12.954Z,1736365632.954 [DAT](INFO): DAT read: 19:47:11.1555 LVL= 26720, 26273, 20882, 32755, AGC= 72, IDX= 249, 0.23,-2.212, 2.659,-2.064,-2.835, PHS= 0.711,-0.742, 0.768, RAW= 151.9, -10.0, CAL= 158.1, -17.6, ROT= 351.9, 17.6 2025-01-08T19:47:12.955Z,1736365632.955 [DAT](INFO): got valid direction response: 19:47:11.1555 LVL= 26720, 26273, 20882, 32755, AGC= 72, IDX= 249, 0.23,-2.212, 2.659,-2.064,-2.835, PHS= 0.711,-0.742, 0.768, RAW= 151.9, -10.0, CAL= 158.1, -17.6, ROT= 351.9, 17.6 2025-01-08T19:47:12.956Z,1736365632.956 [DAT](INFO): DAT read: Bearing 351.9, 17.6 (Local) 2025-01-08T19:47:12.956Z,1736365632.956 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 17.6 (Local) 2025-01-08T19:47:12.957Z,1736365632.957 [DAT](INFO): DAT read: Range 10 to 50 : 399.3 m (Round-trip 532.5 ms) speed 0.4 m/s 2025-01-08T19:47:12.958Z,1736365632.958 [DAT](INFO): DAT read: user:835> 2025-01-08T19:47:12.959Z,1736365632.959 [DAT](INFO): DAT read: Tx time:19:47:12.2689 2025-01-08T19:47:12.963Z,1736365632.963 [DAT](INFO): Ping request sent. 2025-01-08T19:47:12.971Z,1736365632.971 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:47:12.972Z,1736365632.972 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:47:12.973Z,1736365632.973 [DAT](INFO): direction in FSK: [0.075753,-0.848134,0.524338] 2025-01-08T19:47:12.973Z,1736365632.973 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:12.973Z,1736365632.973 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:12.993Z,1736365632.993 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:12.994Z,1736365632.994 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:13.184Z,1736365633.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:13.185Z,1736365633.185 [DAT](INFO): DAT read: TxSync time:19:47:12.2681 2025-01-08T19:47:13.208Z,1736365633.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:13.234Z,1736365633.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 399.299988 m, deltaT: 4.050087 s, deltaX: -14.500000 m, approachRate: -3.580170 m/s, rangeRepo size: 4 2025-01-08T19:47:13.240Z,1736365633.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 399.299988 m, bearing: 192.122917 deg, lat: 36.900779 deg, lon: -122.115581 deg, deltaT: 4.050087 s, deltaX: -14.500000 m, approachRate: -3.580170 m/s, posRepo size: 4 2025-01-08T19:47:13.241Z,1736365633.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.30 m. 2025-01-08T19:47:13.248Z,1736365633.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.299988 m, nav range: 384.399323 m, bearing: 190.694480 deg, approach rate: 0.000000 m/s, LOS rate: -0.083101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851231 deg. 2025-01-08T19:47:13.249Z,1736365633.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814512 target range: 399.299988 and range: 399.30 m. 2025-01-08T19:47:13.436Z,1736365633.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:13.559Z,1736365633.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:13.575Z,1736365633.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.30 m. 2025-01-08T19:47:13.579Z,1736365633.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.299988 m, nav range: 384.417633 m, bearing: 190.664144 deg, approach rate: 0.053624 m/s, LOS rate: -0.088836 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884184 deg. 2025-01-08T19:47:13.582Z,1736365633.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815087 target range: 399.299988 and range: 399.30 m. 2025-01-08T19:47:13.688Z,1736365633.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:13.941Z,1736365633.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:14.006Z,1736365634.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:14.035Z,1736365634.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.30 m. 2025-01-08T19:47:14.038Z,1736365634.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.299988 m, nav range: 384.437775 m, bearing: 190.622072 deg, approach rate: 0.043797 m/s, LOS rate: -0.091479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848978 deg. 2025-01-08T19:47:14.039Z,1736365634.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814473 target range: 399.299988 and range: 399.30 m. 2025-01-08T19:47:14.192Z,1736365634.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:14.353Z,1736365634.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:14.359Z,1736365634.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:14.362Z,1736365634.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.30 m. 2025-01-08T19:47:14.365Z,1736365634.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.299988 m, nav range: 384.453125 m, bearing: 190.590269 deg, approach rate: 0.046968 m/s, LOS rate: -0.097305 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879782 deg. 2025-01-08T19:47:14.366Z,1736365634.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815011 target range: 399.299988 and range: 399.30 m. 2025-01-08T19:47:14.445Z,1736365634.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:14.446Z,1736365634.446 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:47:14.446Z,1736365634.446 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:47:14.446Z,1736365634.446 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:14.696Z,1736365634.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:14.696Z,1736365634.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733724 2025-01-08T19:47:14.756Z,1736365634.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:47:14.793Z,1736365634.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:14.802Z,1736365634.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.30 m. 2025-01-08T19:47:14.805Z,1736365634.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.299988 m, nav range: 384.473236 m, bearing: 190.549883 deg, approach rate: 0.045593 m/s, LOS rate: -0.091552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854035 deg. 2025-01-08T19:47:14.806Z,1736365634.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814561 target range: 399.299988 and range: 399.30 m. 2025-01-08T19:47:14.950Z,1736365634.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:14.952Z,1736365634.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988889 2025-01-08T19:47:15.196Z,1736365635.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:15.200Z,1736365635.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:15.201Z,1736365635.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237827 2025-01-08T19:47:15.206Z,1736365635.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.30 m. 2025-01-08T19:47:15.209Z,1736365635.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.299988 m, nav range: 384.485779 m, bearing: 190.512106 deg, approach rate: 0.031082 m/s, LOS rate: -0.093614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861858 deg. 2025-01-08T19:47:15.210Z,1736365635.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814698 target range: 399.299988 and range: 399.30 m. 2025-01-08T19:47:15.452Z,1736365635.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:15.453Z,1736365635.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490626 2025-01-08T19:47:15.565Z,1736365635.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:15.574Z,1736365635.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.30 m. 2025-01-08T19:47:15.582Z,1736365635.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.299988 m, nav range: 384.498505 m, bearing: 190.477329 deg, approach rate: 0.034605 m/s, LOS rate: -0.094567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870859 deg. 2025-01-08T19:47:15.583Z,1736365635.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814855 target range: 399.299988 and range: 399.30 m. 2025-01-08T19:47:15.705Z,1736365635.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:15.706Z,1736365635.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742815 2025-01-08T19:47:15.760Z,1736365635.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:47:15.957Z,1736365635.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:15.959Z,1736365635.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996044 2025-01-08T19:47:16.042Z,1736365636.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:16.051Z,1736365636.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.30 m. 2025-01-08T19:47:16.054Z,1736365636.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.299988 m, nav range: 384.519196 m, bearing: 190.431366 deg, approach rate: 0.043384 m/s, LOS rate: -0.096368 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837307 deg. 2025-01-08T19:47:16.055Z,1736365636.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814269 target range: 399.299988 and range: 399.30 m. 2025-01-08T19:47:16.208Z,1736365636.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:16.209Z,1736365636.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246460 2025-01-08T19:47:16.401Z,1736365636.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:16.407Z,1736365636.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:16.409Z,1736365636.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.30 m. 2025-01-08T19:47:16.413Z,1736365636.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.299988 m, nav range: 384.535065 m, bearing: 190.396711 deg, approach rate: 0.044235 m/s, LOS rate: -0.096598 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871226 deg. 2025-01-08T19:47:16.414Z,1736365636.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814861 target range: 399.299988 and range: 399.30 m. 2025-01-08T19:47:16.460Z,1736365636.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:16.461Z,1736365636.461 [DAT](INFO): DAT read: Rx Time:19:47:15.2171 2025-01-08T19:47:16.461Z,1736365636.461 [DAT](INFO): Rx dataTimestamp_ set to:1736365636.460855 2025-01-08T19:47:16.463Z,1736365636.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499636 2025-01-08T19:47:16.712Z,1736365636.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:16.714Z,1736365636.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751291 2025-01-08T19:47:16.807Z,1736365636.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:16.839Z,1736365636.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.30 m. 2025-01-08T19:47:16.847Z,1736365636.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.299988 m, nav range: 384.553284 m, bearing: 190.357615 deg, approach rate: 0.042415 m/s, LOS rate: -0.091014 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857905 deg. 2025-01-08T19:47:16.852Z,1736365636.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814629 target range: 399.299988 and range: 399.30 m. 2025-01-08T19:47:16.966Z,1736365636.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:17.014Z,1736365637.014 [DAT](INFO): DAT read: 19:47:15.2171 LVL= 16240, 25697, 21170, 30435, AGC= 74, IDX= 47, 0.45,-0.732,-1.952,-0.529,-1.291, PHS= 0.647,-0.614, 0.759, RAW= 154.2, -12.0, CAL= 160.7, -19.0, ROT= 349.3, 19.0 2025-01-08T19:47:17.021Z,1736365637.021 [DAT](INFO): got valid direction response: 19:47:15.2171 LVL= 16240, 25697, 21170, 30435, AGC= 74, IDX= 47, 0.45,-0.732,-1.952,-0.529,-1.291, PHS= 0.647,-0.614, 0.759, RAW= 154.2, -12.0, CAL= 160.7, -19.0, ROT= 349.3, 19.0 2025-01-08T19:47:17.022Z,1736365637.022 [DAT](INFO): DAT read: Bearing 349.3, 19.0 (Local) 2025-01-08T19:47:17.031Z,1736365637.031 [DAT](INFO): Local bearing/azimuth received: Bearing 349.3, 19.0 (Local) 2025-01-08T19:47:17.034Z,1736365637.034 [DAT](INFO): DAT read: Range 10 to 50 : 408.0 m (Round-trip 544.1 ms) speed 0.4 m/s 2025-01-08T19:47:17.040Z,1736365637.040 [DAT](INFO): DAT read: user:836> 2025-01-08T19:47:17.041Z,1736365637.041 [DAT](INFO): DAT read: Tx time:19:47:16.3189 2025-01-08T19:47:17.042Z,1736365637.042 [DAT](INFO): Ping request sent. 2025-01-08T19:47:17.042Z,1736365637.042 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:47:17.043Z,1736365637.043 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:47:17.048Z,1736365637.048 [DAT](INFO): direction in FSK: [0.116368,-0.865207,0.487724] 2025-01-08T19:47:17.048Z,1736365637.048 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:17.048Z,1736365637.048 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:17.060Z,1736365637.060 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:17.060Z,1736365637.060 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:17.216Z,1736365637.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:17.217Z,1736365637.217 [DAT](INFO): DAT read: TxSync time:19:47:16.3181 2025-01-08T19:47:17.317Z,1736365637.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:17.352Z,1736365637.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 408.000000 m, deltaT: 4.032087 s, deltaX: 8.700012 m, approachRate: 2.157695 m/s, rangeRepo size: 4 2025-01-08T19:47:17.354Z,1736365637.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 408.000000 m, bearing: 195.224215 deg, lat: 36.900812 deg, lon: -122.115645 deg, deltaT: 4.032087 s, deltaX: 8.700012 m, approachRate: 2.157695 m/s, posRepo size: 4 2025-01-08T19:47:17.355Z,1736365637.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T19:47:17.366Z,1736365637.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 382.098572 m, bearing: 191.251085 deg, approach rate: 0.000000 m/s, LOS rate: -0.091014 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837584 deg. 2025-01-08T19:47:17.372Z,1736365637.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814274 target range: 408.000000 and range: 408.00 m. 2025-01-08T19:47:17.468Z,1736365637.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:17.674Z,1736365637.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:17.706Z,1736365637.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T19:47:17.721Z,1736365637.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:17.728Z,1736365637.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 382.111145 m, bearing: 191.214709 deg, approach rate: 0.034644 m/s, LOS rate: -0.100224 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866064 deg. 2025-01-08T19:47:17.740Z,1736365637.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814771 target range: 408.000000 and range: 408.00 m. 2025-01-08T19:47:17.974Z,1736365637.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:18.100Z,1736365638.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:18.149Z,1736365638.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T19:47:18.153Z,1736365638.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 382.120941 m, bearing: 191.171026 deg, approach rate: 0.022082 m/s, LOS rate: -0.098468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844140 deg. 2025-01-08T19:47:18.154Z,1736365638.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814388 target range: 408.000000 and range: 408.00 m. 2025-01-08T19:47:18.225Z,1736365638.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:18.467Z,1736365638.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:18.474Z,1736365638.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:18.476Z,1736365638.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:18.476Z,1736365638.476 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:47:18.476Z,1736365638.476 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:47:18.477Z,1736365638.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:18.481Z,1736365638.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T19:47:18.484Z,1736365638.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 382.128082 m, bearing: 191.132283 deg, approach rate: 0.021538 m/s, LOS rate: -0.116847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858962 deg. 2025-01-08T19:47:18.485Z,1736365638.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814647 target range: 408.000000 and range: 408.00 m. 2025-01-08T19:47:18.728Z,1736365638.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:18.730Z,1736365638.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.688119 2025-01-08T19:47:18.872Z,1736365638.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:18.897Z,1736365638.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T19:47:18.904Z,1736365638.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 382.136505 m, bearing: 191.090200 deg, approach rate: 0.020256 m/s, LOS rate: -0.101206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848939 deg. 2025-01-08T19:47:18.905Z,1736365638.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814472 target range: 408.000000 and range: 408.00 m. 2025-01-08T19:47:18.982Z,1736365638.982 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:18.985Z,1736365638.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942423 2025-01-08T19:47:19.232Z,1736365639.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:19.233Z,1736365639.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.190625 2025-01-08T19:47:19.324Z,1736365639.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:19.334Z,1736365639.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T19:47:19.337Z,1736365639.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 382.146759 m, bearing: 191.042796 deg, approach rate: 0.023466 m/s, LOS rate: -0.108481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832980 deg. 2025-01-08T19:47:19.338Z,1736365639.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814194 target range: 408.000000 and range: 408.00 m. 2025-01-08T19:47:19.484Z,1736365639.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:19.484Z,1736365639.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.442587 2025-01-08T19:47:19.699Z,1736365639.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:19.707Z,1736365639.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T19:47:19.710Z,1736365639.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 382.155609 m, bearing: 191.003475 deg, approach rate: 0.023715 m/s, LOS rate: -0.105362 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857226 deg. 2025-01-08T19:47:19.711Z,1736365639.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814617 target range: 408.000000 and range: 408.00 m. 2025-01-08T19:47:19.736Z,1736365639.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:19.736Z,1736365639.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694502 2025-01-08T19:47:19.990Z,1736365639.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:19.992Z,1736365639.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949847 2025-01-08T19:47:20.117Z,1736365640.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:20.125Z,1736365640.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T19:47:20.130Z,1736365640.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 382.173218 m, bearing: 190.958482 deg, approach rate: 0.042084 m/s, LOS rate: -0.107524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840217 deg. 2025-01-08T19:47:20.147Z,1736365640.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814320 target range: 408.000000 and range: 408.00 m. 2025-01-08T19:47:20.241Z,1736365640.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:20.242Z,1736365640.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.199884 2025-01-08T19:47:20.489Z,1736365640.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:20.492Z,1736365640.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:20.493Z,1736365640.493 [DAT](INFO): DAT read: Rx Time:19:47:19.2665 2025-01-08T19:47:20.493Z,1736365640.493 [DAT](INFO): Rx dataTimestamp_ set to:1736365640.492722 2025-01-08T19:47:20.494Z,1736365640.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451672 2025-01-08T19:47:20.518Z,1736365640.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:20.521Z,1736365640.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T19:47:20.526Z,1736365640.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 382.188843 m, bearing: 190.918471 deg, approach rate: 0.039501 m/s, LOS rate: -0.101147 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855158 deg. 2025-01-08T19:47:20.540Z,1736365640.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814581 target range: 408.000000 and range: 408.00 m. 2025-01-08T19:47:20.744Z,1736365640.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:20.744Z,1736365640.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.702493 2025-01-08T19:47:20.944Z,1736365640.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:20.997Z,1736365640.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:21.034Z,1736365641.034 [DAT](INFO): DAT read: 19:47:19.2665 LVL= 26608, 32753, 24562, 32755, AGC= 69, IDX= 432, 0.39, 0.665,-0.630, 0.974, 0.105, PHS= 0.648,-0.688, 0.866, RAW= 157.4, -11.3, CAL= 163.1, -18.2, ROT= 346.9, 18.2 2025-01-08T19:47:21.037Z,1736365641.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T19:47:21.059Z,1736365641.059 [DAT](INFO): got valid direction response: 19:47:19.2665 LVL= 26608, 32753, 24562, 32755, AGC= 69, IDX= 432, 0.39, 0.665,-0.630, 0.974, 0.105, PHS= 0.648,-0.688, 0.866, RAW= 157.4, -11.3, CAL= 163.1, -18.2, ROT= 346.9, 18.2 2025-01-08T19:47:21.060Z,1736365641.060 [DAT](INFO): DAT read: Bearing 346.9, 18.2 (Local) 2025-01-08T19:47:21.061Z,1736365641.061 [DAT](INFO): Local bearing/azimuth received: Bearing 346.9, 18.2 (Local) 2025-01-08T19:47:21.063Z,1736365641.063 [DAT](INFO): DAT read: Range 10 to 50 : 407.4 m (Round-trip 543.3 ms) speed 0.5 m/s 2025-01-08T19:47:21.064Z,1736365641.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 382.208160 m, bearing: 190.869594 deg, approach rate: 0.038218 m/s, LOS rate: -0.096694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828563 deg. 2025-01-08T19:47:21.066Z,1736365641.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814116 target range: 408.000000 and range: 408.00 m. 2025-01-08T19:47:21.080Z,1736365641.080 [DAT](INFO): DAT read: user:837> 2025-01-08T19:47:21.080Z,1736365641.080 [DAT](INFO): DAT read: Tx time:19:47:20.3690 2025-01-08T19:47:21.081Z,1736365641.081 [DAT](INFO): Ping request sent. 2025-01-08T19:47:21.081Z,1736365641.081 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:47:21.081Z,1736365641.081 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:47:21.082Z,1736365641.082 [DAT](INFO): direction in FSK: [0.105973,-0.893299,0.436791] 2025-01-08T19:47:21.082Z,1736365641.082 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:21.083Z,1736365641.083 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:21.133Z,1736365641.133 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:21.133Z,1736365641.133 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:21.248Z,1736365641.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:21.250Z,1736365641.250 [DAT](INFO): DAT read: TxSync time:19:47:20.3682 2025-01-08T19:47:21.395Z,1736365641.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:21.409Z,1736365641.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 407.399994 m, deltaT: 4.031841 s, deltaX: -0.600006 m, approachRate: -0.148817 m/s, rangeRepo size: 4 2025-01-08T19:47:21.412Z,1736365641.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 407.399994 m, bearing: 194.093201 deg, lat: 36.900812 deg, lon: -122.115645 deg, deltaT: 4.031841 s, deltaX: -0.600006 m, approachRate: -0.148817 m/s, posRepo size: 4 2025-01-08T19:47:21.413Z,1736365641.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:21.416Z,1736365641.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.232147 m, bearing: 190.820929 deg, approach rate: 0.000000 m/s, LOS rate: -0.096694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864332 deg. 2025-01-08T19:47:21.417Z,1736365641.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814741 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:21.500Z,1736365641.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:21.752Z,1736365641.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:21.769Z,1736365641.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:21.777Z,1736365641.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:21.802Z,1736365641.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.251221 m, bearing: 190.780597 deg, approach rate: 0.051750 m/s, LOS rate: -0.109423 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854195 deg. 2025-01-08T19:47:21.807Z,1736365641.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814564 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:22.004Z,1736365642.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:22.200Z,1736365642.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:22.208Z,1736365642.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:22.211Z,1736365642.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.273865 m, bearing: 190.734594 deg, approach rate: 0.052527 m/s, LOS rate: -0.106706 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837186 deg. 2025-01-08T19:47:22.229Z,1736365642.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814267 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:22.257Z,1736365642.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:22.508Z,1736365642.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:22.576Z,1736365642.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:22.601Z,1736365642.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:22.607Z,1736365642.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:22.610Z,1736365642.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.292603 m, bearing: 190.694513 deg, approach rate: 0.047464 m/s, LOS rate: -0.101524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854950 deg. 2025-01-08T19:47:22.612Z,1736365642.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814577 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:22.760Z,1736365642.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:22.760Z,1736365642.760 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:47:22.760Z,1736365642.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:47:22.760Z,1736365642.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:22.982Z,1736365642.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:22.991Z,1736365642.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:22.994Z,1736365642.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.313507 m, bearing: 190.651046 deg, approach rate: 0.053934 m/s, LOS rate: -0.112138 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844794 deg. 2025-01-08T19:47:22.996Z,1736365642.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814400 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:23.012Z,1736365643.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:23.013Z,1736365643.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.932177 2025-01-08T19:47:23.264Z,1736365643.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:23.264Z,1736365643.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183444 2025-01-08T19:47:23.406Z,1736365643.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:23.436Z,1736365643.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:23.438Z,1736365643.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.334747 m, bearing: 190.605906 deg, approach rate: 0.048177 m/s, LOS rate: -0.102380 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839775 deg. 2025-01-08T19:47:23.446Z,1736365643.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814312 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:23.516Z,1736365643.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:23.517Z,1736365643.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436467 2025-01-08T19:47:23.768Z,1736365643.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:23.769Z,1736365643.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687643 2025-01-08T19:47:23.809Z,1736365643.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:23.839Z,1736365643.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:23.842Z,1736365643.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.354858 m, bearing: 190.563018 deg, approach rate: 0.049843 m/s, LOS rate: -0.106288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846529 deg. 2025-01-08T19:47:23.849Z,1736365643.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814430 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:24.020Z,1736365644.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:24.020Z,1736365644.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939546 2025-01-08T19:47:24.266Z,1736365644.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:24.272Z,1736365644.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:24.273Z,1736365644.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191796 2025-01-08T19:47:24.277Z,1736365644.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:24.280Z,1736365644.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.381927 m, bearing: 190.514550 deg, approach rate: 0.061295 m/s, LOS rate: -0.109742 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829794 deg. 2025-01-08T19:47:24.282Z,1736365644.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814138 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:24.524Z,1736365644.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:24.524Z,1736365644.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443531 2025-01-08T19:47:24.599Z,1736365644.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:24.605Z,1736365644.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:24.608Z,1736365644.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:24.610Z,1736365644.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.401581 m, bearing: 190.479340 deg, approach rate: 0.059406 m/s, LOS rate: -0.106423 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869564 deg. 2025-01-08T19:47:24.632Z,1736365644.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814832 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:24.776Z,1736365644.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:24.776Z,1736365644.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.695513 2025-01-08T19:47:25.002Z,1736365645.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:25.011Z,1736365645.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:25.014Z,1736365645.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.425476 m, bearing: 190.436572 deg, approach rate: 0.059269 m/s, LOS rate: -0.106074 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846891 deg. 2025-01-08T19:47:25.016Z,1736365645.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814436 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:25.030Z,1736365645.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:25.031Z,1736365645.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.950060 2025-01-08T19:47:25.280Z,1736365645.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:25.280Z,1736365645.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.199605 2025-01-08T19:47:25.429Z,1736365645.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:25.437Z,1736365645.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:25.441Z,1736365645.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.449432 m, bearing: 190.393190 deg, approach rate: 0.056126 m/s, LOS rate: -0.101632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845049 deg. 2025-01-08T19:47:25.442Z,1736365645.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814404 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:25.533Z,1736365645.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:25.534Z,1736365645.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.452773 2025-01-08T19:47:25.784Z,1736365645.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:25.784Z,1736365645.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.703492 2025-01-08T19:47:25.811Z,1736365645.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:25.844Z,1736365645.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:25.859Z,1736365645.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.471100 m, bearing: 190.354352 deg, approach rate: 0.053940 m/s, LOS rate: -0.096679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858680 deg. 2025-01-08T19:47:25.861Z,1736365645.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814642 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:26.036Z,1736365646.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:26.036Z,1736365646.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.955555 2025-01-08T19:47:26.236Z,1736365646.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:26.245Z,1736365646.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:26.248Z,1736365646.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.489960 m, bearing: 190.312242 deg, approach rate: 0.046529 m/s, LOS rate: -0.103884 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848862 deg. 2025-01-08T19:47:26.249Z,1736365646.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814471 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:26.288Z,1736365646.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:26.289Z,1736365646.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.208279 2025-01-08T19:47:26.540Z,1736365646.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:26.540Z,1736365646.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.459497 2025-01-08T19:47:26.626Z,1736365646.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:26.633Z,1736365646.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:26.636Z,1736365646.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:26.638Z,1736365646.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.507416 m, bearing: 190.273644 deg, approach rate: 0.044651 m/s, LOS rate: -0.098727 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859397 deg. 2025-01-08T19:47:26.640Z,1736365646.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814655 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:26.792Z,1736365646.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:26.792Z,1736365646.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.711605 2025-01-08T19:47:27.021Z,1736365647.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:27.044Z,1736365647.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:27.045Z,1736365647.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.963603 2025-01-08T19:47:27.048Z,1736365647.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:27.051Z,1736365647.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.525208 m, bearing: 190.234498 deg, approach rate: 0.043109 m/s, LOS rate: -0.094844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857756 deg. 2025-01-08T19:47:27.052Z,1736365647.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814626 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:27.296Z,1736365647.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:27.297Z,1736365647.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.215767 2025-01-08T19:47:27.444Z,1736365647.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:27.469Z,1736365647.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:27.476Z,1736365647.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.540375 m, bearing: 190.194451 deg, approach rate: 0.036026 m/s, LOS rate: -0.095118 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855051 deg. 2025-01-08T19:47:27.477Z,1736365647.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814579 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:27.548Z,1736365647.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:27.549Z,1736365647.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.467708 2025-01-08T19:47:27.800Z,1736365647.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:27.800Z,1736365647.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.719427 2025-01-08T19:47:27.829Z,1736365647.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:27.863Z,1736365647.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:27.866Z,1736365647.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.554443 m, bearing: 190.157893 deg, approach rate: 0.036071 m/s, LOS rate: -0.093730 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865515 deg. 2025-01-08T19:47:27.871Z,1736365647.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814762 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:28.052Z,1736365648.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:28.052Z,1736365648.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.971504 2025-01-08T19:47:28.226Z,1736365648.226 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250108135.0, +10.9,4 2025-01-08T19:47:28.235Z,1736365648.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:47:28.235Z,1736365648.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:28.260Z,1736365648.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:28.268Z,1736365648.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.569336 m, bearing: 190.119446 deg, approach rate: 0.037160 m/s, LOS rate: -0.095929 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859851 deg. 2025-01-08T19:47:28.269Z,1736365648.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814662 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:28.306Z,1736365648.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:28.307Z,1736365648.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.226517 2025-01-08T19:47:28.556Z,1736365648.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:28.556Z,1736365648.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.475490 2025-01-08T19:47:28.644Z,1736365648.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:47:28.644Z,1736365648.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:28.656Z,1736365648.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:28.660Z,1736365648.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:28.665Z,1736365648.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.584564 m, bearing: 190.080638 deg, approach rate: 0.038164 m/s, LOS rate: -0.097252 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858769 deg. 2025-01-08T19:47:28.667Z,1736365648.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814644 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:28.808Z,1736365648.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:28.809Z,1736365648.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.727893 2025-01-08T19:47:29.041Z,1736365649.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:47:29.041Z,1736365649.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:29.060Z,1736365649.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:29.060Z,1736365649.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.979511 2025-01-08T19:47:29.081Z,1736365649.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:29.089Z,1736365649.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.599670 m, bearing: 190.043004 deg, approach rate: 0.035811 m/s, LOS rate: -0.089213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862288 deg. 2025-01-08T19:47:29.100Z,1736365649.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814705 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:29.312Z,1736365649.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:29.313Z,1736365649.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.232212 2025-01-08T19:47:29.479Z,1736365649.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:29.496Z,1736365649.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:29.499Z,1736365649.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.617920 m, bearing: 190.003816 deg, approach rate: 0.044436 m/s, LOS rate: -0.095414 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857630 deg. 2025-01-08T19:47:29.504Z,1736365649.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814624 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:29.564Z,1736365649.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:29.565Z,1736365649.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.483866 2025-01-08T19:47:29.816Z,1736365649.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:29.817Z,1736365649.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.735632 2025-01-08T19:47:29.858Z,1736365649.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:29.866Z,1736365649.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:29.869Z,1736365649.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.633911 m, bearing: 189.969788 deg, approach rate: 0.042700 m/s, LOS rate: -0.090858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873107 deg. 2025-01-08T19:47:29.870Z,1736365649.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814894 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:30.068Z,1736365650.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:30.068Z,1736365650.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.987524 2025-01-08T19:47:30.273Z,1736365650.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:30.282Z,1736365650.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:30.285Z,1736365650.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.649384 m, bearing: 189.932398 deg, approach rate: 0.037198 m/s, LOS rate: -0.089890 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863020 deg. 2025-01-08T19:47:30.286Z,1736365650.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814718 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:30.320Z,1736365650.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:30.320Z,1736365650.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.239626 2025-01-08T19:47:30.572Z,1736365650.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:30.572Z,1736365650.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.491588 2025-01-08T19:47:30.669Z,1736365650.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:30.697Z,1736365650.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:30.699Z,1736365650.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:30.706Z,1736365650.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.664368 m, bearing: 189.896713 deg, approach rate: 0.035934 m/s, LOS rate: -0.085573 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868137 deg. 2025-01-08T19:47:30.716Z,1736365650.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814807 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:30.824Z,1736365650.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:30.824Z,1736365650.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.743448 2025-01-08T19:47:31.064Z,1736365651.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:31.076Z,1736365651.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:31.077Z,1736365651.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.996031 2025-01-08T19:47:31.078Z,1736365651.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:31.081Z,1736365651.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.679596 m, bearing: 189.861153 deg, approach rate: 0.040449 m/s, LOS rate: -0.094449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868512 deg. 2025-01-08T19:47:31.082Z,1736365651.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814814 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:31.328Z,1736365651.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:31.329Z,1736365651.329 [DAT](INFO): Reached modem response timeout 2025-01-08T19:47:31.329Z,1736365651.329 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:47:31.329Z,1736365651.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:31.519Z,1736365651.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:31.528Z,1736365651.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:31.532Z,1736365651.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.703674 m, bearing: 189.819688 deg, approach rate: 0.053262 m/s, LOS rate: -0.091715 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850800 deg. 2025-01-08T19:47:31.533Z,1736365651.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814505 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:31.580Z,1736365651.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:31.580Z,1736365651.580 [DAT](INFO): Reached modem response timeout 2025-01-08T19:47:31.580Z,1736365651.580 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:47:31.581Z,1736365651.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:31.832Z,1736365651.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:31.832Z,1736365651.832 [DAT](INFO): Reached modem response timeout 2025-01-08T19:47:31.832Z,1736365651.832 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:47:31.832Z,1736365651.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:31.892Z,1736365651.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:31.917Z,1736365651.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:31.924Z,1736365651.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.723511 m, bearing: 189.785767 deg, approach rate: 0.050923 m/s, LOS rate: -0.087078 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873428 deg. 2025-01-08T19:47:31.925Z,1736365651.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814899 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:32.085Z,1736365652.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:32.086Z,1736365652.086 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:47:32.086Z,1736365652.086 [DAT](INFO): response not received 2025-01-08T19:47:32.087Z,1736365652.087 [DAT](INFO): DAT read: user:838> 2025-01-08T19:47:32.088Z,1736365652.088 [DAT](INFO): DAT read: Tx time:19:47:31.3191 2025-01-08T19:47:32.088Z,1736365652.088 [DAT](INFO): Ping request sent. 2025-01-08T19:47:32.088Z,1736365652.088 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:47:32.088Z,1736365652.088 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:32.089Z,1736365652.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751 2025-01-08T19:47:32.294Z,1736365652.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:32.309Z,1736365652.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:32.313Z,1736365652.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.750641 m, bearing: 189.746744 deg, approach rate: 0.069267 m/s, LOS rate: -0.099623 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858127 deg. 2025-01-08T19:47:32.314Z,1736365652.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814632 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:32.336Z,1736365652.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:32.336Z,1736365652.336 [DAT](INFO): DAT read: TxSync time:19:47:31.3183 2025-01-08T19:47:32.337Z,1736365652.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249233 2025-01-08T19:47:32.588Z,1736365652.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:32.589Z,1736365652.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501106 2025-01-08T19:47:32.687Z,1736365652.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:32.715Z,1736365652.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:32.718Z,1736365652.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.777130 m, bearing: 189.708647 deg, approach rate: 0.068523 m/s, LOS rate: -0.098544 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860902 deg. 2025-01-08T19:47:32.720Z,1736365652.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814681 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:32.840Z,1736365652.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:32.842Z,1736365652.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753141 2025-01-08T19:47:33.081Z,1736365653.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:33.087Z,1736365653.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:33.094Z,1736365653.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:33.097Z,1736365653.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009016 2025-01-08T19:47:33.111Z,1736365653.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:33.151Z,1736365653.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.803314 m, bearing: 189.670483 deg, approach rate: 0.063719 m/s, LOS rate: -0.092865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860704 deg. 2025-01-08T19:47:33.172Z,1736365653.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814678 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:33.344Z,1736365653.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:33.345Z,1736365653.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256586 2025-01-08T19:47:33.532Z,1736365653.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:33.540Z,1736365653.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:33.543Z,1736365653.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.835968 m, bearing: 189.625305 deg, approach rate: 0.075291 m/s, LOS rate: -0.104159 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839665 deg. 2025-01-08T19:47:33.544Z,1736365653.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814311 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:33.597Z,1736365653.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:33.598Z,1736365653.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509461 2025-01-08T19:47:33.848Z,1736365653.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:33.848Z,1736365653.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760314 2025-01-08T19:47:33.920Z,1736365653.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:33.943Z,1736365653.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:33.946Z,1736365653.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.864655 m, bearing: 189.586317 deg, approach rate: 0.071160 m/s, LOS rate: -0.096708 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858231 deg. 2025-01-08T19:47:33.947Z,1736365653.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814634 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:34.100Z,1736365654.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:34.100Z,1736365654.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012309 2025-01-08T19:47:34.324Z,1736365654.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:34.352Z,1736365654.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:34.353Z,1736365654.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264547 2025-01-08T19:47:34.357Z,1736365654.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:34.364Z,1736365654.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.894806 m, bearing: 189.543892 deg, approach rate: 0.072909 m/s, LOS rate: -0.102581 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847921 deg. 2025-01-08T19:47:34.365Z,1736365654.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814455 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:34.604Z,1736365654.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:34.605Z,1736365654.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516563 2025-01-08T19:47:34.721Z,1736365654.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:34.731Z,1736365654.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:34.734Z,1736365654.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.924805 m, bearing: 189.502183 deg, approach rate: 0.080125 m/s, LOS rate: -0.111394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850070 deg. 2025-01-08T19:47:34.736Z,1736365654.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814492 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:34.857Z,1736365654.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:34.858Z,1736365654.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769806 2025-01-08T19:47:35.108Z,1736365655.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:35.109Z,1736365655.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020507 2025-01-08T19:47:35.118Z,1736365655.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:35.134Z,1736365655.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:35.138Z,1736365655.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:35.141Z,1736365655.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.954742 m, bearing: 189.460473 deg, approach rate: 0.073603 m/s, LOS rate: -0.102539 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850066 deg. 2025-01-08T19:47:35.142Z,1736365655.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814492 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:35.361Z,1736365655.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:35.364Z,1736365655.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275000 2025-01-08T19:47:35.541Z,1736365655.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:35.551Z,1736365655.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:35.554Z,1736365655.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 382.987030 m, bearing: 189.413932 deg, approach rate: 0.078154 m/s, LOS rate: -0.112646 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835576 deg. 2025-01-08T19:47:35.556Z,1736365655.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814239 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:35.613Z,1736365655.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:35.614Z,1736365655.614 [DAT](INFO): DAT read: Rx Time:19:47:34.2528 2025-01-08T19:47:35.615Z,1736365655.615 [DAT](INFO): Rx dataTimestamp_ set to:1736365655.613897 2025-01-08T19:47:35.615Z,1736365655.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527109 2025-01-08T19:47:35.864Z,1736365655.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:35.864Z,1736365655.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776438 2025-01-08T19:47:35.975Z,1736365655.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:36.013Z,1736365656.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.40 m. 2025-01-08T19:47:36.020Z,1736365656.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.399994 m, nav range: 383.019867 m, bearing: 189.366157 deg, approach rate: 0.071107 m/s, LOS rate: -0.103444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831876 deg. 2025-01-08T19:47:36.021Z,1736365656.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814174 target range: 407.399994 and range: 407.40 m. 2025-01-08T19:47:36.117Z,1736365656.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:36.129Z,1736365656.129 [DAT](INFO): DAT read: 19:47:34.2528 LVL= 22624, 29873, 19346, 32691, AGC= 68, IDX= 267,-0.15, 1.834, 0.452, 2.038, 1.200, PHS= 0.722,-0.701, 0.834, RAW= 153.8, -11.5, CAL= 160.2, -18.7, ROT= 349.8, 18.7 2025-01-08T19:47:36.130Z,1736365656.130 [DAT](INFO): got valid direction response: 19:47:34.2528 LVL= 22624, 29873, 19346, 32691, AGC= 68, IDX= 267,-0.15, 1.834, 0.452, 2.038, 1.200, PHS= 0.722,-0.701, 0.834, RAW= 153.8, -11.5, CAL= 160.2, -18.7, ROT= 349.8, 18.7 2025-01-08T19:47:36.135Z,1736365656.135 [DAT](INFO): DAT read: Bearing 349.8, 18.7 (Local) 2025-01-08T19:47:36.136Z,1736365656.136 [DAT](INFO): Local bearing/azimuth received: Bearing 349.8, 18.7 (Local) 2025-01-08T19:47:36.138Z,1736365656.138 [DAT](INFO): DAT read: Range 10 to 50 : 397.1 m (Round-trip 529.5 ms) speed 1.0 m/s 2025-01-08T19:47:36.144Z,1736365656.144 [DAT](INFO): DAT read: user:839> 2025-01-08T19:47:36.145Z,1736365656.145 [DAT](INFO): DAT read: Tx time:19:47:35.3691 2025-01-08T19:47:36.146Z,1736365656.146 [DAT](INFO): Ping request sent. 2025-01-08T19:47:36.146Z,1736365656.146 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:47:36.167Z,1736365656.167 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:47:36.168Z,1736365656.168 [DAT](INFO): direction in FSK: [0.107394,-0.862150,0.495140] 2025-01-08T19:47:36.169Z,1736365656.169 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:36.169Z,1736365656.169 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:36.177Z,1736365656.177 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:36.177Z,1736365656.177 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:36.368Z,1736365656.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:36.369Z,1736365656.369 [DAT](INFO): DAT read: TxSync time:19:47:35.3683 2025-01-08T19:47:36.440Z,1736365656.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:36.482Z,1736365656.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 397.100006 m, deltaT: 15.118756 s, deltaX: -10.299988 m, approachRate: -0.681272 m/s, rangeRepo size: 4 2025-01-08T19:47:36.493Z,1736365656.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 397.100006 m, bearing: 194.221874 deg, lat: 36.900873 deg, lon: -122.115902 deg, deltaT: 15.118756 s, deltaX: -10.299988 m, approachRate: -0.681272 m/s, posRepo size: 4 2025-01-08T19:47:36.493Z,1736365656.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.10 m. 2025-01-08T19:47:36.505Z,1736365656.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.100006 m, nav range: 380.788666 m, bearing: 192.866840 deg, approach rate: 0.000000 m/s, LOS rate: -0.103444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829710 deg. 2025-01-08T19:47:36.506Z,1736365656.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814137 target range: 397.100006 and range: 397.10 m. 2025-01-08T19:47:36.621Z,1736365656.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:36.788Z,1736365656.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:36.799Z,1736365656.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.10 m. 2025-01-08T19:47:36.802Z,1736365656.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.100006 m, nav range: 380.794434 m, bearing: 192.827168 deg, approach rate: 0.018172 m/s, LOS rate: -0.124991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856171 deg. 2025-01-08T19:47:36.804Z,1736365656.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814599 target range: 397.100006 and range: 397.10 m. 2025-01-08T19:47:36.873Z,1736365656.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:37.125Z,1736365657.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:37.186Z,1736365657.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:37.193Z,1736365657.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:37.209Z,1736365657.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.10 m. 2025-01-08T19:47:37.218Z,1736365657.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.100006 m, nav range: 380.800476 m, bearing: 192.782982 deg, approach rate: 0.015248 m/s, LOS rate: -0.111500 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842632 deg. 2025-01-08T19:47:37.219Z,1736365657.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814362 target range: 397.100006 and range: 397.10 m. 2025-01-08T19:47:37.377Z,1736365657.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:37.377Z,1736365657.377 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:47:37.377Z,1736365657.377 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:47:37.378Z,1736365657.378 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:37.614Z,1736365657.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:37.628Z,1736365657.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:37.629Z,1736365657.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482839 2025-01-08T19:47:37.649Z,1736365657.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.10 m. 2025-01-08T19:47:37.658Z,1736365657.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.100006 m, nav range: 380.805511 m, bearing: 192.735788 deg, approach rate: 0.011093 m/s, LOS rate: -0.103968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833606 deg. 2025-01-08T19:47:37.665Z,1736365657.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814205 target range: 397.100006 and range: 397.10 m. 2025-01-08T19:47:37.880Z,1736365657.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:37.881Z,1736365657.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734922 2025-01-08T19:47:37.992Z,1736365657.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:38.001Z,1736365658.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.10 m. 2025-01-08T19:47:38.004Z,1736365658.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.100006 m, nav range: 380.810394 m, bearing: 192.694234 deg, approach rate: 0.013867 m/s, LOS rate: -0.118014 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850527 deg. 2025-01-08T19:47:38.005Z,1736365658.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814500 target range: 397.100006 and range: 397.10 m. 2025-01-08T19:47:38.133Z,1736365658.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:38.134Z,1736365658.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987209 2025-01-08T19:47:38.384Z,1736365658.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:38.384Z,1736365658.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238170 2025-01-08T19:47:38.459Z,1736365658.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:38.469Z,1736365658.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.10 m. 2025-01-08T19:47:38.472Z,1736365658.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.100006 m, nav range: 380.814911 m, bearing: 192.643740 deg, approach rate: 0.009664 m/s, LOS rate: -0.108038 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823709 deg. 2025-01-08T19:47:38.473Z,1736365658.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814032 target range: 397.100006 and range: 397.10 m. 2025-01-08T19:47:38.636Z,1736365658.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:38.636Z,1736365658.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490031 2025-01-08T19:47:38.798Z,1736365658.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:38.807Z,1736365658.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.10 m. 2025-01-08T19:47:38.810Z,1736365658.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.100006 m, nav range: 380.818451 m, bearing: 192.607081 deg, approach rate: 0.010464 m/s, LOS rate: -0.108361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865211 deg. 2025-01-08T19:47:38.811Z,1736365658.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814756 target range: 397.100006 and range: 397.10 m. 2025-01-08T19:47:38.890Z,1736365658.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:38.890Z,1736365658.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744136 2025-01-08T19:47:39.144Z,1736365659.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:39.144Z,1736365659.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997914 2025-01-08T19:47:39.374Z,1736365659.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:39.397Z,1736365659.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:39.397Z,1736365659.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251041 2025-01-08T19:47:39.405Z,1736365659.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:39.417Z,1736365659.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.10 m. 2025-01-08T19:47:39.428Z,1736365659.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.100006 m, nav range: 380.824280 m, bearing: 192.548285 deg, approach rate: 0.009558 m/s, LOS rate: -0.096407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.798800 deg. 2025-01-08T19:47:39.430Z,1736365659.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813597 target range: 397.100006 and range: 397.10 m. 2025-01-08T19:47:39.648Z,1736365659.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:39.649Z,1736365659.649 [DAT](INFO): DAT read: Rx Time:19:47:38.2968 2025-01-08T19:47:39.650Z,1736365659.650 [DAT](INFO): Rx dataTimestamp_ set to:1736365659.649971 2025-01-08T19:47:39.651Z,1736365659.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505114 2025-01-08T19:47:39.754Z,1736365659.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:39.764Z,1736365659.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.10 m. 2025-01-08T19:47:39.767Z,1736365659.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.100006 m, nav range: 380.828369 m, bearing: 192.509445 deg, approach rate: 0.011769 m/s, LOS rate: -0.111774 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858670 deg. 2025-01-08T19:47:39.768Z,1736365659.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814642 target range: 397.100006 and range: 397.10 m. 2025-01-08T19:47:39.900Z,1736365659.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:39.901Z,1736365659.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754215 2025-01-08T19:47:40.131Z,1736365660.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:40.139Z,1736365660.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.10 m. 2025-01-08T19:47:40.142Z,1736365660.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.100006 m, nav range: 380.832794 m, bearing: 192.471017 deg, approach rate: 0.011812 m/s, LOS rate: -0.102579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859903 deg. 2025-01-08T19:47:40.143Z,1736365660.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814663 target range: 397.100006 and range: 397.10 m. 2025-01-08T19:47:40.153Z,1736365660.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:40.160Z,1736365660.160 [DAT](INFO): DAT read: 19:47:38.2968 LVL= 23072, 26289, 21074, 32755, AGC= 65, IDX= 381,-0.49, 3.025, 1.762,-2.985, 2.456, PHS= 0.656,-0.647, 0.839, RAW= 156.5, -12.1, CAL= 162.6, -18.9, ROT= 347.4, 18.9 2025-01-08T19:47:40.161Z,1736365660.161 [DAT](INFO): got valid direction response: 19:47:38.2968 LVL= 23072, 26289, 21074, 32755, AGC= 65, IDX= 381,-0.49, 3.025, 1.762,-2.985, 2.456, PHS= 0.656,-0.647, 0.839, RAW= 156.5, -12.1, CAL= 162.6, -18.9, ROT= 347.4, 18.9 2025-01-08T19:47:40.162Z,1736365660.162 [DAT](INFO): DAT read: Bearing 347.4, 18.9 (Local) 2025-01-08T19:47:40.162Z,1736365660.162 [DAT](INFO): Local bearing/azimuth received: Bearing 347.4, 18.9 (Local) 2025-01-08T19:47:40.164Z,1736365660.164 [DAT](INFO): DAT read: Range 10 to 50 : 392.6 m (Round-trip 523.5 ms) speed 0.4 m/s 2025-01-08T19:47:40.165Z,1736365660.165 [DAT](INFO): DAT read: user:840> 2025-01-08T19:47:40.166Z,1736365660.166 [DAT](INFO): DAT read: Tx time:19:47:39.4192 2025-01-08T19:47:40.166Z,1736365660.166 [DAT](INFO): Ping request sent. 2025-01-08T19:47:40.166Z,1736365660.166 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:47:40.166Z,1736365660.166 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:47:40.187Z,1736365660.187 [DAT](INFO): direction in FSK: [0.119501,-0.884041,0.451875] 2025-01-08T19:47:40.188Z,1736365660.188 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:40.188Z,1736365660.188 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:40.191Z,1736365660.191 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:40.196Z,1736365660.196 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:40.404Z,1736365660.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:40.405Z,1736365660.405 [DAT](INFO): DAT read: TxSync time:19:47:39.4184 2025-01-08T19:47:40.604Z,1736365660.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:40.636Z,1736365660.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 392.600006 m, deltaT: 4.036714 s, deltaX: -4.500000 m, approachRate: -1.114768 m/s, rangeRepo size: 4 2025-01-08T19:47:40.638Z,1736365660.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 392.600006 m, bearing: 194.213871 deg, lat: 36.900949 deg, lon: -122.115933 deg, deltaT: 4.036714 s, deltaX: -4.500000 m, approachRate: -1.114768 m/s, posRepo size: 4 2025-01-08T19:47:40.643Z,1736365660.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:40.653Z,1736365660.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.172638 m, bearing: 193.127878 deg, approach rate: 0.000000 m/s, LOS rate: -0.102579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822238 deg. 2025-01-08T19:47:40.656Z,1736365660.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:40.660Z,1736365660.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814006 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:40.908Z,1736365660.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:40.966Z,1736365660.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:40.974Z,1736365660.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:40.977Z,1736365660.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.173035 m, bearing: 193.092514 deg, approach rate: 0.001173 m/s, LOS rate: -0.104601 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869094 deg. 2025-01-08T19:47:40.979Z,1736365660.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814824 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:41.160Z,1736365661.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:41.401Z,1736365661.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:41.408Z,1736365661.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:41.410Z,1736365661.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:41.414Z,1736365661.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:41.415Z,1736365661.415 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:47:41.415Z,1736365661.415 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:47:41.415Z,1736365661.415 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:41.418Z,1736365661.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.171478 m, bearing: 193.051551 deg, approach rate: -0.003570 m/s, LOS rate: -0.093967 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852298 deg. 2025-01-08T19:47:41.420Z,1736365661.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814531 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:41.669Z,1736365661.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:41.670Z,1736365661.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503506 2025-01-08T19:47:41.759Z,1736365661.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:41.769Z,1736365661.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:41.771Z,1736365661.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.170746 m, bearing: 193.017873 deg, approach rate: -0.002041 m/s, LOS rate: -0.093863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874153 deg. 2025-01-08T19:47:41.773Z,1736365661.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814912 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:41.920Z,1736365661.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:41.921Z,1736365661.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754758 2025-01-08T19:47:42.174Z,1736365662.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:42.175Z,1736365662.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009390 2025-01-08T19:47:42.183Z,1736365662.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:42.202Z,1736365662.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:42.211Z,1736365662.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.170776 m, bearing: 192.979877 deg, approach rate: 0.000070 m/s, LOS rate: -0.087705 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861199 deg. 2025-01-08T19:47:42.216Z,1736365662.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814686 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:42.424Z,1736365662.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:42.424Z,1736365662.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258489 2025-01-08T19:47:42.586Z,1736365662.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:42.610Z,1736365662.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:42.618Z,1736365662.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.166382 m, bearing: 192.942462 deg, approach rate: -0.010758 m/s, LOS rate: -0.091592 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862941 deg. 2025-01-08T19:47:42.619Z,1736365662.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814717 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:42.676Z,1736365662.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:42.677Z,1736365662.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511515 2025-01-08T19:47:42.928Z,1736365662.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:42.929Z,1736365662.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763148 2025-01-08T19:47:42.969Z,1736365662.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:43.001Z,1736365663.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:43.008Z,1736365663.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.163116 m, bearing: 192.908572 deg, approach rate: -0.008350 m/s, LOS rate: -0.086667 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873516 deg. 2025-01-08T19:47:43.010Z,1736365663.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814901 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:43.180Z,1736365663.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:43.180Z,1736365663.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014358 2025-01-08T19:47:43.432Z,1736365663.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:43.433Z,1736365663.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266606 2025-01-08T19:47:43.437Z,1736365663.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:43.444Z,1736365663.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:43.447Z,1736365663.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:43.450Z,1736365663.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.164795 m, bearing: 192.868169 deg, approach rate: 0.003768 m/s, LOS rate: -0.090688 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853979 deg. 2025-01-08T19:47:43.451Z,1736365663.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814560 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:43.684Z,1736365663.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:43.684Z,1736365663.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518554 2025-01-08T19:47:43.777Z,1736365663.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:43.805Z,1736365663.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:43.809Z,1736365663.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.167450 m, bearing: 192.838929 deg, approach rate: 0.007406 m/s, LOS rate: -0.081569 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887466 deg. 2025-01-08T19:47:43.810Z,1736365663.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815145 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:43.936Z,1736365663.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:43.937Z,1736365663.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770730 2025-01-08T19:47:44.188Z,1736365664.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:44.188Z,1736365664.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022474 2025-01-08T19:47:44.216Z,1736365664.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:44.227Z,1736365664.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:44.230Z,1736365664.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.171051 m, bearing: 192.801156 deg, approach rate: 0.008545 m/s, LOS rate: -0.089631 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861871 deg. 2025-01-08T19:47:44.231Z,1736365664.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814698 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:44.440Z,1736365664.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:44.440Z,1736365664.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274399 2025-01-08T19:47:44.609Z,1736365664.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:44.618Z,1736365664.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:44.622Z,1736365664.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.171448 m, bearing: 192.766557 deg, approach rate: 0.001014 m/s, LOS rate: -0.088434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871389 deg. 2025-01-08T19:47:44.623Z,1736365664.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814864 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:44.692Z,1736365664.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:44.693Z,1736365664.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526846 2025-01-08T19:47:44.944Z,1736365664.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:44.944Z,1736365664.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778505 2025-01-08T19:47:44.984Z,1736365664.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:45.012Z,1736365665.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:45.022Z,1736365665.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.172241 m, bearing: 192.733549 deg, approach rate: 0.002045 m/s, LOS rate: -0.085088 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876162 deg. 2025-01-08T19:47:45.028Z,1736365665.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814947 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:45.196Z,1736365665.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:45.198Z,1736365665.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031853 2025-01-08T19:47:45.448Z,1736365665.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:45.448Z,1736365665.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282539 2025-01-08T19:47:45.453Z,1736365665.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:45.460Z,1736365665.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:45.462Z,1736365665.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:45.465Z,1736365665.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.177094 m, bearing: 192.689688 deg, approach rate: 0.010650 m/s, LOS rate: -0.096270 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843605 deg. 2025-01-08T19:47:45.466Z,1736365665.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814379 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:45.700Z,1736365665.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:45.701Z,1736365665.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.535079 2025-01-08T19:47:45.793Z,1736365665.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:45.802Z,1736365665.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:45.805Z,1736365665.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.181000 m, bearing: 192.657860 deg, approach rate: 0.011481 m/s, LOS rate: -0.093549 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879703 deg. 2025-01-08T19:47:45.806Z,1736365665.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815009 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:45.892Z,1736365665.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:47:45.952Z,1736365665.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:45.952Z,1736365665.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.786354 2025-01-08T19:47:46.204Z,1736365666.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:46.206Z,1736365666.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039866 2025-01-08T19:47:46.231Z,1736365666.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:46.239Z,1736365666.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:46.242Z,1736365666.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.186310 m, bearing: 192.616820 deg, approach rate: 0.012136 m/s, LOS rate: -0.093798 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852069 deg. 2025-01-08T19:47:46.244Z,1736365666.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814527 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:46.458Z,1736365666.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:46.459Z,1736365666.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293444 2025-01-08T19:47:46.622Z,1736365666.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:46.631Z,1736365666.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:46.634Z,1736365666.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.194000 m, bearing: 192.577929 deg, approach rate: 0.019650 m/s, LOS rate: -0.099366 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858518 deg. 2025-01-08T19:47:46.635Z,1736365666.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814640 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:46.709Z,1736365666.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:46.710Z,1736365666.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543404 2025-01-08T19:47:46.896Z,1736365666.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:47:46.960Z,1736365666.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:46.960Z,1736365666.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794362 2025-01-08T19:47:47.004Z,1736365667.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:47.024Z,1736365667.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:47.030Z,1736365667.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.201630 m, bearing: 192.539828 deg, approach rate: 0.019383 m/s, LOS rate: -0.096798 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860885 deg. 2025-01-08T19:47:47.031Z,1736365667.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814681 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:47.212Z,1736365667.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:47.214Z,1736365667.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.047837 2025-01-08T19:47:47.464Z,1736365667.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:47.464Z,1736365667.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.298515 2025-01-08T19:47:47.489Z,1736365667.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:47.496Z,1736365667.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:47.498Z,1736365667.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:47.501Z,1736365667.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.212280 m, bearing: 192.487946 deg, approach rate: 0.022476 m/s, LOS rate: -0.109482 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819545 deg. 2025-01-08T19:47:47.502Z,1736365667.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813959 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:47.716Z,1736365667.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:47.717Z,1736365667.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.550610 2025-01-08T19:47:47.812Z,1736365667.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:47.821Z,1736365667.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:47.840Z,1736365667.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.219299 m, bearing: 192.453407 deg, approach rate: 0.021758 m/s, LOS rate: -0.107062 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871574 deg. 2025-01-08T19:47:47.841Z,1736365667.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814867 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:47.968Z,1736365667.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:47.968Z,1736365667.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802482 2025-01-08T19:47:48.212Z,1736365668.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:48.220Z,1736365668.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:48.220Z,1736365668.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.054493 2025-01-08T19:47:48.221Z,1736365668.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:48.224Z,1736365668.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.227966 m, bearing: 192.410535 deg, approach rate: 0.021733 m/s, LOS rate: -0.107502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846574 deg. 2025-01-08T19:47:48.226Z,1736365668.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814431 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:48.474Z,1736365668.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:48.475Z,1736365668.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308666 2025-01-08T19:47:48.621Z,1736365668.621 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768-32768,V 2025-01-08T19:47:48.629Z,1736365668.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:47:48.629Z,1736365668.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:48.638Z,1736365668.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:48.641Z,1736365668.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.236877 m, bearing: 192.365939 deg, approach rate: 0.021298 m/s, LOS rate: -0.106584 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841401 deg. 2025-01-08T19:47:48.642Z,1736365668.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814341 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:48.724Z,1736365668.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:48.725Z,1736365668.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559104 2025-01-08T19:47:48.976Z,1736365668.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:48.976Z,1736365668.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810390 2025-01-08T19:47:49.039Z,1736365669.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:47:49.039Z,1736365669.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:49.048Z,1736365669.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:49.052Z,1736365669.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.245850 m, bearing: 192.322013 deg, approach rate: 0.021854 m/s, LOS rate: -0.106989 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843414 deg. 2025-01-08T19:47:49.053Z,1736365669.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814376 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:49.224Z,1736365669.224 [RudderServo](ERROR): getPosition uart error serial timeout 2025-01-08T19:47:49.224Z,1736365669.224 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout 2025-01-08T19:47:49.224Z,1736365669.224 [RudderServo] Communications Fault, FailCount= 1 2025-01-08T19:47:49.224Z,1736365669.224 [RudderServo](ERROR): Communications Fault 2025-01-08T19:47:49.230Z,1736365669.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:49.230Z,1736365669.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064350 2025-01-08T19:47:49.259Z,1736365669.259 [CBIT](ERROR): Communications Fault in component: RudderServo 2025-01-08T19:47:49.480Z,1736365669.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:49.481Z,1736365669.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314565 2025-01-08T19:47:49.518Z,1736365669.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:49.534Z,1736365669.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:49.553Z,1736365669.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:49.560Z,1736365669.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.261383 m, bearing: 192.266656 deg, approach rate: 0.030787 m/s, LOS rate: -0.109711 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809123 deg. 2025-01-08T19:47:49.561Z,1736365669.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813777 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:49.646Z,1736365669.646 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2025-01-08T19:47:49.646Z,1736365669.646 [RudderServo](INFO): Powering down 2025-01-08T19:47:49.732Z,1736365669.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:49.732Z,1736365669.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.566336 2025-01-08T19:47:49.834Z,1736365669.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:49.842Z,1736365669.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:49.866Z,1736365669.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.271637 m, bearing: 192.230106 deg, approach rate: 0.035431 m/s, LOS rate: -0.126290 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865540 deg. 2025-01-08T19:47:49.867Z,1736365669.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814762 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:49.984Z,1736365669.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:49.986Z,1736365669.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.819728 2025-01-08T19:47:50.236Z,1736365670.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:50.236Z,1736365670.236 [DAT](INFO): Reached modem response timeout 2025-01-08T19:47:50.236Z,1736365670.236 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:47:50.236Z,1736365670.236 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:50.256Z,1736365670.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:50.287Z,1736365670.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:50.290Z,1736365670.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.284790 m, bearing: 192.181340 deg, approach rate: 0.029917 m/s, LOS rate: -0.110916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828895 deg. 2025-01-08T19:47:50.296Z,1736365670.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814122 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:50.386Z,1736365670.386 [RudderServo](DEBUG): Initializing EZServoServo. 2025-01-08T19:47:50.490Z,1736365670.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:50.491Z,1736365670.491 [DAT](INFO): Reached modem response timeout 2025-01-08T19:47:50.491Z,1736365670.491 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:47:50.492Z,1736365670.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:50.505Z,1736365670.505 [RudderServo](DEBUG): Initializing RudderServo. 2025-01-08T19:47:50.541Z,1736365670.541 [CBIT](INFO): Clearing failed state for component RudderServo 2025-01-08T19:47:50.541Z,1736365670.541 [RudderServo] No Fault, FailCount= 1 2025-01-08T19:47:50.694Z,1736365670.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:50.704Z,1736365670.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:50.706Z,1736365670.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.299988 m, bearing: 192.130781 deg, approach rate: 0.036044 m/s, LOS rate: -0.119906 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823514 deg. 2025-01-08T19:47:50.708Z,1736365670.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814028 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:50.740Z,1736365670.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:50.741Z,1736365670.741 [DAT](INFO): Reached modem response timeout 2025-01-08T19:47:50.741Z,1736365670.741 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:47:50.741Z,1736365670.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:50.992Z,1736365670.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:50.992Z,1736365670.992 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:47:50.993Z,1736365670.993 [DAT](INFO): response not received 2025-01-08T19:47:50.993Z,1736365670.993 [DAT](INFO): DAT read: user:841> 2025-01-08T19:47:50.994Z,1736365670.994 [DAT](INFO): DAT read: Tx time:19:47:50.3693 2025-01-08T19:47:50.994Z,1736365670.994 [DAT](INFO): Ping request sent. 2025-01-08T19:47:50.994Z,1736365670.994 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:47:50.994Z,1736365670.994 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:50.996Z,1736365670.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001286 2025-01-08T19:47:51.062Z,1736365671.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:51.088Z,1736365671.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:51.091Z,1736365671.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.311951 m, bearing: 192.088357 deg, approach rate: 0.031838 m/s, LOS rate: -0.112901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847921 deg. 2025-01-08T19:47:51.092Z,1736365671.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814455 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:51.244Z,1736365671.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:51.244Z,1736365671.244 [DAT](INFO): DAT read: TxSync time:19:47:50.3685 2025-01-08T19:47:51.245Z,1736365671.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251011 2025-01-08T19:47:51.498Z,1736365671.498 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:51.501Z,1736365671.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505723 2025-01-08T19:47:51.505Z,1736365671.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:51.522Z,1736365671.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:51.537Z,1736365671.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.325836 m, bearing: 192.037348 deg, approach rate: 0.031408 m/s, LOS rate: -0.115375 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822165 deg. 2025-01-08T19:47:51.538Z,1736365671.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814005 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:51.748Z,1736365671.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:51.748Z,1736365671.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754225 2025-01-08T19:47:51.877Z,1736365671.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:51.885Z,1736365671.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:51.887Z,1736365671.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:51.890Z,1736365671.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.335754 m, bearing: 191.996533 deg, approach rate: 0.027136 m/s, LOS rate: -0.111667 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852745 deg. 2025-01-08T19:47:51.891Z,1736365671.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814538 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:51.000Z,1736365672.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:52.001Z,1736365672.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006297 2025-01-08T19:47:52.252Z,1736365672.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:52.252Z,1736365672.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258017 2025-01-08T19:47:52.261Z,1736365672.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:52.269Z,1736365672.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:52.272Z,1736365672.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.345276 m, bearing: 191.954541 deg, approach rate: 0.024943 m/s, LOS rate: -0.110001 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849216 deg. 2025-01-08T19:47:52.273Z,1736365672.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814477 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:52.506Z,1736365672.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:52.508Z,1736365672.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513235 2025-01-08T19:47:52.696Z,1736365672.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:52.724Z,1736365672.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:52.732Z,1736365672.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.353973 m, bearing: 191.910067 deg, approach rate: 0.019088 m/s, LOS rate: -0.097606 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841766 deg. 2025-01-08T19:47:52.733Z,1736365672.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814347 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:52.756Z,1736365672.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:52.757Z,1736365672.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762315 2025-01-08T19:47:53.008Z,1736365673.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:53.009Z,1736365673.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014329 2025-01-08T19:47:53.084Z,1736365673.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:53.093Z,1736365673.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:53.138Z,1736365673.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.362000 m, bearing: 191.870180 deg, approach rate: 0.021785 m/s, LOS rate: -0.108260 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855528 deg. 2025-01-08T19:47:53.144Z,1736365673.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814587 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:53.262Z,1736365673.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:53.263Z,1736365673.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268517 2025-01-08T19:47:53.506Z,1736365673.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:53.514Z,1736365673.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:53.516Z,1736365673.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521171 2025-01-08T19:47:53.547Z,1736365673.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:53.554Z,1736365673.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.370819 m, bearing: 191.827138 deg, approach rate: 0.019437 m/s, LOS rate: -0.094858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846064 deg. 2025-01-08T19:47:53.555Z,1736365673.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814422 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:53.764Z,1736365673.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:53.765Z,1736365673.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770446 2025-01-08T19:47:53.888Z,1736365673.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:53.906Z,1736365673.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:53.913Z,1736365673.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:53.920Z,1736365673.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.381531 m, bearing: 191.790937 deg, approach rate: 0.029220 m/s, LOS rate: -0.098745 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866589 deg. 2025-01-08T19:47:53.921Z,1736365673.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814780 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:54.017Z,1736365674.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:54.018Z,1736365674.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023357 2025-01-08T19:47:54.268Z,1736365674.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:54.268Z,1736365674.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274202 2025-01-08T19:47:54.290Z,1736365674.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:54.299Z,1736365674.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:54.301Z,1736365674.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.393005 m, bearing: 191.752822 deg, approach rate: 0.029773 m/s, LOS rate: -0.098897 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860843 deg. 2025-01-08T19:47:54.303Z,1736365674.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814680 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:54.522Z,1736365674.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:54.524Z,1736365674.524 [DAT](INFO): DAT read: Rx Time:19:47:53.2862 2025-01-08T19:47:54.525Z,1736365674.525 [DAT](INFO): Rx dataTimestamp_ set to:1736365674.524591 2025-01-08T19:47:54.528Z,1736365674.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532393 2025-01-08T19:47:54.716Z,1736365674.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:54.724Z,1736365674.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.60 m. 2025-01-08T19:47:54.727Z,1736365674.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.600006 m, nav range: 373.400024 m, bearing: 191.715624 deg, approach rate: 0.016519 m/s, LOS rate: -0.087538 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863597 deg. 2025-01-08T19:47:54.744Z,1736365674.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814728 target range: 392.600006 and range: 392.60 m. 2025-01-08T19:47:54.772Z,1736365674.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:54.772Z,1736365674.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778206 2025-01-08T19:47:55.024Z,1736365675.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:55.031Z,1736365675.031 [DAT](INFO): DAT read: 19:47:53.2862 LVL= 30832, 24945, 19314, 31475, AGC= 68, IDX= 303,-0.36, 1.270,-0.154, 1.397, 0.722, PHS= 0.636,-0.829, 0.672, RAW= 151.2, -6.5, CAL= 156.4, -14.7, ROT= 353.6, 14.7 2025-01-08T19:47:55.032Z,1736365675.032 [DAT](INFO): got valid direction response: 19:47:53.2862 LVL= 30832, 24945, 19314, 31475, AGC= 68, IDX= 303,-0.36, 1.270,-0.154, 1.397, 0.722, PHS= 0.636,-0.829, 0.672, RAW= 151.2, -6.5, CAL= 156.4, -14.7, ROT= 353.6, 14.7 2025-01-08T19:47:55.033Z,1736365675.033 [DAT](INFO): DAT read: Bearing 353.6, 14.7 (Local) 2025-01-08T19:47:55.033Z,1736365675.033 [DAT](INFO): Local bearing/azimuth received: Bearing 353.6, 14.7 (Local) 2025-01-08T19:47:55.035Z,1736365675.035 [DAT](INFO): DAT read: Range 10 to 50 : 384.5 m (Round-trip 512.7 ms) speed 0.4 m/s 2025-01-08T19:47:55.036Z,1736365675.036 [DAT](INFO): DAT read: user:842> 2025-01-08T19:47:55.037Z,1736365675.037 [DAT](INFO): DAT read: Tx time:19:47:54.3693 2025-01-08T19:47:55.037Z,1736365675.037 [DAT](INFO): Ping request sent. 2025-01-08T19:47:55.037Z,1736365675.037 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:47:55.037Z,1736365675.037 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:47:55.038Z,1736365675.038 [DAT](INFO): direction in FSK: [0.007207,-0.844783,0.535061] 2025-01-08T19:47:55.038Z,1736365675.038 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:55.039Z,1736365675.039 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:55.042Z,1736365675.042 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:55.042Z,1736365675.042 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:55.098Z,1736365675.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:55.148Z,1736365675.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 384.500000 m, deltaT: 14.870421 s, deltaX: -8.100006 m, approachRate: -0.544706 m/s, rangeRepo size: 4 2025-01-08T19:47:55.151Z,1736365675.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 384.500000 m, bearing: 188.538642 deg, lat: 36.900980 deg, lon: -122.115933 deg, deltaT: 14.870421 s, deltaX: -8.100006 m, approachRate: -0.544706 m/s, posRepo size: 4 2025-01-08T19:47:55.160Z,1736365675.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.50 m. 2025-01-08T19:47:55.209Z,1736365675.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.500000 m, nav range: 369.997803 m, bearing: 191.791310 deg, approach rate: 0.000000 m/s, LOS rate: -0.087538 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865954 deg. 2025-01-08T19:47:55.210Z,1736365675.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814769 target range: 384.500000 and range: 384.50 m. 2025-01-08T19:47:55.276Z,1736365675.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:55.277Z,1736365675.277 [DAT](INFO): DAT read: TxSync time:19:47:54.3685 2025-01-08T19:47:55.530Z,1736365675.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:55.672Z,1736365675.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:55.700Z,1736365675.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.50 m. 2025-01-08T19:47:55.702Z,1736365675.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.500000 m, nav range: 370.008209 m, bearing: 191.741930 deg, approach rate: 0.018727 m/s, LOS rate: -0.088862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827051 deg. 2025-01-08T19:47:55.708Z,1736365675.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814090 target range: 384.500000 and range: 384.50 m. 2025-01-08T19:47:55.780Z,1736365675.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:56.001Z,1736365676.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:56.008Z,1736365676.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:56.010Z,1736365676.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.50 m. 2025-01-08T19:47:56.014Z,1736365676.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.500000 m, nav range: 370.014404 m, bearing: 191.713032 deg, approach rate: 0.019678 m/s, LOS rate: -0.091793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888493 deg. 2025-01-08T19:47:56.015Z,1736365676.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815163 target range: 384.500000 and range: 384.50 m. 2025-01-08T19:47:56.032Z,1736365676.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:56.032Z,1736365676.032 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:47:56.032Z,1736365676.032 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:47:56.033Z,1736365676.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:47:56.284Z,1736365676.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:56.285Z,1736365676.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247769 2025-01-08T19:47:56.395Z,1736365676.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:56.425Z,1736365676.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.50 m. 2025-01-08T19:47:56.428Z,1736365676.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.500000 m, nav range: 370.021912 m, bearing: 191.678876 deg, approach rate: 0.018162 m/s, LOS rate: -0.082630 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872720 deg. 2025-01-08T19:47:56.429Z,1736365676.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814887 target range: 384.500000 and range: 384.50 m. 2025-01-08T19:47:56.537Z,1736365676.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:56.540Z,1736365676.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502056 2025-01-08T19:47:56.788Z,1736365676.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:56.789Z,1736365676.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751687 2025-01-08T19:47:56.824Z,1736365676.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:56.850Z,1736365676.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.50 m. 2025-01-08T19:47:56.856Z,1736365676.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.500000 m, nav range: 370.027527 m, bearing: 191.642274 deg, approach rate: 0.013176 m/s, LOS rate: -0.085885 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865385 deg. 2025-01-08T19:47:56.858Z,1736365676.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814759 target range: 384.500000 and range: 384.50 m. 2025-01-08T19:47:57.040Z,1736365677.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:57.040Z,1736365677.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003360 2025-01-08T19:47:57.206Z,1736365677.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:57.216Z,1736365677.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.50 m. 2025-01-08T19:47:57.218Z,1736365677.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.500000 m, nav range: 370.033569 m, bearing: 191.609675 deg, approach rate: 0.016529 m/s, LOS rate: -0.089169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877391 deg. 2025-01-08T19:47:57.220Z,1736365677.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814969 target range: 384.500000 and range: 384.50 m. 2025-01-08T19:47:57.292Z,1736365677.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:57.292Z,1736365677.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255456 2025-01-08T19:47:57.546Z,1736365677.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:57.549Z,1736365677.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511045 2025-01-08T19:47:57.688Z,1736365677.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:57.705Z,1736365677.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.50 m. 2025-01-08T19:47:57.717Z,1736365677.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.500000 m, nav range: 370.041992 m, bearing: 191.565641 deg, approach rate: 0.017175 m/s, LOS rate: -0.089789 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843088 deg. 2025-01-08T19:47:57.718Z,1736365677.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814370 target range: 384.500000 and range: 384.50 m. 2025-01-08T19:47:57.797Z,1736365677.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:57.798Z,1736365677.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760798 2025-01-08T19:47:58.048Z,1736365678.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:58.048Z,1736365678.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011374 2025-01-08T19:47:58.183Z,1736365678.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:58.190Z,1736365678.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:47:58.192Z,1736365678.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.50 m. 2025-01-08T19:47:58.196Z,1736365678.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.500000 m, nav range: 370.052643 m, bearing: 191.520462 deg, approach rate: 0.021888 m/s, LOS rate: -0.092845 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839653 deg. 2025-01-08T19:47:58.197Z,1736365678.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814310 target range: 384.500000 and range: 384.50 m. 2025-01-08T19:47:58.300Z,1736365678.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:58.300Z,1736365678.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263465 2025-01-08T19:47:58.552Z,1736365678.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:58.554Z,1736365678.554 [DAT](INFO): DAT read: Rx Time:19:47:57.2839 2025-01-08T19:47:58.556Z,1736365678.556 [DAT](INFO): Rx dataTimestamp_ set to:1736365678.555140 2025-01-08T19:47:58.559Z,1736365678.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521138 2025-01-08T19:47:58.708Z,1736365678.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:58.722Z,1736365678.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.50 m. 2025-01-08T19:47:58.729Z,1736365678.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.500000 m, nav range: 370.065918 m, bearing: 191.469292 deg, approach rate: 0.025070 m/s, LOS rate: -0.096629 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821683 deg. 2025-01-08T19:47:58.731Z,1736365678.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813996 target range: 384.500000 and range: 384.50 m. 2025-01-08T19:47:58.804Z,1736365678.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:58.805Z,1736365678.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768304 2025-01-08T19:47:59.042Z,1736365679.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:59.052Z,1736365679.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.50 m. 2025-01-08T19:47:59.055Z,1736365679.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.500000 m, nav range: 370.074493 m, bearing: 191.436763 deg, approach rate: 0.025935 m/s, LOS rate: -0.098378 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877602 deg. 2025-01-08T19:47:59.056Z,1736365679.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:59.071Z,1736365679.071 [DAT](INFO): DAT read: 19:47:57.2839 LVL= 25200, 32753, 19698, 32755, AGC= 67, IDX= 423,-0.43,-2.304, 2.528,-2.194,-2.951, PHS= 0.735,-0.757, 0.754, RAW= 150.6, -9.8, CAL= 156.9, -17.7, ROT= 353.1, 17.7 2025-01-08T19:47:59.072Z,1736365679.072 [DAT](INFO): got valid direction response: 19:47:57.2839 LVL= 25200, 32753, 19698, 32755, AGC= 67, IDX= 423,-0.43,-2.304, 2.528,-2.194,-2.951, PHS= 0.735,-0.757, 0.754, RAW= 150.6, -9.8, CAL= 156.9, -17.7, ROT= 353.1, 17.7 2025-01-08T19:47:59.073Z,1736365679.073 [DAT](INFO): DAT read: Bearing 353.1, 17.7 (Local) 2025-01-08T19:47:59.074Z,1736365679.074 [DAT](INFO): Local bearing/azimuth received: Bearing 353.1, 17.7 (Local) 2025-01-08T19:47:59.080Z,1736365679.080 [DAT](INFO): DAT read: Range 10 to 50 : 382.8 m (Round-trip 510.4 ms) speed 0.6 m/s 2025-01-08T19:47:59.080Z,1736365679.080 [DAT](INFO): DAT read: user:843> 2025-01-08T19:47:59.081Z,1736365679.081 [DAT](INFO): DAT read: Tx time:19:47:58.3694 2025-01-08T19:47:59.081Z,1736365679.081 [DAT](INFO): Ping request sent. 2025-01-08T19:47:59.081Z,1736365679.081 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:47:59.082Z,1736365679.082 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:47:59.083Z,1736365679.083 [DAT](INFO): direction in FSK: [0.071310,-0.836064,0.543978] 2025-01-08T19:47:59.084Z,1736365679.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814972 target range: 384.500000 and range: 384.50 m. 2025-01-08T19:47:59.091Z,1736365679.091 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:59.092Z,1736365679.092 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:59.094Z,1736365679.094 [DAT](INFO): publishing transmit ping time 2025-01-08T19:47:59.095Z,1736365679.095 [DAT](INFO): publishing direction and range info 2025-01-08T19:47:59.309Z,1736365679.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:59.310Z,1736365679.310 [DAT](INFO): DAT read: TxSync time:19:47:58.3686 2025-01-08T19:47:59.457Z,1736365679.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:59.474Z,1736365679.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 382.799988 m, deltaT: 4.032134 s, deltaX: -1.700012 m, approachRate: -0.421616 m/s, rangeRepo size: 4 2025-01-08T19:47:59.477Z,1736365679.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 382.799988 m, bearing: 193.435205 deg, lat: 36.901006 deg, lon: -122.115964 deg, deltaT: 4.032134 s, deltaX: -1.700012 m, approachRate: -0.421616 m/s, posRepo size: 4 2025-01-08T19:47:59.477Z,1736365679.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T19:47:59.480Z,1736365679.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 367.839233 m, bearing: 191.900003 deg, approach rate: 0.000000 m/s, LOS rate: -0.098378 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850819 deg. 2025-01-08T19:47:59.481Z,1736365679.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814505 target range: 382.799988 and range: 382.80 m. 2025-01-08T19:47:59.564Z,1736365679.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:59.816Z,1736365679.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:47:59.886Z,1736365679.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:47:59.894Z,1736365679.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T19:47:59.898Z,1736365679.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 367.843933 m, bearing: 191.854450 deg, approach rate: 0.011174 m/s, LOS rate: -0.108303 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838532 deg. 2025-01-08T19:47:59.900Z,1736365679.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814291 target range: 382.799988 and range: 382.80 m. 2025-01-08T19:48:00.068Z,1736365680.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:00.260Z,1736365680.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:00.268Z,1736365680.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:00.270Z,1736365680.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T19:48:00.273Z,1736365680.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 367.846558 m, bearing: 191.814705 deg, approach rate: 0.006986 m/s, LOS rate: -0.105788 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855951 deg. 2025-01-08T19:48:00.274Z,1736365680.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814595 target range: 382.799988 and range: 382.80 m. 2025-01-08T19:48:00.320Z,1736365680.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:00.320Z,1736365680.320 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:00.320Z,1736365680.320 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:00.320Z,1736365680.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:00.572Z,1736365680.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:00.573Z,1736365680.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491309 2025-01-08T19:48:00.715Z,1736365680.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:00.729Z,1736365680.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T19:48:00.748Z,1736365680.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 367.849274 m, bearing: 191.763120 deg, approach rate: 0.005923 m/s, LOS rate: -0.112495 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820435 deg. 2025-01-08T19:48:00.749Z,1736365680.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813975 target range: 382.799988 and range: 382.80 m. 2025-01-08T19:48:00.825Z,1736365680.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:00.827Z,1736365680.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744553 2025-01-08T19:48:01.076Z,1736365681.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:01.076Z,1736365681.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994808 2025-01-08T19:48:01.201Z,1736365681.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:01.210Z,1736365681.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T19:48:01.214Z,1736365681.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 367.851532 m, bearing: 191.708025 deg, approach rate: 0.004689 m/s, LOS rate: -0.114394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809902 deg. 2025-01-08T19:48:01.216Z,1736365681.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813791 target range: 382.799988 and range: 382.80 m. 2025-01-08T19:48:01.328Z,1736365681.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:01.329Z,1736365681.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247316 2025-01-08T19:48:01.580Z,1736365681.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:01.581Z,1736365681.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499050 2025-01-08T19:48:01.693Z,1736365681.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:01.703Z,1736365681.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T19:48:01.706Z,1736365681.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 367.854980 m, bearing: 191.651347 deg, approach rate: 0.007001 m/s, LOS rate: -0.115072 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.805155 deg. 2025-01-08T19:48:01.707Z,1736365681.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813708 target range: 382.799988 and range: 382.80 m. 2025-01-08T19:48:01.832Z,1736365681.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:01.832Z,1736365681.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751001 2025-01-08T19:48:02.011Z,1736365682.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:02.021Z,1736365682.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T19:48:02.024Z,1736365682.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 367.856171 m, bearing: 191.614742 deg, approach rate: 0.003743 m/s, LOS rate: -0.115130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865374 deg. 2025-01-08T19:48:02.025Z,1736365682.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814759 target range: 382.799988 and range: 382.80 m. 2025-01-08T19:48:02.084Z,1736365682.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:02.085Z,1736365682.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003408 2025-01-08T19:48:02.336Z,1736365682.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:02.337Z,1736365682.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255112 2025-01-08T19:48:02.417Z,1736365682.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:02.424Z,1736365682.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:02.426Z,1736365682.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T19:48:02.444Z,1736365682.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 367.857056 m, bearing: 191.568001 deg, approach rate: 0.002185 m/s, LOS rate: -0.115411 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834962 deg. 2025-01-08T19:48:02.450Z,1736365682.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814228 target range: 382.799988 and range: 382.80 m. 2025-01-08T19:48:02.589Z,1736365682.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:02.591Z,1736365682.591 [DAT](INFO): DAT read: Rx Time:19:48:01.2813 2025-01-08T19:48:02.592Z,1736365682.592 [DAT](INFO): Rx dataTimestamp_ set to:1736365682.591341 2025-01-08T19:48:02.594Z,1736365682.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511835 2025-01-08T19:48:02.840Z,1736365682.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:02.841Z,1736365682.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759243 2025-01-08T19:48:02.842Z,1736365682.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:02.875Z,1736365682.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T19:48:02.879Z,1736365682.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 367.861877 m, bearing: 191.519344 deg, approach rate: 0.010826 m/s, LOS rate: -0.109246 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829219 deg. 2025-01-08T19:48:02.886Z,1736365682.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814128 target range: 382.799988 and range: 382.80 m. 2025-01-08T19:48:03.094Z,1736365683.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:03.102Z,1736365683.102 [DAT](INFO): DAT read: 19:48:01.2813 LVL= 30880, 28737, 23746, 32755, AGC= 67, IDX= 411, 0.02, 1.106,-0.122, 1.321, 0.581, PHS= 0.613,-0.656, 0.737, RAW= 154.6, -10.4, CAL= 160.6, -17.7, ROT= 349.4, 17.7 2025-01-08T19:48:03.103Z,1736365683.103 [DAT](INFO): got valid direction response: 19:48:01.2813 LVL= 30880, 28737, 23746, 32755, AGC= 67, IDX= 411, 0.02, 1.106,-0.122, 1.321, 0.581, PHS= 0.613,-0.656, 0.737, RAW= 154.6, -10.4, CAL= 160.6, -17.7, ROT= 349.4, 17.7 2025-01-08T19:48:03.104Z,1736365683.104 [DAT](INFO): DAT read: Bearing 349.4, 17.7 (Local) 2025-01-08T19:48:03.105Z,1736365683.105 [DAT](INFO): Local bearing/azimuth received: Bearing 349.4, 17.7 (Local) 2025-01-08T19:48:03.106Z,1736365683.106 [DAT](INFO): DAT read: Range 10 to 50 : 380.8 m (Round-trip 507.8 ms) speed 0.4 m/s 2025-01-08T19:48:03.107Z,1736365683.107 [DAT](INFO): DAT read: user:844> 2025-01-08T19:48:03.174Z,1736365683.174 [DAT](INFO): DAT read: Tx time:19:48:02.3694 2025-01-08T19:48:03.175Z,1736365683.175 [DAT](INFO): Ping request sent. 2025-01-08T19:48:03.175Z,1736365683.175 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:03.200Z,1736365683.200 [DAT](INFO): DAT read: TxSync time:19:48:02.3686 2025-01-08T19:48:03.200Z,1736365683.200 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:03.201Z,1736365683.201 [DAT](INFO): direction in FSK: [0.086051,-0.871885,0.482090] 2025-01-08T19:48:03.201Z,1736365683.201 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:03.202Z,1736365683.202 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:03.214Z,1736365683.214 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:03.214Z,1736365683.214 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:03.259Z,1736365683.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:03.286Z,1736365683.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 380.799988 m, deltaT: 4.038656 s, deltaX: -2.000000 m, approachRate: -0.495214 m/s, rangeRepo size: 4 2025-01-08T19:48:03.297Z,1736365683.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 380.799988 m, bearing: 192.027628 deg, lat: 36.901120 deg, lon: -122.115974 deg, deltaT: 4.038656 s, deltaX: -2.000000 m, approachRate: -0.495214 m/s, posRepo size: 4 2025-01-08T19:48:03.297Z,1736365683.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m. 2025-01-08T19:48:03.305Z,1736365683.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.799988 m, nav range: 355.599579 m, bearing: 192.028118 deg, approach rate: 0.000000 m/s, LOS rate: -0.109246 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839458 deg. 2025-01-08T19:48:03.306Z,1736365683.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814307 target range: 380.799988 and range: 380.80 m. 2025-01-08T19:48:03.345Z,1736365683.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:03.598Z,1736365683.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:03.691Z,1736365683.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:03.712Z,1736365683.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m. 2025-01-08T19:48:03.720Z,1736365683.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.799988 m, nav range: 355.600555 m, bearing: 191.976956 deg, approach rate: 0.002314 m/s, LOS rate: -0.121206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821703 deg. 2025-01-08T19:48:03.722Z,1736365683.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813997 target range: 380.799988 and range: 380.80 m. 2025-01-08T19:48:03.848Z,1736365683.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:04.056Z,1736365684.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:04.066Z,1736365684.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m. 2025-01-08T19:48:04.069Z,1736365684.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.799988 m, nav range: 355.600281 m, bearing: 191.935352 deg, approach rate: -0.000765 m/s, LOS rate: -0.115899 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850373 deg. 2025-01-08T19:48:04.070Z,1736365684.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814497 target range: 380.799988 and range: 380.80 m. 2025-01-08T19:48:04.100Z,1736365684.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:04.352Z,1736365684.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:04.446Z,1736365684.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:04.455Z,1736365684.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:04.457Z,1736365684.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m. 2025-01-08T19:48:04.460Z,1736365684.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.799988 m, nav range: 355.600006 m, bearing: 191.890929 deg, approach rate: -0.000703 m/s, LOS rate: -0.113696 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841920 deg. 2025-01-08T19:48:04.461Z,1736365684.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814350 target range: 380.799988 and range: 380.80 m. 2025-01-08T19:48:04.604Z,1736365684.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:04.605Z,1736365684.605 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:04.605Z,1736365684.605 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:04.605Z,1736365684.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:04.856Z,1736365684.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:04.856Z,1736365684.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.681715 2025-01-08T19:48:04.892Z,1736365684.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:04.901Z,1736365684.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m. 2025-01-08T19:48:04.904Z,1736365684.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.799988 m, nav range: 355.603058 m, bearing: 191.843670 deg, approach rate: 0.006878 m/s, LOS rate: -0.106508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833411 deg. 2025-01-08T19:48:04.905Z,1736365684.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814201 target range: 380.799988 and range: 380.80 m. 2025-01-08T19:48:05.109Z,1736365685.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:05.110Z,1736365685.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.935339 2025-01-08T19:48:05.243Z,1736365685.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:05.253Z,1736365685.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m. 2025-01-08T19:48:05.256Z,1736365685.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.799988 m, nav range: 355.606567 m, bearing: 191.806377 deg, approach rate: 0.009969 m/s, LOS rate: -0.105934 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863308 deg. 2025-01-08T19:48:05.257Z,1736365685.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814723 target range: 380.799988 and range: 380.80 m. 2025-01-08T19:48:05.361Z,1736365685.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:05.362Z,1736365685.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.187220 2025-01-08T19:48:05.612Z,1736365685.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:05.612Z,1736365685.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437601 2025-01-08T19:48:05.722Z,1736365685.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:05.739Z,1736365685.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m. 2025-01-08T19:48:05.746Z,1736365685.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.799988 m, nav range: 355.612427 m, bearing: 191.755604 deg, approach rate: 0.012059 m/s, LOS rate: -0.104496 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822872 deg. 2025-01-08T19:48:05.752Z,1736365685.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814017 target range: 380.799988 and range: 380.80 m. 2025-01-08T19:48:05.867Z,1736365685.867 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:05.867Z,1736365685.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.692560 2025-01-08T19:48:06.075Z,1736365686.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:06.084Z,1736365686.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m. 2025-01-08T19:48:06.087Z,1736365686.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.799988 m, nav range: 355.616943 m, bearing: 191.721259 deg, approach rate: 0.013072 m/s, LOS rate: -0.099401 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872151 deg. 2025-01-08T19:48:06.088Z,1736365686.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814878 target range: 380.799988 and range: 380.80 m. 2025-01-08T19:48:06.120Z,1736365686.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:06.121Z,1736365686.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.946309 2025-01-08T19:48:06.372Z,1736365686.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:06.372Z,1736365686.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.197546 2025-01-08T19:48:06.467Z,1736365686.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:06.499Z,1736365686.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:06.501Z,1736365686.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m. 2025-01-08T19:48:06.505Z,1736365686.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.799988 m, nav range: 355.622589 m, bearing: 191.683078 deg, approach rate: 0.013524 m/s, LOS rate: -0.091455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860646 deg. 2025-01-08T19:48:06.506Z,1736365686.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814677 target range: 380.799988 and range: 380.80 m. 2025-01-08T19:48:06.624Z,1736365686.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:06.625Z,1736365686.625 [DAT](INFO): DAT read: Rx Time:19:48:05.2756 2025-01-08T19:48:06.625Z,1736365686.625 [DAT](INFO): Rx dataTimestamp_ set to:1736365686.624819 2025-01-08T19:48:06.626Z,1736365686.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.450883 2025-01-08T19:48:06.874Z,1736365686.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:06.879Z,1736365686.879 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:06.880Z,1736365686.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.705181 2025-01-08T19:48:06.912Z,1736365686.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.80 m. 2025-01-08T19:48:06.919Z,1736365686.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.799988 m, nav range: 355.631104 m, bearing: 191.645138 deg, approach rate: 0.020986 m/s, LOS rate: -0.093511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861370 deg. 2025-01-08T19:48:06.928Z,1736365686.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814689 target range: 380.799988 and range: 380.80 m. 2025-01-08T19:48:07.132Z,1736365687.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:07.138Z,1736365687.138 [DAT](INFO): DAT read: 19:48:05.2756 LVL= 26272, 32753, 21858, 32755, AGC= 68, IDX= 391, 0.03,-1.342,-2.488,-0.855,-1.724, PHS= 0.471,-0.717, 0.867, RAW= 163.9, -8.7, CAL= 167.8, -15.5, ROT= 342.2, 15.5 2025-01-08T19:48:07.140Z,1736365687.139 [DAT](INFO): got valid direction response: 19:48:05.2756 LVL= 26272, 32753, 21858, 32755, AGC= 68, IDX= 391, 0.03,-1.342,-2.488,-0.855,-1.724, PHS= 0.471,-0.717, 0.867, RAW= 163.9, -8.7, CAL= 167.8, -15.5, ROT= 342.2, 15.5 2025-01-08T19:48:07.140Z,1736365687.140 [DAT](INFO): DAT read: Bearing 342.2, 15.5 (Local) 2025-01-08T19:48:07.141Z,1736365687.141 [DAT](INFO): Local bearing/azimuth received: Bearing 342.2, 15.5 (Local) 2025-01-08T19:48:07.142Z,1736365687.142 [DAT](INFO): DAT read: Range 10 to 50 : 376.5 m (Round-trip 502.1 ms) speed 0.3 m/s 2025-01-08T19:48:07.143Z,1736365687.143 [DAT](INFO): DAT read: user:845> 2025-01-08T19:48:07.144Z,1736365687.144 [DAT](INFO): DAT read: Tx time:19:48:06.3694 2025-01-08T19:48:07.145Z,1736365687.145 [DAT](INFO): Ping request sent. 2025-01-08T19:48:07.145Z,1736365687.145 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:07.146Z,1736365687.146 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:07.147Z,1736365687.147 [DAT](INFO): direction in FSK: [0.060769,-0.941928,0.330272] 2025-01-08T19:48:07.147Z,1736365687.147 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:07.147Z,1736365687.147 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:07.150Z,1736365687.150 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:07.150Z,1736365687.150 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:07.287Z,1736365687.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:07.314Z,1736365687.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 376.500000 m, deltaT: 4.037369 s, deltaX: -4.299988 m, approachRate: -1.065047 m/s, rangeRepo size: 4 2025-01-08T19:48:07.320Z,1736365687.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 376.500000 m, bearing: 190.045130 deg, lat: 36.901120 deg, lon: -122.115974 deg, deltaT: 4.037369 s, deltaX: -4.299988 m, approachRate: -1.065047 m/s, posRepo size: 4 2025-01-08T19:48:07.321Z,1736365687.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.50 m. 2025-01-08T19:48:07.328Z,1736365687.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.500000 m, nav range: 355.640320 m, bearing: 191.606743 deg, approach rate: 0.000000 m/s, LOS rate: -0.093511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861385 deg. 2025-01-08T19:48:07.330Z,1736365687.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814690 target range: 376.500000 and range: 376.50 m. 2025-01-08T19:48:07.384Z,1736365687.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:07.386Z,1736365687.386 [DAT](INFO): DAT read: TxSync time:19:48:06.3686 2025-01-08T19:48:07.636Z,1736365687.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:07.738Z,1736365687.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:07.760Z,1736365687.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.50 m. 2025-01-08T19:48:07.768Z,1736365687.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.500000 m, nav range: 355.650787 m, bearing: 191.564782 deg, approach rate: 0.023388 m/s, LOS rate: -0.093753 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849307 deg. 2025-01-08T19:48:07.769Z,1736365687.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814479 target range: 376.500000 and range: 376.50 m. 2025-01-08T19:48:07.892Z,1736365687.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:08.098Z,1736365688.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:08.107Z,1736365688.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.50 m. 2025-01-08T19:48:08.110Z,1736365688.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.500000 m, nav range: 355.661346 m, bearing: 191.531560 deg, approach rate: 0.030476 m/s, LOS rate: -0.095883 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875524 deg. 2025-01-08T19:48:08.113Z,1736365688.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814936 target range: 376.500000 and range: 376.50 m. 2025-01-08T19:48:08.145Z,1736365688.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:08.396Z,1736365688.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:08.476Z,1736365688.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:08.485Z,1736365688.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.50 m. 2025-01-08T19:48:08.489Z,1736365688.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.500000 m, nav range: 355.672638 m, bearing: 191.496771 deg, approach rate: 0.029832 m/s, LOS rate: -0.091910 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870823 deg. 2025-01-08T19:48:08.490Z,1736365688.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814854 target range: 376.500000 and range: 376.50 m. 2025-01-08T19:48:08.648Z,1736365688.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:08.900Z,1736365688.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:08.905Z,1736365688.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:08.913Z,1736365688.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:08.915Z,1736365688.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.50 m. 2025-01-08T19:48:08.918Z,1736365688.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.500000 m, nav range: 355.685852 m, bearing: 191.457201 deg, approach rate: 0.030784 m/s, LOS rate: -0.092179 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856482 deg. 2025-01-08T19:48:08.919Z,1736365688.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814604 target range: 376.500000 and range: 376.50 m. 2025-01-08T19:48:09.152Z,1736365689.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:09.152Z,1736365689.152 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:09.152Z,1736365689.152 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:09.153Z,1736365689.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:09.276Z,1736365689.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:09.285Z,1736365689.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.50 m. 2025-01-08T19:48:09.288Z,1736365689.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.500000 m, nav range: 355.698303 m, bearing: 191.423070 deg, approach rate: 0.033656 m/s, LOS rate: -0.092254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872798 deg. 2025-01-08T19:48:09.289Z,1736365689.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814888 target range: 376.500000 and range: 376.50 m. 2025-01-08T19:48:09.404Z,1736365689.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:09.404Z,1736365689.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259685 2025-01-08T19:48:09.660Z,1736365689.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:09.661Z,1736365689.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516295 2025-01-08T19:48:09.763Z,1736365689.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:09.791Z,1736365689.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.50 m. 2025-01-08T19:48:09.794Z,1736365689.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.500000 m, nav range: 355.715057 m, bearing: 191.378233 deg, approach rate: 0.033343 m/s, LOS rate: -0.089228 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840682 deg. 2025-01-08T19:48:09.802Z,1736365689.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814328 target range: 376.500000 and range: 376.50 m. 2025-01-08T19:48:09.913Z,1736365689.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:09.914Z,1736365689.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768839 2025-01-08T19:48:10.164Z,1736365690.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:10.165Z,1736365690.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019961 2025-01-08T19:48:10.167Z,1736365690.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:10.191Z,1736365690.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.50 m. 2025-01-08T19:48:10.194Z,1736365690.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.500000 m, nav range: 355.731171 m, bearing: 191.339919 deg, approach rate: 0.041528 m/s, LOS rate: -0.098741 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860250 deg. 2025-01-08T19:48:10.201Z,1736365690.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814670 target range: 376.500000 and range: 376.50 m. 2025-01-08T19:48:10.417Z,1736365690.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:10.417Z,1736365690.417 [DAT](INFO): DAT read: Rx Time:19:48:09.2738 2025-01-08T19:48:10.418Z,1736365690.418 [DAT](INFO): Rx dataTimestamp_ set to:1736365690.417507 2025-01-08T19:48:10.418Z,1736365690.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273632 2025-01-08T19:48:10.534Z,1736365690.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:10.542Z,1736365690.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.50 m. 2025-01-08T19:48:10.561Z,1736365690.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.500000 m, nav range: 355.745850 m, bearing: 191.305200 deg, approach rate: 0.039970 m/s, LOS rate: -0.094534 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871034 deg. 2025-01-08T19:48:10.562Z,1736365690.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814858 target range: 376.500000 and range: 376.50 m. 2025-01-08T19:48:10.668Z,1736365690.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:10.670Z,1736365690.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524590 2025-01-08T19:48:10.921Z,1736365690.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:10.923Z,1736365690.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777380 2025-01-08T19:48:11.035Z,1736365691.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:11.041Z,1736365691.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:11.044Z,1736365691.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.50 m. 2025-01-08T19:48:11.047Z,1736365691.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.500000 m, nav range: 355.765961 m, bearing: 191.255348 deg, approach rate: 0.040135 m/s, LOS rate: -0.099480 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825641 deg. 2025-01-08T19:48:11.049Z,1736365691.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814065 target range: 376.500000 and range: 376.50 m. 2025-01-08T19:48:11.172Z,1736365691.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:11.180Z,1736365691.180 [DAT](INFO): DAT read: 19:48:09.2738 LVL= 31168, 32753, 23154, 32755, AGC= 69, IDX= 413, 0.13,-0.120,-1.318, 0.140,-0.611, PHS= 0.579,-0.660, 0.748, RAW= 156.3, -10.0, CAL= 161.9, -17.2, ROT= 348.1, 17.2 2025-01-08T19:48:11.181Z,1736365691.181 [DAT](INFO): got valid direction response: 19:48:09.2738 LVL= 31168, 32753, 23154, 32755, AGC= 69, IDX= 413, 0.13,-0.120,-1.318, 0.140,-0.611, PHS= 0.579,-0.660, 0.748, RAW= 156.3, -10.0, CAL= 161.9, -17.2, ROT= 348.1, 17.2 2025-01-08T19:48:11.182Z,1736365691.182 [DAT](INFO): DAT read: Bearing 348.1, 17.2 (Local) 2025-01-08T19:48:11.182Z,1736365691.182 [DAT](INFO): Local bearing/azimuth received: Bearing 348.1, 17.2 (Local) 2025-01-08T19:48:11.184Z,1736365691.184 [DAT](INFO): DAT read: Range 10 to 50 : 375.0 m (Round-trip 500.1 ms) speed 0.4 m/s 2025-01-08T19:48:11.185Z,1736365691.185 [DAT](INFO): DAT read: user:846> 2025-01-08T19:48:11.186Z,1736365691.186 [DAT](INFO): DAT read: Tx time:19:48:10.3695 2025-01-08T19:48:11.186Z,1736365691.186 [DAT](INFO): Ping request sent. 2025-01-08T19:48:11.186Z,1736365691.186 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:11.187Z,1736365691.187 [DAT](INFO): DAT read: TxSync time:19:48:10.3687 2025-01-08T19:48:11.195Z,1736365691.195 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:11.196Z,1736365691.196 [DAT](INFO): direction in FSK: [0.079942,-0.886792,0.455202] 2025-01-08T19:48:11.197Z,1736365691.197 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:11.197Z,1736365691.197 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:11.205Z,1736365691.205 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:11.205Z,1736365691.205 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:11.353Z,1736365691.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:11.393Z,1736365691.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 375.000000 m, deltaT: 4.040213 s, deltaX: -1.500000 m, approachRate: -0.371268 m/s, rangeRepo size: 4 2025-01-08T19:48:11.424Z,1736365691.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:11.432Z,1736365691.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 375.000000 m, bearing: 191.978129 deg, lat: 36.901142 deg, lon: -122.115974 deg, deltaT: 4.040213 s, deltaX: -1.500000 m, approachRate: -0.371268 m/s, posRepo size: 4 2025-01-08T19:48:11.433Z,1736365691.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.00 m. 2025-01-08T19:48:11.440Z,1736365691.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.000000 m, nav range: 353.451508 m, bearing: 191.298448 deg, approach rate: 0.000000 m/s, LOS rate: -0.099480 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871038 deg. 2025-01-08T19:48:11.441Z,1736365691.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814858 target range: 375.000000 and range: 375.00 m. 2025-01-08T19:48:11.676Z,1736365691.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:11.849Z,1736365691.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:11.858Z,1736365691.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.00 m. 2025-01-08T19:48:11.861Z,1736365691.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.000000 m, nav range: 353.467987 m, bearing: 191.245203 deg, approach rate: 0.035384 m/s, LOS rate: -0.114323 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815458 deg. 2025-01-08T19:48:11.863Z,1736365691.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813888 target range: 375.000000 and range: 375.00 m. 2025-01-08T19:48:11.929Z,1736365691.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:12.180Z,1736365692.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:12.181Z,1736365692.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:12.189Z,1736365692.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.00 m. 2025-01-08T19:48:12.192Z,1736365692.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.000000 m, nav range: 353.479126 m, bearing: 191.209846 deg, approach rate: 0.033667 m/s, LOS rate: -0.106860 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869121 deg. 2025-01-08T19:48:12.193Z,1736365692.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814825 target range: 375.000000 and range: 375.00 m. 2025-01-08T19:48:12.432Z,1736365692.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:12.585Z,1736365692.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:12.593Z,1736365692.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.00 m. 2025-01-08T19:48:12.596Z,1736365692.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.000000 m, nav range: 353.492981 m, bearing: 191.166291 deg, approach rate: 0.034317 m/s, LOS rate: -0.107876 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844526 deg. 2025-01-08T19:48:12.597Z,1736365692.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814395 target range: 375.000000 and range: 375.00 m. 2025-01-08T19:48:12.686Z,1736365692.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:12.936Z,1736365692.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:12.982Z,1736365692.982 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 97.88, 82.76, 86.32 2025-01-08T19:48:12.990Z,1736365692.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:48:12.990Z,1736365692.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:12.999Z,1736365692.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.00 m. 2025-01-08T19:48:13.002Z,1736365693.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.000000 m, nav range: 353.505463 m, bearing: 191.122849 deg, approach rate: 0.030749 m/s, LOS rate: -0.107015 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844867 deg. 2025-01-08T19:48:13.004Z,1736365693.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814401 target range: 375.000000 and range: 375.00 m. 2025-01-08T19:48:13.190Z,1736365693.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:13.376Z,1736365693.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:48:13.376Z,1736365693.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:13.384Z,1736365693.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:13.386Z,1736365693.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.00 m. 2025-01-08T19:48:13.389Z,1736365693.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.000000 m, nav range: 353.517426 m, bearing: 191.081335 deg, approach rate: 0.030884 m/s, LOS rate: -0.107173 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850648 deg. 2025-01-08T19:48:13.390Z,1736365693.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814502 target range: 375.000000 and range: 375.00 m. 2025-01-08T19:48:13.440Z,1736365693.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:13.440Z,1736365693.440 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:13.440Z,1736365693.440 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:13.441Z,1736365693.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:13.692Z,1736365693.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:13.692Z,1736365693.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506331 2025-01-08T19:48:13.836Z,1736365693.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T19:48:13.836Z,1736365693.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:13.869Z,1736365693.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.00 m. 2025-01-08T19:48:13.876Z,1736365693.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.000000 m, nav range: 353.531921 m, bearing: 191.032083 deg, approach rate: 0.029997 m/s, LOS rate: -0.101914 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827438 deg. 2025-01-08T19:48:13.877Z,1736365693.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814097 target range: 375.000000 and range: 375.00 m. 2025-01-08T19:48:13.944Z,1736365693.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:13.946Z,1736365693.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759082 2025-01-08T19:48:14.196Z,1736365694.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:14.197Z,1736365694.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010578 2025-01-08T19:48:14.245Z,1736365694.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:14.258Z,1736365694.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.00 m. 2025-01-08T19:48:14.265Z,1736365694.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.000000 m, nav range: 353.539764 m, bearing: 190.984293 deg, approach rate: 0.020161 m/s, LOS rate: -0.122843 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831820 deg. 2025-01-08T19:48:14.266Z,1736365694.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814173 target range: 375.000000 and range: 375.00 m. 2025-01-08T19:48:14.448Z,1736365694.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:14.450Z,1736365694.450 [DAT](INFO): DAT read: Rx Time:19:48:13.2713 2025-01-08T19:48:14.450Z,1736365694.450 [DAT](INFO): Rx dataTimestamp_ set to:1736365694.449876 2025-01-08T19:48:14.451Z,1736365694.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265097 2025-01-08T19:48:14.691Z,1736365694.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:14.700Z,1736365694.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:14.700Z,1736365694.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514448 2025-01-08T19:48:14.718Z,1736365694.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.00 m. 2025-01-08T19:48:14.725Z,1736365694.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.000000 m, nav range: 353.548248 m, bearing: 190.932228 deg, approach rate: 0.018737 m/s, LOS rate: -0.114985 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818995 deg. 2025-01-08T19:48:14.727Z,1736365694.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813950 target range: 375.000000 and range: 375.00 m. 2025-01-08T19:48:14.953Z,1736365694.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:14.956Z,1736365694.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769751 2025-01-08T19:48:15.091Z,1736365695.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:15.100Z,1736365695.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.00 m. 2025-01-08T19:48:15.102Z,1736365695.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.000000 m, nav range: 353.555389 m, bearing: 190.884850 deg, approach rate: 0.018391 m/s, LOS rate: -0.122013 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833056 deg. 2025-01-08T19:48:15.124Z,1736365695.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814195 target range: 375.000000 and range: 375.00 m. 2025-01-08T19:48:15.204Z,1736365695.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:15.213Z,1736365695.213 [DAT](INFO): DAT read: 19:48:13.2713 LVL= 29728, 32753, 20738, 32755, AGC= 69, IDX= 421,-0.31,-1.472,-2.695,-1.102,-1.835, PHS= 0.451,-0.813, 0.730, RAW= 159.8, -5.2, CAL= 163.4, -12.9, ROT= 346.6, 12.9 2025-01-08T19:48:15.214Z,1736365695.214 [DAT](INFO): got valid direction response: 19:48:13.2713 LVL= 29728, 32753, 20738, 32755, AGC= 69, IDX= 421,-0.31,-1.472,-2.695,-1.102,-1.835, PHS= 0.451,-0.813, 0.730, RAW= 159.8, -5.2, CAL= 163.4, -12.9, ROT= 346.6, 12.9 2025-01-08T19:48:15.215Z,1736365695.215 [DAT](INFO): DAT read: Bearing 346.6, 12.9 (Local) 2025-01-08T19:48:15.215Z,1736365695.215 [DAT](INFO): Local bearing/azimuth received: Bearing 346.6, 12.9 (Local) 2025-01-08T19:48:15.217Z,1736365695.217 [DAT](INFO): DAT read: Range 10 to 50 : 373.2 m (Round-trip 497.7 ms) speed 0.5 m/s 2025-01-08T19:48:15.218Z,1736365695.218 [DAT](INFO): DAT read: user:847> 2025-01-08T19:48:15.218Z,1736365695.218 [DAT](INFO): DAT read: Tx time:19:48:14.3695 2025-01-08T19:48:15.219Z,1736365695.219 [DAT](INFO): Ping request sent. 2025-01-08T19:48:15.219Z,1736365695.219 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:15.220Z,1736365695.220 [DAT](INFO): DAT read: TxSync time:19:48:14.3687 2025-01-08T19:48:15.220Z,1736365695.220 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:15.221Z,1736365695.221 [DAT](INFO): direction in FSK: [-0.011949,-0.917705,0.397082] 2025-01-08T19:48:15.221Z,1736365695.221 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:15.222Z,1736365695.222 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:15.225Z,1736365695.225 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:15.225Z,1736365695.225 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:15.456Z,1736365695.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:15.465Z,1736365695.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:15.517Z,1736365695.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 373.200012 m, deltaT: 4.032240 s, deltaX: -1.799988 m, approachRate: -0.446399 m/s, rangeRepo size: 4 2025-01-08T19:48:15.519Z,1736365695.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 373.200012 m, bearing: 185.342223 deg, lat: 36.901120 deg, lon: -122.115974 deg, deltaT: 4.032240 s, deltaX: -1.799988 m, approachRate: -0.446399 m/s, posRepo size: 4 2025-01-08T19:48:15.524Z,1736365695.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.20 m. 2025-01-08T19:48:15.527Z,1736365695.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.200012 m, nav range: 355.892334 m, bearing: 190.768548 deg, approach rate: 0.000000 m/s, LOS rate: -0.122013 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822668 deg. 2025-01-08T19:48:15.533Z,1736365695.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814013 target range: 373.200012 and range: 373.20 m. 2025-01-08T19:48:15.708Z,1736365695.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:15.914Z,1736365695.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:15.921Z,1736365695.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:15.923Z,1736365695.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.20 m. 2025-01-08T19:48:15.926Z,1736365695.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.200012 m, nav range: 355.893982 m, bearing: 190.717136 deg, approach rate: 0.004051 m/s, LOS rate: -0.126386 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820952 deg. 2025-01-08T19:48:15.927Z,1736365695.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813984 target range: 373.200012 and range: 373.20 m. 2025-01-08T19:48:15.960Z,1736365695.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:15.960Z,1736365695.960 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:15.960Z,1736365695.960 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:15.961Z,1736365695.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:16.212Z,1736365696.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:16.213Z,1736365696.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994220 2025-01-08T19:48:16.278Z,1736365696.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:16.287Z,1736365696.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.20 m. 2025-01-08T19:48:16.290Z,1736365696.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.200012 m, nav range: 355.894775 m, bearing: 190.675366 deg, approach rate: 0.002180 m/s, LOS rate: -0.114754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849879 deg. 2025-01-08T19:48:16.291Z,1736365696.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814488 target range: 373.200012 and range: 373.20 m. 2025-01-08T19:48:16.464Z,1736365696.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:16.464Z,1736365696.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245550 2025-01-08T19:48:16.708Z,1736365696.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:16.717Z,1736365696.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:16.718Z,1736365696.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499140 2025-01-08T19:48:16.724Z,1736365696.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.20 m. 2025-01-08T19:48:16.726Z,1736365696.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.200012 m, nav range: 355.895386 m, bearing: 190.626128 deg, approach rate: 0.001403 m/s, LOS rate: -0.113183 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827471 deg. 2025-01-08T19:48:16.728Z,1736365696.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814097 target range: 373.200012 and range: 373.20 m. 2025-01-08T19:48:16.968Z,1736365696.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:16.968Z,1736365696.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749472 2025-01-08T19:48:17.020Z,1736365697.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:48:17.116Z,1736365697.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:17.127Z,1736365697.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.20 m. 2025-01-08T19:48:17.134Z,1736365697.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.200012 m, nav range: 355.893585 m, bearing: 190.579474 deg, approach rate: -0.004447 m/s, LOS rate: -0.115220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835225 deg. 2025-01-08T19:48:17.140Z,1736365697.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814233 target range: 373.200012 and range: 373.20 m. 2025-01-08T19:48:17.220Z,1736365697.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:17.220Z,1736365697.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001556 2025-01-08T19:48:17.473Z,1736365697.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:17.474Z,1736365697.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255191 2025-01-08T19:48:17.502Z,1736365697.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:17.510Z,1736365697.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.20 m. 2025-01-08T19:48:17.514Z,1736365697.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.200012 m, nav range: 355.891968 m, bearing: 190.535417 deg, approach rate: -0.004221 m/s, LOS rate: -0.114965 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843015 deg. 2025-01-08T19:48:17.515Z,1736365697.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814369 target range: 373.200012 and range: 373.20 m. 2025-01-08T19:48:17.725Z,1736365697.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:17.727Z,1736365697.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507661 2025-01-08T19:48:17.935Z,1736365697.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:17.941Z,1736365697.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:17.944Z,1736365697.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.20 m. 2025-01-08T19:48:17.948Z,1736365697.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.200012 m, nav range: 355.889771 m, bearing: 190.488438 deg, approach rate: -0.005069 m/s, LOS rate: -0.108382 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834250 deg. 2025-01-08T19:48:17.949Z,1736365697.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814216 target range: 373.200012 and range: 373.20 m. 2025-01-08T19:48:17.976Z,1736365697.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:17.977Z,1736365697.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757612 2025-01-08T19:48:18.025Z,1736365698.025 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:48:18.228Z,1736365698.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:18.229Z,1736365698.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010231 2025-01-08T19:48:18.298Z,1736365698.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:18.306Z,1736365698.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.20 m. 2025-01-08T19:48:18.310Z,1736365698.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.200012 m, nav range: 355.888397 m, bearing: 190.449044 deg, approach rate: -0.003784 m/s, LOS rate: -0.108562 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857004 deg. 2025-01-08T19:48:18.311Z,1736365698.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814613 target range: 373.200012 and range: 373.20 m. 2025-01-08T19:48:18.480Z,1736365698.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:18.481Z,1736365698.481 [DAT](INFO): DAT read: Rx Time:19:48:17.2667 2025-01-08T19:48:18.481Z,1736365698.481 [DAT](INFO): Rx dataTimestamp_ set to:1736365698.480892 2025-01-08T19:48:18.482Z,1736365698.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262825 2025-01-08T19:48:18.698Z,1736365698.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:18.707Z,1736365698.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.20 m. 2025-01-08T19:48:18.726Z,1736365698.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.200012 m, nav range: 355.887360 m, bearing: 190.405636 deg, approach rate: -0.002592 m/s, LOS rate: -0.108439 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844963 deg. 2025-01-08T19:48:18.733Z,1736365698.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:18.735Z,1736365698.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515807 2025-01-08T19:48:18.737Z,1736365698.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814403 target range: 373.200012 and range: 373.20 m. 2025-01-08T19:48:18.984Z,1736365698.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:18.991Z,1736365698.991 [DAT](INFO): DAT read: 19:48:17.2667 LVL= 23520, 32753, 20082, 32755, AGC= 71, IDX= 390,-0.22,-0.889,-2.079,-0.617,-1.358, PHS= 0.557,-0.674, 0.738, RAW= 156.8, -9.4, CAL= 162.0, -16.6, ROT= 348.0, 16.6 2025-01-08T19:48:18.993Z,1736365698.993 [DAT](INFO): got valid direction response: 19:48:17.2667 LVL= 23520, 32753, 20082, 32755, AGC= 71, IDX= 390,-0.22,-0.889,-2.079,-0.617,-1.358, PHS= 0.557,-0.674, 0.738, RAW= 156.8, -9.4, CAL= 162.0, -16.6, ROT= 348.0, 16.6 2025-01-08T19:48:18.994Z,1736365698.994 [DAT](INFO): DAT read: Bearing 348.0, 16.6 (Local) 2025-01-08T19:48:18.994Z,1736365698.994 [DAT](INFO): Local bearing/azimuth received: Bearing 348.0, 16.6 (Local) 2025-01-08T19:48:19.002Z,1736365699.002 [DAT](INFO): DAT read: Range 10 to 50 : 369.8 m (Round-trip 493.1 ms) speed 0.6 m/s 2025-01-08T19:48:19.002Z,1736365699.002 [DAT](INFO): DAT read: user:848> 2025-01-08T19:48:19.003Z,1736365699.003 [DAT](INFO): DAT read: Tx time:19:48:18.3695 2025-01-08T19:48:19.003Z,1736365699.003 [DAT](INFO): Ping request sent. 2025-01-08T19:48:19.004Z,1736365699.004 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:19.004Z,1736365699.004 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:19.005Z,1736365699.005 [DAT](INFO): direction in FSK: [0.067035,-0.891547,0.447941] 2025-01-08T19:48:19.005Z,1736365699.005 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:19.005Z,1736365699.005 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:19.037Z,1736365699.037 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:19.037Z,1736365699.037 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:19.181Z,1736365699.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:19.211Z,1736365699.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 369.799988 m, deltaT: 3.779489 s, deltaX: -3.400024 m, approachRate: -0.899599 m/s, rangeRepo size: 4 2025-01-08T19:48:19.214Z,1736365699.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 369.799988 m, bearing: 189.444593 deg, lat: 36.901120 deg, lon: -122.115901 deg, deltaT: 3.779489 s, deltaX: -3.400024 m, approachRate: -0.899599 m/s, posRepo size: 4 2025-01-08T19:48:19.219Z,1736365699.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.80 m. 2025-01-08T19:48:19.222Z,1736365699.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.799988 m, nav range: 354.763763 m, bearing: 189.314844 deg, approach rate: 0.000000 m/s, LOS rate: -0.108439 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812600 deg. 2025-01-08T19:48:19.223Z,1736365699.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813838 target range: 369.799988 and range: 369.80 m. 2025-01-08T19:48:19.236Z,1736365699.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:19.237Z,1736365699.237 [DAT](INFO): DAT read: TxSync time:19:48:18.3687 2025-01-08T19:48:19.488Z,1736365699.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:19.502Z,1736365699.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:19.510Z,1736365699.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.80 m. 2025-01-08T19:48:19.514Z,1736365699.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.799988 m, nav range: 354.765503 m, bearing: 189.281812 deg, approach rate: 0.005729 m/s, LOS rate: -0.108793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876091 deg. 2025-01-08T19:48:19.515Z,1736365699.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814946 target range: 369.799988 and range: 369.80 m. 2025-01-08T19:48:19.740Z,1736365699.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:19.964Z,1736365699.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:19.971Z,1736365699.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:19.974Z,1736365699.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.80 m. 2025-01-08T19:48:19.979Z,1736365699.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.799988 m, nav range: 354.768280 m, bearing: 189.236172 deg, approach rate: 0.005992 m/s, LOS rate: -0.098472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838266 deg. 2025-01-08T19:48:19.981Z,1736365699.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814286 target range: 369.799988 and range: 369.80 m. 2025-01-08T19:48:19.993Z,1736365699.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:19.994Z,1736365699.994 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:19.994Z,1736365699.994 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:19.994Z,1736365699.994 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:20.244Z,1736365700.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:20.244Z,1736365700.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240740 2025-01-08T19:48:20.305Z,1736365700.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:20.314Z,1736365700.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.80 m. 2025-01-08T19:48:20.330Z,1736365700.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.799988 m, nav range: 354.770447 m, bearing: 189.202449 deg, approach rate: 0.006356 m/s, LOS rate: -0.098930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874019 deg. 2025-01-08T19:48:20.336Z,1736365700.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814910 target range: 369.799988 and range: 369.80 m. 2025-01-08T19:48:20.496Z,1736365700.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:20.497Z,1736365700.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493450 2025-01-08T19:48:20.713Z,1736365700.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:20.721Z,1736365700.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.80 m. 2025-01-08T19:48:20.724Z,1736365700.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.799988 m, nav range: 354.773468 m, bearing: 189.162196 deg, approach rate: 0.007430 m/s, LOS rate: -0.098994 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854428 deg. 2025-01-08T19:48:20.725Z,1736365700.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814568 target range: 369.799988 and range: 369.80 m. 2025-01-08T19:48:20.748Z,1736365700.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:20.748Z,1736365700.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744750 2025-01-08T19:48:20.000Z,1736365701.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:21.001Z,1736365701.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997140 2025-01-08T19:48:21.163Z,1736365701.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:21.172Z,1736365701.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.80 m. 2025-01-08T19:48:21.174Z,1736365701.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.799988 m, nav range: 354.784363 m, bearing: 189.118688 deg, approach rate: 0.024200 m/s, LOS rate: -0.096639 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844670 deg. 2025-01-08T19:48:21.176Z,1736365701.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814398 target range: 369.799988 and range: 369.80 m. 2025-01-08T19:48:21.253Z,1736365701.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:21.254Z,1736365701.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250064 2025-01-08T19:48:21.504Z,1736365701.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:21.504Z,1736365701.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500841 2025-01-08T19:48:21.520Z,1736365701.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:21.530Z,1736365701.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.80 m. 2025-01-08T19:48:21.557Z,1736365701.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.799988 m, nav range: 354.794373 m, bearing: 189.084038 deg, approach rate: 0.027964 m/s, LOS rate: -0.096801 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871237 deg. 2025-01-08T19:48:21.558Z,1736365701.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814861 target range: 369.799988 and range: 369.80 m. 2025-01-08T19:48:21.756Z,1736365701.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:21.756Z,1736365701.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752754 2025-01-08T19:48:21.997Z,1736365701.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:22.004Z,1736365702.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:22.006Z,1736365702.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.80 m. 2025-01-08T19:48:22.008Z,1736365702.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:22.009Z,1736365702.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004986 2025-01-08T19:48:22.010Z,1736365702.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.799988 m, nav range: 354.815369 m, bearing: 189.038409 deg, approach rate: 0.044054 m/s, LOS rate: -0.095732 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838310 deg. 2025-01-08T19:48:22.013Z,1736365702.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814287 target range: 369.799988 and range: 369.80 m. 2025-01-08T19:48:22.260Z,1736365702.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:22.261Z,1736365702.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257510 2025-01-08T19:48:22.325Z,1736365702.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:22.334Z,1736365702.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.80 m. 2025-01-08T19:48:22.337Z,1736365702.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.799988 m, nav range: 354.830017 m, bearing: 189.007021 deg, approach rate: 0.044643 m/s, LOS rate: -0.095653 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881027 deg. 2025-01-08T19:48:22.338Z,1736365702.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815032 target range: 369.799988 and range: 369.80 m. 2025-01-08T19:48:22.512Z,1736365702.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:22.514Z,1736365702.514 [DAT](INFO): DAT read: Rx Time:19:48:21.2653 2025-01-08T19:48:22.514Z,1736365702.514 [DAT](INFO): Rx dataTimestamp_ set to:1736365702.514084 2025-01-08T19:48:22.515Z,1736365702.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511321 2025-01-08T19:48:22.748Z,1736365702.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:22.760Z,1736365702.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.80 m. 2025-01-08T19:48:22.764Z,1736365702.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:22.765Z,1736365702.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761102 2025-01-08T19:48:22.770Z,1736365702.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.799988 m, nav range: 354.849213 m, bearing: 188.966552 deg, approach rate: 0.045530 m/s, LOS rate: -0.095984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853787 deg. 2025-01-08T19:48:22.776Z,1736365702.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814557 target range: 369.799988 and range: 369.80 m. 2025-01-08T19:48:23.016Z,1736365703.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:23.022Z,1736365703.022 [DAT](INFO): DAT read: 19:48:21.2653 LVL= 22768, 31265, 17586, 32755, AGC= 66, IDX= 406, 0.27, 0.257,-0.752, 0.582,-0.171, PHS= 0.516,-0.534, 0.750, RAW= 159.9, -12.3, CAL= 165.4, -18.7, ROT= 344.6, 18.7 2025-01-08T19:48:23.024Z,1736365703.024 [DAT](INFO): got valid direction response: 19:48:21.2653 LVL= 22768, 31265, 17586, 32755, AGC= 66, IDX= 406, 0.27, 0.257,-0.752, 0.582,-0.171, PHS= 0.516,-0.534, 0.750, RAW= 159.9, -12.3, CAL= 165.4, -18.7, ROT= 344.6, 18.7 2025-01-08T19:48:23.025Z,1736365703.025 [DAT](INFO): DAT read: Bearing 344.6, 18.7 (Local) 2025-01-08T19:48:23.025Z,1736365703.025 [DAT](INFO): Local bearing/azimuth received: Bearing 344.6, 18.7 (Local) 2025-01-08T19:48:23.026Z,1736365703.026 [DAT](INFO): DAT read: Range 10 to 50 : 368.7 m (Round-trip 491.6 ms) speed 0.5 m/s 2025-01-08T19:48:23.027Z,1736365703.027 [DAT](INFO): DAT read: user:849> 2025-01-08T19:48:23.028Z,1736365703.028 [DAT](INFO): DAT read: Tx time:19:48:22.3696 2025-01-08T19:48:23.029Z,1736365703.029 [DAT](INFO): Ping request sent. 2025-01-08T19:48:23.029Z,1736365703.029 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:23.029Z,1736365703.029 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:23.030Z,1736365703.030 [DAT](INFO): direction in FSK: [0.127115,-0.908712,0.397598] 2025-01-08T19:48:23.031Z,1736365703.031 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:23.031Z,1736365703.031 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:23.037Z,1736365703.037 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:23.037Z,1736365703.037 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:23.240Z,1736365703.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:23.268Z,1736365703.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:23.269Z,1736365703.269 [DAT](INFO): DAT read: TxSync time:19:48:22.3688 2025-01-08T19:48:23.272Z,1736365703.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 368.700012 m, deltaT: 4.032024 s, deltaX: -1.099976 m, approachRate: -0.272810 m/s, rangeRepo size: 4 2025-01-08T19:48:23.274Z,1736365703.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 368.700012 m, bearing: 193.337008 deg, lat: 36.901142 deg, lon: -122.115901 deg, deltaT: 4.032024 s, deltaX: -1.099976 m, approachRate: -0.272810 m/s, posRepo size: 4 2025-01-08T19:48:23.283Z,1736365703.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m. 2025-01-08T19:48:23.286Z,1736365703.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 368.700012 m, nav range: 352.529724 m, bearing: 188.978219 deg, approach rate: 0.000000 m/s, LOS rate: -0.095984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827887 deg. 2025-01-08T19:48:23.291Z,1736365703.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814105 target range: 368.700012 and range: 368.70 m. 2025-01-08T19:48:23.520Z,1736365703.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:23.588Z,1736365703.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:23.597Z,1736365703.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m. 2025-01-08T19:48:23.600Z,1736365703.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 368.700012 m, nav range: 352.547058 m, bearing: 188.943972 deg, approach rate: 0.052519 m/s, LOS rate: -0.103757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872451 deg. 2025-01-08T19:48:23.602Z,1736365703.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814883 target range: 368.700012 and range: 368.70 m. 2025-01-08T19:48:23.772Z,1736365703.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:24.024Z,1736365704.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:24.044Z,1736365704.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:24.059Z,1736365704.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:24.061Z,1736365704.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m. 2025-01-08T19:48:24.069Z,1736365704.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 368.700012 m, nav range: 352.572540 m, bearing: 188.898791 deg, approach rate: 0.054898 m/s, LOS rate: -0.097330 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839653 deg. 2025-01-08T19:48:24.070Z,1736365704.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814310 target range: 368.700012 and range: 368.70 m. 2025-01-08T19:48:24.276Z,1736365704.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:24.276Z,1736365704.276 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:24.276Z,1736365704.276 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:24.277Z,1736365704.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:24.378Z,1736365704.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:24.387Z,1736365704.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m. 2025-01-08T19:48:24.390Z,1736365704.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 368.700012 m, nav range: 352.591187 m, bearing: 188.865598 deg, approach rate: 0.057246 m/s, LOS rate: -0.101900 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875613 deg. 2025-01-08T19:48:24.391Z,1736365704.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814938 target range: 368.700012 and range: 368.70 m. 2025-01-08T19:48:24.528Z,1736365704.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:24.529Z,1736365704.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499885 2025-01-08T19:48:24.781Z,1736365704.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:24.782Z,1736365704.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753058 2025-01-08T19:48:24.785Z,1736365704.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:24.793Z,1736365704.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m. 2025-01-08T19:48:24.798Z,1736365704.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 368.700012 m, nav range: 352.613556 m, bearing: 188.825170 deg, approach rate: 0.055060 m/s, LOS rate: -0.099502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853911 deg. 2025-01-08T19:48:24.816Z,1736365704.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814559 target range: 368.700012 and range: 368.70 m. 2025-01-08T19:48:25.032Z,1736365705.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:25.032Z,1736365705.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003602 2025-01-08T19:48:25.210Z,1736365705.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:25.244Z,1736365705.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m. 2025-01-08T19:48:25.253Z,1736365705.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 368.700012 m, nav range: 352.643097 m, bearing: 188.781833 deg, approach rate: 0.065502 m/s, LOS rate: -0.096084 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845186 deg. 2025-01-08T19:48:25.254Z,1736365705.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814407 target range: 368.700012 and range: 368.70 m. 2025-01-08T19:48:25.286Z,1736365705.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:25.286Z,1736365705.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257530 2025-01-08T19:48:25.540Z,1736365705.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:25.541Z,1736365705.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511768 2025-01-08T19:48:25.611Z,1736365705.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:25.622Z,1736365705.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m. 2025-01-08T19:48:25.652Z,1736365705.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 368.700012 m, nav range: 352.671387 m, bearing: 188.741036 deg, approach rate: 0.074964 m/s, LOS rate: -0.108098 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852806 deg. 2025-01-08T19:48:25.654Z,1736365705.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814540 target range: 368.700012 and range: 368.70 m. 2025-01-08T19:48:25.792Z,1736365705.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:25.793Z,1736365705.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764253 2025-01-08T19:48:26.044Z,1736365706.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:26.044Z,1736365706.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015400 2025-01-08T19:48:26.077Z,1736365706.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:26.085Z,1736365706.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:26.087Z,1736365706.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m. 2025-01-08T19:48:26.090Z,1736365706.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 368.700012 m, nav range: 352.699585 m, bearing: 188.693206 deg, approach rate: 0.060615 m/s, LOS rate: -0.102807 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831709 deg. 2025-01-08T19:48:26.091Z,1736365706.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814171 target range: 368.700012 and range: 368.70 m. 2025-01-08T19:48:26.297Z,1736365706.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:26.297Z,1736365706.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268606 2025-01-08T19:48:26.408Z,1736365706.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:26.417Z,1736365706.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m. 2025-01-08T19:48:26.421Z,1736365706.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 368.700012 m, nav range: 352.719727 m, bearing: 188.659335 deg, approach rate: 0.060933 m/s, LOS rate: -0.102464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873578 deg. 2025-01-08T19:48:26.422Z,1736365706.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814902 target range: 368.700012 and range: 368.70 m. 2025-01-08T19:48:26.548Z,1736365706.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:26.549Z,1736365706.549 [DAT](INFO): DAT read: Rx Time:19:48:25.2606 2025-01-08T19:48:26.549Z,1736365706.549 [DAT](INFO): Rx dataTimestamp_ set to:1736365706.548689 2025-01-08T19:48:26.549Z,1736365706.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520703 2025-01-08T19:48:26.800Z,1736365706.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:26.801Z,1736365706.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771877 2025-01-08T19:48:26.811Z,1736365706.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:26.821Z,1736365706.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m. 2025-01-08T19:48:26.824Z,1736365706.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 368.700012 m, nav range: 352.744568 m, bearing: 188.617984 deg, approach rate: 0.061587 m/s, LOS rate: -0.102510 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851143 deg. 2025-01-08T19:48:26.825Z,1736365706.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814511 target range: 368.700012 and range: 368.70 m. 2025-01-08T19:48:27.052Z,1736365707.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:27.059Z,1736365707.059 [DAT](INFO): DAT read: 19:48:25.2606 LVL= 29552, 32753, 21794, 32755, AGC= 65, IDX= 390,-0.15,-1.204,-2.400,-0.882,-1.655, PHS= 0.539,-0.698, 0.770, RAW= 158.4, -9.0, CAL= 163.3, -16.1, ROT= 346.7, 16.1 2025-01-08T19:48:27.065Z,1736365707.065 [DAT](INFO): got valid direction response: 19:48:25.2606 LVL= 29552, 32753, 21794, 32755, AGC= 65, IDX= 390,-0.15,-1.204,-2.400,-0.882,-1.655, PHS= 0.539,-0.698, 0.770, RAW= 158.4, -9.0, CAL= 163.3, -16.1, ROT= 346.7, 16.1 2025-01-08T19:48:27.079Z,1736365707.079 [DAT](INFO): DAT read: Bearing 346.7, 16.1 (Local) 2025-01-08T19:48:27.080Z,1736365707.080 [DAT](INFO): Local bearing/azimuth received: Bearing 346.7, 16.1 (Local) 2025-01-08T19:48:27.082Z,1736365707.082 [DAT](INFO): DAT read: Range 10 to 50 : 365.1 m (Round-trip 486.9 ms) speed 0.5 m/s 2025-01-08T19:48:27.083Z,1736365707.083 [DAT](INFO): DAT read: user:850> 2025-01-08T19:48:27.099Z,1736365707.099 [DAT](INFO): DAT read: Tx time:19:48:26.3696 2025-01-08T19:48:27.100Z,1736365707.100 [DAT](INFO): Ping request sent. 2025-01-08T19:48:27.100Z,1736365707.100 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:27.100Z,1736365707.100 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:27.101Z,1736365707.101 [DAT](INFO): direction in FSK: [0.060625,-0.904939,0.421200] 2025-01-08T19:48:27.102Z,1736365707.102 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:27.102Z,1736365707.102 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:27.120Z,1736365707.120 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:27.120Z,1736365707.120 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:27.242Z,1736365707.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:27.277Z,1736365707.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 365.100006 m, deltaT: 4.036199 s, deltaX: -3.600006 m, approachRate: -0.891930 m/s, rangeRepo size: 4 2025-01-08T19:48:27.285Z,1736365707.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 365.100006 m, bearing: 189.052268 deg, lat: 36.901165 deg, lon: -122.115925 deg, deltaT: 4.036199 s, deltaX: -3.600006 m, approachRate: -0.891930 m/s, posRepo size: 4 2025-01-08T19:48:27.285Z,1736365707.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.10 m. 2025-01-08T19:48:27.292Z,1736365707.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 365.100006 m, nav range: 350.601318 m, bearing: 188.990113 deg, approach rate: 0.000000 m/s, LOS rate: -0.102510 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835036 deg. 2025-01-08T19:48:27.293Z,1736365707.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814229 target range: 365.100006 and range: 365.10 m. 2025-01-08T19:48:27.304Z,1736365707.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:27.305Z,1736365707.305 [DAT](INFO): DAT read: TxSync time:19:48:26.3688 2025-01-08T19:48:27.556Z,1736365707.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:27.620Z,1736365707.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:27.630Z,1736365707.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.10 m. 2025-01-08T19:48:27.633Z,1736365707.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 365.100006 m, nav range: 350.623901 m, bearing: 188.949560 deg, approach rate: 0.063839 m/s, LOS rate: -0.114630 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853536 deg. 2025-01-08T19:48:27.634Z,1736365707.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814552 target range: 365.100006 and range: 365.10 m. 2025-01-08T19:48:27.808Z,1736365707.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:28.060Z,1736365708.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:28.090Z,1736365708.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:28.117Z,1736365708.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:28.123Z,1736365708.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.10 m. 2025-01-08T19:48:28.126Z,1736365708.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 365.100006 m, nav range: 350.652557 m, bearing: 188.899271 deg, approach rate: 0.058603 m/s, LOS rate: -0.102837 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824330 deg. 2025-01-08T19:48:28.132Z,1736365708.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814043 target range: 365.100006 and range: 365.10 m. 2025-01-08T19:48:28.312Z,1736365708.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:28.314Z,1736365708.314 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:28.314Z,1736365708.314 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:28.314Z,1736365708.314 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:28.435Z,1736365708.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:28.459Z,1736365708.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.10 m. 2025-01-08T19:48:28.464Z,1736365708.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 365.100006 m, nav range: 350.673004 m, bearing: 188.862434 deg, approach rate: 0.060207 m/s, LOS rate: -0.108462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864684 deg. 2025-01-08T19:48:28.465Z,1736365708.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814747 target range: 365.100006 and range: 365.10 m. 2025-01-08T19:48:28.564Z,1736365708.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:28.565Z,1736365708.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464849 2025-01-08T19:48:28.816Z,1736365708.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:28.817Z,1736365708.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716620 2025-01-08T19:48:28.839Z,1736365708.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:28.849Z,1736365708.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.10 m. 2025-01-08T19:48:28.875Z,1736365708.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 365.100006 m, nav range: 350.697540 m, bearing: 188.819218 deg, approach rate: 0.062854 m/s, LOS rate: -0.110699 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845546 deg. 2025-01-08T19:48:28.880Z,1736365708.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814413 target range: 365.100006 and range: 365.10 m. 2025-01-08T19:48:29.069Z,1736365709.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:29.072Z,1736365709.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970927 2025-01-08T19:48:29.265Z,1736365709.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:29.274Z,1736365709.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.10 m. 2025-01-08T19:48:29.300Z,1736365709.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 365.100006 m, nav range: 350.718811 m, bearing: 188.772933 deg, approach rate: 0.050126 m/s, LOS rate: -0.109066 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836342 deg. 2025-01-08T19:48:29.301Z,1736365709.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814252 target range: 365.100006 and range: 365.10 m. 2025-01-08T19:48:29.320Z,1736365709.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:29.320Z,1736365709.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220576 2025-01-08T19:48:29.572Z,1736365709.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:29.572Z,1736365709.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472502 2025-01-08T19:48:29.654Z,1736365709.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:29.669Z,1736365709.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.10 m. 2025-01-08T19:48:29.676Z,1736365709.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 365.100006 m, nav range: 350.738647 m, bearing: 188.730659 deg, approach rate: 0.050196 m/s, LOS rate: -0.106968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848373 deg. 2025-01-08T19:48:29.679Z,1736365709.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814462 target range: 365.100006 and range: 365.10 m. 2025-01-08T19:48:29.824Z,1736365709.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:29.824Z,1736365709.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724538 2025-01-08T19:48:30.076Z,1736365710.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:30.077Z,1736365710.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977209 2025-01-08T19:48:30.135Z,1736365710.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:30.150Z,1736365710.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:30.155Z,1736365710.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.10 m. 2025-01-08T19:48:30.176Z,1736365710.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 365.100006 m, nav range: 350.762299 m, bearing: 188.678285 deg, approach rate: 0.048815 m/s, LOS rate: -0.108091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818075 deg. 2025-01-08T19:48:30.178Z,1736365710.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813933 target range: 365.100006 and range: 365.10 m. 2025-01-08T19:48:30.330Z,1736365710.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:30.332Z,1736365710.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231618 2025-01-08T19:48:30.460Z,1736365710.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:30.469Z,1736365710.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.10 m. 2025-01-08T19:48:30.472Z,1736365710.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 365.100006 m, nav range: 350.778534 m, bearing: 188.642835 deg, approach rate: 0.051383 m/s, LOS rate: -0.112190 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868842 deg. 2025-01-08T19:48:30.473Z,1736365710.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814820 target range: 365.100006 and range: 365.10 m. 2025-01-08T19:48:30.580Z,1736365710.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:30.581Z,1736365710.581 [DAT](INFO): DAT read: Rx Time:19:48:29.2421 2025-01-08T19:48:30.581Z,1736365710.581 [DAT](INFO): Rx dataTimestamp_ set to:1736365710.580778 2025-01-08T19:48:30.582Z,1736365710.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481675 2025-01-08T19:48:30.832Z,1736365710.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:30.833Z,1736365710.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.732674 2025-01-08T19:48:30.873Z,1736365710.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:30.883Z,1736365710.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.10 m. 2025-01-08T19:48:30.886Z,1736365710.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 365.100006 m, nav range: 350.799316 m, bearing: 188.597797 deg, approach rate: 0.050261 m/s, LOS rate: -0.108915 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840079 deg. 2025-01-08T19:48:30.889Z,1736365710.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814318 target range: 365.100006 and range: 365.10 m. 2025-01-08T19:48:31.086Z,1736365711.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:31.106Z,1736365711.106 [DAT](INFO): DAT read: 19:48:29.2421 LVL= 23472, 25745, 16114, 27315, AGC= 68, IDX= 419, 0.17,-1.461,-2.551,-1.123,-2.010, PHS= 0.637,-0.494, 0.884, RAW= 159.7, -15.9, CAL= 165.2, -22.1, ROT= 344.8, 22.1 2025-01-08T19:48:31.112Z,1736365711.112 [DAT](INFO): got valid direction response: 19:48:29.2421 LVL= 23472, 25745, 16114, 27315, AGC= 68, IDX= 419, 0.17,-1.461,-2.551,-1.123,-2.010, PHS= 0.637,-0.494, 0.884, RAW= 159.7, -15.9, CAL= 165.2, -22.1, ROT= 344.8, 22.1 2025-01-08T19:48:31.113Z,1736365711.113 [DAT](INFO): DAT read: Bearing 344.8, 22.1 (Local) 2025-01-08T19:48:31.114Z,1736365711.114 [DAT](INFO): Local bearing/azimuth received: Bearing 344.8, 22.1 (Local) 2025-01-08T19:48:31.121Z,1736365711.121 [DAT](INFO): DAT read: Range 10 to 50 : 351.3 m (Round-trip 468.4 ms) speed 0.4 m/s 2025-01-08T19:48:31.122Z,1736365711.122 [DAT](INFO): DAT read: user:851> 2025-01-08T19:48:31.122Z,1736365711.122 [DAT](INFO): DAT read: Tx time:19:48:30.3696 2025-01-08T19:48:31.123Z,1736365711.123 [DAT](INFO): Ping request sent. 2025-01-08T19:48:31.123Z,1736365711.123 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:31.128Z,1736365711.128 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:31.136Z,1736365711.136 [DAT](INFO): direction in FSK: [0.196524,-0.895910,0.398401] 2025-01-08T19:48:31.137Z,1736365711.137 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:31.137Z,1736365711.137 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:31.145Z,1736365711.145 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:31.146Z,1736365711.146 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:31.336Z,1736365711.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:31.337Z,1736365711.337 [DAT](INFO): DAT read: TxSync time:19:48:30.3688 2025-01-08T19:48:31.355Z,1736365711.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:31.394Z,1736365711.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 351.299988 m, deltaT: 4.034244 s, deltaX: -13.800018 m, approachRate: -3.420720 m/s, rangeRepo size: 4 2025-01-08T19:48:31.401Z,1736365711.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 351.299988 m, bearing: 197.026515 deg, lat: 36.901169 deg, lon: -122.115925 deg, deltaT: 4.034244 s, deltaX: -13.800018 m, approachRate: -3.420720 m/s, posRepo size: 4 2025-01-08T19:48:31.401Z,1736365711.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m. 2025-01-08T19:48:31.420Z,1736365711.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.299988 m, nav range: 350.282440 m, bearing: 188.558537 deg, approach rate: 0.000000 m/s, LOS rate: -0.108915 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808313 deg. 2025-01-08T19:48:31.421Z,1736365711.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813763 target range: 351.299988 and range: 351.30 m. 2025-01-08T19:48:31.588Z,1736365711.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:31.689Z,1736365711.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:31.699Z,1736365711.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m. 2025-01-08T19:48:31.702Z,1736365711.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.299988 m, nav range: 350.293427 m, bearing: 188.522088 deg, approach rate: 0.035968 m/s, LOS rate: -0.119325 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865843 deg. 2025-01-08T19:48:31.703Z,1736365711.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814767 target range: 351.299988 and range: 351.30 m. 2025-01-08T19:48:31.840Z,1736365711.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:32.094Z,1736365712.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:32.144Z,1736365712.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:32.153Z,1736365712.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:32.156Z,1736365712.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m. 2025-01-08T19:48:32.158Z,1736365712.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.299988 m, nav range: 350.305603 m, bearing: 188.471796 deg, approach rate: 0.026679 m/s, LOS rate: -0.110187 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824316 deg. 2025-01-08T19:48:32.160Z,1736365712.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814043 target range: 351.299988 and range: 351.30 m. 2025-01-08T19:48:32.344Z,1736365712.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:32.344Z,1736365712.344 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:32.345Z,1736365712.345 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:32.345Z,1736365712.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:32.487Z,1736365712.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:32.496Z,1736365712.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m. 2025-01-08T19:48:32.499Z,1736365712.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.299988 m, nav range: 350.314819 m, bearing: 188.433923 deg, approach rate: 0.027114 m/s, LOS rate: -0.111418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861570 deg. 2025-01-08T19:48:32.501Z,1736365712.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814692 target range: 351.299988 and range: 351.30 m. 2025-01-08T19:48:32.596Z,1736365712.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:32.597Z,1736365712.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474200 2025-01-08T19:48:32.848Z,1736365712.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:32.848Z,1736365712.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725543 2025-01-08T19:48:32.901Z,1736365712.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:32.910Z,1736365712.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m. 2025-01-08T19:48:32.914Z,1736365712.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.299988 m, nav range: 350.326477 m, bearing: 188.388158 deg, approach rate: 0.028089 m/s, LOS rate: -0.110264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837899 deg. 2025-01-08T19:48:32.940Z,1736365712.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814280 target range: 351.299988 and range: 351.30 m. 2025-01-08T19:48:33.102Z,1736365713.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:33.104Z,1736365713.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980839 2025-01-08T19:48:33.334Z,1736365713.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:33.345Z,1736365713.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m. 2025-01-08T19:48:33.349Z,1736365713.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.299988 m, nav range: 350.336365 m, bearing: 188.340173 deg, approach rate: 0.022755 m/s, LOS rate: -0.110426 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831235 deg. 2025-01-08T19:48:33.350Z,1736365713.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814163 target range: 351.299988 and range: 351.30 m. 2025-01-08T19:48:33.352Z,1736365713.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:33.353Z,1736365713.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229762 2025-01-08T19:48:33.604Z,1736365713.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:33.604Z,1736365713.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481582 2025-01-08T19:48:33.694Z,1736365713.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:33.715Z,1736365713.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m. 2025-01-08T19:48:33.718Z,1736365713.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.299988 m, nav range: 350.345245 m, bearing: 188.300235 deg, approach rate: 0.024243 m/s, LOS rate: -0.109021 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855377 deg. 2025-01-08T19:48:33.724Z,1736365713.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814585 target range: 351.299988 and range: 351.30 m. 2025-01-08T19:48:33.856Z,1736365713.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:33.856Z,1736365713.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733589 2025-01-08T19:48:34.109Z,1736365714.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:34.112Z,1736365714.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988678 2025-01-08T19:48:34.227Z,1736365714.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:34.234Z,1736365714.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:34.236Z,1736365714.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m. 2025-01-08T19:48:34.239Z,1736365714.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.299988 m, nav range: 350.354858 m, bearing: 188.241429 deg, approach rate: 0.018298 m/s, LOS rate: -0.111935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.798773 deg. 2025-01-08T19:48:34.240Z,1736365714.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813597 target range: 351.299988 and range: 351.30 m. 2025-01-08T19:48:34.360Z,1736365714.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:34.360Z,1736365714.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237544 2025-01-08T19:48:34.515Z,1736365714.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:34.524Z,1736365714.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m. 2025-01-08T19:48:34.527Z,1736365714.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.299988 m, nav range: 350.360352 m, bearing: 188.209621 deg, approach rate: 0.019095 m/s, LOS rate: -0.110568 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879766 deg. 2025-01-08T19:48:34.529Z,1736365714.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815010 target range: 351.299988 and range: 351.30 m. 2025-01-08T19:48:34.613Z,1736365714.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:34.614Z,1736365714.614 [DAT](INFO): DAT read: Rx Time:19:48:33.2547 2025-01-08T19:48:34.614Z,1736365714.614 [DAT](INFO): Rx dataTimestamp_ set to:1736365714.614057 2025-01-08T19:48:34.616Z,1736365714.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492818 2025-01-08T19:48:34.864Z,1736365714.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:34.864Z,1736365714.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741717 2025-01-08T19:48:34.990Z,1736365714.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:34.998Z,1736365714.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m. 2025-01-08T19:48:35.001Z,1736365715.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.299988 m, nav range: 350.369598 m, bearing: 188.157179 deg, approach rate: 0.019493 m/s, LOS rate: -0.110550 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817865 deg. 2025-01-08T19:48:35.002Z,1736365715.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813930 target range: 351.299988 and range: 351.30 m. 2025-01-08T19:48:35.118Z,1736365715.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:35.144Z,1736365715.144 [DAT](INFO): DAT read: 19:48:33.2547 LVL= 24912, 22577, 15826, 26579, AGC= 68, IDX= 56, 0.00, 1.568, 0.167, 1.892, 1.022, PHS= 0.634,-0.808, 0.867, RAW= 157.4, -8.9, CAL= 162.4, -16.1, ROT= 347.6, 16.1 2025-01-08T19:48:35.161Z,1736365715.161 [DAT](INFO): got valid direction response: 19:48:33.2547 LVL= 24912, 22577, 15826, 26579, AGC= 68, IDX= 56, 0.00, 1.568, 0.167, 1.892, 1.022, PHS= 0.634,-0.808, 0.867, RAW= 157.4, -8.9, CAL= 162.4, -16.1, ROT= 347.6, 16.1 2025-01-08T19:48:35.168Z,1736365715.168 [DAT](INFO): DAT read: Bearing 347.6, 16.1 (Local) 2025-01-08T19:48:35.169Z,1736365715.169 [DAT](INFO): Local bearing/azimuth received: Bearing 347.6, 16.1 (Local) 2025-01-08T19:48:35.170Z,1736365715.170 [DAT](INFO): DAT read: Range 10 to 50 : 360.6 m (Round-trip 480.9 ms) speed 0.4 m/s 2025-01-08T19:48:35.175Z,1736365715.175 [DAT](INFO): DAT read: user:852> 2025-01-08T19:48:35.176Z,1736365715.176 [DAT](INFO): DAT read: Tx time:19:48:34.3697 2025-01-08T19:48:35.176Z,1736365715.176 [DAT](INFO): Ping request sent. 2025-01-08T19:48:35.176Z,1736365715.176 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:35.177Z,1736365715.177 [DAT](INFO): DAT read: TxSync time:19:48:34.3689 2025-01-08T19:48:35.177Z,1736365715.177 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:35.179Z,1736365715.179 [DAT](INFO): direction in FSK: [0.057537,-0.897126,0.438011] 2025-01-08T19:48:35.183Z,1736365715.183 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:35.184Z,1736365715.184 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:35.187Z,1736365715.187 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:35.187Z,1736365715.187 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:35.366Z,1736365715.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:35.368Z,1736365715.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:35.419Z,1736365715.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 360.600006 m, deltaT: 4.031935 s, deltaX: 9.300018 m, approachRate: 2.306589 m/s, rangeRepo size: 4 2025-01-08T19:48:35.425Z,1736365715.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 360.600006 m, bearing: 188.518564 deg, lat: 36.901186 deg, lon: -122.115939 deg, deltaT: 4.031935 s, deltaX: 9.300018 m, approachRate: 2.306589 m/s, posRepo size: 4 2025-01-08T19:48:35.426Z,1736365715.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T19:48:35.433Z,1736365715.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 348.676117 m, bearing: 188.355237 deg, approach rate: 0.000000 m/s, LOS rate: -0.110550 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836025 deg. 2025-01-08T19:48:35.434Z,1736365715.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814247 target range: 360.600006 and range: 360.60 m. 2025-01-08T19:48:35.620Z,1736365715.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:35.872Z,1736365715.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:35.893Z,1736365715.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:35.903Z,1736365715.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T19:48:35.906Z,1736365715.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 348.685638 m, bearing: 188.296913 deg, approach rate: 0.019640 m/s, LOS rate: -0.120306 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800218 deg. 2025-01-08T19:48:35.907Z,1736365715.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813622 target range: 360.600006 and range: 360.60 m. 2025-01-08T19:48:36.126Z,1736365716.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:36.295Z,1736365716.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:36.302Z,1736365716.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:36.304Z,1736365716.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T19:48:36.307Z,1736365716.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 348.695007 m, bearing: 188.253491 deg, approach rate: 0.023359 m/s, LOS rate: -0.108261 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844925 deg. 2025-01-08T19:48:36.308Z,1736365716.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814402 target range: 360.600006 and range: 360.60 m. 2025-01-08T19:48:36.376Z,1736365716.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:36.376Z,1736365716.376 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:36.376Z,1736365716.376 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:36.377Z,1736365716.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:36.628Z,1736365716.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:36.629Z,1736365716.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.451939 2025-01-08T19:48:36.714Z,1736365716.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:36.722Z,1736365716.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T19:48:36.725Z,1736365716.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 348.705444 m, bearing: 188.208118 deg, approach rate: 0.024974 m/s, LOS rate: -0.108566 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839073 deg. 2025-01-08T19:48:36.726Z,1736365716.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814300 target range: 360.600006 and range: 360.60 m. 2025-01-08T19:48:36.880Z,1736365716.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:36.881Z,1736365716.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704473 2025-01-08T19:48:37.126Z,1736365717.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:37.133Z,1736365717.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:37.136Z,1736365717.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959151 2025-01-08T19:48:37.201Z,1736365717.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T19:48:37.208Z,1736365717.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 348.716278 m, bearing: 188.163636 deg, approach rate: 0.022600 m/s, LOS rate: -0.092791 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841746 deg. 2025-01-08T19:48:37.209Z,1736365717.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814347 target range: 360.600006 and range: 360.60 m. 2025-01-08T19:48:37.384Z,1736365717.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:37.384Z,1736365717.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207902 2025-01-08T19:48:37.542Z,1736365717.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:37.552Z,1736365717.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T19:48:37.555Z,1736365717.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 348.728668 m, bearing: 188.119694 deg, approach rate: 0.035309 m/s, LOS rate: -0.125223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843364 deg. 2025-01-08T19:48:37.556Z,1736365717.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814375 target range: 360.600006 and range: 360.60 m. 2025-01-08T19:48:37.637Z,1736365717.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:37.638Z,1736365717.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460912 2025-01-08T19:48:37.888Z,1736365717.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:37.888Z,1736365717.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711975 2025-01-08T19:48:37.940Z,1736365717.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:37.949Z,1736365717.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T19:48:37.953Z,1736365717.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 348.740936 m, bearing: 188.077862 deg, approach rate: 0.030872 m/s, LOS rate: -0.105263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849696 deg. 2025-01-08T19:48:37.954Z,1736365717.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814486 target range: 360.600006 and range: 360.60 m. 2025-01-08T19:48:38.141Z,1736365718.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:38.144Z,1736365718.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966614 2025-01-08T19:48:38.331Z,1736365718.331 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +69, +11,A 2025-01-08T19:48:38.338Z,1736365718.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:48:38.338Z,1736365718.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:38.389Z,1736365718.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:38.392Z,1736365718.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:38.392Z,1736365718.392 [DAT](INFO): DAT read: Rx Time:19:48:37.2513 2025-01-08T19:48:38.393Z,1736365718.393 [DAT](INFO): Rx dataTimestamp_ set to:1736365718.392638 2025-01-08T19:48:38.393Z,1736365718.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217039 2025-01-08T19:48:38.400Z,1736365718.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T19:48:38.402Z,1736365718.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 348.753784 m, bearing: 188.036085 deg, approach rate: 0.029076 m/s, LOS rate: -0.094543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849858 deg. 2025-01-08T19:48:38.408Z,1736365718.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814488 target range: 360.600006 and range: 360.60 m. 2025-01-08T19:48:38.644Z,1736365718.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:38.646Z,1736365718.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469548 2025-01-08T19:48:38.740Z,1736365718.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:48:38.740Z,1736365718.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:38.750Z,1736365718.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T19:48:38.753Z,1736365718.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 348.767365 m, bearing: 187.993836 deg, approach rate: 0.037846 m/s, LOS rate: -0.117734 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848447 deg. 2025-01-08T19:48:38.754Z,1736365718.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814464 target range: 360.600006 and range: 360.60 m. 2025-01-08T19:48:38.897Z,1736365718.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:38.900Z,1736365718.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722579 2025-01-08T19:48:39.145Z,1736365719.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:48:39.145Z,1736365719.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:39.149Z,1736365719.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:39.173Z,1736365719.173 [DAT](INFO): DAT read: 19:48:37.2513 LVL= 26352, 32753, 20050, 32755, AGC= 65, IDX= 405, 0.35,-0.555,-1.712,-0.266,-1.115, PHS= 0.648,-0.550, 0.846, RAW= 157.5, -14.3, CAL= 163.7, -20.7, ROT= 346.3, 20.7 2025-01-08T19:48:39.177Z,1736365719.177 [DAT](INFO): got valid direction response: 19:48:37.2513 LVL= 26352, 32753, 20050, 32755, AGC= 65, IDX= 405, 0.35,-0.555,-1.712,-0.266,-1.115, PHS= 0.648,-0.550, 0.846, RAW= 157.5, -14.3, CAL= 163.7, -20.7, ROT= 346.3, 20.7 2025-01-08T19:48:39.195Z,1736365719.195 [DAT](INFO): DAT read: Bearing 346.3, 20.7 (Local) 2025-01-08T19:48:39.217Z,1736365719.217 [DAT](INFO): Local bearing/azimuth received: Bearing 346.3, 20.7 (Local) 2025-01-08T19:48:39.229Z,1736365719.229 [DAT](INFO): DAT read: Range 10 to 50 : 358.1 m (Round-trip 477.5 ms) speed 0.4 m/s 2025-01-08T19:48:39.230Z,1736365719.230 [DAT](INFO): DAT read: user:853> 2025-01-08T19:48:39.234Z,1736365719.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T19:48:39.239Z,1736365719.239 [DAT](INFO): DAT read: Tx time:19:48:38.3697 2025-01-08T19:48:39.240Z,1736365719.240 [DAT](INFO): Ping request sent. 2025-01-08T19:48:39.240Z,1736365719.240 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:39.240Z,1736365719.240 [DAT](INFO): DAT read: TxSync time:19:48:38.3689 2025-01-08T19:48:39.241Z,1736365719.241 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:39.242Z,1736365719.242 [DAT](INFO): direction in FSK: [0.163996,-0.885930,0.433858] 2025-01-08T19:48:39.242Z,1736365719.242 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:39.242Z,1736365719.242 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:39.245Z,1736365719.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 348.781464 m, bearing: 187.951265 deg, approach rate: 0.029167 m/s, LOS rate: -0.088063 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847479 deg. 2025-01-08T19:48:39.247Z,1736365719.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814447 target range: 360.600006 and range: 360.60 m. 2025-01-08T19:48:39.263Z,1736365719.263 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:39.271Z,1736365719.271 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:39.400Z,1736365719.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:39.621Z,1736365719.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:39.652Z,1736365719.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:39.680Z,1736365719.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 358.100006 m, deltaT: 4.031385 s, deltaX: -2.500000 m, approachRate: -0.620134 m/s, rangeRepo size: 4 2025-01-08T19:48:39.683Z,1736365719.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 358.100006 m, bearing: 195.481118 deg, lat: 36.901247 deg, lon: -122.116202 deg, deltaT: 4.031385 s, deltaX: -2.500000 m, approachRate: -0.620134 m/s, posRepo size: 4 2025-01-08T19:48:39.690Z,1736365719.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.10 m. 2025-01-08T19:48:39.697Z,1736365719.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 358.100006 m, nav range: 346.207153 m, bearing: 191.896702 deg, approach rate: 0.000000 m/s, LOS rate: -0.088063 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859992 deg. 2025-01-08T19:48:39.698Z,1736365719.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814665 target range: 358.100006 and range: 358.10 m. 2025-01-08T19:48:39.904Z,1736365719.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:39.985Z,1736365719.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:39.994Z,1736365719.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.10 m. 2025-01-08T19:48:39.998Z,1736365719.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 358.100006 m, nav range: 346.212555 m, bearing: 191.860101 deg, approach rate: 0.016651 m/s, LOS rate: -0.112823 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865385 deg. 2025-01-08T19:48:39.000Z,1736365720.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814759 target range: 358.100006 and range: 358.10 m. 2025-01-08T19:48:40.157Z,1736365720.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:40.408Z,1736365720.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:40.424Z,1736365720.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:40.431Z,1736365720.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:40.433Z,1736365720.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.10 m. 2025-01-08T19:48:40.436Z,1736365720.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 358.100006 m, nav range: 346.223694 m, bearing: 191.815779 deg, approach rate: 0.025351 m/s, LOS rate: -0.100868 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842226 deg. 2025-01-08T19:48:40.437Z,1736365720.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814355 target range: 358.100006 and range: 358.10 m. 2025-01-08T19:48:40.660Z,1736365720.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:40.661Z,1736365720.661 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:40.661Z,1736365720.661 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:40.662Z,1736365720.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:40.788Z,1736365720.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:40.816Z,1736365720.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.10 m. 2025-01-08T19:48:40.819Z,1736365720.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 358.100006 m, nav range: 346.233185 m, bearing: 191.778989 deg, approach rate: 0.024802 m/s, LOS rate: -0.096138 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864819 deg. 2025-01-08T19:48:40.820Z,1736365720.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814749 target range: 358.100006 and range: 358.10 m. 2025-01-08T19:48:40.913Z,1736365720.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:40.913Z,1736365720.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.673724 2025-01-08T19:48:41.164Z,1736365721.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:41.164Z,1736365721.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.924548 2025-01-08T19:48:41.260Z,1736365721.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:41.277Z,1736365721.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.10 m. 2025-01-08T19:48:41.285Z,1736365721.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 358.100006 m, nav range: 346.246460 m, bearing: 191.731230 deg, approach rate: 0.028793 m/s, LOS rate: -0.103583 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831916 deg. 2025-01-08T19:48:41.286Z,1736365721.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814175 target range: 358.100006 and range: 358.10 m. 2025-01-08T19:48:41.416Z,1736365721.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:41.417Z,1736365721.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.176839 2025-01-08T19:48:41.617Z,1736365721.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:41.626Z,1736365721.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.10 m. 2025-01-08T19:48:41.630Z,1736365721.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 358.100006 m, nav range: 346.253418 m, bearing: 191.695426 deg, approach rate: 0.019930 m/s, LOS rate: -0.102552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867777 deg. 2025-01-08T19:48:41.632Z,1736365721.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814801 target range: 358.100006 and range: 358.10 m. 2025-01-08T19:48:41.669Z,1736365721.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:41.670Z,1736365721.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430092 2025-01-08T19:48:41.920Z,1736365721.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:41.920Z,1736365721.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.680571 2025-01-08T19:48:42.008Z,1736365722.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:42.019Z,1736365722.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.10 m. 2025-01-08T19:48:42.022Z,1736365722.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 358.100006 m, nav range: 346.261414 m, bearing: 191.656199 deg, approach rate: 0.020346 m/s, LOS rate: -0.099815 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857509 deg. 2025-01-08T19:48:42.023Z,1736365722.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814622 target range: 358.100006 and range: 358.10 m. 2025-01-08T19:48:42.173Z,1736365722.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:42.174Z,1736365722.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.933791 2025-01-08T19:48:42.424Z,1736365722.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:42.425Z,1736365722.425 [DAT](INFO): DAT read: Rx Time:19:48:41.2481 2025-01-08T19:48:42.425Z,1736365722.425 [DAT](INFO): Rx dataTimestamp_ set to:1736365722.424744 2025-01-08T19:48:42.426Z,1736365722.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.185807 2025-01-08T19:48:42.458Z,1736365722.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:42.473Z,1736365722.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:42.475Z,1736365722.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.10 m. 2025-01-08T19:48:42.482Z,1736365722.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 358.100006 m, nav range: 346.272522 m, bearing: 191.610731 deg, approach rate: 0.024385 m/s, LOS rate: -0.099810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838786 deg. 2025-01-08T19:48:42.483Z,1736365722.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814295 target range: 358.100006 and range: 358.10 m. 2025-01-08T19:48:42.677Z,1736365722.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:42.679Z,1736365722.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.438453 2025-01-08T19:48:42.803Z,1736365722.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:42.812Z,1736365722.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.10 m. 2025-01-08T19:48:42.815Z,1736365722.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 358.100006 m, nav range: 346.281555 m, bearing: 191.575875 deg, approach rate: 0.026834 m/s, LOS rate: -0.103538 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870623 deg. 2025-01-08T19:48:42.817Z,1736365722.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814851 target range: 358.100006 and range: 358.10 m. 2025-01-08T19:48:42.931Z,1736365722.931 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:42.933Z,1736365722.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.692992 2025-01-08T19:48:43.181Z,1736365723.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:43.190Z,1736365723.190 [DAT](INFO): DAT read: 19:48:41.2481 LVL= 27360, 32753, 21186, 32755, AGC= 65, IDX= 403,-0.37,-1.304,-2.430,-1.068,-1.839, PHS= 0.623,-0.544, 0.768, RAW= 155.8, -13.5, CAL= 162.3, -20.2, ROT= 347.7, 20.2 2025-01-08T19:48:43.196Z,1736365723.196 [DAT](INFO): got valid direction response: 19:48:41.2481 LVL= 27360, 32753, 21186, 32755, AGC= 65, IDX= 403,-0.37,-1.304,-2.430,-1.068,-1.839, PHS= 0.623,-0.544, 0.768, RAW= 155.8, -13.5, CAL= 162.3, -20.2, ROT= 347.7, 20.2 2025-01-08T19:48:43.199Z,1736365723.199 [DAT](INFO): DAT read: Bearing 347.7, 20.2 (Local) 2025-01-08T19:48:43.201Z,1736365723.201 [DAT](INFO): Local bearing/azimuth received: Bearing 347.7, 20.2 (Local) 2025-01-08T19:48:43.203Z,1736365723.203 [DAT](INFO): DAT read: Range 10 to 50 : 355.6 m (Round-trip 474.2 ms) speed 0.9 m/s 2025-01-08T19:48:43.213Z,1736365723.213 [DAT](INFO): DAT read: user:854> 2025-01-08T19:48:43.215Z,1736365723.215 [DAT](INFO): DAT read: Tx time:19:48:42.3698 2025-01-08T19:48:43.217Z,1736365723.217 [DAT](INFO): Ping request sent. 2025-01-08T19:48:43.217Z,1736365723.217 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:43.248Z,1736365723.248 [DAT](INFO): DAT read: TxSync time:19:48:42.3690 2025-01-08T19:48:43.250Z,1736365723.250 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:43.285Z,1736365723.285 [DAT](INFO): direction in FSK: [0.147440,-0.874512,0.462050] 2025-01-08T19:48:43.286Z,1736365723.286 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:43.286Z,1736365723.286 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:43.297Z,1736365723.297 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:43.298Z,1736365723.298 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:43.415Z,1736365723.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:43.432Z,1736365723.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:43.452Z,1736365723.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 355.600006 m, deltaT: 4.032168 s, deltaX: -2.500000 m, approachRate: -0.620014 m/s, rangeRepo size: 4 2025-01-08T19:48:43.454Z,1736365723.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 355.600006 m, bearing: 195.118401 deg, lat: 36.901352 deg, lon: -122.116402 deg, deltaT: 4.032168 s, deltaX: -2.500000 m, approachRate: -0.620014 m/s, posRepo size: 4 2025-01-08T19:48:43.455Z,1736365723.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.60 m. 2025-01-08T19:48:43.463Z,1736365723.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.600006 m, nav range: 338.998047 m, bearing: 194.853309 deg, approach rate: 0.000000 m/s, LOS rate: -0.103538 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.777811 deg. 2025-01-08T19:48:43.468Z,1736365723.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813231 target range: 355.600006 and range: 355.60 m. 2025-01-08T19:48:43.685Z,1736365723.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:43.769Z,1736365723.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:43.789Z,1736365723.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.60 m. 2025-01-08T19:48:43.792Z,1736365723.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.600006 m, nav range: 338.997070 m, bearing: 194.814558 deg, approach rate: -0.002855 m/s, LOS rate: -0.113282 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858934 deg. 2025-01-08T19:48:43.793Z,1736365723.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814647 target range: 355.600006 and range: 355.60 m. 2025-01-08T19:48:43.936Z,1736365723.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:44.165Z,1736365724.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:44.173Z,1736365724.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.60 m. 2025-01-08T19:48:44.176Z,1736365724.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.600006 m, nav range: 338.994751 m, bearing: 194.772615 deg, approach rate: -0.006037 m/s, LOS rate: -0.109170 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849356 deg. 2025-01-08T19:48:44.177Z,1736365724.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814479 target range: 355.600006 and range: 355.60 m. 2025-01-08T19:48:44.189Z,1736365724.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:44.440Z,1736365724.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:44.584Z,1736365724.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:44.590Z,1736365724.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:44.592Z,1736365724.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.60 m. 2025-01-08T19:48:44.596Z,1736365724.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.600006 m, nav range: 338.980957 m, bearing: 194.727195 deg, approach rate: -0.032900 m/s, LOS rate: -0.108337 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838921 deg. 2025-01-08T19:48:44.597Z,1736365724.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814297 target range: 355.600006 and range: 355.60 m. 2025-01-08T19:48:44.692Z,1736365724.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:44.692Z,1736365724.692 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:44.692Z,1736365724.692 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:44.693Z,1736365724.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:44.944Z,1736365724.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:44.944Z,1736365724.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727578 2025-01-08T19:48:44.992Z,1736365724.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:45.001Z,1736365725.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.60 m. 2025-01-08T19:48:45.004Z,1736365725.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.600006 m, nav range: 338.968231 m, bearing: 194.682938 deg, approach rate: -0.031128 m/s, LOS rate: -0.108260 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842411 deg. 2025-01-08T19:48:45.005Z,1736365725.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814358 target range: 355.600006 and range: 355.60 m. 2025-01-08T19:48:45.197Z,1736365725.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:45.199Z,1736365725.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981684 2025-01-08T19:48:45.389Z,1736365725.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:45.399Z,1736365725.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.60 m. 2025-01-08T19:48:45.402Z,1736365725.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.600006 m, nav range: 338.956696 m, bearing: 194.639174 deg, approach rate: -0.029022 m/s, LOS rate: -0.110108 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843890 deg. 2025-01-08T19:48:45.403Z,1736365725.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814384 target range: 355.600006 and range: 355.60 m. 2025-01-08T19:48:45.448Z,1736365725.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:45.450Z,1736365725.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232483 2025-01-08T19:48:45.700Z,1736365725.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:45.700Z,1736365725.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483608 2025-01-08T19:48:45.779Z,1736365725.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:45.788Z,1736365725.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.60 m. 2025-01-08T19:48:45.791Z,1736365725.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.600006 m, nav range: 338.945648 m, bearing: 194.596271 deg, approach rate: -0.028423 m/s, LOS rate: -0.110384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846476 deg. 2025-01-08T19:48:45.792Z,1736365725.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814429 target range: 355.600006 and range: 355.60 m. 2025-01-08T19:48:45.952Z,1736365725.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:45.954Z,1736365725.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736601 2025-01-08T19:48:46.179Z,1736365726.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:46.187Z,1736365726.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.60 m. 2025-01-08T19:48:46.190Z,1736365726.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.600006 m, nav range: 338.934265 m, bearing: 194.552137 deg, approach rate: -0.028479 m/s, LOS rate: -0.110425 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842779 deg. 2025-01-08T19:48:46.191Z,1736365726.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814365 target range: 355.600006 and range: 355.60 m. 2025-01-08T19:48:46.204Z,1736365726.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:46.205Z,1736365726.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987819 2025-01-08T19:48:46.456Z,1736365726.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:46.457Z,1736365726.457 [DAT](INFO): DAT read: Rx Time:19:48:45.2456 2025-01-08T19:48:46.458Z,1736365726.458 [DAT](INFO): Rx dataTimestamp_ set to:1736365726.457007 2025-01-08T19:48:46.458Z,1736365726.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241530 2025-01-08T19:48:46.606Z,1736365726.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:46.614Z,1736365726.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:46.616Z,1736365726.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.60 m. 2025-01-08T19:48:46.639Z,1736365726.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.600006 m, nav range: 338.917358 m, bearing: 194.504873 deg, approach rate: -0.039398 m/s, LOS rate: -0.110146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833388 deg. 2025-01-08T19:48:46.641Z,1736365726.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814201 target range: 355.600006 and range: 355.60 m. 2025-01-08T19:48:46.709Z,1736365726.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:46.710Z,1736365726.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493215 2025-01-08T19:48:46.960Z,1736365726.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:46.970Z,1736365726.970 [DAT](INFO): DAT read: 19:48:45.2456 LVL= 30032, 29601, 21362, 32755, AGC= 66, IDX= 409, 0.30,-1.106,-2.358,-0.802,-1.690, PHS= 0.672,-0.621, 0.885, RAW= 157.5, -13.2, CAL= 163.7, -19.7, ROT= 346.3, 19.7 2025-01-08T19:48:46.976Z,1736365726.976 [DAT](INFO): got valid direction response: 19:48:45.2456 LVL= 30032, 29601, 21362, 32755, AGC= 66, IDX= 409, 0.30,-1.106,-2.358,-0.802,-1.690, PHS= 0.672,-0.621, 0.885, RAW= 157.5, -13.2, CAL= 163.7, -19.7, ROT= 346.3, 19.7 2025-01-08T19:48:46.977Z,1736365726.977 [DAT](INFO): DAT read: Bearing 346.3, 19.7 (Local) 2025-01-08T19:48:46.977Z,1736365726.977 [DAT](INFO): Local bearing/azimuth received: Bearing 346.3, 19.7 (Local) 2025-01-08T19:48:46.979Z,1736365726.979 [DAT](INFO): DAT read: Range 10 to 50 : 353.7 m (Round-trip 471.6 ms) speed 0.4 m/s 2025-01-08T19:48:46.980Z,1736365726.980 [DAT](INFO): DAT read: user:855> 2025-01-08T19:48:46.981Z,1736365726.981 [DAT](INFO): DAT read: Tx time:19:48:46.3698 2025-01-08T19:48:46.981Z,1736365726.981 [DAT](INFO): Ping request sent. 2025-01-08T19:48:46.982Z,1736365726.982 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:46.982Z,1736365726.982 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:46.983Z,1736365726.983 [DAT](INFO): direction in FSK: [0.142307,-0.889131,0.434965] 2025-01-08T19:48:46.983Z,1736365726.983 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:46.983Z,1736365726.983 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:46.986Z,1736365726.986 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:46.986Z,1736365726.986 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:47.097Z,1736365727.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:47.148Z,1736365727.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 353.700012 m, deltaT: 3.778066 s, deltaX: -1.899994 m, approachRate: -0.502901 m/s, rangeRepo size: 4 2025-01-08T19:48:47.150Z,1736365727.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 353.700012 m, bearing: 194.572706 deg, lat: 36.901387 deg, lon: -122.116402 deg, deltaT: 3.778066 s, deltaX: -1.899994 m, approachRate: -0.502901 m/s, posRepo size: 4 2025-01-08T19:48:47.151Z,1736365727.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m. 2025-01-08T19:48:47.158Z,1736365727.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.700012 m, nav range: 335.108215 m, bearing: 194.617654 deg, approach rate: 0.000000 m/s, LOS rate: -0.110146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803812 deg. 2025-01-08T19:48:47.164Z,1736365727.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813684 target range: 353.700012 and range: 353.70 m. 2025-01-08T19:48:47.212Z,1736365727.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:47.213Z,1736365727.213 [DAT](INFO): DAT read: TxSync time:19:48:46.3690 2025-01-08T19:48:47.464Z,1736365727.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:47.529Z,1736365727.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:47.547Z,1736365727.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m. 2025-01-08T19:48:47.554Z,1736365727.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.700012 m, nav range: 335.089874 m, bearing: 194.568638 deg, approach rate: -0.044590 m/s, LOS rate: -0.119173 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828129 deg. 2025-01-08T19:48:47.559Z,1736365727.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814109 target range: 353.700012 and range: 353.70 m. 2025-01-08T19:48:47.716Z,1736365727.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:47.833Z,1736365727.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:47.842Z,1736365727.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m. 2025-01-08T19:48:47.845Z,1736365727.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.700012 m, nav range: 335.075775 m, bearing: 194.534009 deg, approach rate: -0.047712 m/s, LOS rate: -0.117188 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871298 deg. 2025-01-08T19:48:47.847Z,1736365727.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814862 target range: 353.700012 and range: 353.70 m. 2025-01-08T19:48:47.968Z,1736365727.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:48.148Z,1736365728.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:48:48.221Z,1736365728.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:48.272Z,1736365728.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:48.344Z,1736365728.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m. 2025-01-08T19:48:48.351Z,1736365728.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.700012 m, nav range: 335.055084 m, bearing: 194.484192 deg, approach rate: -0.041590 m/s, LOS rate: -0.100143 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825724 deg. 2025-01-08T19:48:48.353Z,1736365728.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814067 target range: 353.700012 and range: 353.70 m. 2025-01-08T19:48:48.472Z,1736365728.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:48.702Z,1736365728.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:48.709Z,1736365728.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:48.711Z,1736365728.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m. 2025-01-08T19:48:48.716Z,1736365728.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.700012 m, nav range: 335.034332 m, bearing: 194.435744 deg, approach rate: -0.055776 m/s, LOS rate: -0.130224 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829835 deg. 2025-01-08T19:48:48.717Z,1736365728.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814139 target range: 353.700012 and range: 353.70 m. 2025-01-08T19:48:48.724Z,1736365728.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:48.724Z,1736365728.724 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:48.724Z,1736365728.724 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:48.724Z,1736365728.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:48.976Z,1736365728.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:48.977Z,1736365728.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995176 2025-01-08T19:48:49.071Z,1736365729.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:49.081Z,1736365729.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m. 2025-01-08T19:48:49.084Z,1736365729.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.700012 m, nav range: 335.016998 m, bearing: 194.394212 deg, approach rate: -0.046886 m/s, LOS rate: -0.112344 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850585 deg. 2025-01-08T19:48:49.085Z,1736365729.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814501 target range: 353.700012 and range: 353.70 m. 2025-01-08T19:48:49.152Z,1736365729.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:48:49.228Z,1736365729.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:49.228Z,1736365729.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246884 2025-01-08T19:48:49.480Z,1736365729.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:49.481Z,1736365729.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499153 2025-01-08T19:48:49.534Z,1736365729.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:49.550Z,1736365729.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m. 2025-01-08T19:48:49.557Z,1736365729.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.700012 m, nav range: 334.993683 m, bearing: 194.340483 deg, approach rate: -0.049707 m/s, LOS rate: -0.114555 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813989 deg. 2025-01-08T19:48:49.558Z,1736365729.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813862 target range: 353.700012 and range: 353.70 m. 2025-01-08T19:48:49.732Z,1736365729.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:49.732Z,1736365729.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750779 2025-01-08T19:48:49.871Z,1736365729.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:49.881Z,1736365729.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m. 2025-01-08T19:48:49.884Z,1736365729.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.700012 m, nav range: 334.976929 m, bearing: 194.301258 deg, approach rate: -0.050678 m/s, LOS rate: -0.118654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857504 deg. 2025-01-08T19:48:49.885Z,1736365729.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814622 target range: 353.700012 and range: 353.70 m. 2025-01-08T19:48:49.984Z,1736365729.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:49.985Z,1736365729.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003788 2025-01-08T19:48:50.236Z,1736365730.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:50.236Z,1736365730.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254778 2025-01-08T19:48:50.309Z,1736365730.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:50.381Z,1736365730.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m. 2025-01-08T19:48:50.389Z,1736365730.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.700012 m, nav range: 334.955444 m, bearing: 194.250588 deg, approach rate: -0.042917 m/s, LOS rate: -0.101223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823169 deg. 2025-01-08T19:48:50.404Z,1736365730.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814023 target range: 353.700012 and range: 353.70 m. 2025-01-08T19:48:50.488Z,1736365730.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:50.489Z,1736365730.489 [DAT](INFO): DAT read: Rx Time:19:48:49.2425 2025-01-08T19:48:50.489Z,1736365730.489 [DAT](INFO): Rx dataTimestamp_ set to:1736365730.488949 2025-01-08T19:48:50.490Z,1736365730.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508189 2025-01-08T19:48:50.726Z,1736365730.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:50.733Z,1736365730.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:50.736Z,1736365730.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m. 2025-01-08T19:48:50.739Z,1736365730.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.700012 m, nav range: 334.937775 m, bearing: 194.202061 deg, approach rate: -0.049873 m/s, LOS rate: -0.136976 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829598 deg. 2025-01-08T19:48:50.740Z,1736365730.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:50.741Z,1736365730.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759003 2025-01-08T19:48:50.748Z,1736365730.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814135 target range: 353.700012 and range: 353.70 m. 2025-01-08T19:48:50.992Z,1736365730.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:50.999Z,1736365730.999 [DAT](INFO): DAT read: 19:48:49.2425 LVL= 26496, 26209, 19026, 31795, AGC= 63, IDX= 410, 0.00,-0.911,-1.936,-0.568,-1.372, PHS= 0.549,-0.516, 0.801, RAW= 160.4, -13.7, CAL= 166.2, -19.8, ROT= 343.8, 19.8 2025-01-08T19:48:51.000Z,1736365731.000 [DAT](INFO): got valid direction response: 19:48:49.2425 LVL= 26496, 26209, 19026, 31795, AGC= 63, IDX= 410, 0.00,-0.911,-1.936,-0.568,-1.372, PHS= 0.549,-0.516, 0.801, RAW= 160.4, -13.7, CAL= 166.2, -19.8, ROT= 343.8, 19.8 2025-01-08T19:48:51.001Z,1736365731.001 [DAT](INFO): DAT read: Bearing 343.8, 19.8 (Local) 2025-01-08T19:48:51.002Z,1736365731.002 [DAT](INFO): Local bearing/azimuth received: Bearing 343.8, 19.8 (Local) 2025-01-08T19:48:51.003Z,1736365731.003 [DAT](INFO): DAT read: Range 10 to 50 : 351.4 m (Round-trip 468.6 ms) speed 0.4 m/s 2025-01-08T19:48:51.004Z,1736365731.004 [DAT](INFO): DAT read: user:856> 2025-01-08T19:48:51.005Z,1736365731.005 [DAT](INFO): DAT read: Tx time:19:48:50.3698 2025-01-08T19:48:51.005Z,1736365731.005 [DAT](INFO): Ping request sent. 2025-01-08T19:48:51.005Z,1736365731.005 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:51.005Z,1736365731.005 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:51.006Z,1736365731.006 [DAT](INFO): direction in FSK: [0.153922,-0.908521,0.388456] 2025-01-08T19:48:51.006Z,1736365731.006 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:51.007Z,1736365731.007 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:51.010Z,1736365731.010 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:51.010Z,1736365731.010 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:51.094Z,1736365731.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:51.132Z,1736365731.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 351.399994 m, deltaT: 4.032144 s, deltaX: -2.300018 m, approachRate: -0.570421 m/s, rangeRepo size: 4 2025-01-08T19:48:51.134Z,1736365731.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 351.399994 m, bearing: 194.772096 deg, lat: 36.901368 deg, lon: -122.116402 deg, deltaT: 4.032144 s, deltaX: -2.300018 m, approachRate: -0.570421 m/s, posRepo size: 4 2025-01-08T19:48:51.135Z,1736365731.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.40 m. 2025-01-08T19:48:51.142Z,1736365731.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.399994 m, nav range: 336.975494 m, bearing: 194.071382 deg, approach rate: 0.000000 m/s, LOS rate: -0.136976 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814439 deg. 2025-01-08T19:48:51.171Z,1736365731.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813870 target range: 351.399994 and range: 351.40 m. 2025-01-08T19:48:51.244Z,1736365731.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:51.246Z,1736365731.246 [DAT](INFO): DAT read: TxSync time:19:48:50.3690 2025-01-08T19:48:51.496Z,1736365731.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:51.544Z,1736365731.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:51.566Z,1736365731.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.40 m. 2025-01-08T19:48:51.574Z,1736365731.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.399994 m, nav range: 336.964386 m, bearing: 194.019487 deg, approach rate: -0.025284 m/s, LOS rate: -0.118122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819497 deg. 2025-01-08T19:48:51.582Z,1736365731.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813958 target range: 351.399994 and range: 351.40 m. 2025-01-08T19:48:51.748Z,1736365731.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:51.912Z,1736365731.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:51.922Z,1736365731.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.40 m. 2025-01-08T19:48:51.925Z,1736365731.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.399994 m, nav range: 336.955505 m, bearing: 193.977013 deg, approach rate: -0.024922 m/s, LOS rate: -0.119201 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847762 deg. 2025-01-08T19:48:51.927Z,1736365731.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814452 target range: 351.399994 and range: 351.40 m. 2025-01-08T19:48:52.000Z,1736365732.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:52.252Z,1736365732.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:52.294Z,1736365732.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:52.303Z,1736365732.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.40 m. 2025-01-08T19:48:52.326Z,1736365732.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.399994 m, nav range: 336.945190 m, bearing: 193.932920 deg, approach rate: -0.027133 m/s, LOS rate: -0.115986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842906 deg. 2025-01-08T19:48:52.327Z,1736365732.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814367 target range: 351.399994 and range: 351.40 m. 2025-01-08T19:48:52.504Z,1736365732.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:52.752Z,1736365732.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:52.756Z,1736365732.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:52.769Z,1736365732.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:52.771Z,1736365732.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.40 m. 2025-01-08T19:48:52.790Z,1736365732.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.399994 m, nav range: 336.932343 m, bearing: 193.880035 deg, approach rate: -0.027432 m/s, LOS rate: -0.112921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816525 deg. 2025-01-08T19:48:52.796Z,1736365732.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813907 target range: 351.399994 and range: 351.40 m. 2025-01-08T19:48:53.008Z,1736365733.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:53.008Z,1736365733.008 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:53.008Z,1736365733.008 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:53.009Z,1736365733.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:53.110Z,1736365733.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:53.119Z,1736365733.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.40 m. 2025-01-08T19:48:53.122Z,1736365733.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.399994 m, nav range: 336.922638 m, bearing: 193.838545 deg, approach rate: -0.027870 m/s, LOS rate: -0.119158 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850713 deg. 2025-01-08T19:48:53.124Z,1736365733.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814503 target range: 351.399994 and range: 351.40 m. 2025-01-08T19:48:53.260Z,1736365733.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:53.260Z,1736365733.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255417 2025-01-08T19:48:53.513Z,1736365733.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:53.514Z,1736365733.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508746 2025-01-08T19:48:53.554Z,1736365733.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:53.563Z,1736365733.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.40 m. 2025-01-08T19:48:53.566Z,1736365733.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.399994 m, nav range: 336.910736 m, bearing: 193.787362 deg, approach rate: -0.026800 m/s, LOS rate: -0.115256 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821631 deg. 2025-01-08T19:48:53.588Z,1736365733.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813996 target range: 351.399994 and range: 351.40 m. 2025-01-08T19:48:53.764Z,1736365733.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:53.764Z,1736365733.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759380 2025-01-08T19:48:53.911Z,1736365733.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:53.937Z,1736365733.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.40 m. 2025-01-08T19:48:53.940Z,1736365733.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.399994 m, nav range: 336.901276 m, bearing: 193.746274 deg, approach rate: -0.025296 m/s, LOS rate: -0.109863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851922 deg. 2025-01-08T19:48:53.942Z,1736365733.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814524 target range: 351.399994 and range: 351.40 m. 2025-01-08T19:48:54.019Z,1736365734.019 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:54.020Z,1736365734.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014468 2025-01-08T19:48:54.272Z,1736365734.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:54.273Z,1736365734.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267511 2025-01-08T19:48:54.331Z,1736365734.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:54.340Z,1736365734.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.40 m. 2025-01-08T19:48:54.343Z,1736365734.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.399994 m, nav range: 336.890442 m, bearing: 193.697894 deg, approach rate: -0.026961 m/s, LOS rate: -0.120402 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830042 deg. 2025-01-08T19:48:54.344Z,1736365734.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814142 target range: 351.399994 and range: 351.40 m. 2025-01-08T19:48:54.524Z,1736365734.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:54.525Z,1736365734.525 [DAT](INFO): DAT read: Rx Time:19:48:53.2401 2025-01-08T19:48:54.525Z,1736365734.525 [DAT](INFO): Rx dataTimestamp_ set to:1736365734.524827 2025-01-08T19:48:54.526Z,1736365734.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520577 2025-01-08T19:48:54.754Z,1736365734.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:54.763Z,1736365734.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.40 m. 2025-01-08T19:48:54.766Z,1736365734.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.399994 m, nav range: 336.882812 m, bearing: 193.650947 deg, approach rate: -0.017988 m/s, LOS rate: -0.110694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834341 deg. 2025-01-08T19:48:54.768Z,1736365734.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814218 target range: 351.399994 and range: 351.40 m. 2025-01-08T19:48:54.776Z,1736365734.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:54.776Z,1736365734.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771359 2025-01-08T19:48:55.028Z,1736365735.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:55.035Z,1736365735.035 [DAT](INFO): DAT read: 19:48:53.2401 LVL= 25648, 32753, 16610, 32755, AGC= 68, IDX= 409,-0.26, 2.150, 1.034, 2.415, 1.649, PHS= 0.589,-0.568, 0.763, RAW= 156.9, -12.5, CAL= 163.1, -19.2, ROT= 346.9, 19.2 2025-01-08T19:48:55.036Z,1736365735.036 [DAT](INFO): got valid direction response: 19:48:53.2401 LVL= 25648, 32753, 16610, 32755, AGC= 68, IDX= 409,-0.26, 2.150, 1.034, 2.415, 1.649, PHS= 0.589,-0.568, 0.763, RAW= 156.9, -12.5, CAL= 163.1, -19.2, ROT= 346.9, 19.2 2025-01-08T19:48:55.037Z,1736365735.037 [DAT](INFO): DAT read: Bearing 346.9, 19.2 (Local) 2025-01-08T19:48:55.037Z,1736365735.037 [DAT](INFO): Local bearing/azimuth received: Bearing 346.9, 19.2 (Local) 2025-01-08T19:48:55.039Z,1736365735.039 [DAT](INFO): DAT read: Range 10 to 50 : 349.5 m (Round-trip 466.1 ms) speed 1.2 m/s 2025-01-08T19:48:55.039Z,1736365735.039 [DAT](INFO): DAT read: user:857> 2025-01-08T19:48:55.040Z,1736365735.040 [DAT](INFO): DAT read: Tx time:19:48:54.3699 2025-01-08T19:48:55.040Z,1736365735.040 [DAT](INFO): Ping request sent. 2025-01-08T19:48:55.041Z,1736365735.041 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:55.041Z,1736365735.041 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:55.042Z,1736365735.042 [DAT](INFO): direction in FSK: [0.127873,-0.886381,0.444947] 2025-01-08T19:48:55.042Z,1736365735.042 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:55.042Z,1736365735.042 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:55.046Z,1736365735.046 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:55.046Z,1736365735.046 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:55.144Z,1736365735.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:55.187Z,1736365735.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 349.500000 m, deltaT: 4.035630 s, deltaX: -1.899994 m, approachRate: -0.470805 m/s, rangeRepo size: 4 2025-01-08T19:48:55.214Z,1736365735.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 349.500000 m, bearing: 192.908807 deg, lat: 36.901392 deg, lon: -122.116402 deg, deltaT: 4.035630 s, deltaX: -1.899994 m, approachRate: -0.470805 m/s, posRepo size: 4 2025-01-08T19:48:55.223Z,1736365735.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.50 m. 2025-01-08T19:48:55.226Z,1736365735.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.500000 m, nav range: 334.259888 m, bearing: 193.716181 deg, approach rate: 0.000000 m/s, LOS rate: -0.110694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834675 deg. 2025-01-08T19:48:55.236Z,1736365735.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814223 target range: 349.500000 and range: 349.50 m. 2025-01-08T19:48:55.280Z,1736365735.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:55.281Z,1736365735.281 [DAT](INFO): DAT read: TxSync time:19:48:54.3691 2025-01-08T19:48:55.532Z,1736365735.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:55.623Z,1736365735.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:55.642Z,1736365735.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:55.648Z,1736365735.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.50 m. 2025-01-08T19:48:55.658Z,1736365735.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.500000 m, nav range: 334.252228 m, bearing: 193.664199 deg, approach rate: -0.016592 m/s, LOS rate: -0.112596 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819239 deg. 2025-01-08T19:48:55.664Z,1736365735.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813954 target range: 349.500000 and range: 349.50 m. 2025-01-08T19:48:55.784Z,1736365735.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:55.784Z,1736365735.784 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:48:55.785Z,1736365735.785 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:48:55.785Z,1736365735.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:48:55.948Z,1736365735.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:55.958Z,1736365735.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.50 m. 2025-01-08T19:48:55.961Z,1736365735.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.500000 m, nav range: 334.246521 m, bearing: 193.628864 deg, approach rate: -0.018416 m/s, LOS rate: -0.114030 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869180 deg. 2025-01-08T19:48:55.963Z,1736365735.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814826 target range: 349.500000 and range: 349.50 m. 2025-01-08T19:48:56.037Z,1736365736.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:56.038Z,1736365736.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997016 2025-01-08T19:48:56.288Z,1736365736.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:56.288Z,1736365736.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247706 2025-01-08T19:48:56.363Z,1736365736.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:56.371Z,1736365736.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.50 m. 2025-01-08T19:48:56.374Z,1736365736.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.500000 m, nav range: 334.239044 m, bearing: 193.583934 deg, approach rate: -0.018111 m/s, LOS rate: -0.108833 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840394 deg. 2025-01-08T19:48:56.378Z,1736365736.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814323 target range: 349.500000 and range: 349.50 m. 2025-01-08T19:48:56.540Z,1736365736.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:56.542Z,1736365736.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501019 2025-01-08T19:48:56.792Z,1736365736.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:56.793Z,1736365736.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751927 2025-01-08T19:48:56.822Z,1736365736.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:56.832Z,1736365736.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.50 m. 2025-01-08T19:48:56.835Z,1736365736.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.500000 m, nav range: 334.235229 m, bearing: 193.536049 deg, approach rate: -0.008270 m/s, LOS rate: -0.103814 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831529 deg. 2025-01-08T19:48:56.836Z,1736365736.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814168 target range: 349.500000 and range: 349.50 m. 2025-01-08T19:48:57.044Z,1736365737.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:57.045Z,1736365737.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004835 2025-01-08T19:48:57.181Z,1736365737.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:57.190Z,1736365737.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.50 m. 2025-01-08T19:48:57.193Z,1736365737.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.500000 m, nav range: 334.232910 m, bearing: 193.498635 deg, approach rate: -0.006474 m/s, LOS rate: -0.104440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862943 deg. 2025-01-08T19:48:57.194Z,1736365737.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814717 target range: 349.500000 and range: 349.50 m. 2025-01-08T19:48:57.297Z,1736365737.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:57.298Z,1736365737.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256913 2025-01-08T19:48:57.548Z,1736365737.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:57.549Z,1736365737.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507962 2025-01-08T19:48:57.618Z,1736365737.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:57.627Z,1736365737.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.50 m. 2025-01-08T19:48:57.631Z,1736365737.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.500000 m, nav range: 334.229095 m, bearing: 193.454365 deg, approach rate: -0.008736 m/s, LOS rate: -0.101386 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842376 deg. 2025-01-08T19:48:57.632Z,1736365737.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814358 target range: 349.500000 and range: 349.50 m. 2025-01-08T19:48:57.800Z,1736365737.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:57.800Z,1736365737.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759714 2025-01-08T19:48:57.985Z,1736365737.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:58.008Z,1736365738.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:48:58.010Z,1736365738.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.50 m. 2025-01-08T19:48:58.014Z,1736365738.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.500000 m, nav range: 334.226044 m, bearing: 193.417066 deg, approach rate: -0.007961 m/s, LOS rate: -0.097303 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863291 deg. 2025-01-08T19:48:58.022Z,1736365738.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814723 target range: 349.500000 and range: 349.50 m. 2025-01-08T19:48:58.052Z,1736365738.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:58.053Z,1736365738.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012787 2025-01-08T19:48:58.304Z,1736365738.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:58.304Z,1736365738.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263833 2025-01-08T19:48:58.394Z,1736365738.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:58.402Z,1736365738.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.50 m. 2025-01-08T19:48:58.408Z,1736365738.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.500000 m, nav range: 334.223389 m, bearing: 193.375591 deg, approach rate: -0.006767 m/s, LOS rate: -0.105714 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850759 deg. 2025-01-08T19:48:58.411Z,1736365738.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814504 target range: 349.500000 and range: 349.50 m. 2025-01-08T19:48:58.556Z,1736365738.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:58.557Z,1736365738.557 [DAT](INFO): DAT read: Rx Time:19:48:57.2361 2025-01-08T19:48:58.557Z,1736365738.557 [DAT](INFO): Rx dataTimestamp_ set to:1736365738.556732 2025-01-08T19:48:58.558Z,1736365738.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516947 2025-01-08T19:48:58.806Z,1736365738.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:58.808Z,1736365738.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:58.809Z,1736365738.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768092 2025-01-08T19:48:58.817Z,1736365738.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.50 m. 2025-01-08T19:48:58.821Z,1736365738.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.500000 m, nav range: 334.222961 m, bearing: 193.333796 deg, approach rate: -0.001030 m/s, LOS rate: -0.100733 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849802 deg. 2025-01-08T19:48:58.822Z,1736365738.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814487 target range: 349.500000 and range: 349.50 m. 2025-01-08T19:48:59.060Z,1736365739.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:59.069Z,1736365739.069 [DAT](INFO): DAT read: 19:48:57.2361 LVL= 26560, 31665, 18722, 32755, AGC= 65, IDX= 235,-0.03,-2.653, 2.595,-2.198,-2.719, PHS= 0.154,-0.922, 0.517, RAW= 164.1, 3.9, CAL= 164.7, -5.1, ROT= 345.3, 5.1 2025-01-08T19:48:59.070Z,1736365739.070 [DAT](INFO): got valid direction response: 19:48:57.2361 LVL= 26560, 31665, 18722, 32755, AGC= 65, IDX= 235,-0.03,-2.653, 2.595,-2.198,-2.719, PHS= 0.154,-0.922, 0.517, RAW= 164.1, 3.9, CAL= 164.7, -5.1, ROT= 345.3, 5.1 2025-01-08T19:48:59.071Z,1736365739.071 [DAT](INFO): DAT read: Bearing 345.3, 5.1 (Local) 2025-01-08T19:48:59.072Z,1736365739.072 [DAT](INFO): Local bearing/azimuth received: Bearing 345.3, 5.1 (Local) 2025-01-08T19:48:59.073Z,1736365739.073 [DAT](INFO): DAT read: Range 10 to 50 : 346.5 m (Round-trip 462.1 ms) speed 0.7 m/s 2025-01-08T19:48:59.074Z,1736365739.074 [DAT](INFO): DAT read: user:858> 2025-01-08T19:48:59.075Z,1736365739.075 [DAT](INFO): DAT read: Tx time:19:48:58.3199 2025-01-08T19:48:59.075Z,1736365739.075 [DAT](INFO): Ping request sent. 2025-01-08T19:48:59.080Z,1736365739.080 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:48:59.080Z,1736365739.080 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:48:59.081Z,1736365739.081 [DAT](INFO): direction in FSK: [-0.184189,-0.931909,0.312440] 2025-01-08T19:48:59.081Z,1736365739.081 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:59.082Z,1736365739.082 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:59.085Z,1736365739.085 [DAT](INFO): publishing transmit ping time 2025-01-08T19:48:59.086Z,1736365739.086 [DAT](INFO): publishing direction and range info 2025-01-08T19:48:59.200Z,1736365739.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:59.235Z,1736365739.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 346.500000 m, deltaT: 4.032553 s, deltaX: -3.000000 m, approachRate: -0.743946 m/s, rangeRepo size: 4 2025-01-08T19:48:59.256Z,1736365739.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 346.500000 m, bearing: 174.794012 deg, lat: 36.901392 deg, lon: -122.116397 deg, deltaT: 4.032553 s, deltaX: -3.000000 m, approachRate: -0.743946 m/s, posRepo size: 4 2025-01-08T19:48:59.257Z,1736365739.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.50 m. 2025-01-08T19:48:59.268Z,1736365739.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.500000 m, nav range: 334.127167 m, bearing: 193.224017 deg, approach rate: 0.000000 m/s, LOS rate: -0.100733 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849233 deg. 2025-01-08T19:48:59.269Z,1736365739.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814477 target range: 346.500000 and range: 346.50 m. 2025-01-08T19:48:59.312Z,1736365739.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:59.313Z,1736365739.313 [DAT](INFO): DAT read: TxSync time:19:48:58.3191 2025-01-08T19:48:59.564Z,1736365739.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:59.656Z,1736365739.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:48:59.682Z,1736365739.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.50 m. 2025-01-08T19:48:59.689Z,1736365739.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.500000 m, nav range: 334.120361 m, bearing: 193.177482 deg, approach rate: -0.015203 m/s, LOS rate: -0.103959 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835579 deg. 2025-01-08T19:48:59.690Z,1736365739.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814239 target range: 346.500000 and range: 346.50 m. 2025-01-08T19:48:59.816Z,1736365739.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:48:59.990Z,1736365739.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:00.000Z,1736365740.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.50 m. 2025-01-08T19:49:00.003Z,1736365740.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.500000 m, nav range: 334.115662 m, bearing: 193.143381 deg, approach rate: -0.014798 m/s, LOS rate: -0.107373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872884 deg. 2025-01-08T19:49:00.004Z,1736365740.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814890 target range: 346.500000 and range: 346.50 m. 2025-01-08T19:49:00.069Z,1736365740.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:00.320Z,1736365740.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:00.572Z,1736365740.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:00.581Z,1736365740.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:00.593Z,1736365740.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:00.596Z,1736365740.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.50 m. 2025-01-08T19:49:00.599Z,1736365740.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.500000 m, nav range: 334.107300 m, bearing: 193.083026 deg, approach rate: -0.014033 m/s, LOS rate: -0.101294 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.794117 deg. 2025-01-08T19:49:00.602Z,1736365740.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813515 target range: 346.500000 and range: 346.50 m. 2025-01-08T19:49:00.824Z,1736365740.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:00.824Z,1736365740.824 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:00.824Z,1736365740.824 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:00.824Z,1736365740.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:00.957Z,1736365740.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:00.966Z,1736365740.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.50 m. 2025-01-08T19:49:00.969Z,1736365740.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.500000 m, nav range: 334.105133 m, bearing: 193.043857 deg, approach rate: -0.005847 m/s, LOS rate: -0.105689 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857680 deg. 2025-01-08T19:49:00.970Z,1736365740.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814625 target range: 346.500000 and range: 346.50 m. 2025-01-08T19:49:01.077Z,1736365741.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:01.078Z,1736365741.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002569 2025-01-08T19:49:01.328Z,1736365741.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:01.328Z,1736365741.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253291 2025-01-08T19:49:01.338Z,1736365741.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:01.347Z,1736365741.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.50 m. 2025-01-08T19:49:01.351Z,1736365741.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.500000 m, nav range: 334.103088 m, bearing: 193.004127 deg, approach rate: -0.005366 m/s, LOS rate: -0.104261 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855995 deg. 2025-01-08T19:49:01.352Z,1736365741.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814595 target range: 346.500000 and range: 346.50 m. 2025-01-08T19:49:01.581Z,1736365741.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:01.583Z,1736365741.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507630 2025-01-08T19:49:01.775Z,1736365741.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:01.785Z,1736365741.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.50 m. 2025-01-08T19:49:01.788Z,1736365741.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.500000 m, nav range: 334.098419 m, bearing: 192.956752 deg, approach rate: -0.010662 m/s, LOS rate: -0.108186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833060 deg. 2025-01-08T19:49:01.789Z,1736365741.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814195 target range: 346.500000 and range: 346.50 m. 2025-01-08T19:49:01.832Z,1736365741.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:01.833Z,1736365741.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758246 2025-01-08T19:49:02.084Z,1736365742.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:02.085Z,1736365742.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009652 2025-01-08T19:49:02.159Z,1736365742.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:02.184Z,1736365742.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.50 m. 2025-01-08T19:49:02.187Z,1736365742.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.500000 m, nav range: 334.094482 m, bearing: 192.915081 deg, approach rate: -0.009860 m/s, LOS rate: -0.104367 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850174 deg. 2025-01-08T19:49:02.188Z,1736365742.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814494 target range: 346.500000 and range: 346.50 m. 2025-01-08T19:49:02.336Z,1736365742.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:02.337Z,1736365742.337 [DAT](INFO): DAT read: Rx Time:19:49:01.1826 2025-01-08T19:49:02.337Z,1736365742.337 [DAT](INFO): Rx dataTimestamp_ set to:1736365742.336763 2025-01-08T19:49:02.338Z,1736365742.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262548 2025-01-08T19:49:02.588Z,1736365742.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:02.590Z,1736365742.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514631 2025-01-08T19:49:02.621Z,1736365742.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:02.635Z,1736365742.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:02.637Z,1736365742.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.50 m. 2025-01-08T19:49:02.641Z,1736365742.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.500000 m, nav range: 334.092194 m, bearing: 192.862184 deg, approach rate: -0.005055 m/s, LOS rate: -0.116836 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816495 deg. 2025-01-08T19:49:02.642Z,1736365742.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813906 target range: 346.500000 and range: 346.50 m. 2025-01-08T19:49:02.841Z,1736365742.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:02.844Z,1736365742.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767910 2025-01-08T19:49:02.969Z,1736365742.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:02.977Z,1736365742.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.50 m. 2025-01-08T19:49:02.981Z,1736365742.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.500000 m, nav range: 334.090790 m, bearing: 192.822268 deg, approach rate: -0.004131 m/s, LOS rate: -0.117450 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855438 deg. 2025-01-08T19:49:02.982Z,1736365742.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814586 target range: 346.500000 and range: 346.50 m. 2025-01-08T19:49:03.094Z,1736365743.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:03.109Z,1736365743.109 [DAT](INFO): DAT read: 19:49:01.1826 LVL= 23280, 25937, 16930, 29843, AGC= 67, IDX= 403, 0.22, 1.542, 0.340, 1.904, 1.031, PHS= 0.599,-0.644, 0.870, RAW= 159.6, -11.8, CAL= 165.1, -18.3, ROT= 344.9, 18.3 2025-01-08T19:49:03.110Z,1736365743.110 [DAT](INFO): got valid direction response: 19:49:01.1826 LVL= 23280, 25937, 16930, 29843, AGC= 67, IDX= 403, 0.22, 1.542, 0.340, 1.904, 1.031, PHS= 0.599,-0.644, 0.870, RAW= 159.6, -11.8, CAL= 165.1, -18.3, ROT= 344.9, 18.3 2025-01-08T19:49:03.111Z,1736365743.111 [DAT](INFO): DAT read: Bearing 344.9, 18.3 (Local) 2025-01-08T19:49:03.113Z,1736365743.113 [DAT](INFO): Local bearing/azimuth received: Bearing 344.9, 18.3 (Local) 2025-01-08T19:49:03.115Z,1736365743.115 [DAT](INFO): DAT read: Range 10 to 50 : 343.8 m (Round-trip 458.5 ms) speed 0.1 m/s 2025-01-08T19:49:03.124Z,1736365743.124 [DAT](INFO): DAT read: user:859> 2025-01-08T19:49:03.124Z,1736365743.124 [DAT](INFO): DAT read: Tx time:19:49:02.2699 2025-01-08T19:49:03.125Z,1736365743.125 [DAT](INFO): Ping request sent. 2025-01-08T19:49:03.125Z,1736365743.125 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:03.125Z,1736365743.125 [DAT](INFO): DAT read: TxSync time:19:49:02.2691 2025-01-08T19:49:03.126Z,1736365743.126 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:03.127Z,1736365743.127 [DAT](INFO): direction in FSK: [0.116407,-0.908738,0.400806] 2025-01-08T19:49:03.131Z,1736365743.131 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:03.132Z,1736365743.132 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:03.134Z,1736365743.134 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:03.135Z,1736365743.135 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:03.348Z,1736365743.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:03.377Z,1736365743.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:03.415Z,1736365743.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 343.799988 m, deltaT: 4.033828 s, deltaX: -2.700012 m, approachRate: -0.669342 m/s, rangeRepo size: 4 2025-01-08T19:49:03.417Z,1736365743.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 343.799988 m, bearing: 192.806611 deg, lat: 36.901392 deg, lon: -122.116390 deg, deltaT: 4.033828 s, deltaX: -2.700012 m, approachRate: -0.669342 m/s, posRepo size: 4 2025-01-08T19:49:03.418Z,1736365743.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T19:49:03.431Z,1736365743.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 333.946259 m, bearing: 192.666606 deg, approach rate: 0.000000 m/s, LOS rate: -0.117450 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821033 deg. 2025-01-08T19:49:03.436Z,1736365743.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813985 target range: 343.799988 and range: 343.80 m. 2025-01-08T19:49:03.600Z,1736365743.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:03.799Z,1736365743.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:03.807Z,1736365743.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T19:49:03.810Z,1736365743.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 333.943207 m, bearing: 192.616010 deg, approach rate: -0.007772 m/s, LOS rate: -0.128850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823398 deg. 2025-01-08T19:49:03.811Z,1736365743.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814026 target range: 343.799988 and range: 343.80 m. 2025-01-08T19:49:03.853Z,1736365743.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:04.104Z,1736365744.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:04.223Z,1736365744.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:04.233Z,1736365744.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T19:49:04.236Z,1736365744.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 333.940094 m, bearing: 192.565104 deg, approach rate: -0.007308 m/s, LOS rate: -0.119522 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822469 deg. 2025-01-08T19:49:04.237Z,1736365744.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814010 target range: 343.799988 and range: 343.80 m. 2025-01-08T19:49:04.360Z,1736365744.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:04.612Z,1736365744.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:04.693Z,1736365744.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:04.701Z,1736365744.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:04.703Z,1736365744.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T19:49:04.706Z,1736365744.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 333.936096 m, bearing: 192.505865 deg, approach rate: -0.008505 m/s, LOS rate: -0.126029 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797467 deg. 2025-01-08T19:49:04.707Z,1736365744.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813574 target range: 343.799988 and range: 343.80 m. 2025-01-08T19:49:04.864Z,1736365744.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:04.865Z,1736365744.865 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:04.865Z,1736365744.865 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:04.865Z,1736365744.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:05.117Z,1736365745.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:05.118Z,1736365745.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992964 2025-01-08T19:49:05.146Z,1736365745.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:05.171Z,1736365745.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T19:49:05.174Z,1736365745.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 333.932861 m, bearing: 192.448936 deg, approach rate: -0.006965 m/s, LOS rate: -0.122582 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.804400 deg. 2025-01-08T19:49:05.180Z,1736365745.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813695 target range: 343.799988 and range: 343.80 m. 2025-01-08T19:49:05.368Z,1736365745.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:05.369Z,1736365745.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244382 2025-01-08T19:49:05.620Z,1736365745.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:05.621Z,1736365745.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496062 2025-01-08T19:49:05.691Z,1736365745.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:05.705Z,1736365745.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T19:49:05.708Z,1736365745.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 333.926605 m, bearing: 192.378371 deg, approach rate: -0.011632 m/s, LOS rate: -0.131209 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.763488 deg. 2025-01-08T19:49:05.709Z,1736365745.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812981 target range: 343.799988 and range: 343.80 m. 2025-01-08T19:49:05.872Z,1736365745.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:05.872Z,1736365745.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747573 2025-01-08T19:49:05.989Z,1736365745.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:05.998Z,1736365745.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T19:49:06.001Z,1736365746.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 333.923065 m, bearing: 192.339782 deg, approach rate: -0.012096 m/s, LOS rate: -0.131856 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859419 deg. 2025-01-08T19:49:06.002Z,1736365746.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814655 target range: 343.799988 and range: 343.80 m. 2025-01-08T19:49:06.124Z,1736365746.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:06.124Z,1736365746.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999575 2025-01-08T19:49:06.376Z,1736365746.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:06.377Z,1736365746.377 [DAT](INFO): DAT read: Rx Time:19:49:05.1312 2025-01-08T19:49:06.377Z,1736365746.377 [DAT](INFO): Rx dataTimestamp_ set to:1736365746.376700 2025-01-08T19:49:06.377Z,1736365746.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252661 2025-01-08T19:49:06.394Z,1736365746.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:06.427Z,1736365746.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T19:49:06.434Z,1736365746.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 333.917999 m, bearing: 192.287349 deg, approach rate: -0.011805 m/s, LOS rate: -0.122182 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817886 deg. 2025-01-08T19:49:06.436Z,1736365746.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813930 target range: 343.799988 and range: 343.80 m. 2025-01-08T19:49:06.628Z,1736365746.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:06.629Z,1736365746.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503926 2025-01-08T19:49:06.866Z,1736365746.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:06.880Z,1736365746.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:06.886Z,1736365746.886 [DAT](INFO): DAT read: 19:49:05.1312 LVL= 23424, 24769, 17730, 31571, AGC= 63, IDX= 420, 0.27,-1.499,-2.969,-1.324,-2.198, PHS= 0.786,-0.725, 0.870, RAW= 152.7, -12.0, CAL= 159.5, -19.2, ROT= 350.5, 19.2 2025-01-08T19:49:06.888Z,1736365746.888 [DAT](INFO): got valid direction response: 19:49:05.1312 LVL= 23424, 24769, 17730, 31571, AGC= 63, IDX= 420, 0.27,-1.499,-2.969,-1.324,-2.198, PHS= 0.786,-0.725, 0.870, RAW= 152.7, -12.0, CAL= 159.5, -19.2, ROT= 350.5, 19.2 2025-01-08T19:49:06.889Z,1736365746.889 [DAT](INFO): DAT read: Bearing 350.5, 19.2 (Local) 2025-01-08T19:49:06.889Z,1736365746.889 [DAT](INFO): Local bearing/azimuth received: Bearing 350.5, 19.2 (Local) 2025-01-08T19:49:06.890Z,1736365746.890 [DAT](INFO): DAT read: Range 10 to 50 : 342.8 m (Round-trip 457.1 ms) speed 0.5 m/s 2025-01-08T19:49:06.891Z,1736365746.891 [DAT](INFO): DAT read: user:860> 2025-01-08T19:49:06.892Z,1736365746.892 [DAT](INFO): DAT read: Tx time:19:49:06.2200 2025-01-08T19:49:06.892Z,1736365746.892 [DAT](INFO): Ping request sent. 2025-01-08T19:49:06.892Z,1736365746.892 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:06.893Z,1736365746.893 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:06.893Z,1736365746.893 [DAT](INFO): direction in FSK: [0.115140,-0.851556,0.511463] 2025-01-08T19:49:06.894Z,1736365746.894 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:06.894Z,1736365746.894 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:06.900Z,1736365746.900 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:06.900Z,1736365746.900 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:06.947Z,1736365746.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 342.799988 m, deltaT: 3.785905 s, deltaX: -1.000000 m, approachRate: -0.264138 m/s, rangeRepo size: 4 2025-01-08T19:49:06.965Z,1736365746.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 342.799988 m, bearing: 192.164813 deg, lat: 36.901416 deg, lon: -122.116341 deg, deltaT: 3.785905 s, deltaX: -1.000000 m, approachRate: -0.264138 m/s, posRepo size: 4 2025-01-08T19:49:06.966Z,1736365746.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.80 m. 2025-01-08T19:49:06.977Z,1736365746.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.799988 m, nav range: 330.422180 m, bearing: 191.584754 deg, approach rate: 0.000000 m/s, LOS rate: -0.122182 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.785172 deg. 2025-01-08T19:49:06.980Z,1736365746.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813359 target range: 342.799988 and range: 342.80 m. 2025-01-08T19:49:07.132Z,1736365747.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:07.133Z,1736365747.133 [DAT](INFO): DAT read: TxSync time:19:49:06.2192 2025-01-08T19:49:07.292Z,1736365747.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:07.307Z,1736365747.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:07.309Z,1736365747.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.80 m. 2025-01-08T19:49:07.325Z,1736365747.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.799988 m, nav range: 330.420502 m, bearing: 191.530360 deg, approach rate: -0.004612 m/s, LOS rate: -0.149450 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812003 deg. 2025-01-08T19:49:07.326Z,1736365747.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813828 target range: 342.799988 and range: 342.80 m. 2025-01-08T19:49:07.385Z,1736365747.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:07.387Z,1736365747.387 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:07.387Z,1736365747.387 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:07.387Z,1736365747.387 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:07.637Z,1736365747.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:07.640Z,1736365747.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747184 2025-01-08T19:49:07.730Z,1736365747.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:07.738Z,1736365747.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.80 m. 2025-01-08T19:49:07.741Z,1736365747.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.799988 m, nav range: 330.419861 m, bearing: 191.475996 deg, approach rate: -0.001495 m/s, LOS rate: -0.126807 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812095 deg. 2025-01-08T19:49:07.742Z,1736365747.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813829 target range: 342.799988 and range: 342.80 m. 2025-01-08T19:49:07.888Z,1736365747.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:07.888Z,1736365747.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996109 2025-01-08T19:49:08.076Z,1736365748.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:08.086Z,1736365748.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.80 m. 2025-01-08T19:49:08.090Z,1736365748.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.799988 m, nav range: 330.419220 m, bearing: 191.432857 deg, approach rate: -0.001842 m/s, LOS rate: -0.124023 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845770 deg. 2025-01-08T19:49:08.091Z,1736365748.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814417 target range: 342.799988 and range: 342.80 m. 2025-01-08T19:49:08.140Z,1736365748.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:08.141Z,1736365748.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248424 2025-01-08T19:49:08.392Z,1736365748.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:08.392Z,1736365748.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500014 2025-01-08T19:49:08.483Z,1736365748.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:08.492Z,1736365748.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.80 m. 2025-01-08T19:49:08.496Z,1736365748.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.799988 m, nav range: 330.418365 m, bearing: 191.382311 deg, approach rate: -0.002107 m/s, LOS rate: -0.124641 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823548 deg. 2025-01-08T19:49:08.497Z,1736365748.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814029 target range: 342.799988 and range: 342.80 m. 2025-01-08T19:49:08.646Z,1736365748.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:08.647Z,1736365748.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754655 2025-01-08T19:49:08.896Z,1736365748.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:08.897Z,1736365748.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004571 2025-01-08T19:49:08.939Z,1736365748.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:08.948Z,1736365748.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.80 m. 2025-01-08T19:49:08.951Z,1736365748.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.799988 m, nav range: 330.417389 m, bearing: 191.327858 deg, approach rate: -0.002137 m/s, LOS rate: -0.119161 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811828 deg. 2025-01-08T19:49:08.952Z,1736365748.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813825 target range: 342.799988 and range: 342.80 m. 2025-01-08T19:49:09.148Z,1736365749.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:09.149Z,1736365749.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256511 2025-01-08T19:49:09.281Z,1736365749.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:09.289Z,1736365749.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.80 m. 2025-01-08T19:49:09.292Z,1736365749.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.799988 m, nav range: 330.416992 m, bearing: 191.287029 deg, approach rate: -0.001165 m/s, LOS rate: -0.119886 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852700 deg. 2025-01-08T19:49:09.293Z,1736365749.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814538 target range: 342.799988 and range: 342.80 m. 2025-01-08T19:49:09.400Z,1736365749.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:09.401Z,1736365749.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508419 2025-01-08T19:49:09.656Z,1736365749.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:09.671Z,1736365749.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766307 2025-01-08T19:49:09.756Z,1736365749.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:09.763Z,1736365749.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:09.765Z,1736365749.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.80 m. 2025-01-08T19:49:09.768Z,1736365749.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.799988 m, nav range: 330.419525 m, bearing: 191.234987 deg, approach rate: 0.005317 m/s, LOS rate: -0.109243 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819062 deg. 2025-01-08T19:49:09.769Z,1736365749.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813951 target range: 342.799988 and range: 342.80 m. 2025-01-08T19:49:09.904Z,1736365749.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:09.904Z,1736365749.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012086 2025-01-08T19:49:10.103Z,1736365750.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:10.113Z,1736365750.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.80 m. 2025-01-08T19:49:10.116Z,1736365750.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.799988 m, nav range: 330.421417 m, bearing: 191.196884 deg, approach rate: 0.005439 m/s, LOS rate: -0.109529 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860879 deg. 2025-01-08T19:49:10.117Z,1736365750.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814681 target range: 342.799988 and range: 342.80 m. 2025-01-08T19:49:10.156Z,1736365750.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:10.157Z,1736365750.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264345 2025-01-08T19:49:10.408Z,1736365750.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:10.409Z,1736365750.409 [DAT](INFO): DAT read: Rx Time:19:49:09.0774 2025-01-08T19:49:10.409Z,1736365750.409 [DAT](INFO): Rx dataTimestamp_ set to:1736365750.408790 2025-01-08T19:49:10.410Z,1736365750.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517331 2025-01-08T19:49:10.500Z,1736365750.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:10.508Z,1736365750.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.80 m. 2025-01-08T19:49:10.513Z,1736365750.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.799988 m, nav range: 330.423889 m, bearing: 191.153395 deg, approach rate: 0.006254 m/s, LOS rate: -0.110029 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844719 deg. 2025-01-08T19:49:10.514Z,1736365750.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814399 target range: 342.799988 and range: 342.80 m. 2025-01-08T19:49:10.662Z,1736365750.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:10.665Z,1736365750.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772051 2025-01-08T19:49:10.912Z,1736365750.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:10.919Z,1736365750.919 [DAT](INFO): DAT read: 19:49:09.0774 LVL= 30432, 28321, 18930, 32755, AGC= 64, IDX= 401, 0.09, 1.931, 0.717, 2.171, 1.232, PHS= 0.788,-0.468, 0.936, RAW= 155.5, -18.4, CAL= 161.0, -25.0, ROT= 349.0, 25.0 2025-01-08T19:49:10.920Z,1736365750.920 [DAT](INFO): got valid direction response: 19:49:09.0774 LVL= 30432, 28321, 18930, 32755, AGC= 64, IDX= 401, 0.09, 1.931, 0.717, 2.171, 1.232, PHS= 0.788,-0.468, 0.936, RAW= 155.5, -18.4, CAL= 161.0, -25.0, ROT= 349.0, 25.0 2025-01-08T19:49:10.921Z,1736365750.921 [DAT](INFO): DAT read: Bearing 349.0, 25.0 (Local) 2025-01-08T19:49:10.922Z,1736365750.922 [DAT](INFO): Local bearing/azimuth received: Bearing 349.0, 25.0 (Local) 2025-01-08T19:49:10.923Z,1736365750.923 [DAT](INFO): DAT read: Range 10 to 50 : 339.9 m (Round-trip 453.3 ms) speed 0.8 m/s 2025-01-08T19:49:10.924Z,1736365750.924 [DAT](INFO): DAT read: user:861> 2025-01-08T19:49:10.925Z,1736365750.925 [DAT](INFO): DAT read: Tx time:19:49:10.1700 2025-01-08T19:49:10.925Z,1736365750.925 [DAT](INFO): Ping request sent. 2025-01-08T19:49:10.925Z,1736365750.925 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:10.925Z,1736365750.925 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:10.926Z,1736365750.926 [DAT](INFO): direction in FSK: [0.240894,-0.854311,0.460568] 2025-01-08T19:49:10.926Z,1736365750.926 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:10.927Z,1736365750.927 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:10.931Z,1736365750.931 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:10.931Z,1736365750.931 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:10.994Z,1736365750.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:11.055Z,1736365751.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 339.899994 m, deltaT: 4.032373 s, deltaX: -2.899994 m, approachRate: -0.719178 m/s, rangeRepo size: 4 2025-01-08T19:49:11.065Z,1736365751.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 339.899994 m, bearing: 199.355034 deg, lat: 36.901425 deg, lon: -122.116341 deg, deltaT: 4.032373 s, deltaX: -2.899994 m, approachRate: -0.719178 m/s, posRepo size: 4 2025-01-08T19:49:11.066Z,1736365751.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.90 m. 2025-01-08T19:49:11.081Z,1736365751.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.899994 m, nav range: 329.394440 m, bearing: 191.138302 deg, approach rate: 0.000000 m/s, LOS rate: -0.110029 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795089 deg. 2025-01-08T19:49:11.082Z,1736365751.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813532 target range: 339.899994 and range: 339.90 m. 2025-01-08T19:49:11.164Z,1736365751.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:11.165Z,1736365751.165 [DAT](INFO): DAT read: TxSync time:19:49:10.1692 2025-01-08T19:49:11.313Z,1736365751.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:11.331Z,1736365751.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.90 m. 2025-01-08T19:49:11.337Z,1736365751.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.899994 m, nav range: 329.394226 m, bearing: 191.105854 deg, approach rate: -0.000772 m/s, LOS rate: -0.117331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877843 deg. 2025-01-08T19:49:11.339Z,1736365751.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814977 target range: 339.899994 and range: 339.90 m. 2025-01-08T19:49:11.417Z,1736365751.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:11.670Z,1736365751.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:11.761Z,1736365751.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:11.784Z,1736365751.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:11.786Z,1736365751.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.90 m. 2025-01-08T19:49:11.793Z,1736365751.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.899994 m, nav range: 329.397827 m, bearing: 191.061888 deg, approach rate: 0.007901 m/s, LOS rate: -0.096459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843291 deg. 2025-01-08T19:49:11.794Z,1736365751.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814373 target range: 339.899994 and range: 339.90 m. 2025-01-08T19:49:11.920Z,1736365751.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:11.920Z,1736365751.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:11.920Z,1736365751.920 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:11.921Z,1736365751.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:12.120Z,1736365752.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:12.130Z,1736365752.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.90 m. 2025-01-08T19:49:12.133Z,1736365752.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.899994 m, nav range: 329.400909 m, bearing: 191.026649 deg, approach rate: 0.008994 m/s, LOS rate: -0.102826 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869469 deg. 2025-01-08T19:49:12.134Z,1736365752.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814831 target range: 339.899994 and range: 339.90 m. 2025-01-08T19:49:12.172Z,1736365752.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:12.173Z,1736365752.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247784 2025-01-08T19:49:12.424Z,1736365752.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:12.424Z,1736365752.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499196 2025-01-08T19:49:12.516Z,1736365752.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:12.524Z,1736365752.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.90 m. 2025-01-08T19:49:12.527Z,1736365752.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.899994 m, nav range: 329.404358 m, bearing: 190.987816 deg, approach rate: 0.008725 m/s, LOS rate: -0.098247 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858691 deg. 2025-01-08T19:49:12.529Z,1736365752.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814642 target range: 339.899994 and range: 339.90 m. 2025-01-08T19:49:12.678Z,1736365752.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:12.681Z,1736365752.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754939 2025-01-08T19:49:12.928Z,1736365752.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:12.929Z,1736365752.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003526 2025-01-08T19:49:12.961Z,1736365752.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:12.973Z,1736365752.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.90 m. 2025-01-08T19:49:12.992Z,1736365752.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.899994 m, nav range: 329.416779 m, bearing: 190.945828 deg, approach rate: 0.027684 m/s, LOS rate: -0.093582 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849227 deg. 2025-01-08T19:49:12.993Z,1736365752.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814477 target range: 339.899994 and range: 339.90 m. 2025-01-08T19:49:13.180Z,1736365753.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:13.180Z,1736365753.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255307 2025-01-08T19:49:13.322Z,1736365753.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:13.331Z,1736365753.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.90 m. 2025-01-08T19:49:13.334Z,1736365753.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.899994 m, nav range: 329.427643 m, bearing: 190.911338 deg, approach rate: 0.030341 m/s, LOS rate: -0.096319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871720 deg. 2025-01-08T19:49:13.335Z,1736365753.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814870 target range: 339.899994 and range: 339.90 m. 2025-01-08T19:49:13.432Z,1736365753.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:13.434Z,1736365753.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508607 2025-01-08T19:49:13.686Z,1736365753.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:13.688Z,1736365753.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762640 2025-01-08T19:49:13.796Z,1736365753.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:13.827Z,1736365753.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:13.830Z,1736365753.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.90 m. 2025-01-08T19:49:13.834Z,1736365753.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.899994 m, nav range: 329.443054 m, bearing: 190.866153 deg, approach rate: 0.030882 m/s, LOS rate: -0.090539 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839640 deg. 2025-01-08T19:49:13.835Z,1736365753.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814310 target range: 339.899994 and range: 339.90 m. 2025-01-08T19:49:13.936Z,1736365753.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:13.936Z,1736365753.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011248 2025-01-08T19:49:14.164Z,1736365754.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:14.190Z,1736365754.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:14.191Z,1736365754.191 [DAT](INFO): DAT read: Rx Time:19:49:13.0236 2025-01-08T19:49:14.192Z,1736365754.192 [DAT](INFO): Rx dataTimestamp_ set to:1736365754.191486 2025-01-08T19:49:14.192Z,1736365754.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267159 2025-01-08T19:49:14.197Z,1736365754.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.90 m. 2025-01-08T19:49:14.199Z,1736365754.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.899994 m, nav range: 329.455170 m, bearing: 190.831038 deg, approach rate: 0.033062 m/s, LOS rate: -0.095822 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869847 deg. 2025-01-08T19:49:14.201Z,1736365754.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814837 target range: 339.899994 and range: 339.90 m. 2025-01-08T19:49:14.444Z,1736365754.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:14.445Z,1736365754.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519459 2025-01-08T19:49:14.553Z,1736365754.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:14.563Z,1736365754.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.90 m. 2025-01-08T19:49:14.566Z,1736365754.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.899994 m, nav range: 329.468079 m, bearing: 190.794012 deg, approach rate: 0.035346 m/s, LOS rate: -0.101379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864111 deg. 2025-01-08T19:49:14.567Z,1736365754.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814737 target range: 339.899994 and range: 339.90 m. 2025-01-08T19:49:14.725Z,1736365754.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:14.741Z,1736365754.741 [DAT](INFO): DAT read: 19:49:13.0237 LVL= 25152, 32753, 17842, 32755, AGC= 64, IDX= 402, 0.05, 0.008,-0.990, 0.487,-0.367, PHS= 0.462,-0.576, 0.851, RAW= 165.3, -11.5, CAL= 169.6, -17.5, ROT= 340.4, 17.5 2025-01-08T19:49:14.742Z,1736365754.742 [DAT](INFO): got valid direction response: 19:49:13.0237 LVL= 25152, 32753, 17842, 32755, AGC= 64, IDX= 402, 0.05, 0.008,-0.990, 0.487,-0.367, PHS= 0.462,-0.576, 0.851, RAW= 165.3, -11.5, CAL= 169.6, -17.5, ROT= 340.4, 17.5 2025-01-08T19:49:14.744Z,1736365754.744 [DAT](INFO): DAT read: Bearing 340.4, 17.5 (Local) 2025-01-08T19:49:14.744Z,1736365754.744 [DAT](INFO): Local bearing/azimuth received: Bearing 340.4, 17.5 (Local) 2025-01-08T19:49:14.746Z,1736365754.746 [DAT](INFO): DAT read: Range 10 to 50 : 337.1 m (Round-trip 449.5 ms) speed 0.5 m/s 2025-01-08T19:49:14.746Z,1736365754.746 [DAT](INFO): DAT read: user:862> 2025-01-08T19:49:14.747Z,1736365754.747 [DAT](INFO): DAT read: Tx time:19:49:14.1201 2025-01-08T19:49:14.747Z,1736365754.747 [DAT](INFO): Ping request sent. 2025-01-08T19:49:14.747Z,1736365754.747 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:14.748Z,1736365754.748 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:14.749Z,1736365754.749 [DAT](INFO): direction in FSK: [0.116244,-0.944325,0.307794] 2025-01-08T19:49:14.749Z,1736365754.749 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:14.749Z,1736365754.749 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:14.765Z,1736365754.765 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:14.765Z,1736365754.765 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:14.976Z,1736365754.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:14.977Z,1736365754.977 [DAT](INFO): DAT read: TxSync time:19:49:14.1193 2025-01-08T19:49:14.987Z,1736365754.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:15.022Z,1736365755.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 337.100006 m, deltaT: 3.813042 s, deltaX: -2.799988 m, approachRate: -0.734319 m/s, rangeRepo size: 4 2025-01-08T19:49:15.029Z,1736365755.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 337.100006 m, bearing: 192.615285 deg, lat: 36.901427 deg, lon: -122.116390 deg, deltaT: 3.813042 s, deltaX: -2.799988 m, approachRate: -0.734319 m/s, posRepo size: 4 2025-01-08T19:49:15.030Z,1736365755.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:15.037Z,1736365755.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.133545 m, bearing: 191.501846 deg, approach rate: 0.000000 m/s, LOS rate: -0.101379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835379 deg. 2025-01-08T19:49:15.038Z,1736365755.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814236 target range: 337.100006 and range: 337.10 m. 2025-01-08T19:49:15.228Z,1736365755.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:15.358Z,1736365755.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:15.383Z,1736365755.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:15.386Z,1736365755.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.160614 m, bearing: 191.464403 deg, approach rate: 0.074822 m/s, LOS rate: -0.103490 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862866 deg. 2025-01-08T19:49:15.388Z,1736365755.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814715 target range: 337.100006 and range: 337.10 m. 2025-01-08T19:49:15.481Z,1736365755.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:15.733Z,1736365755.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:15.841Z,1736365755.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:15.849Z,1736365755.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:15.851Z,1736365755.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:15.870Z,1736365755.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.170563 m, bearing: 191.412254 deg, approach rate: 0.021290 m/s, LOS rate: -0.111592 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818746 deg. 2025-01-08T19:49:15.871Z,1736365755.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813945 target range: 337.100006 and range: 337.10 m. 2025-01-08T19:49:15.987Z,1736365755.987 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:15.987Z,1736365755.987 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:15.987Z,1736365755.987 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:15.988Z,1736365755.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:16.172Z,1736365756.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:16.182Z,1736365756.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:16.185Z,1736365756.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.177429 m, bearing: 191.376386 deg, approach rate: 0.020745 m/s, LOS rate: -0.108363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867584 deg. 2025-01-08T19:49:16.186Z,1736365756.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814797 target range: 337.100006 and range: 337.10 m. 2025-01-08T19:49:16.241Z,1736365756.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:16.242Z,1736365756.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494499 2025-01-08T19:49:16.492Z,1736365756.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:16.493Z,1736365756.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745109 2025-01-08T19:49:16.594Z,1736365756.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:16.603Z,1736365756.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:16.608Z,1736365756.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.186920 m, bearing: 191.330832 deg, approach rate: 0.022527 m/s, LOS rate: -0.108122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838529 deg. 2025-01-08T19:49:16.609Z,1736365756.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814291 target range: 337.100006 and range: 337.10 m. 2025-01-08T19:49:16.745Z,1736365756.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:16.747Z,1736365756.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998928 2025-01-08T19:49:16.996Z,1736365756.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:16.997Z,1736365756.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249310 2025-01-08T19:49:17.004Z,1736365757.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:17.014Z,1736365757.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:17.018Z,1736365757.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.199493 m, bearing: 191.283235 deg, approach rate: 0.030547 m/s, LOS rate: -0.115632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832403 deg. 2025-01-08T19:49:17.019Z,1736365757.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814184 target range: 337.100006 and range: 337.10 m. 2025-01-08T19:49:17.248Z,1736365757.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:17.248Z,1736365757.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500964 2025-01-08T19:49:17.380Z,1736365757.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:17.390Z,1736365757.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:17.392Z,1736365757.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.211395 m, bearing: 191.239477 deg, approach rate: 0.031731 m/s, LOS rate: -0.116659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843916 deg. 2025-01-08T19:49:17.394Z,1736365757.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814384 target range: 337.100006 and range: 337.10 m. 2025-01-08T19:49:17.500Z,1736365757.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:17.501Z,1736365757.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753802 2025-01-08T19:49:17.753Z,1736365757.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:17.756Z,1736365757.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007084 2025-01-08T19:49:17.870Z,1736365757.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:17.877Z,1736365757.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:17.880Z,1736365757.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:17.883Z,1736365757.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.223633 m, bearing: 191.179816 deg, approach rate: 0.024943 m/s, LOS rate: -0.121601 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796211 deg. 2025-01-08T19:49:17.884Z,1736365757.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813552 target range: 337.100006 and range: 337.10 m. 2025-01-08T19:49:18.004Z,1736365758.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:18.004Z,1736365758.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256848 2025-01-08T19:49:18.216Z,1736365758.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:18.226Z,1736365758.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:18.241Z,1736365758.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.232544 m, bearing: 191.137711 deg, approach rate: 0.025798 m/s, LOS rate: -0.121888 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848877 deg. 2025-01-08T19:49:18.242Z,1736365758.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814471 target range: 337.100006 and range: 337.10 m. 2025-01-08T19:49:18.256Z,1736365758.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:18.257Z,1736365758.257 [DAT](INFO): DAT read: Rx Time:19:49:16.9717 2025-01-08T19:49:18.257Z,1736365758.257 [DAT](INFO): Rx dataTimestamp_ set to:1736365758.256798 2025-01-08T19:49:18.258Z,1736365758.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510071 2025-01-08T19:49:18.508Z,1736365758.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:18.509Z,1736365758.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761520 2025-01-08T19:49:18.590Z,1736365758.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:18.600Z,1736365758.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:18.603Z,1736365758.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.242249 m, bearing: 191.092060 deg, approach rate: 0.025957 m/s, LOS rate: -0.122101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838237 deg. 2025-01-08T19:49:18.604Z,1736365758.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814285 target range: 337.100006 and range: 337.10 m. 2025-01-08T19:49:18.761Z,1736365758.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:18.769Z,1736365758.769 [DAT](INFO): DAT read: Range 10 to 50 : 335.6 m (Round-trip 447.5 ms) speed 0.5 m/s 2025-01-08T19:49:18.776Z,1736365758.776 [DAT](INFO): DAT read: user:863> 2025-01-08T19:49:18.778Z,1736365758.778 [DAT](INFO): DAT read: Tx time:19:49:18.0701 2025-01-08T19:49:18.779Z,1736365758.779 [DAT](INFO): Ping request sent. 2025-01-08T19:49:18.782Z,1736365758.782 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:18.783Z,1736365758.783 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:49:18.783Z,1736365758.783 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:18.786Z,1736365758.786 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:19.012Z,1736365759.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:19.013Z,1736365759.013 [DAT](INFO): DAT read: TxSync time:19:49:18.0693 2025-01-08T19:49:19.043Z,1736365759.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:19.068Z,1736365759.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 335.600006 m, deltaT: 4.037352 s, deltaX: -1.500000 m, approachRate: -0.371531 m/s, rangeRepo size: 4 2025-01-08T19:49:19.069Z,1736365759.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:19.076Z,1736365759.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.251801 m, bearing: 191.034858 deg, approach rate: 0.020776 m/s, LOS rate: -0.124411 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803586 deg. 2025-01-08T19:49:19.077Z,1736365759.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813681 target range: 337.100006 and range: 335.60 m. 2025-01-08T19:49:19.264Z,1736365759.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:19.275Z,1736365759.275 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:49:19.396Z,1736365759.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:19.405Z,1736365759.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:19.408Z,1736365759.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.258392 m, bearing: 190.990228 deg, approach rate: 0.019057 m/s, LOS rate: -0.129022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841300 deg. 2025-01-08T19:49:19.409Z,1736365759.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814339 target range: 337.100006 and range: 335.60 m. 2025-01-08T19:49:19.517Z,1736365759.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:19.770Z,1736365759.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:19.876Z,1736365759.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:19.895Z,1736365759.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:19.914Z,1736365759.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:19.921Z,1736365759.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.267517 m, bearing: 190.928076 deg, approach rate: 0.017916 m/s, LOS rate: -0.122027 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788735 deg. 2025-01-08T19:49:19.923Z,1736365759.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813421 target range: 337.100006 and range: 335.60 m. 2025-01-08T19:49:20.020Z,1736365760.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:20.020Z,1736365760.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:20.020Z,1736365760.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:20.021Z,1736365760.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:20.209Z,1736365760.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:20.233Z,1736365760.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:20.246Z,1736365760.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.273438 m, bearing: 190.884695 deg, approach rate: 0.018576 m/s, LOS rate: -0.136111 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845048 deg. 2025-01-08T19:49:20.252Z,1736365760.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814404 target range: 337.100006 and range: 335.60 m. 2025-01-08T19:49:20.272Z,1736365760.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:20.272Z,1736365760.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493480 2025-01-08T19:49:20.276Z,1736365760.276 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:49:20.524Z,1736365760.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:20.524Z,1736365760.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745516 2025-01-08T19:49:20.627Z,1736365760.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:20.637Z,1736365760.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:20.640Z,1736365760.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.281158 m, bearing: 190.830366 deg, approach rate: 0.019128 m/s, LOS rate: -0.134593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812205 deg. 2025-01-08T19:49:20.641Z,1736365760.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813831 target range: 337.100006 and range: 335.60 m. 2025-01-08T19:49:20.778Z,1736365760.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:20.780Z,1736365760.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000754 2025-01-08T19:49:21.028Z,1736365761.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:21.029Z,1736365761.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249731 2025-01-08T19:49:21.049Z,1736365761.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:21.059Z,1736365761.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:21.063Z,1736365761.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.284943 m, bearing: 190.775488 deg, approach rate: 0.008962 m/s, LOS rate: -0.129972 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810555 deg. 2025-01-08T19:49:21.064Z,1736365761.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813802 target range: 337.100006 and range: 335.60 m. 2025-01-08T19:49:21.280Z,1736365761.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:21.281Z,1736365761.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502184 2025-01-08T19:49:21.421Z,1736365761.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:21.431Z,1736365761.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:21.434Z,1736365761.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.288300 m, bearing: 190.726638 deg, approach rate: 0.009035 m/s, LOS rate: -0.131474 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828638 deg. 2025-01-08T19:49:21.435Z,1736365761.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814118 target range: 337.100006 and range: 335.60 m. 2025-01-08T19:49:21.534Z,1736365761.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:21.534Z,1736365761.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755523 2025-01-08T19:49:21.786Z,1736365761.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:21.788Z,1736365761.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008771 2025-01-08T19:49:21.920Z,1736365761.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:21.926Z,1736365761.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:21.929Z,1736365761.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:21.948Z,1736365761.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.290070 m, bearing: 190.662649 deg, approach rate: 0.003556 m/s, LOS rate: -0.128544 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783220 deg. 2025-01-08T19:49:21.949Z,1736365761.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813325 target range: 337.100006 and range: 335.60 m. 2025-01-08T19:49:22.038Z,1736365762.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:22.042Z,1736365762.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262840 2025-01-08T19:49:22.230Z,1736365762.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:22.239Z,1736365762.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:22.242Z,1736365762.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.291016 m, bearing: 190.622819 deg, approach rate: 0.003043 m/s, LOS rate: -0.128130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855697 deg. 2025-01-08T19:49:22.243Z,1736365762.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814590 target range: 337.100006 and range: 335.60 m. 2025-01-08T19:49:22.288Z,1736365762.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:22.288Z,1736365762.288 [DAT](INFO): DAT read: Rx Time:19:49:20.9193 2025-01-08T19:49:22.289Z,1736365762.289 [DAT](INFO): Rx dataTimestamp_ set to:1736365762.288570 2025-01-08T19:49:22.289Z,1736365762.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510436 2025-01-08T19:49:22.540Z,1736365762.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:22.540Z,1736365762.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761404 2025-01-08T19:49:22.649Z,1736365762.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:22.707Z,1736365762.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.10 m. 2025-01-08T19:49:22.717Z,1736365762.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.100006 m, nav range: 330.292297 m, bearing: 190.569064 deg, approach rate: 0.002741 m/s, LOS rate: -0.114946 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813923 deg. 2025-01-08T19:49:22.718Z,1736365762.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813861 target range: 337.100006 and range: 335.60 m. 2025-01-08T19:49:22.794Z,1736365762.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:22.820Z,1736365762.820 [DAT](INFO): DAT read: 19:49:20.9193 LVL= 20208, 32337, 15010, 32755, AGC= 67, IDX= 410,-0.18, 0.657,-0.560, 0.937, 0.078, PHS= 0.667,-0.591, 0.856, RAW= 156.9, -13.6, CAL= 163.3, -20.1, ROT= 346.7, 20.1 2025-01-08T19:49:22.825Z,1736365762.825 [DAT](INFO): got valid direction response: 19:49:20.9193 LVL= 20208, 32337, 15010, 32755, AGC= 67, IDX= 410,-0.18, 0.657,-0.560, 0.937, 0.078, PHS= 0.667,-0.591, 0.856, RAW= 156.9, -13.6, CAL= 163.3, -20.1, ROT= 346.7, 20.1 2025-01-08T19:49:22.857Z,1736365762.857 [DAT](INFO): DAT read: Bearing 346.7, 20.1 (Local) 2025-01-08T19:49:22.857Z,1736365762.857 [DAT](INFO): Local bearing/azimuth received: Bearing 346.7, 20.1 (Local) 2025-01-08T19:49:22.859Z,1736365762.859 [DAT](INFO): DAT read: Range 10 to 50 : 333.8 m (Round-trip 445.1 ms) speed 0.4 m/s 2025-01-08T19:49:22.869Z,1736365762.869 [DAT](INFO): DAT read: user:864> 2025-01-08T19:49:22.880Z,1736365762.880 [DAT](INFO): DAT read: Tx time:19:49:22.0201 2025-01-08T19:49:22.880Z,1736365762.880 [DAT](INFO): Ping request sent. 2025-01-08T19:49:22.880Z,1736365762.880 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:22.881Z,1736365762.881 [DAT](INFO): DAT read: TxSync time:19:49:22.0193 2025-01-08T19:49:22.881Z,1736365762.881 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:22.882Z,1736365762.882 [DAT](INFO): direction in FSK: [0.149731,-0.883235,0.444383] 2025-01-08T19:49:22.882Z,1736365762.882 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:22.883Z,1736365762.883 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:22.897Z,1736365762.897 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:22.897Z,1736365762.897 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:23.044Z,1736365763.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:23.124Z,1736365763.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:23.150Z,1736365763.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 333.799988 m, deltaT: 4.033122 s, deltaX: -1.800018 m, approachRate: -0.446309 m/s, rangeRepo size: 4 2025-01-08T19:49:23.156Z,1736365763.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 333.799988 m, bearing: 193.543696 deg, lat: 36.901563 deg, lon: -122.116464 deg, deltaT: 8.070474 s, deltaX: -3.300018 m, approachRate: -0.408900 m/s, posRepo size: 4 2025-01-08T19:49:23.157Z,1736365763.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.80 m. 2025-01-08T19:49:23.164Z,1736365763.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.799988 m, nav range: 316.745667 m, bearing: 192.181330 deg, approach rate: 0.000000 m/s, LOS rate: -0.114946 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822736 deg. 2025-01-08T19:49:23.165Z,1736365763.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814015 target range: 333.799988 and range: 333.80 m. 2025-01-08T19:49:23.296Z,1736365763.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:23.500Z,1736365763.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:23.509Z,1736365763.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.80 m. 2025-01-08T19:49:23.512Z,1736365763.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.799988 m, nav range: 316.736023 m, bearing: 192.133179 deg, approach rate: -0.026811 m/s, LOS rate: -0.133874 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830728 deg. 2025-01-08T19:49:23.513Z,1736365763.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814154 target range: 333.799988 and range: 333.80 m. 2025-01-08T19:49:23.548Z,1736365763.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:23.801Z,1736365763.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:23.934Z,1736365763.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:23.946Z,1736365763.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:23.952Z,1736365763.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.80 m. 2025-01-08T19:49:23.959Z,1736365763.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.799988 m, nav range: 316.721863 m, bearing: 192.081291 deg, approach rate: -0.032037 m/s, LOS rate: -0.117399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819517 deg. 2025-01-08T19:49:23.961Z,1736365763.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813959 target range: 333.799988 and range: 333.80 m. 2025-01-08T19:49:24.056Z,1736365764.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:24.056Z,1736365764.056 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:24.056Z,1736365764.056 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:24.057Z,1736365764.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:24.309Z,1736365764.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:24.311Z,1736365764.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.430307 2025-01-08T19:49:24.335Z,1736365764.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:24.356Z,1736365764.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.80 m. 2025-01-08T19:49:24.358Z,1736365764.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.799988 m, nav range: 316.708862 m, bearing: 192.033265 deg, approach rate: -0.032092 m/s, LOS rate: -0.118560 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831102 deg. 2025-01-08T19:49:24.364Z,1736365764.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814161 target range: 333.799988 and range: 333.80 m. 2025-01-08T19:49:24.562Z,1736365764.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:24.564Z,1736365764.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.684215 2025-01-08T19:49:24.707Z,1736365764.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:24.736Z,1736365764.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.80 m. 2025-01-08T19:49:24.738Z,1736365764.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.799988 m, nav range: 316.697632 m, bearing: 191.988659 deg, approach rate: -0.029591 m/s, LOS rate: -0.117535 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841364 deg. 2025-01-08T19:49:24.740Z,1736365764.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814340 target range: 333.799988 and range: 333.80 m. 2025-01-08T19:49:24.812Z,1736365764.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:24.812Z,1736365764.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.932294 2025-01-08T19:49:25.064Z,1736365765.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:25.064Z,1736365765.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184209 2025-01-08T19:49:25.168Z,1736365765.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:25.176Z,1736365765.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.80 m. 2025-01-08T19:49:25.181Z,1736365765.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.799988 m, nav range: 316.685242 m, bearing: 191.937022 deg, approach rate: -0.028101 m/s, LOS rate: -0.117117 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820271 deg. 2025-01-08T19:49:25.182Z,1736365765.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813972 target range: 333.799988 and range: 333.80 m. 2025-01-08T19:49:25.316Z,1736365765.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:25.317Z,1736365765.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437188 2025-01-08T19:49:25.535Z,1736365765.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:25.543Z,1736365765.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.80 m. 2025-01-08T19:49:25.548Z,1736365765.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.799988 m, nav range: 316.675964 m, bearing: 191.895931 deg, approach rate: -0.025299 m/s, LOS rate: -0.112057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851909 deg. 2025-01-08T19:49:25.549Z,1736365765.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814524 target range: 333.799988 and range: 333.80 m. 2025-01-08T19:49:25.568Z,1736365765.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:25.569Z,1736365765.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.688480 2025-01-08T19:49:25.820Z,1736365765.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:25.821Z,1736365765.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.940515 2025-01-08T19:49:26.003Z,1736365766.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:26.009Z,1736365766.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:26.012Z,1736365766.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.80 m. 2025-01-08T19:49:26.015Z,1736365766.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.799988 m, nav range: 316.664459 m, bearing: 191.846846 deg, approach rate: -0.024562 m/s, LOS rate: -0.104793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827928 deg. 2025-01-08T19:49:26.016Z,1736365766.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814106 target range: 333.799988 and range: 333.80 m. 2025-01-08T19:49:26.072Z,1736365766.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:26.074Z,1736365766.074 [DAT](INFO): DAT read: Rx Time:19:49:24.8652 2025-01-08T19:49:26.074Z,1736365766.074 [DAT](INFO): Rx dataTimestamp_ set to:1736365766.073961 2025-01-08T19:49:26.075Z,1736365766.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195140 2025-01-08T19:49:26.324Z,1736365766.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:26.324Z,1736365766.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.444093 2025-01-08T19:49:26.357Z,1736365766.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:26.367Z,1736365766.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.80 m. 2025-01-08T19:49:26.370Z,1736365766.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.799988 m, nav range: 316.656250 m, bearing: 191.809631 deg, approach rate: -0.023097 m/s, LOS rate: -0.104711 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863538 deg. 2025-01-08T19:49:26.371Z,1736365766.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814727 target range: 333.799988 and range: 333.80 m. 2025-01-08T19:49:26.578Z,1736365766.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:26.589Z,1736365766.589 [DAT](INFO): DAT read: 19:49:24.8652 LVL= 23408, 32065, 16066, 32755, AGC= 64, IDX= 400,-0.10,-1.818,-2.946,-1.417,-2.313, PHS= 0.583,-0.586, 0.893, RAW= 161.5, -13.1, CAL= 166.9, -19.2, ROT= 343.1, 19.2 2025-01-08T19:49:26.591Z,1736365766.591 [DAT](INFO): got valid direction response: 19:49:24.8652 LVL= 23408, 32065, 16066, 32755, AGC= 64, IDX= 400,-0.10,-1.818,-2.946,-1.417,-2.313, PHS= 0.583,-0.586, 0.893, RAW= 161.5, -13.1, CAL= 166.9, -19.2, ROT= 343.1, 19.2 2025-01-08T19:49:26.592Z,1736365766.592 [DAT](INFO): DAT read: Bearing 343.1, 19.2 (Local) 2025-01-08T19:49:26.593Z,1736365766.593 [DAT](INFO): Local bearing/azimuth received: Bearing 343.1, 19.2 (Local) 2025-01-08T19:49:26.595Z,1736365766.595 [DAT](INFO): DAT read: Range 10 to 50 : 330.7 m (Round-trip 441.0 ms) speed 0.4 m/s 2025-01-08T19:49:26.600Z,1736365766.600 [DAT](INFO): DAT read: user:865> 2025-01-08T19:49:26.602Z,1736365766.602 [DAT](INFO): DAT read: Tx time:19:49:25.9701 2025-01-08T19:49:26.602Z,1736365766.602 [DAT](INFO): Ping request sent. 2025-01-08T19:49:26.603Z,1736365766.603 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:26.603Z,1736365766.603 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:26.604Z,1736365766.604 [DAT](INFO): direction in FSK: [0.143634,-0.917420,0.371092] 2025-01-08T19:49:26.604Z,1736365766.604 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:26.604Z,1736365766.604 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:26.608Z,1736365766.608 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:26.608Z,1736365766.608 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:26.789Z,1736365766.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:26.829Z,1736365766.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:26.831Z,1736365766.831 [DAT](INFO): DAT read: TxSync time:19:49:25.9693 2025-01-08T19:49:26.851Z,1736365766.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 330.700012 m, deltaT: 3.782920 s, deltaX: -3.099976 m, approachRate: -0.819466 m/s, rangeRepo size: 4 2025-01-08T19:49:26.884Z,1736365766.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 330.700012 m, bearing: 193.612760 deg, lat: 36.901563 deg, lon: -122.116542 deg, deltaT: 3.782920 s, deltaX: -3.099976 m, approachRate: -0.819466 m/s, posRepo size: 4 2025-01-08T19:49:26.896Z,1736365766.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.70 m. 2025-01-08T19:49:26.920Z,1736365766.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.700012 m, nav range: 318.125366 m, bearing: 192.981139 deg, approach rate: 0.000000 m/s, LOS rate: -0.104711 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826786 deg. 2025-01-08T19:49:26.921Z,1736365766.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814085 target range: 330.700012 and range: 330.70 m. 2025-01-08T19:49:27.080Z,1736365767.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:27.263Z,1736365767.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:27.284Z,1736365767.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.70 m. 2025-01-08T19:49:27.287Z,1736365767.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.700012 m, nav range: 318.114227 m, bearing: 192.933084 deg, approach rate: -0.025028 m/s, LOS rate: -0.107976 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831019 deg. 2025-01-08T19:49:27.289Z,1736365767.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814159 target range: 330.700012 and range: 330.70 m. 2025-01-08T19:49:27.333Z,1736365767.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:27.584Z,1736365767.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:27.614Z,1736365767.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:27.642Z,1736365767.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.70 m. 2025-01-08T19:49:27.646Z,1736365767.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.700012 m, nav range: 318.106232 m, bearing: 192.897353 deg, approach rate: -0.022341 m/s, LOS rate: -0.099840 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867990 deg. 2025-01-08T19:49:27.652Z,1736365767.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814805 target range: 330.700012 and range: 330.70 m. 2025-01-08T19:49:27.836Z,1736365767.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:28.066Z,1736365768.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:28.073Z,1736365768.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:28.075Z,1736365768.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.70 m. 2025-01-08T19:49:28.078Z,1736365768.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.700012 m, nav range: 318.105438 m, bearing: 192.852362 deg, approach rate: -0.001834 m/s, LOS rate: -0.103992 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840214 deg. 2025-01-08T19:49:28.080Z,1736365768.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814320 target range: 330.700012 and range: 330.70 m. 2025-01-08T19:49:28.088Z,1736365768.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:28.088Z,1736365768.088 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:28.088Z,1736365768.088 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:28.089Z,1736365768.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:28.340Z,1736365768.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:28.340Z,1736365768.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737785 2025-01-08T19:49:28.423Z,1736365768.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:28.433Z,1736365768.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.70 m. 2025-01-08T19:49:28.452Z,1736365768.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.700012 m, nav range: 318.105743 m, bearing: 192.816840 deg, approach rate: 0.000852 m/s, LOS rate: -0.099140 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868621 deg. 2025-01-08T19:49:28.453Z,1736365768.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814816 target range: 330.700012 and range: 330.70 m. 2025-01-08T19:49:28.592Z,1736365768.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:28.593Z,1736365768.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990160 2025-01-08T19:49:28.844Z,1736365768.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:28.844Z,1736365768.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241907 2025-01-08T19:49:28.847Z,1736365768.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:28.864Z,1736365768.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.70 m. 2025-01-08T19:49:28.867Z,1736365768.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.700012 m, nav range: 318.107239 m, bearing: 192.774791 deg, approach rate: 0.003467 m/s, LOS rate: -0.097497 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849039 deg. 2025-01-08T19:49:28.868Z,1736365768.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814474 target range: 330.700012 and range: 330.70 m. 2025-01-08T19:49:29.096Z,1736365769.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:29.097Z,1736365769.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494584 2025-01-08T19:49:29.267Z,1736365769.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:29.276Z,1736365769.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.70 m. 2025-01-08T19:49:29.278Z,1736365769.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.700012 m, nav range: 318.116699 m, bearing: 192.731096 deg, approach rate: 0.023022 m/s, LOS rate: -0.106326 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844107 deg. 2025-01-08T19:49:29.280Z,1736365769.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814388 target range: 330.700012 and range: 330.70 m. 2025-01-08T19:49:29.348Z,1736365769.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:29.349Z,1736365769.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746126 2025-01-08T19:49:29.600Z,1736365769.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:29.600Z,1736365769.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997863 2025-01-08T19:49:29.643Z,1736365769.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:29.657Z,1736365769.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.70 m. 2025-01-08T19:49:29.662Z,1736365769.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.700012 m, nav range: 318.125793 m, bearing: 192.692056 deg, approach rate: 0.023869 m/s, LOS rate: -0.102462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858070 deg. 2025-01-08T19:49:29.664Z,1736365769.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814631 target range: 330.700012 and range: 330.70 m. 2025-01-08T19:49:29.852Z,1736365769.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:29.853Z,1736365769.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250249 2025-01-08T19:49:30.083Z,1736365770.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:30.090Z,1736365770.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:30.092Z,1736365770.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.70 m. 2025-01-08T19:49:30.095Z,1736365770.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.700012 m, nav range: 318.143677 m, bearing: 192.644600 deg, approach rate: 0.041046 m/s, LOS rate: -0.108916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832827 deg. 2025-01-08T19:49:30.097Z,1736365770.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814191 target range: 330.700012 and range: 330.70 m. 2025-01-08T19:49:30.104Z,1736365770.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:30.105Z,1736365770.105 [DAT](INFO): DAT read: Rx Time:19:49:28.7938 2025-01-08T19:49:30.105Z,1736365770.105 [DAT](INFO): Rx dataTimestamp_ set to:1736365770.104712 2025-01-08T19:49:30.105Z,1736365770.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502934 2025-01-08T19:49:30.356Z,1736365770.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:30.356Z,1736365770.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753821 2025-01-08T19:49:30.470Z,1736365770.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:30.511Z,1736365770.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.70 m. 2025-01-08T19:49:30.529Z,1736365770.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.700012 m, nav range: 318.159973 m, bearing: 192.602931 deg, approach rate: 0.038923 m/s, LOS rate: -0.099520 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850186 deg. 2025-01-08T19:49:30.530Z,1736365770.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814494 target range: 330.700012 and range: 330.70 m. 2025-01-08T19:49:30.608Z,1736365770.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:30.635Z,1736365770.635 [DAT](INFO): DAT read: 19:49:28.7938 LVL= 27616, 32753, 20594, 32755, AGC= 65, IDX= 228, 0.41,-0.071,-1.020, 0.483,-0.085, PHS= 0.102,-0.887, 0.565, RAW= 168.2, 3.5, CAL= 168.7, -5.4, ROT= 341.3, 5.4 2025-01-08T19:49:30.637Z,1736365770.637 [DAT](INFO): got valid direction response: 19:49:28.7938 LVL= 27616, 32753, 20594, 32755, AGC= 65, IDX= 228, 0.41,-0.071,-1.020, 0.483,-0.085, PHS= 0.102,-0.887, 0.565, RAW= 168.2, 3.5, CAL= 168.7, -5.4, ROT= 341.3, 5.4 2025-01-08T19:49:30.638Z,1736365770.638 [DAT](INFO): DAT read: Bearing 341.3, 5.4 (Local) 2025-01-08T19:49:30.639Z,1736365770.639 [DAT](INFO): Local bearing/azimuth received: Bearing 341.3, 5.4 (Local) 2025-01-08T19:49:30.641Z,1736365770.641 [DAT](INFO): DAT read: Range 10 to 50 : 314.6 m (Round-trip 419.5 ms) speed 0.2 m/s 2025-01-08T19:49:30.642Z,1736365770.642 [DAT](INFO): DAT read: user:866> 2025-01-08T19:49:30.644Z,1736365770.644 [DAT](INFO): DAT read: Tx time:19:49:29.9202 2025-01-08T19:49:30.645Z,1736365770.645 [DAT](INFO): Ping request sent. 2025-01-08T19:49:30.645Z,1736365770.645 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:30.646Z,1736365770.646 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:30.648Z,1736365770.648 [DAT](INFO): direction in FSK: [-0.170497,-0.954967,0.242835] 2025-01-08T19:49:30.649Z,1736365770.649 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:30.649Z,1736365770.649 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:30.655Z,1736365770.655 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:30.655Z,1736365770.655 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:30.857Z,1736365770.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:30.860Z,1736365770.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:30.861Z,1736365770.861 [DAT](INFO): DAT read: TxSync time:19:49:29.9194 2025-01-08T19:49:30.874Z,1736365770.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 314.600006 m, deltaT: 4.029938 s, deltaX: -16.100006 m, approachRate: -3.995100 m/s, rangeRepo size: 4 2025-01-08T19:49:30.876Z,1736365770.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 314.600006 m, bearing: 176.885172 deg, lat: 36.901554 deg, lon: -122.116542 deg, deltaT: 4.029938 s, deltaX: -16.100006 m, approachRate: -3.995100 m/s, posRepo size: 4 2025-01-08T19:49:30.877Z,1736365770.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.60 m. 2025-01-08T19:49:30.881Z,1736365770.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.600006 m, nav range: 319.240448 m, bearing: 192.518582 deg, approach rate: 0.000000 m/s, LOS rate: -0.099520 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866942 deg. 2025-01-08T19:49:30.882Z,1736365770.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814786 target range: 314.600006 and range: 314.60 m. 2025-01-08T19:49:31.112Z,1736365771.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:31.267Z,1736365771.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:31.299Z,1736365771.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.60 m. 2025-01-08T19:49:31.302Z,1736365771.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.600006 m, nav range: 319.263763 m, bearing: 192.471344 deg, approach rate: 0.055253 m/s, LOS rate: -0.111936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833484 deg. 2025-01-08T19:49:31.308Z,1736365771.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814202 target range: 314.600006 and range: 314.60 m. 2025-01-08T19:49:31.364Z,1736365771.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:31.616Z,1736365771.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:31.676Z,1736365771.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:31.688Z,1736365771.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.60 m. 2025-01-08T19:49:31.691Z,1736365771.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.600006 m, nav range: 319.286682 m, bearing: 192.424117 deg, approach rate: 0.058364 m/s, LOS rate: -0.120258 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833516 deg. 2025-01-08T19:49:31.692Z,1736365771.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814203 target range: 314.600006 and range: 314.60 m. 2025-01-08T19:49:31.868Z,1736365771.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:32.100Z,1736365772.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:32.107Z,1736365772.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:32.109Z,1736365772.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.60 m. 2025-01-08T19:49:32.112Z,1736365772.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.600006 m, nav range: 319.308807 m, bearing: 192.372152 deg, approach rate: 0.052562 m/s, LOS rate: -0.123444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819301 deg. 2025-01-08T19:49:32.114Z,1736365772.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813955 target range: 314.600006 and range: 314.60 m. 2025-01-08T19:49:32.120Z,1736365772.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:32.120Z,1736365772.120 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:32.121Z,1736365772.121 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:32.121Z,1736365772.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:32.372Z,1736365772.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:32.372Z,1736365772.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727593 2025-01-08T19:49:32.464Z,1736365772.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:32.473Z,1736365772.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.60 m. 2025-01-08T19:49:32.496Z,1736365772.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.600006 m, nav range: 319.328064 m, bearing: 192.327489 deg, approach rate: 0.052924 m/s, LOS rate: -0.122742 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841207 deg. 2025-01-08T19:49:32.497Z,1736365772.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814337 target range: 314.600006 and range: 314.60 m. 2025-01-08T19:49:32.625Z,1736365772.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:32.626Z,1736365772.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980626 2025-01-08T19:49:32.865Z,1736365772.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:32.874Z,1736365772.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.60 m. 2025-01-08T19:49:32.876Z,1736365772.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:32.877Z,1736365772.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231756 2025-01-08T19:49:32.879Z,1736365772.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.600006 m, nav range: 319.349457 m, bearing: 192.278375 deg, approach rate: 0.053343 m/s, LOS rate: -0.122459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827854 deg. 2025-01-08T19:49:32.881Z,1736365772.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814104 target range: 314.600006 and range: 314.60 m. 2025-01-08T19:49:33.128Z,1736365773.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:33.129Z,1736365773.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483884 2025-01-08T19:49:33.305Z,1736365773.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:33.314Z,1736365773.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.60 m. 2025-01-08T19:49:33.317Z,1736365773.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.600006 m, nav range: 319.373688 m, bearing: 192.222532 deg, approach rate: 0.055058 m/s, LOS rate: -0.126878 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.807671 deg. 2025-01-08T19:49:33.318Z,1736365773.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813752 target range: 314.600006 and range: 314.60 m. 2025-01-08T19:49:33.380Z,1736365773.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:33.382Z,1736365773.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736426 2025-01-08T19:49:33.632Z,1736365773.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:33.633Z,1736365773.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987883 2025-01-08T19:49:33.696Z,1736365773.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:33.704Z,1736365773.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.60 m. 2025-01-08T19:49:33.707Z,1736365773.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.600006 m, nav range: 319.394287 m, bearing: 192.172944 deg, approach rate: 0.052757 m/s, LOS rate: -0.126991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826433 deg. 2025-01-08T19:49:33.717Z,1736365773.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814079 target range: 314.600006 and range: 314.60 m. 2025-01-08T19:49:33.884Z,1736365773.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:33.884Z,1736365773.884 [DAT](INFO): DAT read: Rx Time:19:49:32.7598 2025-01-08T19:49:33.885Z,1736365773.885 [DAT](INFO): Rx dataTimestamp_ set to:1736365773.884559 2025-01-08T19:49:33.885Z,1736365773.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240474 2025-01-08T19:49:34.120Z,1736365774.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:34.136Z,1736365774.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:34.137Z,1736365774.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492059 2025-01-08T19:49:34.138Z,1736365774.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:34.145Z,1736365774.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.60 m. 2025-01-08T19:49:34.153Z,1736365774.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.600006 m, nav range: 319.407867 m, bearing: 192.118091 deg, approach rate: 0.030828 m/s, LOS rate: -0.124514 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810635 deg. 2025-01-08T19:49:34.154Z,1736365774.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813804 target range: 314.600006 and range: 314.60 m. 2025-01-08T19:49:34.388Z,1736365774.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:34.388Z,1736365774.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743494 2025-01-08T19:49:34.507Z,1736365774.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:34.517Z,1736365774.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.60 m. 2025-01-08T19:49:34.520Z,1736365774.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.600006 m, nav range: 319.419952 m, bearing: 192.068292 deg, approach rate: 0.032484 m/s, LOS rate: -0.133850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825797 deg. 2025-01-08T19:49:34.521Z,1736365774.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814068 target range: 314.600006 and range: 314.60 m. 2025-01-08T19:49:34.641Z,1736365774.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:34.652Z,1736365774.652 [DAT](INFO): DAT read: 19:49:32.7598 LVL= 21616, 20881, 14610, 21683, AGC= 63, IDX= 87,-0.09, 1.299, 0.295, 1.687, 0.809, PHS= 0.578,-0.467, 0.875, RAW= 162.2, -15.9, CAL= 167.4, -21.8, ROT= 342.6, 21.8 2025-01-08T19:49:34.653Z,1736365774.653 [DAT](INFO): got valid direction response: 19:49:32.7598 LVL= 21616, 20881, 14610, 21683, AGC= 63, IDX= 87,-0.09, 1.299, 0.295, 1.687, 0.809, PHS= 0.578,-0.467, 0.875, RAW= 162.2, -15.9, CAL= 167.4, -21.8, ROT= 342.6, 21.8 2025-01-08T19:49:34.655Z,1736365774.655 [DAT](INFO): DAT read: Bearing 342.6, 21.8 (Local) 2025-01-08T19:49:34.670Z,1736365774.670 [DAT](INFO): Local bearing/azimuth received: Bearing 342.6, 21.8 (Local) 2025-01-08T19:49:34.682Z,1736365774.682 [DAT](INFO): DAT read: Range 10 to 50 : 326.6 m (Round-trip 435.5 ms) speed 0.4 m/s 2025-01-08T19:49:34.699Z,1736365774.699 [DAT](INFO): DAT read: user:867> 2025-01-08T19:49:34.700Z,1736365774.700 [DAT](INFO): DAT read: Tx time:19:49:33.8702 2025-01-08T19:49:34.701Z,1736365774.701 [DAT](INFO): Ping request sent. 2025-01-08T19:49:34.701Z,1736365774.701 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:34.701Z,1736365774.701 [DAT](INFO): DAT read: TxSync time:19:49:33.8694 2025-01-08T19:49:34.702Z,1736365774.702 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:34.703Z,1736365774.703 [DAT](INFO): direction in FSK: [0.198542,-0.912203,0.358423] 2025-01-08T19:49:34.703Z,1736365774.703 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:34.704Z,1736365774.704 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:34.707Z,1736365774.707 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:34.707Z,1736365774.707 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:34.892Z,1736365774.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:34.901Z,1736365774.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:34.916Z,1736365774.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 326.600006 m, deltaT: 4.031895 s, deltaX: 12.000000 m, approachRate: 2.976268 m/s, rangeRepo size: 4 2025-01-08T19:49:34.918Z,1736365774.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 326.600006 m, bearing: 197.239110 deg, lat: 36.901554 deg, lon: -122.116542 deg, deltaT: 4.031895 s, deltaX: 12.000000 m, approachRate: 2.976268 m/s, posRepo size: 4 2025-01-08T19:49:34.920Z,1736365774.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.60 m. 2025-01-08T19:49:34.922Z,1736365774.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.600006 m, nav range: 319.432526 m, bearing: 192.017372 deg, approach rate: 0.000000 m/s, LOS rate: -0.133850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815168 deg. 2025-01-08T19:49:34.923Z,1736365774.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813883 target range: 326.600006 and range: 326.60 m. 2025-01-08T19:49:35.144Z,1736365775.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:35.320Z,1736365775.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:35.328Z,1736365775.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.60 m. 2025-01-08T19:49:35.332Z,1736365775.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.600006 m, nav range: 319.437195 m, bearing: 191.963678 deg, approach rate: 0.011313 m/s, LOS rate: -0.130091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814108 deg. 2025-01-08T19:49:35.333Z,1736365775.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813864 target range: 326.600006 and range: 326.60 m. 2025-01-08T19:49:35.396Z,1736365775.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:35.648Z,1736365775.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:35.705Z,1736365775.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:35.714Z,1736365775.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.60 m. 2025-01-08T19:49:35.718Z,1736365775.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.600006 m, nav range: 319.441040 m, bearing: 191.914201 deg, approach rate: 0.009951 m/s, LOS rate: -0.128043 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826760 deg. 2025-01-08T19:49:35.719Z,1736365775.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814085 target range: 326.600006 and range: 326.60 m. 2025-01-08T19:49:35.900Z,1736365775.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:36.136Z,1736365776.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:36.153Z,1736365776.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:36.153Z,1736365776.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:36.155Z,1736365776.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.60 m. 2025-01-08T19:49:36.158Z,1736365776.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.600006 m, nav range: 319.435120 m, bearing: 191.860011 deg, approach rate: -0.013434 m/s, LOS rate: -0.122968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812613 deg. 2025-01-08T19:49:36.159Z,1736365776.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813838 target range: 326.600006 and range: 326.60 m. 2025-01-08T19:49:36.404Z,1736365776.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:36.405Z,1736365776.405 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:36.405Z,1736365776.405 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:36.406Z,1736365776.406 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:36.500Z,1736365776.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:36.508Z,1736365776.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.60 m. 2025-01-08T19:49:36.511Z,1736365776.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.600006 m, nav range: 319.430908 m, bearing: 191.814059 deg, approach rate: -0.011928 m/s, LOS rate: -0.130148 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837328 deg. 2025-01-08T19:49:36.513Z,1736365776.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814270 target range: 326.600006 and range: 326.60 m. 2025-01-08T19:49:36.656Z,1736365776.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:36.657Z,1736365776.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956723 2025-01-08T19:49:36.906Z,1736365776.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:36.908Z,1736365776.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:36.908Z,1736365776.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207781 2025-01-08T19:49:36.934Z,1736365776.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.60 m. 2025-01-08T19:49:36.942Z,1736365776.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.600006 m, nav range: 319.426819 m, bearing: 191.762886 deg, approach rate: -0.009594 m/s, LOS rate: -0.120064 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821666 deg. 2025-01-08T19:49:36.943Z,1736365776.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813996 target range: 326.600006 and range: 326.60 m. 2025-01-08T19:49:37.161Z,1736365777.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:37.163Z,1736365777.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461561 2025-01-08T19:49:37.344Z,1736365777.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:37.354Z,1736365777.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.60 m. 2025-01-08T19:49:37.357Z,1736365777.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.600006 m, nav range: 319.413361 m, bearing: 191.709422 deg, approach rate: -0.032080 m/s, LOS rate: -0.127443 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814790 deg. 2025-01-08T19:49:37.358Z,1736365777.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813876 target range: 326.600006 and range: 326.60 m. 2025-01-08T19:49:37.413Z,1736365777.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:37.414Z,1736365777.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713048 2025-01-08T19:49:37.664Z,1736365777.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:37.665Z,1736365777.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964074 2025-01-08T19:49:37.713Z,1736365777.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:37.722Z,1736365777.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.60 m. 2025-01-08T19:49:37.725Z,1736365777.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.600006 m, nav range: 319.402740 m, bearing: 191.664379 deg, approach rate: -0.028878 m/s, LOS rate: -0.122483 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840053 deg. 2025-01-08T19:49:37.726Z,1736365777.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814317 target range: 326.600006 and range: 326.60 m. 2025-01-08T19:49:37.916Z,1736365777.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:37.917Z,1736365777.917 [DAT](INFO): DAT read: Rx Time:19:49:36.7073 2025-01-08T19:49:37.917Z,1736365777.917 [DAT](INFO): Rx dataTimestamp_ set to:1736365777.916787 2025-01-08T19:49:37.918Z,1736365777.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216897 2025-01-08T19:49:38.145Z,1736365778.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:38.153Z,1736365778.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.60 m. 2025-01-08T19:49:38.158Z,1736365778.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.600006 m, nav range: 319.387787 m, bearing: 191.614483 deg, approach rate: -0.034674 m/s, LOS rate: -0.115704 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825492 deg. 2025-01-08T19:49:38.160Z,1736365778.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814063 target range: 326.600006 and range: 326.60 m. 2025-01-08T19:49:38.168Z,1736365778.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:38.169Z,1736365778.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467897 2025-01-08T19:49:38.420Z,1736365778.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:38.448Z,1736365778.448 [DAT](INFO): DAT read: 19:49:36.7073 LVL= 26768, 32753, 16322, 32755, AGC= 67, IDX= 413,-0.43, 3.039, 2.059,-2.864, 2.516, PHS= 0.610,-0.410, 0.899, RAW= 162.1, -18.1, CAL= 166.9, -24.1, ROT= 343.1, 24.1 2025-01-08T19:49:38.449Z,1736365778.449 [DAT](INFO): got valid direction response: 19:49:36.7073 LVL= 26768, 32753, 16322, 32755, AGC= 67, IDX= 413,-0.43, 3.039, 2.059,-2.864, 2.516, PHS= 0.610,-0.410, 0.899, RAW= 162.1, -18.1, CAL= 166.9, -24.1, ROT= 343.1, 24.1 2025-01-08T19:49:38.450Z,1736365778.450 [DAT](INFO): DAT read: Bearing 343.1, 24.1 (Local) 2025-01-08T19:49:38.450Z,1736365778.450 [DAT](INFO): Local bearing/azimuth received: Bearing 343.1, 24.1 (Local) 2025-01-08T19:49:38.466Z,1736365778.466 [DAT](INFO): DAT read: Range 10 to 50 : 324.6 m (Round-trip 432.9 ms) speed 0.2 m/s 2025-01-08T19:49:38.473Z,1736365778.473 [DAT](INFO): DAT read: user:868> 2025-01-08T19:49:38.475Z,1736365778.475 [DAT](INFO): DAT read: Tx time:19:49:37.8203 2025-01-08T19:49:38.484Z,1736365778.484 [DAT](INFO): Ping request sent. 2025-01-08T19:49:38.484Z,1736365778.484 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:38.485Z,1736365778.485 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:38.485Z,1736365778.485 [DAT](INFO): direction in FSK: [0.239048,-0.902880,0.357302] 2025-01-08T19:49:38.486Z,1736365778.486 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:38.486Z,1736365778.486 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:38.501Z,1736365778.501 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:38.502Z,1736365778.502 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:38.592Z,1736365778.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:38.625Z,1736365778.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 324.600006 m, deltaT: 3.779874 s, deltaX: -2.000000 m, approachRate: -0.529118 m/s, rangeRepo size: 4 2025-01-08T19:49:38.632Z,1736365778.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 324.600006 m, bearing: 199.466136 deg, lat: 36.901595 deg, lon: -122.116585 deg, deltaT: 3.779874 s, deltaX: -2.000000 m, approachRate: -0.529118 m/s, posRepo size: 4 2025-01-08T19:49:38.633Z,1736365778.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:38.640Z,1736365778.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.666168 m, bearing: 192.419686 deg, approach rate: 0.000000 m/s, LOS rate: -0.115704 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811490 deg. 2025-01-08T19:49:38.641Z,1736365778.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813818 target range: 324.600006 and range: 324.60 m. 2025-01-08T19:49:38.673Z,1736365778.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:38.674Z,1736365778.674 [DAT](INFO): DAT read: TxSync time:19:49:37.8195 2025-01-08T19:49:38.924Z,1736365778.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:38.936Z,1736365778.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:38.943Z,1736365778.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:38.946Z,1736365778.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:38.973Z,1736365778.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.651764 m, bearing: 192.379412 deg, approach rate: -0.044900 m/s, LOS rate: -0.125545 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854358 deg. 2025-01-08T19:49:38.980Z,1736365778.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814567 target range: 324.600006 and range: 324.60 m. 2025-01-08T19:49:39.177Z,1736365779.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:39.178Z,1736365779.178 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:39.178Z,1736365779.178 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:39.178Z,1736365779.178 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:39.397Z,1736365779.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:39.411Z,1736365779.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:39.414Z,1736365779.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.630524 m, bearing: 192.327980 deg, approach rate: -0.045654 m/s, LOS rate: -0.110557 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820879 deg. 2025-01-08T19:49:39.416Z,1736365779.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813982 target range: 324.600006 and range: 324.60 m. 2025-01-08T19:49:39.428Z,1736365779.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:39.429Z,1736365779.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.944551 2025-01-08T19:49:39.680Z,1736365779.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:39.681Z,1736365779.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.196989 2025-01-08T19:49:39.750Z,1736365779.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:39.758Z,1736365779.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:39.761Z,1736365779.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.613800 m, bearing: 192.288637 deg, approach rate: -0.048098 m/s, LOS rate: -0.113158 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857153 deg. 2025-01-08T19:49:39.776Z,1736365779.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814616 target range: 324.600006 and range: 324.60 m. 2025-01-08T19:49:39.932Z,1736365779.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:39.932Z,1736365779.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.448528 2025-01-08T19:49:40.177Z,1736365780.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:40.184Z,1736365780.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:40.184Z,1736365780.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700582 2025-01-08T19:49:40.187Z,1736365780.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:40.216Z,1736365780.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.598480 m, bearing: 192.242130 deg, approach rate: -0.035735 m/s, LOS rate: -0.108487 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835659 deg. 2025-01-08T19:49:40.217Z,1736365780.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814240 target range: 324.600006 and range: 324.60 m. 2025-01-08T19:49:40.436Z,1736365780.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:40.436Z,1736365780.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952559 2025-01-08T19:49:40.553Z,1736365780.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:40.562Z,1736365780.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:40.566Z,1736365780.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.585846 m, bearing: 192.201169 deg, approach rate: -0.033717 m/s, LOS rate: -0.109316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852299 deg. 2025-01-08T19:49:40.585Z,1736365780.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814531 target range: 324.600006 and range: 324.60 m. 2025-01-08T19:49:40.688Z,1736365780.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:40.689Z,1736365780.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205397 2025-01-08T19:49:40.940Z,1736365780.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:40.940Z,1736365780.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456521 2025-01-08T19:49:40.960Z,1736365780.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:40.968Z,1736365780.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:40.970Z,1736365780.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:40.973Z,1736365780.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.573120 m, bearing: 192.156862 deg, approach rate: -0.031194 m/s, LOS rate: -0.108611 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842262 deg. 2025-01-08T19:49:40.974Z,1736365780.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814356 target range: 324.600006 and range: 324.60 m. 2025-01-08T19:49:41.192Z,1736365781.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:41.192Z,1736365781.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708531 2025-01-08T19:49:41.382Z,1736365781.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:41.406Z,1736365781.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:41.414Z,1736365781.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.564117 m, bearing: 192.111713 deg, approach rate: -0.020632 m/s, LOS rate: -0.103476 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839734 deg. 2025-01-08T19:49:41.415Z,1736365781.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814312 target range: 324.600006 and range: 324.60 m. 2025-01-08T19:49:41.444Z,1736365781.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:41.445Z,1736365781.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960676 2025-01-08T19:49:41.696Z,1736365781.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:41.697Z,1736365781.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213397 2025-01-08T19:49:41.764Z,1736365781.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:41.801Z,1736365781.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:41.804Z,1736365781.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.556549 m, bearing: 192.070785 deg, approach rate: -0.019185 m/s, LOS rate: -0.103747 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852402 deg. 2025-01-08T19:49:41.805Z,1736365781.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814533 target range: 324.600006 and range: 324.60 m. 2025-01-08T19:49:41.948Z,1736365781.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:41.949Z,1736365781.949 [DAT](INFO): DAT read: Rx Time:19:49:40.6350 2025-01-08T19:49:41.949Z,1736365781.949 [DAT](INFO): Rx dataTimestamp_ set to:1736365781.948855 2025-01-08T19:49:41.950Z,1736365781.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465765 2025-01-08T19:49:42.201Z,1736365782.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:42.202Z,1736365782.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.718111 2025-01-08T19:49:42.236Z,1736365782.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:42.245Z,1736365782.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:42.272Z,1736365782.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.559784 m, bearing: 192.018950 deg, approach rate: 0.007283 m/s, LOS rate: -0.116705 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819682 deg. 2025-01-08T19:49:42.273Z,1736365782.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813962 target range: 324.600006 and range: 324.60 m. 2025-01-08T19:49:42.452Z,1736365782.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:42.453Z,1736365782.453 [DAT](INFO): DAT read: Range 10 to 50 : 307.9 m (Round-trip 410.6 ms) speed 0.5 m/s 2025-01-08T19:49:42.454Z,1736365782.454 [DAT](INFO): DAT read: user:869> 2025-01-08T19:49:42.455Z,1736365782.455 [DAT](INFO): DAT read: Tx time:19:49:41.7203 2025-01-08T19:49:42.455Z,1736365782.455 [DAT](INFO): Ping request sent. 2025-01-08T19:49:42.455Z,1736365782.455 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:42.456Z,1736365782.456 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:49:42.456Z,1736365782.456 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:42.456Z,1736365782.456 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:42.633Z,1736365782.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:42.670Z,1736365782.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 307.899994 m, deltaT: 4.031368 s, deltaX: -16.700012 m, approachRate: -4.142518 m/s, rangeRepo size: 4 2025-01-08T19:49:42.680Z,1736365782.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:42.692Z,1736365782.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.563904 m, bearing: 191.975472 deg, approach rate: 0.009718 m/s, LOS rate: -0.102557 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844757 deg. 2025-01-08T19:49:42.693Z,1736365782.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814399 target range: 324.600006 and range: 307.90 m. 2025-01-08T19:49:42.704Z,1736365782.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:42.705Z,1736365782.705 [DAT](INFO): DAT read: TxSync time:19:49:41.7195 2025-01-08T19:49:42.958Z,1736365782.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:42.000Z,1736365783.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:43.006Z,1736365783.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:43.009Z,1736365783.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:43.032Z,1736365783.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.566864 m, bearing: 191.935355 deg, approach rate: 0.008707 m/s, LOS rate: -0.117998 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854836 deg. 2025-01-08T19:49:43.033Z,1736365783.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814575 target range: 324.600006 and range: 307.90 m. 2025-01-08T19:49:43.209Z,1736365783.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:43.209Z,1736365783.209 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:43.209Z,1736365783.209 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:43.209Z,1736365783.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:43.435Z,1736365783.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:43.448Z,1736365783.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:43.450Z,1736365783.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.577148 m, bearing: 191.888899 deg, approach rate: 0.023659 m/s, LOS rate: -0.106866 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835823 deg. 2025-01-08T19:49:43.456Z,1736365783.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814243 target range: 324.600006 and range: 307.90 m. 2025-01-08T19:49:43.460Z,1736365783.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:43.461Z,1736365783.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005132 2025-01-08T19:49:43.713Z,1736365783.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:43.714Z,1736365783.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258159 2025-01-08T19:49:43.815Z,1736365783.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:43.824Z,1736365783.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:43.826Z,1736365783.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.586914 m, bearing: 191.845105 deg, approach rate: 0.025707 m/s, LOS rate: -0.115280 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843811 deg. 2025-01-08T19:49:43.828Z,1736365783.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814383 target range: 324.600006 and range: 307.90 m. 2025-01-08T19:49:43.964Z,1736365783.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:43.965Z,1736365783.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509520 2025-01-08T19:49:44.216Z,1736365784.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:44.216Z,1736365784.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760990 2025-01-08T19:49:44.282Z,1736365784.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:44.294Z,1736365784.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:44.302Z,1736365784.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.609772 m, bearing: 191.791186 deg, approach rate: 0.048675 m/s, LOS rate: -0.114812 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813441 deg. 2025-01-08T19:49:44.324Z,1736365784.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813853 target range: 324.600006 and range: 307.90 m. 2025-01-08T19:49:44.468Z,1736365784.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:44.469Z,1736365784.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013411 2025-01-08T19:49:44.720Z,1736365784.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:44.720Z,1736365784.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265030 2025-01-08T19:49:44.760Z,1736365784.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:44.769Z,1736365784.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:44.772Z,1736365784.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.634491 m, bearing: 191.735951 deg, approach rate: 0.051854 m/s, LOS rate: -0.115858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809495 deg. 2025-01-08T19:49:44.774Z,1736365784.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813784 target range: 324.600006 and range: 307.90 m. 2025-01-08T19:49:44.972Z,1736365784.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:44.972Z,1736365784.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516958 2025-01-08T19:49:45.224Z,1736365785.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:45.224Z,1736365785.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769029 2025-01-08T19:49:45.237Z,1736365785.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:45.244Z,1736365785.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:45.246Z,1736365785.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:45.253Z,1736365785.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.661194 m, bearing: 191.677324 deg, approach rate: 0.056026 m/s, LOS rate: -0.122995 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799321 deg. 2025-01-08T19:49:45.255Z,1736365785.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813606 target range: 324.600006 and range: 307.90 m. 2025-01-08T19:49:45.477Z,1736365785.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:45.477Z,1736365785.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022019 2025-01-08T19:49:45.702Z,1736365785.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:45.710Z,1736365785.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:45.714Z,1736365785.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.687531 m, bearing: 191.620256 deg, approach rate: 0.056724 m/s, LOS rate: -0.122902 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803999 deg. 2025-01-08T19:49:45.716Z,1736365785.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813688 target range: 324.600006 and range: 307.90 m. 2025-01-08T19:49:45.728Z,1736365785.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:45.729Z,1736365785.729 [DAT](INFO): DAT read: Rx Time:19:49:44.5503 2025-01-08T19:49:45.730Z,1736365785.730 [DAT](INFO): Rx dataTimestamp_ set to:1736365785.729644 2025-01-08T19:49:45.730Z,1736365785.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275028 2025-01-08T19:49:45.980Z,1736365785.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:45.981Z,1736365785.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525294 2025-01-08T19:49:46.164Z,1736365786.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:46.234Z,1736365786.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:46.238Z,1736365786.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781651 2025-01-08T19:49:46.261Z,1736365786.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T19:49:46.269Z,1736365786.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 315.713135 m, bearing: 191.564567 deg, approach rate: 0.046538 m/s, LOS rate: -0.101212 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808133 deg. 2025-01-08T19:49:46.275Z,1736365786.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813760 target range: 324.600006 and range: 307.90 m. 2025-01-08T19:49:46.484Z,1736365786.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:46.491Z,1736365786.491 [DAT](INFO): DAT read: 19:49:44.5503 LVL= 25344, 24225, 16370, 28979, AGC= 66, IDX= 86,-0.45, 1.017,-0.248, 1.370, 0.438, PHS= 0.667,-0.639, 0.929, RAW= 159.0, -13.1, CAL= 164.9, -19.4, ROT= 345.1, 19.4 2025-01-08T19:49:46.493Z,1736365786.493 [DAT](INFO): got valid direction response: 19:49:44.5503 LVL= 25344, 24225, 16370, 28979, AGC= 66, IDX= 86,-0.45, 1.017,-0.248, 1.370, 0.438, PHS= 0.667,-0.639, 0.929, RAW= 159.0, -13.1, CAL= 164.9, -19.4, ROT= 345.1, 19.4 2025-01-08T19:49:46.494Z,1736365786.494 [DAT](INFO): DAT read: Bearing 345.1, 19.4 (Local) 2025-01-08T19:49:46.495Z,1736365786.495 [DAT](INFO): Local bearing/azimuth received: Bearing 345.1, 19.4 (Local) 2025-01-08T19:49:46.498Z,1736365786.498 [DAT](INFO): DAT read: Range 10 to 50 : 319.4 m (Round-trip 425.9 ms) speed 0.3 m/s 2025-01-08T19:49:46.499Z,1736365786.499 [DAT](INFO): DAT read: user:870> 2025-01-08T19:49:46.500Z,1736365786.500 [DAT](INFO): DAT read: Tx time:19:49:45.6703 2025-01-08T19:49:46.500Z,1736365786.500 [DAT](INFO): Ping request sent. 2025-01-08T19:49:46.500Z,1736365786.500 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:46.501Z,1736365786.501 [DAT](INFO): DAT read: TxSync time:19:49:45.6695 2025-01-08T19:49:46.502Z,1736365786.502 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:46.502Z,1736365786.502 [DAT](INFO): direction in FSK: [0.141375,-0.900361,0.411539] 2025-01-08T19:49:46.503Z,1736365786.503 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:46.503Z,1736365786.503 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:46.538Z,1736365786.538 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:46.538Z,1736365786.538 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:46.700Z,1736365786.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:46.726Z,1736365786.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 319.399994 m, deltaT: 4.031982 s, deltaX: 11.500000 m, approachRate: 2.852195 m/s, rangeRepo size: 4 2025-01-08T19:49:46.733Z,1736365786.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 319.399994 m, bearing: 194.604007 deg, lat: 36.901651 deg, lon: -122.116742 deg, deltaT: 8.063350 s, deltaX: -5.200012 m, approachRate: -0.644895 m/s, posRepo size: 4 2025-01-08T19:49:46.734Z,1736365786.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.40 m. 2025-01-08T19:49:46.736Z,1736365786.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:46.741Z,1736365786.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.399994 m, nav range: 312.778473 m, bearing: 194.227118 deg, approach rate: 0.000000 m/s, LOS rate: -0.101212 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834104 deg. 2025-01-08T19:49:46.742Z,1736365786.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814213 target range: 319.399994 and range: 319.40 m. 2025-01-08T19:49:46.988Z,1736365786.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:47.017Z,1736365787.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:47.041Z,1736365787.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.40 m. 2025-01-08T19:49:47.048Z,1736365787.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.399994 m, nav range: 312.783661 m, bearing: 194.186151 deg, approach rate: 0.016427 m/s, LOS rate: -0.129711 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852289 deg. 2025-01-08T19:49:47.049Z,1736365787.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814531 target range: 319.399994 and range: 319.40 m. 2025-01-08T19:49:47.241Z,1736365787.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:47.434Z,1736365787.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:47.441Z,1736365787.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:47.443Z,1736365787.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.40 m. 2025-01-08T19:49:47.448Z,1736365787.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.399994 m, nav range: 312.790497 m, bearing: 194.130499 deg, approach rate: 0.017015 m/s, LOS rate: -0.138514 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808235 deg. 2025-01-08T19:49:47.449Z,1736365787.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813762 target range: 319.399994 and range: 319.40 m. 2025-01-08T19:49:47.492Z,1736365787.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:47.492Z,1736365787.492 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:47.492Z,1736365787.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:47.493Z,1736365787.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:47.744Z,1736365787.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:47.744Z,1736365787.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243889 2025-01-08T19:49:47.821Z,1736365787.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:47.830Z,1736365787.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.40 m. 2025-01-08T19:49:47.853Z,1736365787.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.399994 m, nav range: 312.796722 m, bearing: 194.078996 deg, approach rate: 0.016127 m/s, LOS rate: -0.133414 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820681 deg. 2025-01-08T19:49:47.854Z,1736365787.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813979 target range: 319.399994 and range: 319.40 m. 2025-01-08T19:49:47.997Z,1736365787.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:47.999Z,1736365787.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498316 2025-01-08T19:49:48.248Z,1736365788.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:48.250Z,1736365788.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749379 2025-01-08T19:49:48.323Z,1736365788.323 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +115, +720, :B, +720, +10,A 2025-01-08T19:49:48.334Z,1736365788.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:49:48.334Z,1736365788.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:48.343Z,1736365788.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.40 m. 2025-01-08T19:49:48.346Z,1736365788.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.399994 m, nav range: 312.805573 m, bearing: 194.010558 deg, approach rate: 0.017221 m/s, LOS rate: -0.133164 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.769879 deg. 2025-01-08T19:49:48.347Z,1736365788.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813092 target range: 319.399994 and range: 319.40 m. 2025-01-08T19:49:48.500Z,1736365788.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:48.501Z,1736365788.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000321 2025-01-08T19:49:48.640Z,1736365788.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:49:48.640Z,1736365788.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:48.652Z,1736365788.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.40 m. 2025-01-08T19:49:48.657Z,1736365788.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.399994 m, nav range: 312.811188 m, bearing: 193.969800 deg, approach rate: 0.018211 m/s, LOS rate: -0.132181 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852918 deg. 2025-01-08T19:49:48.659Z,1736365788.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814542 target range: 319.399994 and range: 319.40 m. 2025-01-08T19:49:48.752Z,1736365788.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:48.753Z,1736365788.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252113 2025-01-08T19:49:49.008Z,1736365789.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:49.009Z,1736365789.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508127 2025-01-08T19:49:49.030Z,1736365789.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:49:49.031Z,1736365789.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:49.040Z,1736365789.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.40 m. 2025-01-08T19:49:49.043Z,1736365789.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.399994 m, nav range: 312.818787 m, bearing: 193.917764 deg, approach rate: 0.019539 m/s, LOS rate: -0.133796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819083 deg. 2025-01-08T19:49:49.044Z,1736365789.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813951 target range: 319.399994 and range: 319.40 m. 2025-01-08T19:49:49.260Z,1736365789.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:49.261Z,1736365789.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760144 2025-01-08T19:49:49.455Z,1736365789.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:49.478Z,1736365789.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:49.484Z,1736365789.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.40 m. 2025-01-08T19:49:49.491Z,1736365789.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.399994 m, nav range: 312.822571 m, bearing: 193.862600 deg, approach rate: 0.008517 m/s, LOS rate: -0.124154 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809698 deg. 2025-01-08T19:49:49.500Z,1736365789.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813787 target range: 319.399994 and range: 319.40 m. 2025-01-08T19:49:49.512Z,1736365789.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:49.514Z,1736365789.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013472 2025-01-08T19:49:49.765Z,1736365789.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:49.765Z,1736365789.765 [DAT](INFO): DAT read: Rx Time:19:49:48.4990 2025-01-08T19:49:49.766Z,1736365789.766 [DAT](INFO): Rx dataTimestamp_ set to:1736365789.765580 2025-01-08T19:49:49.766Z,1736365789.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265922 2025-01-08T19:49:49.849Z,1736365789.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:49.857Z,1736365789.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.40 m. 2025-01-08T19:49:49.860Z,1736365789.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.399994 m, nav range: 312.826294 m, bearing: 193.811465 deg, approach rate: 0.009987 m/s, LOS rate: -0.137163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821783 deg. 2025-01-08T19:49:49.861Z,1736365789.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813998 target range: 319.399994 and range: 319.40 m. 2025-01-08T19:49:50.016Z,1736365790.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:50.016Z,1736365790.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515857 2025-01-08T19:49:50.270Z,1736365790.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:50.286Z,1736365790.286 [DAT](INFO): DAT read: 19:49:48.4990 LVL= 27888, 32753, 18290, 32755, AGC= 67, IDX= 422, 0.30, 1.015, 0.035, 1.443, 0.583, PHS= 0.520,-0.500, 0.858, RAW= 163.8, -14.2, CAL= 169.1, -19.8, ROT= 340.9, 19.8 2025-01-08T19:49:50.292Z,1736365790.292 [DAT](INFO): got valid direction response: 19:49:48.4990 LVL= 27888, 32753, 18290, 32755, AGC= 67, IDX= 422, 0.30, 1.015, 0.035, 1.443, 0.583, PHS= 0.520,-0.500, 0.858, RAW= 163.8, -14.2, CAL= 169.1, -19.8, ROT= 340.9, 19.8 2025-01-08T19:49:50.293Z,1736365790.293 [DAT](INFO): DAT read: Bearing 340.9, 19.8 (Local) 2025-01-08T19:49:50.294Z,1736365790.294 [DAT](INFO): Local bearing/azimuth received: Bearing 340.9, 19.8 (Local) 2025-01-08T19:49:50.295Z,1736365790.295 [DAT](INFO): DAT read: Range 10 to 50 : 318.3 m (Round-trip 424.5 ms) speed 0.6 m/s 2025-01-08T19:49:50.296Z,1736365790.296 [DAT](INFO): DAT read: user:871> 2025-01-08T19:49:50.298Z,1736365790.298 [DAT](INFO): DAT read: Tx time:19:49:49.6204 2025-01-08T19:49:50.299Z,1736365790.299 [DAT](INFO): Ping request sent. 2025-01-08T19:49:50.299Z,1736365790.299 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:50.308Z,1736365790.308 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:50.309Z,1736365790.309 [DAT](INFO): direction in FSK: [0.167069,-0.928398,0.331910] 2025-01-08T19:49:50.309Z,1736365790.309 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:50.309Z,1736365790.309 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:50.316Z,1736365790.316 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:50.317Z,1736365790.317 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:50.404Z,1736365790.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:49:50.441Z,1736365790.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:50.481Z,1736365790.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 318.299988 m, deltaT: 3.786578 s, deltaX: -1.100006 m, approachRate: -0.290501 m/s, rangeRepo size: 4 2025-01-08T19:49:50.483Z,1736365790.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 318.299988 m, bearing: 195.856517 deg, lat: 36.901695 deg, lon: -122.116846 deg, deltaT: 3.786578 s, deltaX: -1.100006 m, approachRate: -0.290501 m/s, posRepo size: 4 2025-01-08T19:49:50.488Z,1736365790.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m. 2025-01-08T19:49:50.490Z,1736365790.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 318.299988 m, nav range: 310.467133 m, bearing: 195.611226 deg, approach rate: 0.000000 m/s, LOS rate: -0.137163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.718915 deg. 2025-01-08T19:49:50.496Z,1736365790.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812203 target range: 318.299988 and range: 318.30 m. 2025-01-08T19:49:50.522Z,1736365790.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:50.527Z,1736365790.527 [DAT](INFO): DAT read: TxSync time:19:49:49.6196 2025-01-08T19:49:50.772Z,1736365790.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:50.775Z,1736365790.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:50.800Z,1736365790.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m. 2025-01-08T19:49:50.802Z,1736365790.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 318.299988 m, nav range: 310.462036 m, bearing: 195.569717 deg, approach rate: -0.016158 m/s, LOS rate: -0.131607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850658 deg. 2025-01-08T19:49:50.808Z,1736365790.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814502 target range: 318.299988 and range: 318.30 m. 2025-01-08T19:49:51.024Z,1736365791.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:51.143Z,1736365791.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:51.172Z,1736365791.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m. 2025-01-08T19:49:51.175Z,1736365791.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 318.299988 m, nav range: 310.455475 m, bearing: 195.523908 deg, approach rate: -0.017423 m/s, LOS rate: -0.121642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837757 deg. 2025-01-08T19:49:51.177Z,1736365791.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814277 target range: 318.299988 and range: 318.30 m. 2025-01-08T19:49:51.276Z,1736365791.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:51.408Z,1736365791.408 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:49:51.528Z,1736365791.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:51.585Z,1736365791.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:51.591Z,1736365791.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:51.593Z,1736365791.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m. 2025-01-08T19:49:51.616Z,1736365791.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 318.299988 m, nav range: 310.441742 m, bearing: 195.471531 deg, approach rate: -0.032603 m/s, LOS rate: -0.124353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818047 deg. 2025-01-08T19:49:51.617Z,1736365791.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813933 target range: 318.299988 and range: 318.30 m. 2025-01-08T19:49:51.781Z,1736365791.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:51.781Z,1736365791.781 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:51.781Z,1736365791.781 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:51.781Z,1736365791.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:51.957Z,1736365791.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:51.967Z,1736365791.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m. 2025-01-08T19:49:51.970Z,1736365791.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 318.299988 m, nav range: 310.430511 m, bearing: 195.427350 deg, approach rate: -0.030066 m/s, LOS rate: -0.118284 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842640 deg. 2025-01-08T19:49:51.971Z,1736365791.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814362 target range: 318.299988 and range: 318.30 m. 2025-01-08T19:49:52.034Z,1736365792.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:52.039Z,1736365792.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740381 2025-01-08T19:49:52.286Z,1736365792.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:52.288Z,1736365792.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988696 2025-01-08T19:49:52.396Z,1736365792.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:52.405Z,1736365792.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m. 2025-01-08T19:49:52.408Z,1736365792.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 318.299988 m, nav range: 310.421265 m, bearing: 195.379486 deg, approach rate: -0.021076 m/s, LOS rate: -0.109097 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831591 deg. 2025-01-08T19:49:52.410Z,1736365792.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814169 target range: 318.299988 and range: 318.30 m. 2025-01-08T19:49:52.536Z,1736365792.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:52.537Z,1736365792.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238253 2025-01-08T19:49:52.759Z,1736365792.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:52.788Z,1736365792.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:52.788Z,1736365792.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489800 2025-01-08T19:49:52.787Z,1736365792.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m. 2025-01-08T19:49:52.792Z,1736365792.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 318.299988 m, nav range: 310.414215 m, bearing: 195.339850 deg, approach rate: -0.018480 m/s, LOS rate: -0.103906 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856276 deg. 2025-01-08T19:49:52.794Z,1736365792.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814600 target range: 318.299988 and range: 318.30 m. 2025-01-08T19:49:53.040Z,1736365793.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:53.041Z,1736365793.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742173 2025-01-08T19:49:53.171Z,1736365793.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:53.181Z,1736365793.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m. 2025-01-08T19:49:53.184Z,1736365793.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 318.299988 m, nav range: 310.406982 m, bearing: 195.294860 deg, approach rate: -0.018361 m/s, LOS rate: -0.114214 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840215 deg. 2025-01-08T19:49:53.185Z,1736365793.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814320 target range: 318.299988 and range: 318.30 m. 2025-01-08T19:49:53.293Z,1736365793.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:53.296Z,1736365793.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996335 2025-01-08T19:49:53.544Z,1736365793.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:53.544Z,1736365793.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245732 2025-01-08T19:49:53.602Z,1736365793.602 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010811505861,35.0, +10.9, 0.0,149 2025-01-08T19:49:53.609Z,1736365793.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:49:53.609Z,1736365793.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:53.666Z,1736365793.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:53.673Z,1736365793.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m. 2025-01-08T19:49:53.689Z,1736365793.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 318.299988 m, nav range: 310.399872 m, bearing: 195.247101 deg, approach rate: -0.014448 m/s, LOS rate: -0.097043 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831906 deg. 2025-01-08T19:49:53.690Z,1736365793.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814175 target range: 318.299988 and range: 318.30 m. 2025-01-08T19:49:53.797Z,1736365793.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:53.798Z,1736365793.798 [DAT](INFO): DAT read: Rx Time:19:49:52.4452 2025-01-08T19:49:53.798Z,1736365793.798 [DAT](INFO): Rx dataTimestamp_ set to:1736365793.797917 2025-01-08T19:49:53.799Z,1736365793.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500048 2025-01-08T19:49:54.015Z,1736365794.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:49:54.015Z,1736365794.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:54.023Z,1736365794.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m. 2025-01-08T19:49:54.026Z,1736365794.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 318.299988 m, nav range: 310.393890 m, bearing: 195.202868 deg, approach rate: -0.017079 m/s, LOS rate: -0.126304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842485 deg. 2025-01-08T19:49:54.028Z,1736365794.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814360 target range: 318.299988 and range: 318.30 m. 2025-01-08T19:49:54.048Z,1736365794.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:54.048Z,1736365794.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749700 2025-01-08T19:49:54.301Z,1736365794.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:54.337Z,1736365794.337 [DAT](INFO): DAT read: 19:49:52.4452 LVL= 24608, 32753, 17298, 25523, AGC= 67, IDX= 399, 0.03,-2.427, 2.628,-2.173,-2.995, PHS= 0.656,-0.613, 0.819, RAW= 156.0, -12.7, CAL= 162.3, -19.4, ROT= 347.7, 19.4 2025-01-08T19:49:54.338Z,1736365794.338 [DAT](INFO): got valid direction response: 19:49:52.4452 LVL= 24608, 32753, 17298, 25523, AGC= 67, IDX= 399, 0.03,-2.427, 2.628,-2.173,-2.995, PHS= 0.656,-0.613, 0.819, RAW= 156.0, -12.7, CAL= 162.3, -19.4, ROT= 347.7, 19.4 2025-01-08T19:49:54.339Z,1736365794.339 [DAT](INFO): DAT read: Bearing 347.7, 19.4 (Local) 2025-01-08T19:49:54.343Z,1736365794.343 [DAT](INFO): Local bearing/azimuth received: Bearing 347.7, 19.4 (Local) 2025-01-08T19:49:54.345Z,1736365794.345 [DAT](INFO): DAT read: Range 10 to 50 : 315.5 m (Round-trip 420.7 ms) speed 0.8 m/s 2025-01-08T19:49:54.346Z,1736365794.346 [DAT](INFO): DAT read: user:872> 2025-01-08T19:49:54.352Z,1736365794.352 [DAT](INFO): DAT read: Tx time:19:49:53.5704 2025-01-08T19:49:54.352Z,1736365794.352 [DAT](INFO): Ping request sent. 2025-01-08T19:49:54.352Z,1736365794.352 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:54.353Z,1736365794.353 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:54.360Z,1736365794.360 [DAT](INFO): direction in FSK: [0.130705,-0.878374,0.459757] 2025-01-08T19:49:54.361Z,1736365794.361 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:54.362Z,1736365794.362 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:54.371Z,1736365794.371 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:54.371Z,1736365794.371 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:54.526Z,1736365794.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:54.552Z,1736365794.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:54.553Z,1736365794.553 [DAT](INFO): DAT read: TxSync time:19:49:53.5696 2025-01-08T19:49:54.560Z,1736365794.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 315.500000 m, deltaT: 4.031363 s, deltaX: -2.799988 m, approachRate: -0.694551 m/s, rangeRepo size: 4 2025-01-08T19:49:54.575Z,1736365794.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 315.500000 m, bearing: 194.624744 deg, lat: 36.901700 deg, lon: -122.116846 deg, deltaT: 4.031363 s, deltaX: -2.799988 m, approachRate: -0.694551 m/s, posRepo size: 4 2025-01-08T19:49:54.576Z,1736365794.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T19:49:54.580Z,1736365794.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 309.846619 m, bearing: 195.180341 deg, approach rate: 0.000000 m/s, LOS rate: -0.126304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.773598 deg. 2025-01-08T19:49:54.581Z,1736365794.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813157 target range: 315.500000 and range: 315.50 m. 2025-01-08T19:49:54.807Z,1736365794.807 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:54.866Z,1736365794.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:54.875Z,1736365794.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T19:49:54.878Z,1736365794.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 309.844299 m, bearing: 195.147207 deg, approach rate: -0.007254 m/s, LOS rate: -0.103628 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875785 deg. 2025-01-08T19:49:54.880Z,1736365794.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814941 target range: 315.500000 and range: 315.50 m. 2025-01-08T19:49:55.060Z,1736365795.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:55.313Z,1736365795.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:55.339Z,1736365795.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:55.359Z,1736365795.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T19:49:55.371Z,1736365795.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 309.841248 m, bearing: 195.101141 deg, approach rate: -0.006356 m/s, LOS rate: -0.095947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836987 deg. 2025-01-08T19:49:55.377Z,1736365795.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814264 target range: 315.500000 and range: 315.50 m. 2025-01-08T19:49:55.564Z,1736365795.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:55.694Z,1736365795.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:55.702Z,1736365795.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:55.723Z,1736365795.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T19:49:55.731Z,1736365795.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 309.838593 m, bearing: 195.066533 deg, approach rate: -0.007220 m/s, LOS rate: -0.094115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871363 deg. 2025-01-08T19:49:55.733Z,1736365795.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814864 target range: 315.500000 and range: 315.50 m. 2025-01-08T19:49:55.817Z,1736365795.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:55.818Z,1736365795.818 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:49:55.818Z,1736365795.818 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:49:55.818Z,1736365795.818 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:49:56.068Z,1736365796.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:56.069Z,1736365796.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716260 2025-01-08T19:49:56.088Z,1736365796.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:56.096Z,1736365796.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T19:49:56.099Z,1736365796.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 309.835815 m, bearing: 195.028212 deg, approach rate: -0.007453 m/s, LOS rate: -0.102842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860224 deg. 2025-01-08T19:49:56.100Z,1736365796.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814669 target range: 315.500000 and range: 315.50 m. 2025-01-08T19:49:56.322Z,1736365796.322 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:56.325Z,1736365796.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972119 2025-01-08T19:49:56.493Z,1736365796.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:56.526Z,1736365796.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T19:49:56.537Z,1736365796.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 309.836884 m, bearing: 194.987252 deg, approach rate: 0.002498 m/s, LOS rate: -0.095801 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852307 deg. 2025-01-08T19:49:56.538Z,1736365796.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814531 target range: 315.500000 and range: 315.50 m. 2025-01-08T19:49:56.572Z,1736365796.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:56.573Z,1736365796.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220371 2025-01-08T19:49:56.824Z,1736365796.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:56.824Z,1736365796.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472104 2025-01-08T19:49:56.884Z,1736365796.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:56.892Z,1736365796.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T19:49:56.896Z,1736365796.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 309.838531 m, bearing: 194.947570 deg, approach rate: 0.004461 m/s, LOS rate: -0.107419 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856140 deg. 2025-01-08T19:49:56.897Z,1736365796.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814598 target range: 315.500000 and range: 315.50 m. 2025-01-08T19:49:57.076Z,1736365797.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:57.076Z,1736365797.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724104 2025-01-08T19:49:57.291Z,1736365797.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:57.330Z,1736365797.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:57.332Z,1736365797.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979220 2025-01-08T19:49:57.364Z,1736365797.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T19:49:57.367Z,1736365797.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 309.840393 m, bearing: 194.906292 deg, approach rate: 0.003968 m/s, LOS rate: -0.087994 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851354 deg. 2025-01-08T19:49:57.369Z,1736365797.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814514 target range: 315.500000 and range: 315.50 m. 2025-01-08T19:49:57.580Z,1736365797.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:57.581Z,1736365797.581 [DAT](INFO): DAT read: Rx Time:19:49:56.3719 2025-01-08T19:49:57.582Z,1736365797.582 [DAT](INFO): Rx dataTimestamp_ set to:1736365797.581882 2025-01-08T19:49:57.583Z,1736365797.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230848 2025-01-08T19:49:57.715Z,1736365797.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:57.721Z,1736365797.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:57.724Z,1736365797.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T19:49:57.726Z,1736365797.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 309.833527 m, bearing: 194.859992 deg, approach rate: -0.018977 m/s, LOS rate: -0.127966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836285 deg. 2025-01-08T19:49:57.728Z,1736365797.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814251 target range: 315.500000 and range: 315.50 m. 2025-01-08T19:49:57.833Z,1736365797.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:57.834Z,1736365797.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481538 2025-01-08T19:49:58.084Z,1736365798.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:58.090Z,1736365798.090 [DAT](INFO): DAT read: 19:49:56.3719 LVL= 27632, 32753, 20450, 32755, AGC= 67, IDX= 210, 0.34,-0.470,-1.562, 0.061,-0.511, PHS= 0.129,-1.004, 0.569, RAW= 165.7, 4.4, CAL= 166.1, -4.7, ROT= 343.9, 4.7 2025-01-08T19:49:58.093Z,1736365798.093 [DAT](INFO): got valid direction response: 19:49:56.3719 LVL= 27632, 32753, 20450, 32755, AGC= 67, IDX= 210, 0.34,-0.470,-1.562, 0.061,-0.511, PHS= 0.129,-1.004, 0.569, RAW= 165.7, 4.4, CAL= 166.1, -4.7, ROT= 343.9, 4.7 2025-01-08T19:49:58.094Z,1736365798.094 [DAT](INFO): DAT read: Bearing 343.9, 4.7 (Local) 2025-01-08T19:49:58.094Z,1736365798.094 [DAT](INFO): Local bearing/azimuth received: Bearing 343.9, 4.7 (Local) 2025-01-08T19:49:58.097Z,1736365798.097 [DAT](INFO): DAT read: Range 10 to 50 : 298.0 m (Round-trip 397.4 ms) speed 0.4 m/s 2025-01-08T19:49:58.097Z,1736365798.097 [DAT](INFO): DAT read: user:873> 2025-01-08T19:49:58.098Z,1736365798.098 [DAT](INFO): DAT read: Tx time:19:49:57.4704 2025-01-08T19:49:58.098Z,1736365798.098 [DAT](INFO): Ping request sent. 2025-01-08T19:49:58.099Z,1736365798.099 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:49:58.099Z,1736365798.099 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:49:58.100Z,1736365798.100 [DAT](INFO): direction in FSK: [-0.191321,-0.939871,0.282913] 2025-01-08T19:49:58.100Z,1736365798.100 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:58.100Z,1736365798.100 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:58.108Z,1736365798.108 [DAT](INFO): publishing transmit ping time 2025-01-08T19:49:58.108Z,1736365798.108 [DAT](INFO): publishing direction and range info 2025-01-08T19:49:58.127Z,1736365798.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:58.206Z,1736365798.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 298.000000 m, deltaT: 3.782159 s, deltaX: -17.500000 m, approachRate: -4.626987 m/s, rangeRepo size: 4 2025-01-08T19:49:58.213Z,1736365798.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 298.000000 m, bearing: 176.161768 deg, lat: 36.901725 deg, lon: -122.116775 deg, deltaT: 3.782159 s, deltaX: -17.500000 m, approachRate: -4.626987 m/s, posRepo size: 4 2025-01-08T19:49:58.214Z,1736365798.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T19:49:58.289Z,1736365798.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 305.597717 m, bearing: 193.791921 deg, approach rate: 0.000000 m/s, LOS rate: -0.127966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.790114 deg. 2025-01-08T19:49:58.290Z,1736365798.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813446 target range: 298.000000 and range: 298.00 m. 2025-01-08T19:49:58.337Z,1736365798.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:58.340Z,1736365798.340 [DAT](INFO): DAT read: TxSync time:19:49:57.4697 2025-01-08T19:49:58.588Z,1736365798.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:58.769Z,1736365798.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:58.778Z,1736365798.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T19:49:58.781Z,1736365798.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 305.592987 m, bearing: 193.711868 deg, approach rate: -0.008267 m/s, LOS rate: -0.139920 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.735024 deg. 2025-01-08T19:49:58.783Z,1736365798.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812484 target range: 298.000000 and range: 298.00 m. 2025-01-08T19:49:58.841Z,1736365798.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:59.080Z,1736365799.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:59.092Z,1736365799.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:59.115Z,1736365799.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T19:49:59.118Z,1736365799.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 305.589539 m, bearing: 193.673140 deg, approach rate: -0.010231 m/s, LOS rate: -0.114901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859002 deg. 2025-01-08T19:49:59.119Z,1736365799.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814648 target range: 298.000000 and range: 298.00 m. 2025-01-08T19:49:59.346Z,1736365799.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:59.502Z,1736365799.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:59.531Z,1736365799.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T19:49:59.549Z,1736365799.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 305.578461 m, bearing: 193.615438 deg, approach rate: -0.027653 m/s, LOS rate: -0.144045 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802075 deg. 2025-01-08T19:49:59.556Z,1736365799.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813654 target range: 298.000000 and range: 298.00 m. 2025-01-08T19:49:59.596Z,1736365799.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:59.848Z,1736365799.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:49:59.885Z,1736365799.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:49:59.900Z,1736365799.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:49:59.902Z,1736365799.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T19:49:59.909Z,1736365799.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 305.568176 m, bearing: 193.563050 deg, approach rate: -0.026581 m/s, LOS rate: -0.135407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818018 deg. 2025-01-08T19:49:59.910Z,1736365799.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813932 target range: 298.000000 and range: 298.00 m. 2025-01-08T19:50:00.100Z,1736365800.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:00.100Z,1736365800.100 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:00.100Z,1736365800.100 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:00.101Z,1736365800.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:00.292Z,1736365800.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:00.302Z,1736365800.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T19:50:00.305Z,1736365800.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 305.557495 m, bearing: 193.507265 deg, approach rate: -0.026713 m/s, LOS rate: -0.139521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.807825 deg. 2025-01-08T19:50:00.306Z,1736365800.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813755 target range: 298.000000 and range: 298.00 m. 2025-01-08T19:50:00.352Z,1736365800.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:00.352Z,1736365800.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253799 2025-01-08T19:50:00.604Z,1736365800.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:00.604Z,1736365800.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505790 2025-01-08T19:50:00.728Z,1736365800.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:00.737Z,1736365800.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T19:50:00.740Z,1736365800.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 305.543121 m, bearing: 193.441878 deg, approach rate: -0.033004 m/s, LOS rate: -0.150144 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.779018 deg. 2025-01-08T19:50:00.742Z,1736365800.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813252 target range: 298.000000 and range: 298.00 m. 2025-01-08T19:50:00.856Z,1736365800.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:00.856Z,1736365800.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757911 2025-01-08T19:50:01.108Z,1736365801.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:01.108Z,1736365801.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009812 2025-01-08T19:50:01.109Z,1736365801.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:01.125Z,1736365801.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T19:50:01.129Z,1736365801.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 305.530029 m, bearing: 193.384631 deg, approach rate: -0.033744 m/s, LOS rate: -0.147560 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803438 deg. 2025-01-08T19:50:01.130Z,1736365801.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813678 target range: 298.000000 and range: 298.00 m. 2025-01-08T19:50:01.361Z,1736365801.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:01.364Z,1736365801.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264760 2025-01-08T19:50:01.597Z,1736365801.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:01.606Z,1736365801.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T19:50:01.609Z,1736365801.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 305.509827 m, bearing: 193.307634 deg, approach rate: -0.042079 m/s, LOS rate: -0.160384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.744182 deg. 2025-01-08T19:50:01.610Z,1736365801.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812644 target range: 298.000000 and range: 298.00 m. 2025-01-08T19:50:01.612Z,1736365801.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:01.613Z,1736365801.613 [DAT](INFO): DAT read: Rx Time:19:50:00.2705 2025-01-08T19:50:01.614Z,1736365801.614 [DAT](INFO): Rx dataTimestamp_ set to:1736365801.613649 2025-01-08T19:50:01.614Z,1736365801.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515869 2025-01-08T19:50:01.864Z,1736365801.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:01.865Z,1736365801.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765938 2025-01-08T19:50:01.977Z,1736365801.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:01.999Z,1736365801.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:02.001Z,1736365802.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T19:50:02.004Z,1736365802.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 305.493408 m, bearing: 193.247830 deg, approach rate: -0.041496 m/s, LOS rate: -0.151155 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795766 deg. 2025-01-08T19:50:02.005Z,1736365802.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813544 target range: 298.000000 and range: 298.00 m. 2025-01-08T19:50:02.116Z,1736365802.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:02.122Z,1736365802.122 [DAT](INFO): DAT read: 19:50:00.2705 LVL= 30512, 32753, 19378, 32755, AGC= 67, IDX= 418,-0.36, 0.183,-1.028, 0.717, 0.163, PHS= 0.108,-1.144, 0.551, RAW= 164.6, 6.4, CAL= 164.4, -3.0, ROT= 345.6, 3.0 2025-01-08T19:50:02.126Z,1736365802.126 [DAT](INFO): got valid direction response: 19:50:00.2705 LVL= 30512, 32753, 19378, 32755, AGC= 67, IDX= 418,-0.36, 0.183,-1.028, 0.717, 0.163, PHS= 0.108,-1.144, 0.551, RAW= 164.6, 6.4, CAL= 164.4, -3.0, ROT= 345.6, 3.0 2025-01-08T19:50:02.127Z,1736365802.127 [DAT](INFO): DAT read: Bearing 345.6, 3.0 (Local) 2025-01-08T19:50:02.127Z,1736365802.127 [DAT](INFO): Local bearing/azimuth received: Bearing 345.6, 3.0 (Local) 2025-01-08T19:50:02.130Z,1736365802.130 [DAT](INFO): DAT read: Range 10 to 50 : 296.8 m (Round-trip 395.8 ms) speed 0.4 m/s 2025-01-08T19:50:02.131Z,1736365802.131 [DAT](INFO): DAT read: user:874> 2025-01-08T19:50:02.132Z,1736365802.132 [DAT](INFO): DAT read: Tx time:19:50:01.3705 2025-01-08T19:50:02.132Z,1736365802.132 [DAT](INFO): Ping request sent. 2025-01-08T19:50:02.132Z,1736365802.132 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:02.133Z,1736365802.133 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:02.133Z,1736365802.133 [DAT](INFO): direction in FSK: [-0.230697,-0.926331,0.297807] 2025-01-08T19:50:02.134Z,1736365802.134 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:02.134Z,1736365802.134 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:02.169Z,1736365802.169 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:02.170Z,1736365802.170 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:02.370Z,1736365802.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:02.373Z,1736365802.373 [DAT](INFO): DAT read: TxSync time:19:50:01.3697 2025-01-08T19:50:02.460Z,1736365802.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:02.505Z,1736365802.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 296.799988 m, deltaT: 4.032088 s, deltaX: -1.200012 m, approachRate: -0.297616 m/s, rangeRepo size: 4 2025-01-08T19:50:02.507Z,1736365802.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 296.799988 m, bearing: 172.136040 deg, lat: 36.901758 deg, lon: -122.116742 deg, deltaT: 4.032088 s, deltaX: -1.200012 m, approachRate: -0.297616 m/s, posRepo size: 4 2025-01-08T19:50:02.512Z,1736365802.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T19:50:02.514Z,1736365802.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.217621 m, bearing: 192.797831 deg, approach rate: 0.000000 m/s, LOS rate: -0.151155 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.747188 deg. 2025-01-08T19:50:02.520Z,1736365802.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812696 target range: 296.799988 and range: 296.80 m. 2025-01-08T19:50:02.621Z,1736365802.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:02.818Z,1736365802.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:02.830Z,1736365802.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T19:50:02.833Z,1736365802.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.202820 m, bearing: 192.739026 deg, approach rate: -0.045390 m/s, LOS rate: -0.180345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.798763 deg. 2025-01-08T19:50:02.834Z,1736365802.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813597 target range: 296.799988 and range: 296.80 m. 2025-01-08T19:50:02.873Z,1736365802.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:03.125Z,1736365803.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:03.197Z,1736365803.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:03.206Z,1736365803.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T19:50:03.208Z,1736365803.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.187073 m, bearing: 192.677686 deg, approach rate: -0.041943 m/s, LOS rate: -0.163394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.791155 deg. 2025-01-08T19:50:03.210Z,1736365803.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813464 target range: 296.799988 and range: 296.80 m. 2025-01-08T19:50:03.376Z,1736365803.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:03.628Z,1736365803.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:03.639Z,1736365803.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:03.650Z,1736365803.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T19:50:03.671Z,1736365803.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.172180 m, bearing: 192.610580 deg, approach rate: -0.033546 m/s, LOS rate: -0.151165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.773860 deg. 2025-01-08T19:50:03.677Z,1736365803.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813162 target range: 296.799988 and range: 296.80 m. 2025-01-08T19:50:03.881Z,1736365803.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:04.004Z,1736365804.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:04.010Z,1736365804.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:04.013Z,1736365804.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T19:50:04.016Z,1736365804.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.160065 m, bearing: 192.555185 deg, approach rate: -0.033341 m/s, LOS rate: -0.152447 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808997 deg. 2025-01-08T19:50:04.018Z,1736365804.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813775 target range: 296.799988 and range: 296.80 m. 2025-01-08T19:50:04.132Z,1736365804.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:04.132Z,1736365804.132 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:04.132Z,1736365804.132 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:04.133Z,1736365804.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:04.384Z,1736365804.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:04.384Z,1736365804.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252084 2025-01-08T19:50:04.447Z,1736365804.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:04.493Z,1736365804.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T19:50:04.500Z,1736365804.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.145691 m, bearing: 192.488130 deg, approach rate: -0.029934 m/s, LOS rate: -0.139654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.774012 deg. 2025-01-08T19:50:04.501Z,1736365804.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813165 target range: 296.799988 and range: 296.80 m. 2025-01-08T19:50:04.636Z,1736365804.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:04.637Z,1736365804.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504526 2025-01-08T19:50:04.837Z,1736365804.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:04.845Z,1736365804.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T19:50:04.849Z,1736365804.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.142517 m, bearing: 192.434093 deg, approach rate: -0.009018 m/s, LOS rate: -0.153533 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813076 deg. 2025-01-08T19:50:04.851Z,1736365804.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813846 target range: 296.799988 and range: 296.80 m. 2025-01-08T19:50:04.889Z,1736365804.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:04.890Z,1736365804.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757505 2025-01-08T19:50:05.140Z,1736365805.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:05.140Z,1736365805.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008013 2025-01-08T19:50:05.221Z,1736365805.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:05.230Z,1736365805.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T19:50:05.233Z,1736365805.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.139679 m, bearing: 192.381044 deg, approach rate: -0.007390 m/s, LOS rate: -0.138135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816038 deg. 2025-01-08T19:50:05.234Z,1736365805.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813898 target range: 296.799988 and range: 296.80 m. 2025-01-08T19:50:05.392Z,1736365805.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:05.392Z,1736365805.392 [DAT](INFO): DAT read: Rx Time:19:50:04.1887 2025-01-08T19:50:05.393Z,1736365805.393 [DAT](INFO): Rx dataTimestamp_ set to:1736365805.392677 2025-01-08T19:50:05.393Z,1736365805.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261140 2025-01-08T19:50:05.637Z,1736365805.637 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.26, 71.37, 77.82, 76.13 2025-01-08T19:50:05.645Z,1736365805.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:05.646Z,1736365805.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513913 2025-01-08T19:50:05.677Z,1736365805.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:50:05.677Z,1736365805.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:05.707Z,1736365805.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T19:50:05.710Z,1736365805.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.136658 m, bearing: 192.318065 deg, approach rate: -0.006372 m/s, LOS rate: -0.132832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786251 deg. 2025-01-08T19:50:05.716Z,1736365805.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813378 target range: 296.799988 and range: 296.80 m. 2025-01-08T19:50:05.898Z,1736365805.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:05.904Z,1736365805.904 [DAT](INFO): DAT read: 19:50:04.1887 LVL= 14912, 14385, 9522, 17299, AGC= 68, IDX= 91, 0.01,-0.300,-1.264, 0.165,-0.656, PHS= 0.443,-0.561, 0.818, RAW= 165.2, -11.3, CAL= 169.5, -17.4, ROT= 340.5, 17.4 2025-01-08T19:50:05.905Z,1736365805.905 [DAT](INFO): got valid direction response: 19:50:04.1887 LVL= 14912, 14385, 9522, 17299, AGC= 68, IDX= 91, 0.01,-0.300,-1.264, 0.165,-0.656, PHS= 0.443,-0.561, 0.818, RAW= 165.2, -11.3, CAL= 169.5, -17.4, ROT= 340.5, 17.4 2025-01-08T19:50:05.906Z,1736365805.906 [DAT](INFO): DAT read: Bearing 340.5, 17.4 (Local) 2025-01-08T19:50:05.907Z,1736365805.907 [DAT](INFO): Local bearing/azimuth received: Bearing 340.5, 17.4 (Local) 2025-01-08T19:50:05.913Z,1736365805.913 [DAT](INFO): DAT read: Range 10 to 50 : 310.5 m (Round-trip 414.1 ms) speed 1.2 m/s 2025-01-08T19:50:05.914Z,1736365805.914 [DAT](INFO): DAT read: user:875> 2025-01-08T19:50:05.914Z,1736365805.914 [DAT](INFO): DAT read: Tx time:19:50:05.2705 2025-01-08T19:50:05.915Z,1736365805.915 [DAT](INFO): Ping request sent. 2025-01-08T19:50:05.915Z,1736365805.915 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:05.915Z,1736365805.915 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:05.916Z,1736365805.916 [DAT](INFO): direction in FSK: [0.112435,-0.944574,0.308446] 2025-01-08T19:50:05.916Z,1736365805.916 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:05.917Z,1736365805.917 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:05.957Z,1736365805.957 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:05.957Z,1736365805.957 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:06.055Z,1736365806.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:50:06.060Z,1736365806.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:06.105Z,1736365806.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 310.500000 m, deltaT: 3.781797 s, deltaX: 13.700012 m, approachRate: 3.622620 m/s, rangeRepo size: 4 2025-01-08T19:50:06.112Z,1736365806.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 310.500000 m, bearing: 191.787737 deg, lat: 36.901758 deg, lon: -122.116725 deg, deltaT: 3.781797 s, deltaX: 13.700012 m, approachRate: 3.622620 m/s, posRepo size: 4 2025-01-08T19:50:06.114Z,1736365806.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m. 2025-01-08T19:50:06.120Z,1736365806.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.500000 m, nav range: 300.812836 m, bearing: 191.980516 deg, approach rate: 0.000000 m/s, LOS rate: -0.132832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815136 deg. 2025-01-08T19:50:06.122Z,1736365806.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813882 target range: 310.500000 and range: 310.50 m. 2025-01-08T19:50:06.148Z,1736365806.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:06.149Z,1736365806.149 [DAT](INFO): DAT read: TxSync time:19:50:05.2697 2025-01-08T19:50:06.400Z,1736365806.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:06.441Z,1736365806.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:50:06.441Z,1736365806.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:06.504Z,1736365806.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:06.515Z,1736365806.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m. 2025-01-08T19:50:06.522Z,1736365806.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.500000 m, nav range: 300.813019 m, bearing: 191.927043 deg, approach rate: 0.000447 m/s, LOS rate: -0.130559 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814768 deg. 2025-01-08T19:50:06.523Z,1736365806.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813876 target range: 310.500000 and range: 310.50 m. 2025-01-08T19:50:06.652Z,1736365806.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:06.653Z,1736365806.653 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:06.654Z,1736365806.654 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:06.654Z,1736365806.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:06.857Z,1736365806.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:06.866Z,1736365806.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m. 2025-01-08T19:50:06.869Z,1736365806.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.500000 m, nav range: 300.824921 m, bearing: 191.884881 deg, approach rate: 0.033819 m/s, LOS rate: -0.119799 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848706 deg. 2025-01-08T19:50:06.870Z,1736365806.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814468 target range: 310.500000 and range: 310.50 m. 2025-01-08T19:50:06.904Z,1736365806.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:06.905Z,1736365806.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989705 2025-01-08T19:50:07.156Z,1736365807.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:07.156Z,1736365807.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241539 2025-01-08T19:50:07.243Z,1736365807.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:07.253Z,1736365807.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m. 2025-01-08T19:50:07.256Z,1736365807.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.500000 m, nav range: 300.836548 m, bearing: 191.845870 deg, approach rate: 0.030093 m/s, LOS rate: -0.100962 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858160 deg. 2025-01-08T19:50:07.257Z,1736365807.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814633 target range: 310.500000 and range: 310.50 m. 2025-01-08T19:50:07.408Z,1736365807.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:07.410Z,1736365807.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494406 2025-01-08T19:50:07.660Z,1736365807.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:07.662Z,1736365807.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746876 2025-01-08T19:50:07.742Z,1736365807.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:07.763Z,1736365807.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m. 2025-01-08T19:50:07.766Z,1736365807.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.500000 m, nav range: 300.854736 m, bearing: 191.802353 deg, approach rate: 0.036485 m/s, LOS rate: -0.087288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844644 deg. 2025-01-08T19:50:07.768Z,1736365807.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814397 target range: 310.500000 and range: 310.50 m. 2025-01-08T19:50:07.912Z,1736365807.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:07.913Z,1736365807.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998290 2025-01-08T19:50:08.102Z,1736365808.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:08.111Z,1736365808.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m. 2025-01-08T19:50:08.115Z,1736365808.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.500000 m, nav range: 300.868225 m, bearing: 191.771919 deg, approach rate: 0.037520 m/s, LOS rate: -0.084651 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883888 deg. 2025-01-08T19:50:08.116Z,1736365808.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815082 target range: 310.500000 and range: 310.50 m. 2025-01-08T19:50:08.164Z,1736365808.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:08.165Z,1736365808.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249845 2025-01-08T19:50:08.416Z,1736365808.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:08.416Z,1736365808.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501701 2025-01-08T19:50:08.593Z,1736365808.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:08.604Z,1736365808.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:08.606Z,1736365808.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m. 2025-01-08T19:50:08.608Z,1736365808.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.500000 m, nav range: 300.890076 m, bearing: 191.732207 deg, approach rate: 0.044158 m/s, LOS rate: -0.080249 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856059 deg. 2025-01-08T19:50:08.610Z,1736365808.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814597 target range: 310.500000 and range: 310.50 m. 2025-01-08T19:50:08.669Z,1736365808.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:08.670Z,1736365808.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755140 2025-01-08T19:50:08.920Z,1736365808.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:08.921Z,1736365808.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005781 2025-01-08T19:50:08.932Z,1736365808.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:08.941Z,1736365808.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m. 2025-01-08T19:50:08.943Z,1736365808.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.500000 m, nav range: 300.905579 m, bearing: 191.705365 deg, approach rate: 0.046278 m/s, LOS rate: -0.080123 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894664 deg. 2025-01-08T19:50:08.945Z,1736365808.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815270 target range: 310.500000 and range: 310.50 m. 2025-01-08T19:50:09.172Z,1736365809.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:09.172Z,1736365809.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257625 2025-01-08T19:50:09.333Z,1736365809.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:09.358Z,1736365809.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m. 2025-01-08T19:50:09.365Z,1736365809.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.500000 m, nav range: 300.924744 m, bearing: 191.673658 deg, approach rate: 0.045914 m/s, LOS rate: -0.075956 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880072 deg. 2025-01-08T19:50:09.367Z,1736365809.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815016 target range: 310.500000 and range: 310.50 m. 2025-01-08T19:50:09.425Z,1736365809.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:09.426Z,1736365809.426 [DAT](INFO): DAT read: Rx Time:19:50:08.0821 2025-01-08T19:50:09.427Z,1736365809.427 [DAT](INFO): Rx dataTimestamp_ set to:1736365809.426330 2025-01-08T19:50:09.428Z,1736365809.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513168 2025-01-08T19:50:09.677Z,1736365809.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:09.678Z,1736365809.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762848 2025-01-08T19:50:09.836Z,1736365809.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:09.844Z,1736365809.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m. 2025-01-08T19:50:09.848Z,1736365809.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.500000 m, nav range: 300.945953 m, bearing: 191.633230 deg, approach rate: 0.043616 m/s, LOS rate: -0.083130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853913 deg. 2025-01-08T19:50:09.849Z,1736365809.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814559 target range: 310.500000 and range: 310.50 m. 2025-01-08T19:50:09.928Z,1736365809.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:09.938Z,1736365809.938 [DAT](INFO): DAT read: 19:50:08.0821 LVL= 22816, 28609, 16882, 32755, AGC= 65, IDX= 376,-0.03,-0.538,-1.652,-0.122,-0.990, PHS= 0.539,-0.616, 0.865, RAW= 162.1, -11.7, CAL= 167.0, -18.0, ROT= 343.0, 18.0 2025-01-08T19:50:09.940Z,1736365809.940 [DAT](INFO): got valid direction response: 19:50:08.0821 LVL= 22816, 28609, 16882, 32755, AGC= 65, IDX= 376,-0.03,-0.538,-1.652,-0.122,-0.990, PHS= 0.539,-0.616, 0.865, RAW= 162.1, -11.7, CAL= 167.0, -18.0, ROT= 343.0, 18.0 2025-01-08T19:50:09.941Z,1736365809.941 [DAT](INFO): DAT read: Bearing 343.0, 18.0 (Local) 2025-01-08T19:50:09.941Z,1736365809.941 [DAT](INFO): Local bearing/azimuth received: Bearing 343.0, 18.0 (Local) 2025-01-08T19:50:09.942Z,1736365809.942 [DAT](INFO): DAT read: Range 10 to 50 : 305.5 m (Round-trip 407.4 ms) speed 0.8 m/s 2025-01-08T19:50:09.943Z,1736365809.943 [DAT](INFO): DAT read: user:876> 2025-01-08T19:50:09.944Z,1736365809.944 [DAT](INFO): DAT read: Tx time:19:50:09.1706 2025-01-08T19:50:09.944Z,1736365809.944 [DAT](INFO): Ping request sent. 2025-01-08T19:50:09.944Z,1736365809.944 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:09.945Z,1736365809.945 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:09.946Z,1736365809.946 [DAT](INFO): direction in FSK: [0.116336,-0.925280,0.361002] 2025-01-08T19:50:09.946Z,1736365809.946 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:09.947Z,1736365809.947 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:09.974Z,1736365809.974 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:09.974Z,1736365809.974 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:10.163Z,1736365810.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:10.180Z,1736365810.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:10.181Z,1736365810.181 [DAT](INFO): DAT read: TxSync time:19:50:09.1698 2025-01-08T19:50:10.201Z,1736365810.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 305.500000 m, deltaT: 4.031074 s, deltaX: -5.000000 m, approachRate: -1.240364 m/s, rangeRepo size: 4 2025-01-08T19:50:10.203Z,1736365810.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 305.500000 m, bearing: 193.887819 deg, lat: 36.901803 deg, lon: -122.116725 deg, deltaT: 4.031074 s, deltaX: -5.000000 m, approachRate: -1.240364 m/s, posRepo size: 4 2025-01-08T19:50:10.208Z,1736365810.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.50 m. 2025-01-08T19:50:10.211Z,1736365810.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.500000 m, nav range: 296.053436 m, bearing: 191.802366 deg, approach rate: 0.000000 m/s, LOS rate: -0.083130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886425 deg. 2025-01-08T19:50:10.220Z,1736365810.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815126 target range: 305.500000 and range: 305.50 m. 2025-01-08T19:50:10.433Z,1736365810.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:10.633Z,1736365810.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:10.641Z,1736365810.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:10.643Z,1736365810.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.50 m. 2025-01-08T19:50:10.647Z,1736365810.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.500000 m, nav range: 296.068634 m, bearing: 191.757696 deg, approach rate: 0.034311 m/s, LOS rate: -0.100841 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841186 deg. 2025-01-08T19:50:10.670Z,1736365810.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814337 target range: 305.500000 and range: 305.50 m. 2025-01-08T19:50:10.684Z,1736365810.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:10.684Z,1736365810.684 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:10.684Z,1736365810.684 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:10.685Z,1736365810.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:10.936Z,1736365810.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:10.936Z,1736365810.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992054 2025-01-08T19:50:10.991Z,1736365810.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:11.011Z,1736365811.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.50 m. 2025-01-08T19:50:11.018Z,1736365811.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.500000 m, nav range: 296.080048 m, bearing: 191.723931 deg, approach rate: 0.031040 m/s, LOS rate: -0.091825 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873894 deg. 2025-01-08T19:50:11.019Z,1736365811.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814908 target range: 305.500000 and range: 305.50 m. 2025-01-08T19:50:11.188Z,1736365811.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:11.189Z,1736365811.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244226 2025-01-08T19:50:11.365Z,1736365811.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:11.389Z,1736365811.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.50 m. 2025-01-08T19:50:11.397Z,1736365811.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.500000 m, nav range: 296.091980 m, bearing: 191.688646 deg, approach rate: 0.031538 m/s, LOS rate: -0.093257 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869336 deg. 2025-01-08T19:50:11.398Z,1736365811.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814828 target range: 305.500000 and range: 305.50 m. 2025-01-08T19:50:11.441Z,1736365811.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:11.442Z,1736365811.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497684 2025-01-08T19:50:11.692Z,1736365811.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:11.693Z,1736365811.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748782 2025-01-08T19:50:11.805Z,1736365811.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:11.833Z,1736365811.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.50 m. 2025-01-08T19:50:11.840Z,1736365811.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.500000 m, nav range: 296.104523 m, bearing: 191.639945 deg, approach rate: 0.028232 m/s, LOS rate: -0.109614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829090 deg. 2025-01-08T19:50:11.841Z,1736365811.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814126 target range: 305.500000 and range: 305.50 m. 2025-01-08T19:50:11.948Z,1736365811.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:11.949Z,1736365811.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004518 2025-01-08T19:50:12.185Z,1736365812.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:12.193Z,1736365812.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.50 m. 2025-01-08T19:50:12.196Z,1736365812.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:12.197Z,1736365812.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252669 2025-01-08T19:50:12.198Z,1736365812.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.500000 m, nav range: 296.115540 m, bearing: 191.597908 deg, approach rate: 0.030613 m/s, LOS rate: -0.116803 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849083 deg. 2025-01-08T19:50:12.200Z,1736365812.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814475 target range: 305.500000 and range: 305.50 m. 2025-01-08T19:50:12.448Z,1736365812.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:12.448Z,1736365812.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504026 2025-01-08T19:50:12.675Z,1736365812.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:12.700Z,1736365812.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:12.702Z,1736365812.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757002 2025-01-08T19:50:12.706Z,1736365812.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:12.712Z,1736365812.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.50 m. 2025-01-08T19:50:12.715Z,1736365812.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.500000 m, nav range: 296.128235 m, bearing: 191.534384 deg, approach rate: 0.024477 m/s, LOS rate: -0.122473 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.784623 deg. 2025-01-08T19:50:12.720Z,1736365812.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813350 target range: 305.500000 and range: 305.50 m. 2025-01-08T19:50:12.952Z,1736365812.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:12.955Z,1736365812.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009806 2025-01-08T19:50:13.017Z,1736365813.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:13.026Z,1736365813.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.50 m. 2025-01-08T19:50:13.029Z,1736365813.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.500000 m, nav range: 296.137329 m, bearing: 191.489914 deg, approach rate: 0.028995 m/s, LOS rate: -0.141779 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841779 deg. 2025-01-08T19:50:13.030Z,1736365813.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814347 target range: 305.500000 and range: 305.50 m. 2025-01-08T19:50:13.207Z,1736365813.207 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:13.209Z,1736365813.209 [DAT](INFO): DAT read: Rx Time:19:50:11.9800 2025-01-08T19:50:13.210Z,1736365813.210 [DAT](INFO): Rx dataTimestamp_ set to:1736365813.209307 2025-01-08T19:50:13.210Z,1736365813.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265731 2025-01-08T19:50:13.408Z,1736365813.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:13.418Z,1736365813.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.50 m. 2025-01-08T19:50:13.421Z,1736365813.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.500000 m, nav range: 296.147919 m, bearing: 191.439152 deg, approach rate: 0.027005 m/s, LOS rate: -0.129445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822908 deg. 2025-01-08T19:50:13.422Z,1736365813.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814018 target range: 305.500000 and range: 305.50 m. 2025-01-08T19:50:13.457Z,1736365813.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:13.458Z,1736365813.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513352 2025-01-08T19:50:13.708Z,1736365813.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:13.714Z,1736365813.714 [DAT](INFO): DAT read: 19:50:11.9800 LVL= 26288, 32753, 18370, 32755, AGC= 63, IDX= 215,-0.02,-3.051, 2.090,-2.558,-3.078, PHS= 0.115,-1.068, 0.516, RAW= 164.1, 6.2, CAL= 164.1, -3.3, ROT= 345.9, 3.3 2025-01-08T19:50:13.721Z,1736365813.721 [DAT](INFO): got valid direction response: 19:50:11.9800 LVL= 26288, 32753, 18370, 32755, AGC= 63, IDX= 215,-0.02,-3.051, 2.090,-2.558,-3.078, PHS= 0.115,-1.068, 0.516, RAW= 164.1, 6.2, CAL= 164.1, -3.3, ROT= 345.9, 3.3 2025-01-08T19:50:13.722Z,1736365813.722 [DAT](INFO): DAT read: Bearing 345.9, 3.3 (Local) 2025-01-08T19:50:13.722Z,1736365813.722 [DAT](INFO): Local bearing/azimuth received: Bearing 345.9, 3.3 (Local) 2025-01-08T19:50:13.724Z,1736365813.724 [DAT](INFO): DAT read: Range 10 to 50 : 303.9 m (Round-trip 405.3 ms) speed 0.4 m/s 2025-01-08T19:50:13.725Z,1736365813.725 [DAT](INFO): DAT read: user:877> 2025-01-08T19:50:13.725Z,1736365813.725 [DAT](INFO): DAT read: Tx time:19:50:13.0706 2025-01-08T19:50:13.726Z,1736365813.726 [DAT](INFO): Ping request sent. 2025-01-08T19:50:13.726Z,1736365813.726 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:13.726Z,1736365813.726 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:13.727Z,1736365813.727 [DAT](INFO): direction in FSK: [-0.226759,-0.924378,0.306765] 2025-01-08T19:50:13.745Z,1736365813.745 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:13.746Z,1736365813.746 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:13.758Z,1736365813.758 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:13.758Z,1736365813.758 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:13.872Z,1736365813.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:13.899Z,1736365813.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 303.899994 m, deltaT: 3.778923 s, deltaX: -1.600006 m, approachRate: -0.423403 m/s, rangeRepo size: 4 2025-01-08T19:50:13.905Z,1736365813.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 303.899994 m, bearing: 173.677173 deg, lat: 36.901758 deg, lon: -122.115734 deg, deltaT: 3.778923 s, deltaX: -1.600006 m, approachRate: -0.423403 m/s, posRepo size: 4 2025-01-08T19:50:13.906Z,1736365813.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.90 m. 2025-01-08T19:50:13.914Z,1736365813.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.899994 m, nav range: 296.836945 m, bearing: 174.255978 deg, approach rate: 0.000000 m/s, LOS rate: -0.129445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788582 deg. 2025-01-08T19:50:13.915Z,1736365813.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813419 target range: 303.899994 and range: 303.90 m. 2025-01-08T19:50:13.960Z,1736365813.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:13.962Z,1736365813.962 [DAT](INFO): DAT read: TxSync time:19:50:13.0698 2025-01-08T19:50:14.212Z,1736365814.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:14.255Z,1736365814.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:14.276Z,1736365814.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.90 m. 2025-01-08T19:50:14.278Z,1736365814.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.899994 m, nav range: 296.923401 m, bearing: 174.202274 deg, approach rate: 0.231339 m/s, LOS rate: -0.143659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814122 deg. 2025-01-08T19:50:14.281Z,1736365814.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813865 target range: 303.899994 and range: 303.90 m. 2025-01-08T19:50:14.464Z,1736365814.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:14.710Z,1736365814.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:14.716Z,1736365814.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:14.718Z,1736365814.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:14.720Z,1736365814.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.90 m. 2025-01-08T19:50:14.723Z,1736365814.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.899994 m, nav range: 297.030670 m, bearing: 174.132373 deg, approach rate: 0.239213 m/s, LOS rate: -0.155826 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.765559 deg. 2025-01-08T19:50:14.724Z,1736365814.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813017 target range: 303.899994 and range: 303.90 m. 2025-01-08T19:50:14.968Z,1736365814.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:14.969Z,1736365814.969 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:14.969Z,1736365814.969 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:14.970Z,1736365814.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:15.154Z,1736365815.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:15.164Z,1736365815.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.90 m. 2025-01-08T19:50:15.166Z,1736365815.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.899994 m, nav range: 297.133820 m, bearing: 174.064250 deg, approach rate: 0.233010 m/s, LOS rate: -0.153834 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.770890 deg. 2025-01-08T19:50:15.168Z,1736365815.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813110 target range: 303.899994 and range: 303.90 m. 2025-01-08T19:50:15.220Z,1736365815.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:15.221Z,1736365815.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495067 2025-01-08T19:50:15.472Z,1736365815.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:15.472Z,1736365815.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746589 2025-01-08T19:50:15.560Z,1736365815.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:15.585Z,1736365815.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.90 m. 2025-01-08T19:50:15.635Z,1736365815.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.899994 m, nav range: 297.227570 m, bearing: 174.002004 deg, approach rate: 0.223105 m/s, LOS rate: -0.148086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788508 deg. 2025-01-08T19:50:15.642Z,1736365815.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813417 target range: 303.899994 and range: 303.90 m. 2025-01-08T19:50:15.724Z,1736365815.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:15.725Z,1736365815.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998814 2025-01-08T19:50:15.976Z,1736365815.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:15.976Z,1736365815.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250635 2025-01-08T19:50:16.091Z,1736365816.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:16.124Z,1736365816.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.90 m. 2025-01-08T19:50:16.127Z,1736365816.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.899994 m, nav range: 297.359283 m, bearing: 173.915402 deg, approach rate: 0.243561 m/s, LOS rate: -0.160069 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.715500 deg. 2025-01-08T19:50:16.132Z,1736365816.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812143 target range: 303.899994 and range: 303.90 m. 2025-01-08T19:50:16.230Z,1736365816.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:16.230Z,1736365816.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504548 2025-01-08T19:50:16.480Z,1736365816.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:16.481Z,1736365816.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755188 2025-01-08T19:50:16.545Z,1736365816.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:16.554Z,1736365816.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.90 m. 2025-01-08T19:50:16.557Z,1736365816.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.899994 m, nav range: 297.469543 m, bearing: 173.841386 deg, approach rate: 0.256351 m/s, LOS rate: -0.172022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.753221 deg. 2025-01-08T19:50:16.558Z,1736365816.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812802 target range: 303.899994 and range: 303.90 m. 2025-01-08T19:50:16.732Z,1736365816.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:16.734Z,1736365816.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007779 2025-01-08T19:50:16.950Z,1736365816.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:16.956Z,1736365816.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:16.975Z,1736365816.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.90 m. 2025-01-08T19:50:16.978Z,1736365816.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.899994 m, nav range: 297.560883 m, bearing: 173.777245 deg, approach rate: 0.226046 m/s, LOS rate: -0.158686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782825 deg. 2025-01-08T19:50:16.984Z,1736365816.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:16.985Z,1736365816.985 [DAT](INFO): DAT read: Rx Time:19:50:15.8584 2025-01-08T19:50:16.985Z,1736365816.985 [DAT](INFO): Rx dataTimestamp_ set to:1736365816.984771 2025-01-08T19:50:16.986Z,1736365816.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259807 2025-01-08T19:50:16.986Z,1736365816.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813318 target range: 303.899994 and range: 303.90 m. 2025-01-08T19:50:17.236Z,1736365817.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:17.237Z,1736365817.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510896 2025-01-08T19:50:17.360Z,1736365817.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:17.369Z,1736365817.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.90 m. 2025-01-08T19:50:17.372Z,1736365817.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.899994 m, nav range: 297.652740 m, bearing: 173.712184 deg, approach rate: 0.223779 m/s, LOS rate: -0.158449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.780065 deg. 2025-01-08T19:50:17.373Z,1736365817.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813270 target range: 303.899994 and range: 303.90 m. 2025-01-08T19:50:17.488Z,1736365817.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:17.489Z,1736365817.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763638 2025-01-08T19:50:17.741Z,1736365817.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:17.750Z,1736365817.750 [DAT](INFO): DAT read: 19:50:15.8584 LVL= 30192, 29089, 19010, 32755, AGC= 64, IDX= 207,-0.16,-1.602,-2.678,-1.149,-1.985, PHS= 0.471,-0.646, 0.833, RAW= 163.6, -9.9, CAL= 167.8, -16.4, ROT= 342.2, 16.4 2025-01-08T19:50:17.752Z,1736365817.752 [DAT](INFO): got valid direction response: 19:50:15.8584 LVL= 30192, 29089, 19010, 32755, AGC= 64, IDX= 207,-0.16,-1.602,-2.678,-1.149,-1.985, PHS= 0.471,-0.646, 0.833, RAW= 163.6, -9.9, CAL= 167.8, -16.4, ROT= 342.2, 16.4 2025-01-08T19:50:17.753Z,1736365817.753 [DAT](INFO): DAT read: Bearing 342.2, 16.4 (Local) 2025-01-08T19:50:17.753Z,1736365817.753 [DAT](INFO): Local bearing/azimuth received: Bearing 342.2, 16.4 (Local) 2025-01-08T19:50:17.755Z,1736365817.755 [DAT](INFO): DAT read: Range 10 to 50 : 287.7 m (Round-trip 383.7 ms) speed 0.4 m/s 2025-01-08T19:50:17.788Z,1736365817.788 [DAT](INFO): DAT read: user:878> 2025-01-08T19:50:17.789Z,1736365817.789 [DAT](INFO): DAT read: Tx time:19:50:16.9721 2025-01-08T19:50:17.789Z,1736365817.789 [DAT](INFO): Ping request sent. 2025-01-08T19:50:17.790Z,1736365817.790 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:17.790Z,1736365817.790 [DAT](INFO): DAT read: TxSync time:19:50:16.9713 2025-01-08T19:50:17.791Z,1736365817.791 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:17.804Z,1736365817.804 [DAT](INFO): direction in FSK: [0.082709,-0.938208,0.336044] 2025-01-08T19:50:17.804Z,1736365817.804 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:17.804Z,1736365817.804 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:17.817Z,1736365817.817 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:17.817Z,1736365817.817 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:17.873Z,1736365817.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:17.904Z,1736365817.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 287.700012 m, deltaT: 4.033230 s, deltaX: -16.199982 m, approachRate: -4.016627 m/s, rangeRepo size: 4 2025-01-08T19:50:17.906Z,1736365817.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 287.700012 m, bearing: 189.860635 deg, lat: 36.901803 deg, lon: -122.116647 deg, deltaT: 4.033230 s, deltaX: -16.199982 m, approachRate: -4.016627 m/s, posRepo size: 4 2025-01-08T19:50:17.911Z,1736365817.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:17.915Z,1736365817.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 294.886017 m, bearing: 189.405046 deg, approach rate: 0.000000 m/s, LOS rate: -0.158449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.722923 deg. 2025-01-08T19:50:17.928Z,1736365817.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812273 target range: 287.700012 and range: 287.70 m. 2025-01-08T19:50:17.992Z,1736365817.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:18.217Z,1736365818.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:18.225Z,1736365818.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:18.228Z,1736365818.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 294.887146 m, bearing: 189.350780 deg, approach rate: 0.003467 m/s, LOS rate: -0.166601 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812390 deg. 2025-01-08T19:50:18.230Z,1736365818.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813834 target range: 287.700012 and range: 287.70 m. 2025-01-08T19:50:18.245Z,1736365818.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:18.497Z,1736365818.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:18.618Z,1736365818.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:18.660Z,1736365818.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:18.684Z,1736365818.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 294.888611 m, bearing: 189.287604 deg, approach rate: 0.003553 m/s, LOS rate: -0.153235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.785660 deg. 2025-01-08T19:50:18.699Z,1736365818.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813368 target range: 287.700012 and range: 287.70 m. 2025-01-08T19:50:18.749Z,1736365818.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:18.000Z,1736365819.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:19.056Z,1736365819.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:19.068Z,1736365819.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:19.070Z,1736365819.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:19.077Z,1736365819.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 294.894592 m, bearing: 189.226016 deg, approach rate: 0.013838 m/s, LOS rate: -0.142485 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.790428 deg. 2025-01-08T19:50:19.078Z,1736365819.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813451 target range: 287.700012 and range: 287.70 m. 2025-01-08T19:50:19.252Z,1736365819.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:19.252Z,1736365819.252 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:19.252Z,1736365819.252 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:19.252Z,1736365819.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:19.431Z,1736365819.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:19.440Z,1736365819.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:19.442Z,1736365819.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 294.900513 m, bearing: 189.173332 deg, approach rate: 0.016013 m/s, LOS rate: -0.142495 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817136 deg. 2025-01-08T19:50:19.444Z,1736365819.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813917 target range: 287.700012 and range: 287.70 m. 2025-01-08T19:50:19.504Z,1736365819.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:19.505Z,1736365819.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715366 2025-01-08T19:50:19.756Z,1736365819.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:19.756Z,1736365819.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966861 2025-01-08T19:50:19.878Z,1736365819.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:19.891Z,1736365819.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:19.894Z,1736365819.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 294.906372 m, bearing: 189.118521 deg, approach rate: 0.012985 m/s, LOS rate: -0.121461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810760 deg. 2025-01-08T19:50:19.895Z,1736365819.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813806 target range: 287.700012 and range: 287.70 m. 2025-01-08T19:50:20.008Z,1736365820.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:20.008Z,1736365820.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218846 2025-01-08T19:50:20.237Z,1736365820.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:20.246Z,1736365820.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:20.249Z,1736365820.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 294.912720 m, bearing: 189.074295 deg, approach rate: 0.017871 m/s, LOS rate: -0.124512 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842510 deg. 2025-01-08T19:50:20.251Z,1736365820.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814360 target range: 287.700012 and range: 287.70 m. 2025-01-08T19:50:20.260Z,1736365820.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:20.260Z,1736365820.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470894 2025-01-08T19:50:20.512Z,1736365820.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:20.514Z,1736365820.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724082 2025-01-08T19:50:20.634Z,1736365820.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:20.648Z,1736365820.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:20.653Z,1736365820.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 294.920898 m, bearing: 189.025587 deg, approach rate: 0.020333 m/s, LOS rate: -0.121090 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829069 deg. 2025-01-08T19:50:20.665Z,1736365820.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814126 target range: 287.700012 and range: 287.70 m. 2025-01-08T19:50:20.764Z,1736365820.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:20.765Z,1736365820.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974989 2025-01-08T19:50:21.016Z,1736365821.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:21.017Z,1736365821.017 [DAT](INFO): DAT read: Rx Time:19:50:19.7786 2025-01-08T19:50:21.017Z,1736365821.017 [DAT](INFO): Rx dataTimestamp_ set to:1736365821.016933 2025-01-08T19:50:21.018Z,1736365821.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228186 2025-01-08T19:50:21.086Z,1736365821.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:21.093Z,1736365821.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:21.095Z,1736365821.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:21.107Z,1736365821.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 294.937286 m, bearing: 188.978254 deg, approach rate: 0.036677 m/s, LOS rate: -0.105928 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833196 deg. 2025-01-08T19:50:21.109Z,1736365821.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814198 target range: 287.700012 and range: 287.70 m. 2025-01-08T19:50:21.268Z,1736365821.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:21.268Z,1736365821.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478825 2025-01-08T19:50:21.451Z,1736365821.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:21.476Z,1736365821.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:21.478Z,1736365821.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 294.951508 m, bearing: 188.940094 deg, approach rate: 0.037402 m/s, LOS rate: -0.100356 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860713 deg. 2025-01-08T19:50:21.484Z,1736365821.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814678 target range: 287.700012 and range: 287.70 m. 2025-01-08T19:50:21.521Z,1736365821.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:21.524Z,1736365821.524 [DAT](INFO): DAT read: Range 10 to 50 : 301.6 m (Round-trip 402.2 ms) speed 0.7 m/s 2025-01-08T19:50:21.525Z,1736365821.525 [DAT](INFO): DAT read: user:879> 2025-01-08T19:50:21.527Z,1736365821.527 [DAT](INFO): DAT read: Tx time:19:50:20.8707 2025-01-08T19:50:21.527Z,1736365821.527 [DAT](INFO): Ping request sent. 2025-01-08T19:50:21.527Z,1736365821.527 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:21.528Z,1736365821.528 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:50:21.528Z,1736365821.528 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:21.529Z,1736365821.529 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:21.564Z,1736365821.564 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:50:21.772Z,1736365821.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:21.772Z,1736365821.772 [DAT](INFO): DAT read: TxSync time:19:50:20.8699 2025-01-08T19:50:21.943Z,1736365821.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:21.954Z,1736365821.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 301.600006 m, deltaT: 3.779971 s, deltaX: 13.899994 m, approachRate: 3.677275 m/s, rangeRepo size: 4 2025-01-08T19:50:21.954Z,1736365821.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:21.957Z,1736365821.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 294.968994 m, bearing: 188.894307 deg, approach rate: 0.036598 m/s, LOS rate: -0.095825 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837833 deg. 2025-01-08T19:50:21.958Z,1736365821.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814279 target range: 287.700012 and range: 301.60 m. 2025-01-08T19:50:22.025Z,1736365822.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:22.276Z,1736365822.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:22.310Z,1736365822.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:22.338Z,1736365822.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:22.341Z,1736365822.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 294.982056 m, bearing: 188.860436 deg, approach rate: 0.033901 m/s, LOS rate: -0.087909 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873578 deg. 2025-01-08T19:50:22.342Z,1736365822.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814902 target range: 287.700012 and range: 301.60 m. 2025-01-08T19:50:22.529Z,1736365822.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:22.568Z,1736365822.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:50:22.787Z,1736365822.787 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:22.800Z,1736365822.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:22.808Z,1736365822.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:22.811Z,1736365822.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 295.002380 m, bearing: 188.817775 deg, approach rate: 0.043245 m/s, LOS rate: -0.090763 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847214 deg. 2025-01-08T19:50:22.814Z,1736365822.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814442 target range: 287.700012 and range: 301.60 m. 2025-01-08T19:50:23.041Z,1736365823.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:23.143Z,1736365823.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:23.166Z,1736365823.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:23.172Z,1736365823.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:23.184Z,1736365823.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 295.017120 m, bearing: 188.788114 deg, approach rate: 0.040468 m/s, LOS rate: -0.081429 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886207 deg. 2025-01-08T19:50:23.185Z,1736365823.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815123 target range: 287.700012 and range: 301.60 m. 2025-01-08T19:50:23.293Z,1736365823.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:23.293Z,1736365823.293 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:23.293Z,1736365823.293 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:23.294Z,1736365823.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:23.544Z,1736365823.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:23.544Z,1736365823.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017340 2025-01-08T19:50:23.554Z,1736365823.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:23.564Z,1736365823.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:23.566Z,1736365823.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 295.035858 m, bearing: 188.752552 deg, approach rate: 0.047984 m/s, LOS rate: -0.091062 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868509 deg. 2025-01-08T19:50:23.568Z,1736365823.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814814 target range: 287.700012 and range: 301.60 m. 2025-01-08T19:50:23.796Z,1736365823.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:23.796Z,1736365823.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269444 2025-01-08T19:50:23.976Z,1736365823.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:24.001Z,1736365824.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:24.009Z,1736365824.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 295.059540 m, bearing: 188.715054 deg, approach rate: 0.054114 m/s, LOS rate: -0.085679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862702 deg. 2025-01-08T19:50:24.016Z,1736365824.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814713 target range: 287.700012 and range: 301.60 m. 2025-01-08T19:50:24.048Z,1736365824.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:24.049Z,1736365824.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521651 2025-01-08T19:50:24.300Z,1736365824.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:24.300Z,1736365824.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773473 2025-01-08T19:50:24.355Z,1736365824.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:24.388Z,1736365824.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:24.390Z,1736365824.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 295.081787 m, bearing: 188.681338 deg, approach rate: 0.058710 m/s, LOS rate: -0.088970 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874046 deg. 2025-01-08T19:50:24.397Z,1736365824.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814910 target range: 287.700012 and range: 301.60 m. 2025-01-08T19:50:24.552Z,1736365824.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:24.553Z,1736365824.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025593 2025-01-08T19:50:24.804Z,1736365824.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:24.805Z,1736365824.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277803 2025-01-08T19:50:24.827Z,1736365824.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:24.853Z,1736365824.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:24.872Z,1736365824.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 295.112152 m, bearing: 188.634311 deg, approach rate: 0.064221 m/s, LOS rate: -0.099449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834122 deg. 2025-01-08T19:50:24.873Z,1736365824.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814214 target range: 287.700012 and range: 301.60 m. 2025-01-08T19:50:25.056Z,1736365825.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:25.056Z,1736365825.056 [DAT](INFO): DAT read: Rx Time:19:50:23.6712 2025-01-08T19:50:25.057Z,1736365825.057 [DAT](INFO): Rx dataTimestamp_ set to:1736365825.056659 2025-01-08T19:50:25.057Z,1736365825.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530531 2025-01-08T19:50:25.159Z,1736365825.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:25.166Z,1736365825.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:25.168Z,1736365825.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.70 m. 2025-01-08T19:50:25.171Z,1736365825.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.700012 m, nav range: 295.134033 m, bearing: 188.601212 deg, approach rate: 0.069215 m/s, LOS rate: -0.104692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875898 deg. 2025-01-08T19:50:25.172Z,1736365825.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814943 target range: 287.700012 and range: 301.60 m. 2025-01-08T19:50:25.308Z,1736365825.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:25.309Z,1736365825.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781729 2025-01-08T19:50:25.561Z,1736365825.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:25.575Z,1736365825.575 [DAT](INFO): DAT read: 19:50:23.6712 LVL= 27376, 32753, 18866, 32755, AGC= 63, IDX= 371,-0.17,-1.614,-2.619,-1.167,-1.996, PHS= 0.470,-0.577, 0.826, RAW= 164.1, -11.4, CAL= 168.7, -17.5, ROT= 341.3, 17.5 2025-01-08T19:50:25.576Z,1736365825.576 [DAT](INFO): got valid direction response: 19:50:23.6712 LVL= 27376, 32753, 18866, 32755, AGC= 63, IDX= 371,-0.17,-1.614,-2.619,-1.167,-1.996, PHS= 0.470,-0.577, 0.826, RAW= 164.1, -11.4, CAL= 168.7, -17.5, ROT= 341.3, 17.5 2025-01-08T19:50:25.577Z,1736365825.577 [DAT](INFO): DAT read: Bearing 341.3, 17.5 (Local) 2025-01-08T19:50:25.577Z,1736365825.577 [DAT](INFO): Local bearing/azimuth received: Bearing 341.3, 17.5 (Local) 2025-01-08T19:50:25.581Z,1736365825.581 [DAT](INFO): DAT read: Range 10 to 50 : 297.3 m (Round-trip 396.4 ms) speed 0.3 m/s 2025-01-08T19:50:25.581Z,1736365825.581 [DAT](INFO): DAT read: user:880> 2025-01-08T19:50:25.582Z,1736365825.582 [DAT](INFO): DAT read: Tx time:19:50:24.7707 2025-01-08T19:50:25.582Z,1736365825.582 [DAT](INFO): Ping request sent. 2025-01-08T19:50:25.582Z,1736365825.582 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:25.583Z,1736365825.583 [DAT](INFO): DAT read: TxSync time:19:50:24.7699 2025-01-08T19:50:25.585Z,1736365825.585 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:25.608Z,1736365825.608 [DAT](INFO): direction in FSK: [0.112294,-0.938265,0.327184] 2025-01-08T19:50:25.608Z,1736365825.608 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:25.608Z,1736365825.608 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:25.620Z,1736365825.620 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:25.621Z,1736365825.621 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:25.627Z,1736365825.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:25.680Z,1736365825.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 297.299988 m, deltaT: 4.040797 s, deltaX: -4.300018 m, approachRate: -1.064151 m/s, rangeRepo size: 4 2025-01-08T19:50:25.688Z,1736365825.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 297.299988 m, bearing: 194.363272 deg, lat: 36.901812 deg, lon: -122.116725 deg, deltaT: 7.820768 s, deltaX: 9.599976 m, approachRate: 1.227498 m/s, posRepo size: 4 2025-01-08T19:50:25.688Z,1736365825.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T19:50:25.695Z,1736365825.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 295.312866 m, bearing: 189.906380 deg, approach rate: 0.000000 m/s, LOS rate: -0.104692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821313 deg. 2025-01-08T19:50:25.724Z,1736365825.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813990 target range: 297.299988 and range: 297.30 m. 2025-01-08T19:50:25.814Z,1736365825.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:26.064Z,1736365826.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:26.160Z,1736365826.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:26.173Z,1736365826.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T19:50:26.184Z,1736365826.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 295.344391 m, bearing: 189.846720 deg, approach rate: 0.061230 m/s, LOS rate: -0.115864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796227 deg. 2025-01-08T19:50:26.185Z,1736365826.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813552 target range: 297.299988 and range: 297.30 m. 2025-01-08T19:50:26.316Z,1736365826.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:26.481Z,1736365826.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:26.503Z,1736365826.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T19:50:26.510Z,1736365826.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 295.362823 m, bearing: 189.810715 deg, approach rate: 0.055928 m/s, LOS rate: -0.109239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867179 deg. 2025-01-08T19:50:26.511Z,1736365826.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814791 target range: 297.299988 and range: 297.30 m. 2025-01-08T19:50:26.568Z,1736365826.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:26.821Z,1736365826.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:26.937Z,1736365826.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:26.946Z,1736365826.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T19:50:26.966Z,1736365826.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 295.391266 m, bearing: 189.752001 deg, approach rate: 0.064153 m/s, LOS rate: -0.132418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799062 deg. 2025-01-08T19:50:26.971Z,1736365826.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813601 target range: 297.299988 and range: 297.30 m. 2025-01-08T19:50:27.072Z,1736365827.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:27.288Z,1736365827.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:27.294Z,1736365827.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:27.297Z,1736365827.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T19:50:27.301Z,1736365827.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 295.412201 m, bearing: 189.706527 deg, approach rate: 0.059590 m/s, LOS rate: -0.129431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838774 deg. 2025-01-08T19:50:27.302Z,1736365827.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814295 target range: 297.299988 and range: 297.30 m. 2025-01-08T19:50:27.324Z,1736365827.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:27.324Z,1736365827.324 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:27.324Z,1736365827.324 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:27.325Z,1736365827.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:27.576Z,1736365827.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:27.576Z,1736365827.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993810 2025-01-08T19:50:27.701Z,1736365827.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:27.709Z,1736365827.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T19:50:27.714Z,1736365827.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 295.436279 m, bearing: 189.653441 deg, approach rate: 0.058442 m/s, LOS rate: -0.128837 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815943 deg. 2025-01-08T19:50:27.715Z,1736365827.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813896 target range: 297.299988 and range: 297.30 m. 2025-01-08T19:50:27.829Z,1736365827.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:27.830Z,1736365827.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247829 2025-01-08T19:50:28.080Z,1736365828.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:28.081Z,1736365828.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498097 2025-01-08T19:50:28.132Z,1736365828.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:28.140Z,1736365828.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T19:50:28.142Z,1736365828.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 295.461090 m, bearing: 189.592517 deg, approach rate: 0.057691 m/s, LOS rate: -0.141651 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792429 deg. 2025-01-08T19:50:28.164Z,1736365828.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813486 target range: 297.299988 and range: 297.30 m. 2025-01-08T19:50:28.332Z,1736365828.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:28.334Z,1736365828.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750622 2025-01-08T19:50:28.572Z,1736365828.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:28.584Z,1736365828.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:28.585Z,1736365828.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002212 2025-01-08T19:50:28.601Z,1736365828.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T19:50:28.608Z,1736365828.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 295.485596 m, bearing: 189.530405 deg, approach rate: 0.053149 m/s, LOS rate: -0.134700 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788867 deg. 2025-01-08T19:50:28.620Z,1736365828.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813424 target range: 297.299988 and range: 297.30 m. 2025-01-08T19:50:28.837Z,1736365828.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:28.840Z,1736365828.840 [DAT](INFO): DAT read: Rx Time:19:50:27.5698 2025-01-08T19:50:28.841Z,1736365828.841 [DAT](INFO): Rx dataTimestamp_ set to:1736365828.840601 2025-01-08T19:50:28.844Z,1736365828.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260246 2025-01-08T19:50:29.001Z,1736365829.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:29.009Z,1736365829.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T19:50:29.030Z,1736365829.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 295.508240 m, bearing: 189.465790 deg, approach rate: 0.055453 m/s, LOS rate: -0.158225 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.781356 deg. 2025-01-08T19:50:29.036Z,1736365829.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813293 target range: 297.299988 and range: 297.30 m. 2025-01-08T19:50:29.088Z,1736365829.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:29.089Z,1736365829.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506066 2025-01-08T19:50:29.340Z,1736365829.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:29.347Z,1736365829.347 [DAT](INFO): DAT read: 19:50:27.5698 LVL= 24720, 28497, 18162, 32083, AGC= 63, IDX= 207,-0.18,-2.136, 3.134,-1.548,-2.135, PHS= 0.087,-0.967, 0.584, RAW= 168.3, 4.4, CAL= 168.6, -4.7, ROT= 341.4, 4.7 2025-01-08T19:50:29.348Z,1736365829.348 [DAT](INFO): got valid direction response: 19:50:27.5698 LVL= 24720, 28497, 18162, 32083, AGC= 63, IDX= 207,-0.18,-2.136, 3.134,-1.548,-2.135, PHS= 0.087,-0.967, 0.584, RAW= 168.3, 4.4, CAL= 168.6, -4.7, ROT= 341.4, 4.7 2025-01-08T19:50:29.349Z,1736365829.349 [DAT](INFO): DAT read: Bearing 341.4, 4.7 (Local) 2025-01-08T19:50:29.349Z,1736365829.349 [DAT](INFO): Local bearing/azimuth received: Bearing 341.4, 4.7 (Local) 2025-01-08T19:50:29.351Z,1736365829.351 [DAT](INFO): DAT read: Range 10 to 50 : 296.2 m (Round-trip 395.0 ms) speed 0.7 m/s 2025-01-08T19:50:29.352Z,1736365829.352 [DAT](INFO): DAT read: user:881> 2025-01-08T19:50:29.353Z,1736365829.353 [DAT](INFO): DAT read: Tx time:19:50:28.6707 2025-01-08T19:50:29.353Z,1736365829.353 [DAT](INFO): Ping request sent. 2025-01-08T19:50:29.353Z,1736365829.353 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:29.353Z,1736365829.353 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:29.354Z,1736365829.354 [DAT](INFO): direction in FSK: [-0.187333,-0.952648,0.239517] 2025-01-08T19:50:29.354Z,1736365829.354 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:29.355Z,1736365829.355 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:29.358Z,1736365829.358 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:29.358Z,1736365829.358 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:29.466Z,1736365829.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:29.504Z,1736365829.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 296.200012 m, deltaT: 3.777954 s, deltaX: -1.099976 m, approachRate: -0.291156 m/s, rangeRepo size: 4 2025-01-08T19:50:29.506Z,1736365829.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 296.200012 m, bearing: 175.044562 deg, lat: 36.901812 deg, lon: -122.116647 deg, deltaT: 3.777954 s, deltaX: -1.099976 m, approachRate: -0.291156 m/s, posRepo size: 4 2025-01-08T19:50:29.507Z,1736365829.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.20 m. 2025-01-08T19:50:29.514Z,1736365829.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.200012 m, nav range: 294.484314 m, bearing: 188.071320 deg, approach rate: 0.000000 m/s, LOS rate: -0.158225 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.744410 deg. 2025-01-08T19:50:29.520Z,1736365829.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812648 target range: 296.200012 and range: 296.20 m. 2025-01-08T19:50:29.593Z,1736365829.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:29.594Z,1736365829.594 [DAT](INFO): DAT read: TxSync time:19:50:28.6699 2025-01-08T19:50:29.845Z,1736365829.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:29.938Z,1736365829.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:29.948Z,1736365829.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:29.972Z,1736365829.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.20 m. 2025-01-08T19:50:29.980Z,1736365829.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.200012 m, nav range: 294.519531 m, bearing: 187.999486 deg, approach rate: 0.073796 m/s, LOS rate: -0.150506 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.759712 deg. 2025-01-08T19:50:29.982Z,1736365829.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812915 target range: 296.200012 and range: 296.20 m. 2025-01-08T19:50:30.096Z,1736365830.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:30.097Z,1736365830.097 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:30.097Z,1736365830.097 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:30.097Z,1736365830.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:30.292Z,1736365830.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:30.327Z,1736365830.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.20 m. 2025-01-08T19:50:30.331Z,1736365830.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.200012 m, nav range: 294.544586 m, bearing: 187.945286 deg, approach rate: 0.070717 m/s, LOS rate: -0.152962 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812603 deg. 2025-01-08T19:50:30.332Z,1736365830.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813838 target range: 296.200012 and range: 296.20 m. 2025-01-08T19:50:30.350Z,1736365830.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:30.350Z,1736365830.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997288 2025-01-08T19:50:30.600Z,1736365830.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:30.600Z,1736365830.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247235 2025-01-08T19:50:30.690Z,1736365830.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:30.699Z,1736365830.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.20 m. 2025-01-08T19:50:30.702Z,1736365830.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.200012 m, nav range: 294.571777 m, bearing: 187.884610 deg, approach rate: 0.073103 m/s, LOS rate: -0.163112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793175 deg. 2025-01-08T19:50:30.703Z,1736365830.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813499 target range: 296.200012 and range: 296.20 m. 2025-01-08T19:50:30.853Z,1736365830.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:30.857Z,1736365830.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503284 2025-01-08T19:50:31.104Z,1736365831.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:31.104Z,1736365831.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751409 2025-01-08T19:50:31.148Z,1736365831.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:31.165Z,1736365831.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.20 m. 2025-01-08T19:50:31.172Z,1736365831.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.200012 m, nav range: 294.589508 m, bearing: 187.816220 deg, approach rate: 0.038009 m/s, LOS rate: -0.146596 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.770031 deg. 2025-01-08T19:50:31.173Z,1736365831.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813095 target range: 296.200012 and range: 296.20 m. 2025-01-08T19:50:31.356Z,1736365831.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:31.356Z,1736365831.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003267 2025-01-08T19:50:31.488Z,1736365831.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:31.523Z,1736365831.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.20 m. 2025-01-08T19:50:31.526Z,1736365831.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.200012 m, nav range: 294.603241 m, bearing: 187.765516 deg, approach rate: 0.038799 m/s, LOS rate: -0.143245 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823081 deg. 2025-01-08T19:50:31.527Z,1736365831.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814021 target range: 296.200012 and range: 296.20 m. 2025-01-08T19:50:31.608Z,1736365831.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:31.609Z,1736365831.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256230 2025-01-08T19:50:31.861Z,1736365831.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:31.864Z,1736365831.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510741 2025-01-08T19:50:31.939Z,1736365831.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:31.948Z,1736365831.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.20 m. 2025-01-08T19:50:31.950Z,1736365831.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.200012 m, nav range: 294.617432 m, bearing: 187.702061 deg, approach rate: 0.033138 m/s, LOS rate: -0.148172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.784833 deg. 2025-01-08T19:50:31.952Z,1736365831.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813354 target range: 296.200012 and range: 296.20 m. 2025-01-08T19:50:32.112Z,1736365832.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:32.113Z,1736365832.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759770 2025-01-08T19:50:32.311Z,1736365832.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:32.326Z,1736365832.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:32.332Z,1736365832.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.20 m. 2025-01-08T19:50:32.335Z,1736365832.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.200012 m, nav range: 294.629730 m, bearing: 187.649724 deg, approach rate: 0.031964 m/s, LOS rate: -0.136018 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818180 deg. 2025-01-08T19:50:32.339Z,1736365832.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813935 target range: 296.200012 and range: 296.20 m. 2025-01-08T19:50:32.364Z,1736365832.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:32.364Z,1736365832.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011415 2025-01-08T19:50:32.617Z,1736365832.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:32.618Z,1736365832.618 [DAT](INFO): DAT read: Rx Time:19:50:31.4653 2025-01-08T19:50:32.619Z,1736365832.619 [DAT](INFO): Rx dataTimestamp_ set to:1736365832.618369 2025-01-08T19:50:32.620Z,1736365832.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266773 2025-01-08T19:50:32.733Z,1736365832.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:32.741Z,1736365832.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.20 m. 2025-01-08T19:50:32.744Z,1736365832.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.200012 m, nav range: 294.644684 m, bearing: 187.590320 deg, approach rate: 0.036538 m/s, LOS rate: -0.145140 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796986 deg. 2025-01-08T19:50:32.746Z,1736365832.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813565 target range: 296.200012 and range: 296.20 m. 2025-01-08T19:50:32.869Z,1736365832.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:32.872Z,1736365832.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518407 2025-01-08T19:50:33.122Z,1736365833.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:33.125Z,1736365833.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771286 2025-01-08T19:50:33.202Z,1736365833.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:33.213Z,1736365833.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.20 m. 2025-01-08T19:50:33.217Z,1736365833.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.200012 m, nav range: 294.659454 m, bearing: 187.529524 deg, approach rate: 0.031364 m/s, LOS rate: -0.129089 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792808 deg. 2025-01-08T19:50:33.218Z,1736365833.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813493 target range: 296.200012 and range: 296.20 m. 2025-01-08T19:50:33.372Z,1736365833.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:33.379Z,1736365833.379 [DAT](INFO): DAT read: 19:50:31.4653 LVL= 26096, 32753, 14002, 32755, AGC= 67, IDX= 394, 0.24,-0.193,-1.329, 0.207,-0.669, PHS= 0.563,-0.613, 0.872, RAW= 161.4, -12.1, CAL= 166.6, -18.4, ROT= 343.4, 18.4 2025-01-08T19:50:33.382Z,1736365833.382 [DAT](INFO): got valid direction response: 19:50:31.4653 LVL= 26096, 32753, 14002, 32755, AGC= 67, IDX= 394, 0.24,-0.193,-1.329, 0.207,-0.669, PHS= 0.563,-0.613, 0.872, RAW= 161.4, -12.1, CAL= 166.6, -18.4, ROT= 343.4, 18.4 2025-01-08T19:50:33.383Z,1736365833.383 [DAT](INFO): DAT read: Bearing 343.4, 18.4 (Local) 2025-01-08T19:50:33.383Z,1736365833.383 [DAT](INFO): Local bearing/azimuth received: Bearing 343.4, 18.4 (Local) 2025-01-08T19:50:33.385Z,1736365833.385 [DAT](INFO): DAT read: Range 10 to 50 : 292.8 m (Round-trip 390.5 ms) speed 0.6 m/s 2025-01-08T19:50:33.386Z,1736365833.386 [DAT](INFO): DAT read: user:882> 2025-01-08T19:50:33.387Z,1736365833.387 [DAT](INFO): DAT read: Tx time:19:50:32.5707 2025-01-08T19:50:33.387Z,1736365833.387 [DAT](INFO): Ping request sent. 2025-01-08T19:50:33.387Z,1736365833.387 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:33.409Z,1736365833.409 [DAT](INFO): DAT read: TxSync time:19:50:32.5699 2025-01-08T19:50:33.409Z,1736365833.409 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:33.411Z,1736365833.411 [DAT](INFO): direction in FSK: [0.123683,-0.919635,0.372792] 2025-01-08T19:50:33.427Z,1736365833.427 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:33.428Z,1736365833.428 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:33.444Z,1736365833.444 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:33.445Z,1736365833.445 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:33.525Z,1736365833.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:33.569Z,1736365833.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 292.799988 m, deltaT: 4.032109 s, deltaX: -3.400024 m, approachRate: -0.843237 m/s, rangeRepo size: 4 2025-01-08T19:50:33.576Z,1736365833.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 292.799988 m, bearing: 192.905671 deg, lat: 36.901887 deg, lon: -122.116647 deg, deltaT: 4.032109 s, deltaX: -3.400024 m, approachRate: -0.843237 m/s, posRepo size: 4 2025-01-08T19:50:33.577Z,1736365833.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m. 2025-01-08T19:50:33.588Z,1736365833.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.799988 m, nav range: 286.402100 m, bearing: 187.705108 deg, approach rate: 0.000000 m/s, LOS rate: -0.129089 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837101 deg. 2025-01-08T19:50:33.589Z,1736365833.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814266 target range: 292.799988 and range: 292.80 m. 2025-01-08T19:50:33.626Z,1736365833.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:33.878Z,1736365833.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:33.973Z,1736365833.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:33.981Z,1736365833.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m. 2025-01-08T19:50:33.984Z,1736365833.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.799988 m, nav range: 286.411774 m, bearing: 187.648864 deg, approach rate: 0.023482 m/s, LOS rate: -0.136520 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.806460 deg. 2025-01-08T19:50:33.985Z,1736365833.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813731 target range: 292.799988 and range: 292.80 m. 2025-01-08T19:50:34.128Z,1736365834.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:34.323Z,1736365834.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:34.330Z,1736365834.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:34.332Z,1736365834.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m. 2025-01-08T19:50:34.335Z,1736365834.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.799988 m, nav range: 286.419556 m, bearing: 187.604829 deg, approach rate: 0.022131 m/s, LOS rate: -0.125226 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843086 deg. 2025-01-08T19:50:34.337Z,1736365834.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814370 target range: 292.799988 and range: 292.80 m. 2025-01-08T19:50:34.380Z,1736365834.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:34.381Z,1736365834.381 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:34.381Z,1736365834.381 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:34.381Z,1736365834.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:34.632Z,1736365834.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:34.633Z,1736365834.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245756 2025-01-08T19:50:34.727Z,1736365834.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:34.737Z,1736365834.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m. 2025-01-08T19:50:34.740Z,1736365834.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.799988 m, nav range: 286.429535 m, bearing: 187.553984 deg, approach rate: 0.024686 m/s, LOS rate: -0.125775 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822657 deg. 2025-01-08T19:50:34.741Z,1736365834.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814013 target range: 292.799988 and range: 292.80 m. 2025-01-08T19:50:34.886Z,1736365834.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:34.890Z,1736365834.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502935 2025-01-08T19:50:35.136Z,1736365835.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:35.137Z,1736365835.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749871 2025-01-08T19:50:35.164Z,1736365835.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:35.173Z,1736365835.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m. 2025-01-08T19:50:35.175Z,1736365835.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.799988 m, nav range: 286.440735 m, bearing: 187.503167 deg, approach rate: 0.025700 m/s, LOS rate: -0.116603 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822743 deg. 2025-01-08T19:50:35.177Z,1736365835.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814015 target range: 292.799988 and range: 292.80 m. 2025-01-08T19:50:35.388Z,1736365835.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:35.390Z,1736365835.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002443 2025-01-08T19:50:35.533Z,1736365835.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:35.541Z,1736365835.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m. 2025-01-08T19:50:35.544Z,1736365835.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.799988 m, nav range: 286.451324 m, bearing: 187.460314 deg, approach rate: 0.028712 m/s, LOS rate: -0.116186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846634 deg. 2025-01-08T19:50:35.546Z,1736365835.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814432 target range: 292.799988 and range: 292.80 m. 2025-01-08T19:50:35.644Z,1736365835.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:35.646Z,1736365835.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259330 2025-01-08T19:50:35.898Z,1736365835.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:35.900Z,1736365835.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512624 2025-01-08T19:50:35.986Z,1736365835.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:35.994Z,1736365835.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m. 2025-01-08T19:50:36.017Z,1736365836.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.799988 m, nav range: 286.467590 m, bearing: 187.407747 deg, approach rate: 0.035917 m/s, LOS rate: -0.116070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817494 deg. 2025-01-08T19:50:36.018Z,1736365836.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813923 target range: 292.799988 and range: 292.80 m. 2025-01-08T19:50:36.149Z,1736365836.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:36.151Z,1736365836.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763565 2025-01-08T19:50:36.348Z,1736365836.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:36.355Z,1736365836.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:36.357Z,1736365836.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m. 2025-01-08T19:50:36.360Z,1736365836.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.799988 m, nav range: 286.482025 m, bearing: 187.365783 deg, approach rate: 0.039807 m/s, LOS rate: -0.115719 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849301 deg. 2025-01-08T19:50:36.361Z,1736365836.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814478 target range: 292.799988 and range: 292.80 m. 2025-01-08T19:50:36.400Z,1736365836.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:36.402Z,1736365836.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014173 2025-01-08T19:50:36.652Z,1736365836.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:36.653Z,1736365836.653 [DAT](INFO): DAT read: Rx Time:19:50:35.3637 2025-01-08T19:50:36.654Z,1736365836.654 [DAT](INFO): Rx dataTimestamp_ set to:1736365836.653597 2025-01-08T19:50:36.655Z,1736365836.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267788 2025-01-08T19:50:36.752Z,1736365836.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:36.760Z,1736365836.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m. 2025-01-08T19:50:36.764Z,1736365836.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.799988 m, nav range: 286.498871 m, bearing: 187.319004 deg, approach rate: 0.041799 m/s, LOS rate: -0.116066 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834859 deg. 2025-01-08T19:50:36.765Z,1736365836.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814227 target range: 292.799988 and range: 292.80 m. 2025-01-08T19:50:36.905Z,1736365836.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:36.908Z,1736365836.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520458 2025-01-08T19:50:37.157Z,1736365837.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:37.170Z,1736365837.170 [DAT](INFO): DAT read: 19:50:35.3637 LVL= 32752, 32753, 19586, 32755, AGC= 60, IDX= 425,-0.02, 1.888, 0.832, 2.185, 1.291, PHS= 0.685,-0.412, 0.891, RAW= 158.5, -18.7, CAL= 163.5, -25.2, ROT= 346.5, 25.2 2025-01-08T19:50:37.171Z,1736365837.171 [DAT](INFO): got valid direction response: 19:50:35.3637 LVL= 32752, 32753, 19586, 32755, AGC= 60, IDX= 425,-0.02, 1.888, 0.832, 2.185, 1.291, PHS= 0.685,-0.412, 0.891, RAW= 158.5, -18.7, CAL= 163.5, -25.2, ROT= 346.5, 25.2 2025-01-08T19:50:37.172Z,1736365837.172 [DAT](INFO): DAT read: Bearing 346.5, 25.2 (Local) 2025-01-08T19:50:37.172Z,1736365837.172 [DAT](INFO): Local bearing/azimuth received: Bearing 346.5, 25.2 (Local) 2025-01-08T19:50:37.174Z,1736365837.174 [DAT](INFO): DAT read: Range 10 to 50 : 291.6 m (Round-trip 388.8 ms) speed 0.5 m/s 2025-01-08T19:50:37.174Z,1736365837.174 [DAT](INFO): DAT read: user:883> 2025-01-08T19:50:37.175Z,1736365837.175 [DAT](INFO): DAT read: Tx time:19:50:36.4708 2025-01-08T19:50:37.175Z,1736365837.175 [DAT](INFO): Ping request sent. 2025-01-08T19:50:37.176Z,1736365837.176 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:37.176Z,1736365837.176 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:37.177Z,1736365837.177 [DAT](INFO): direction in FSK: [0.249287,-0.875231,0.414519] 2025-01-08T19:50:37.177Z,1736365837.177 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:37.177Z,1736365837.177 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:37.185Z,1736365837.185 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:37.185Z,1736365837.185 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:37.302Z,1736365837.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:37.333Z,1736365837.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 291.600006 m, deltaT: 3.785200 s, deltaX: -1.199982 m, approachRate: -0.317019 m/s, rangeRepo size: 4 2025-01-08T19:50:37.340Z,1736365837.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 291.600006 m, bearing: 201.858207 deg, lat: 36.901926 deg, lon: -122.116930 deg, deltaT: 3.785200 s, deltaX: -1.199982 m, approachRate: -0.317019 m/s, posRepo size: 4 2025-01-08T19:50:37.341Z,1736365837.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m. 2025-01-08T19:50:37.348Z,1736365837.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.600006 m, nav range: 286.484436 m, bearing: 192.363802 deg, approach rate: 0.000000 m/s, LOS rate: -0.116066 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.775660 deg. 2025-01-08T19:50:37.349Z,1736365837.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813193 target range: 291.600006 and range: 291.60 m. 2025-01-08T19:50:37.409Z,1736365837.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:37.410Z,1736365837.410 [DAT](INFO): DAT read: TxSync time:19:50:36.4700 2025-01-08T19:50:37.644Z,1736365837.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:37.661Z,1736365837.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:37.685Z,1736365837.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m. 2025-01-08T19:50:37.692Z,1736365837.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.600006 m, nav range: 286.481476 m, bearing: 192.323705 deg, approach rate: -0.008410 m/s, LOS rate: -0.113913 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854893 deg. 2025-01-08T19:50:37.693Z,1736365837.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814576 target range: 291.600006 and range: 291.60 m. 2025-01-08T19:50:37.913Z,1736365837.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:38.048Z,1736365838.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:38.057Z,1736365838.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m. 2025-01-08T19:50:38.060Z,1736365838.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.600006 m, nav range: 286.486633 m, bearing: 192.275625 deg, approach rate: 0.013872 m/s, LOS rate: -0.129321 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830949 deg. 2025-01-08T19:50:38.061Z,1736365838.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814158 target range: 291.600006 and range: 291.60 m. 2025-01-08T19:50:38.164Z,1736365838.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:38.416Z,1736365838.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:38.433Z,1736365838.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:38.446Z,1736365838.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:38.449Z,1736365838.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m. 2025-01-08T19:50:38.452Z,1736365838.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.600006 m, nav range: 286.491425 m, bearing: 192.229922 deg, approach rate: 0.012219 m/s, LOS rate: -0.116557 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838081 deg. 2025-01-08T19:50:38.453Z,1736365838.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814283 target range: 291.600006 and range: 291.60 m. 2025-01-08T19:50:38.668Z,1736365838.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:38.669Z,1736365838.669 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:38.669Z,1736365838.669 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:38.670Z,1736365838.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:38.833Z,1736365838.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:38.841Z,1736365838.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m. 2025-01-08T19:50:38.844Z,1736365838.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.600006 m, nav range: 286.496460 m, bearing: 192.182561 deg, approach rate: 0.012842 m/s, LOS rate: -0.120783 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833107 deg. 2025-01-08T19:50:38.845Z,1736365838.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814196 target range: 291.600006 and range: 291.60 m. 2025-01-08T19:50:38.921Z,1736365838.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:38.922Z,1736365838.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745980 2025-01-08T19:50:39.172Z,1736365839.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:39.172Z,1736365839.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996691 2025-01-08T19:50:39.256Z,1736365839.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:39.265Z,1736365839.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m. 2025-01-08T19:50:39.268Z,1736365839.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.600006 m, nav range: 286.505615 m, bearing: 192.131311 deg, approach rate: 0.021577 m/s, LOS rate: -0.120781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821441 deg. 2025-01-08T19:50:39.269Z,1736365839.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813993 target range: 291.600006 and range: 291.60 m. 2025-01-08T19:50:39.424Z,1736365839.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:39.424Z,1736365839.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248805 2025-01-08T19:50:39.640Z,1736365839.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:39.651Z,1736365839.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m. 2025-01-08T19:50:39.657Z,1736365839.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.600006 m, nav range: 286.514038 m, bearing: 192.084813 deg, approach rate: 0.021850 m/s, LOS rate: -0.120620 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835698 deg. 2025-01-08T19:50:39.658Z,1736365839.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814241 target range: 291.600006 and range: 291.60 m. 2025-01-08T19:50:39.684Z,1736365839.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:39.685Z,1736365839.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508995 2025-01-08T19:50:39.937Z,1736365839.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:39.941Z,1736365839.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764388 2025-01-08T19:50:40.082Z,1736365840.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:40.090Z,1736365840.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m. 2025-01-08T19:50:40.093Z,1736365840.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.600006 m, nav range: 286.521606 m, bearing: 192.029946 deg, approach rate: 0.017218 m/s, LOS rate: -0.124820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810589 deg. 2025-01-08T19:50:40.094Z,1736365840.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813803 target range: 291.600006 and range: 291.60 m. 2025-01-08T19:50:40.189Z,1736365840.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:40.195Z,1736365840.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018508 2025-01-08T19:50:40.440Z,1736365840.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:40.440Z,1736365840.441 [DAT](INFO): DAT read: Rx Time:19:50:39.2593 2025-01-08T19:50:40.441Z,1736365840.441 [DAT](INFO): Rx dataTimestamp_ set to:1736365840.440680 2025-01-08T19:50:40.441Z,1736365840.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265841 2025-01-08T19:50:40.480Z,1736365840.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:40.491Z,1736365840.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:40.498Z,1736365840.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m. 2025-01-08T19:50:40.505Z,1736365840.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.600006 m, nav range: 286.528381 m, bearing: 191.980500 deg, approach rate: 0.016629 m/s, LOS rate: -0.121360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826853 deg. 2025-01-08T19:50:40.506Z,1736365840.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814087 target range: 291.600006 and range: 291.60 m. 2025-01-08T19:50:40.692Z,1736365840.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:40.692Z,1736365840.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516831 2025-01-08T19:50:40.849Z,1736365840.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:40.874Z,1736365840.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m. 2025-01-08T19:50:40.881Z,1736365840.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.600006 m, nav range: 286.534515 m, bearing: 191.934665 deg, approach rate: 0.016309 m/s, LOS rate: -0.121866 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837684 deg. 2025-01-08T19:50:40.882Z,1736365840.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814276 target range: 291.600006 and range: 291.60 m. 2025-01-08T19:50:40.945Z,1736365840.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:40.973Z,1736365840.973 [DAT](INFO): DAT read: 19:50:39.2593 LVL= 28560, 32753, 16706, 32755, AGC= 61, IDX= 396, 0.05, 3.131, 2.000,-2.726, 2.689, PHS= 0.530,-0.642, 0.865, RAW= 162.2, -11.0, CAL= 167.0, -17.4, ROT= 343.0, 17.4 2025-01-08T19:50:40.997Z,1736365840.997 [DAT](INFO): got valid direction response: 19:50:39.2593 LVL= 28560, 32753, 16706, 32755, AGC= 61, IDX= 396, 0.05, 3.131, 2.000,-2.726, 2.689, PHS= 0.530,-0.642, 0.865, RAW= 162.2, -11.0, CAL= 167.0, -17.4, ROT= 343.0, 17.4 2025-01-08T19:50:41.017Z,1736365841.017 [DAT](INFO): DAT read: Bearing 343.0, 17.4 (Local) 2025-01-08T19:50:41.018Z,1736365841.018 [DAT](INFO): Local bearing/azimuth received: Bearing 343.0, 17.4 (Local) 2025-01-08T19:50:41.029Z,1736365841.029 [DAT](INFO): DAT read: Range 10 to 50 : 288.3 m (Round-trip 384.4 ms) speed 0.6 m/s 2025-01-08T19:50:41.031Z,1736365841.031 [DAT](INFO): DAT read: user:884> 2025-01-08T19:50:41.045Z,1736365841.045 [DAT](INFO): DAT read: Tx time:19:50:40.3723 2025-01-08T19:50:41.045Z,1736365841.045 [DAT](INFO): Ping request sent. 2025-01-08T19:50:41.045Z,1736365841.045 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:41.046Z,1736365841.046 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:41.058Z,1736365841.058 [DAT](INFO): direction in FSK: [0.103112,-0.927687,0.358839] 2025-01-08T19:50:41.059Z,1736365841.059 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:41.059Z,1736365841.059 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:41.066Z,1736365841.066 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:41.066Z,1736365841.066 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:41.196Z,1736365841.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:41.198Z,1736365841.198 [DAT](INFO): DAT read: TxSync time:19:50:40.3715 2025-01-08T19:50:41.329Z,1736365841.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:41.360Z,1736365841.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 288.299988 m, deltaT: 3.788687 s, deltaX: -3.300018 m, approachRate: -0.871019 m/s, rangeRepo size: 4 2025-01-08T19:50:41.363Z,1736365841.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 288.299988 m, bearing: 192.437654 deg, lat: 36.901945 deg, lon: -122.116947 deg, deltaT: 3.788687 s, deltaX: -3.300018 m, approachRate: -0.871019 m/s, posRepo size: 4 2025-01-08T19:50:41.368Z,1736365841.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.30 m. 2025-01-08T19:50:41.370Z,1736365841.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.299988 m, nav range: 284.852234 m, bearing: 192.244456 deg, approach rate: 0.000000 m/s, LOS rate: -0.121866 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799188 deg. 2025-01-08T19:50:41.378Z,1736365841.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813604 target range: 288.299988 and range: 288.30 m. 2025-01-08T19:50:41.457Z,1736365841.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:41.672Z,1736365841.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:41.706Z,1736365841.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.30 m. 2025-01-08T19:50:41.708Z,1736365841.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:41.718Z,1736365841.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.299988 m, nav range: 284.859406 m, bearing: 192.200526 deg, approach rate: 0.020844 m/s, LOS rate: -0.127675 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843400 deg. 2025-01-08T19:50:41.719Z,1736365841.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814375 target range: 288.299988 and range: 288.30 m. 2025-01-08T19:50:41.961Z,1736365841.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:42.095Z,1736365842.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:42.123Z,1736365842.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.30 m. 2025-01-08T19:50:42.126Z,1736365842.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.299988 m, nav range: 284.870880 m, bearing: 192.146411 deg, approach rate: 0.028420 m/s, LOS rate: -0.134024 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812849 deg. 2025-01-08T19:50:42.127Z,1736365842.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813842 target range: 288.299988 and range: 288.30 m. 2025-01-08T19:50:42.213Z,1736365842.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:42.464Z,1736365842.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:42.476Z,1736365842.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:42.509Z,1736365842.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.30 m. 2025-01-08T19:50:42.514Z,1736365842.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.299988 m, nav range: 284.880341 m, bearing: 192.097600 deg, approach rate: 0.023327 m/s, LOS rate: -0.120350 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828761 deg. 2025-01-08T19:50:42.515Z,1736365842.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814120 target range: 288.299988 and range: 288.30 m. 2025-01-08T19:50:42.716Z,1736365842.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:42.876Z,1736365842.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:42.883Z,1736365842.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:42.885Z,1736365842.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.30 m. 2025-01-08T19:50:42.888Z,1736365842.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.299988 m, nav range: 284.890198 m, bearing: 192.046390 deg, approach rate: 0.026197 m/s, LOS rate: -0.136094 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821561 deg. 2025-01-08T19:50:42.889Z,1736365842.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813994 target range: 288.299988 and range: 288.30 m. 2025-01-08T19:50:42.971Z,1736365842.971 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:42.973Z,1736365842.973 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:42.973Z,1736365842.973 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:42.973Z,1736365842.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:43.220Z,1736365843.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:43.220Z,1736365843.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.175081 2025-01-08T19:50:43.348Z,1736365843.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:43.359Z,1736365843.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.30 m. 2025-01-08T19:50:43.362Z,1736365843.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.299988 m, nav range: 284.898346 m, bearing: 191.985759 deg, approach rate: 0.017187 m/s, LOS rate: -0.127888 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793299 deg. 2025-01-08T19:50:43.364Z,1736365843.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813501 target range: 288.299988 and range: 288.30 m. 2025-01-08T19:50:43.472Z,1736365843.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:43.473Z,1736365843.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.427982 2025-01-08T19:50:43.691Z,1736365843.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:43.700Z,1736365843.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.30 m. 2025-01-08T19:50:43.703Z,1736365843.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.299988 m, nav range: 284.904602 m, bearing: 191.941304 deg, approach rate: 0.018329 m/s, LOS rate: -0.130240 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841825 deg. 2025-01-08T19:50:43.704Z,1736365843.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814348 target range: 288.299988 and range: 288.30 m. 2025-01-08T19:50:43.724Z,1736365843.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:43.724Z,1736365843.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.679206 2025-01-08T19:50:43.976Z,1736365843.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:43.976Z,1736365843.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.931169 2025-01-08T19:50:44.104Z,1736365844.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:44.133Z,1736365844.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.30 m. 2025-01-08T19:50:44.143Z,1736365844.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.299988 m, nav range: 284.918152 m, bearing: 191.887487 deg, approach rate: 0.031684 m/s, LOS rate: -0.125835 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813744 deg. 2025-01-08T19:50:44.145Z,1736365844.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813858 target range: 288.299988 and range: 288.30 m. 2025-01-08T19:50:44.229Z,1736365844.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:44.230Z,1736365844.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.184354 2025-01-08T19:50:44.480Z,1736365844.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:44.481Z,1736365844.481 [DAT](INFO): DAT read: Rx Time:19:50:43.1592 2025-01-08T19:50:44.481Z,1736365844.481 [DAT](INFO): Rx dataTimestamp_ set to:1736365844.481190 2025-01-08T19:50:44.482Z,1736365844.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.436711 2025-01-08T19:50:44.517Z,1736365844.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:44.536Z,1736365844.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.30 m. 2025-01-08T19:50:44.539Z,1736365844.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.299988 m, nav range: 284.931915 m, bearing: 191.833610 deg, approach rate: 0.034243 m/s, LOS rate: -0.134035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813566 deg. 2025-01-08T19:50:44.544Z,1736365844.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813855 target range: 288.299988 and range: 288.30 m. 2025-01-08T19:50:44.734Z,1736365844.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:44.735Z,1736365844.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.689971 2025-01-08T19:50:44.898Z,1736365844.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:44.905Z,1736365844.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:44.907Z,1736365844.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.30 m. 2025-01-08T19:50:44.910Z,1736365844.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.299988 m, nav range: 284.945068 m, bearing: 191.783936 deg, approach rate: 0.034888 m/s, LOS rate: -0.131753 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826170 deg. 2025-01-08T19:50:44.911Z,1736365844.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814075 target range: 288.299988 and range: 288.30 m. 2025-01-08T19:50:44.985Z,1736365844.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:44.999Z,1736365844.999 [DAT](INFO): DAT read: 19:50:43.1592 LVL= 27056, 27745, 17650, 31731, AGC= 64, IDX= 211, 0.30,-1.759,-2.797,-1.179,-1.750, PHS= 0.078,-1.000, 0.568, RAW= 167.8, 5.2, CAL= 167.9, -4.1, ROT= 342.1, 4.1 2025-01-08T19:50:45.002Z,1736365845.002 [DAT](INFO): got valid direction response: 19:50:43.1592 LVL= 27056, 27745, 17650, 31731, AGC= 64, IDX= 211, 0.30,-1.759,-2.797,-1.179,-1.750, PHS= 0.078,-1.000, 0.568, RAW= 167.8, 5.2, CAL= 167.9, -4.1, ROT= 342.1, 4.1 2025-01-08T19:50:45.004Z,1736365845.004 [DAT](INFO): DAT read: Bearing 342.1, 4.1 (Local) 2025-01-08T19:50:45.004Z,1736365845.004 [DAT](INFO): Local bearing/azimuth received: Bearing 342.1, 4.1 (Local) 2025-01-08T19:50:45.006Z,1736365845.006 [DAT](INFO): DAT read: Range 10 to 50 : 287.0 m (Round-trip 382.7 ms) speed -0.1 m/s 2025-01-08T19:50:45.007Z,1736365845.007 [DAT](INFO): DAT read: user:885> 2025-01-08T19:50:45.034Z,1736365845.034 [DAT](INFO): DAT read: Tx time:19:50:44.2708 2025-01-08T19:50:45.035Z,1736365845.035 [DAT](INFO): Ping request sent. 2025-01-08T19:50:45.045Z,1736365845.045 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:45.046Z,1736365845.046 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:45.058Z,1736365845.058 [DAT](INFO): direction in FSK: [-0.202754,-0.947670,0.246601] 2025-01-08T19:50:45.068Z,1736365845.068 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:45.069Z,1736365845.069 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:45.086Z,1736365845.086 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:45.086Z,1736365845.086 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:45.238Z,1736365845.238 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:45.239Z,1736365845.239 [DAT](INFO): DAT read: TxSync time:19:50:44.2701 2025-01-08T19:50:45.357Z,1736365845.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:45.384Z,1736365845.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 287.000000 m, deltaT: 4.039436 s, deltaX: -1.299988 m, approachRate: -0.321824 m/s, rangeRepo size: 4 2025-01-08T19:50:45.386Z,1736365845.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 287.000000 m, bearing: 174.222594 deg, lat: 36.901945 deg, lon: -122.116930 deg, deltaT: 4.039436 s, deltaX: -1.299988 m, approachRate: -0.321824 m/s, posRepo size: 4 2025-01-08T19:50:45.387Z,1736365845.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.00 m. 2025-01-08T19:50:45.394Z,1736365845.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.000000 m, nav range: 284.667450 m, bearing: 191.435365 deg, approach rate: 0.000000 m/s, LOS rate: -0.131753 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788700 deg. 2025-01-08T19:50:45.395Z,1736365845.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813421 target range: 287.000000 and range: 287.00 m. 2025-01-08T19:50:45.489Z,1736365845.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:45.709Z,1736365845.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:45.724Z,1736365845.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.00 m. 2025-01-08T19:50:45.727Z,1736365845.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.000000 m, nav range: 284.679382 m, bearing: 191.387531 deg, approach rate: 0.034550 m/s, LOS rate: -0.138498 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831691 deg. 2025-01-08T19:50:45.728Z,1736365845.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814171 target range: 287.000000 and range: 287.00 m. 2025-01-08T19:50:45.740Z,1736365845.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:45.992Z,1736365845.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:46.156Z,1736365846.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:46.172Z,1736365846.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.00 m. 2025-01-08T19:50:46.179Z,1736365846.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.000000 m, nav range: 284.687256 m, bearing: 191.326042 deg, approach rate: 0.017558 m/s, LOS rate: -0.137117 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.790728 deg. 2025-01-08T19:50:46.180Z,1736365846.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813456 target range: 287.000000 and range: 287.00 m. 2025-01-08T19:50:46.244Z,1736365846.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:46.496Z,1736365846.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:46.534Z,1736365846.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:46.548Z,1736365846.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.00 m. 2025-01-08T19:50:46.550Z,1736365846.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.000000 m, nav range: 284.693604 m, bearing: 191.273934 deg, approach rate: 0.016949 m/s, LOS rate: -0.139134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818865 deg. 2025-01-08T19:50:46.551Z,1736365846.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813947 target range: 287.000000 and range: 287.00 m. 2025-01-08T19:50:46.748Z,1736365846.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:46.919Z,1736365846.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:46.926Z,1736365846.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:46.928Z,1736365846.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.00 m. 2025-01-08T19:50:46.932Z,1736365846.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.000000 m, nav range: 284.700439 m, bearing: 191.221021 deg, approach rate: 0.017920 m/s, LOS rate: -0.138701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816454 deg. 2025-01-08T19:50:46.933Z,1736365846.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813905 target range: 287.000000 and range: 287.00 m. 2025-01-08T19:50:47.000Z,1736365847.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:47.001Z,1736365847.001 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:47.001Z,1736365847.001 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:47.002Z,1736365847.002 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:47.252Z,1736365847.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:47.252Z,1736365847.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217505 2025-01-08T19:50:47.370Z,1736365847.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:47.388Z,1736365847.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.00 m. 2025-01-08T19:50:47.394Z,1736365847.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.000000 m, nav range: 284.704285 m, bearing: 191.156663 deg, approach rate: 0.008425 m/s, LOS rate: -0.141006 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782117 deg. 2025-01-08T19:50:47.399Z,1736365847.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813306 target range: 287.000000 and range: 287.00 m. 2025-01-08T19:50:47.505Z,1736365847.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:47.506Z,1736365847.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471086 2025-01-08T19:50:47.733Z,1736365847.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:47.742Z,1736365847.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.00 m. 2025-01-08T19:50:47.745Z,1736365847.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.000000 m, nav range: 284.707458 m, bearing: 191.104845 deg, approach rate: 0.008887 m/s, LOS rate: -0.145091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819734 deg. 2025-01-08T19:50:47.747Z,1736365847.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813962 target range: 287.000000 and range: 287.00 m. 2025-01-08T19:50:47.756Z,1736365847.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:47.757Z,1736365847.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721654 2025-01-08T19:50:48.009Z,1736365848.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:48.010Z,1736365848.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975080 2025-01-08T19:50:48.184Z,1736365848.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:48.192Z,1736365848.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.00 m. 2025-01-08T19:50:48.195Z,1736365848.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.000000 m, nav range: 284.704193 m, bearing: 191.039511 deg, approach rate: -0.007253 m/s, LOS rate: -0.145116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.779182 deg. 2025-01-08T19:50:48.196Z,1736365848.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813255 target range: 287.000000 and range: 287.00 m. 2025-01-08T19:50:48.260Z,1736365848.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:48.261Z,1736365848.261 [DAT](INFO): DAT read: Rx Time:19:50:47.0551 2025-01-08T19:50:48.261Z,1736365848.261 [DAT](INFO): Rx dataTimestamp_ set to:1736365848.260785 2025-01-08T19:50:48.262Z,1736365848.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226714 2025-01-08T19:50:48.512Z,1736365848.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:48.513Z,1736365848.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478142 2025-01-08T19:50:48.548Z,1736365848.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:48.556Z,1736365848.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.00 m. 2025-01-08T19:50:48.559Z,1736365848.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.000000 m, nav range: 284.701233 m, bearing: 190.986778 deg, approach rate: -0.008131 m/s, LOS rate: -0.144846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816989 deg. 2025-01-08T19:50:48.561Z,1736365848.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813915 target range: 287.000000 and range: 287.00 m. 2025-01-08T19:50:48.766Z,1736365848.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:48.773Z,1736365848.773 [DAT](INFO): DAT read: 19:50:47.0551 LVL= 25152, 32753, 16882, 32755, AGC= 65, IDX= 181, 0.45,-2.051,-3.082,-1.461,-2.004, PHS= 0.041,-1.031, 0.540, RAW= 168.1, 6.5, CAL= 167.9, -2.9, ROT= 342.1, 2.9 2025-01-08T19:50:48.774Z,1736365848.774 [DAT](INFO): got valid direction response: 19:50:47.0551 LVL= 25152, 32753, 16882, 32755, AGC= 65, IDX= 181, 0.45,-2.051,-3.082,-1.461,-2.004, PHS= 0.041,-1.031, 0.540, RAW= 168.1, 6.5, CAL= 167.9, -2.9, ROT= 342.1, 2.9 2025-01-08T19:50:48.775Z,1736365848.775 [DAT](INFO): DAT read: Bearing 342.1, 2.9 (Local) 2025-01-08T19:50:48.776Z,1736365848.776 [DAT](INFO): Local bearing/azimuth received: Bearing 342.1, 2.9 (Local) 2025-01-08T19:50:48.778Z,1736365848.778 [DAT](INFO): DAT read: Range 10 to 50 : 285.0 m (Round-trip 380.1 ms) speed 0.2 m/s 2025-01-08T19:50:48.781Z,1736365848.781 [DAT](INFO): DAT read: user:886> 2025-01-08T19:50:48.781Z,1736365848.781 [DAT](INFO): DAT read: Tx time:19:50:48.1708 2025-01-08T19:50:48.782Z,1736365848.782 [DAT](INFO): Ping request sent. 2025-01-08T19:50:48.782Z,1736365848.782 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:48.782Z,1736365848.782 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:48.786Z,1736365848.786 [DAT](INFO): direction in FSK: [-0.228124,-0.944006,0.238353] 2025-01-08T19:50:48.788Z,1736365848.788 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:48.789Z,1736365848.789 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:48.793Z,1736365848.793 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:48.793Z,1736365848.793 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:48.959Z,1736365848.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:48.996Z,1736365848.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 285.000000 m, deltaT: 3.781053 s, deltaX: -2.000000 m, approachRate: -0.528953 m/s, rangeRepo size: 4 2025-01-08T19:50:48.998Z,1736365848.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 285.000000 m, bearing: 172.143925 deg, lat: 36.901945 deg, lon: -122.116930 deg, deltaT: 3.781053 s, deltaX: -2.000000 m, approachRate: -0.528953 m/s, posRepo size: 4 2025-01-08T19:50:49.004Z,1736365849.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.00 m. 2025-01-08T19:50:49.006Z,1736365849.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.000000 m, nav range: 284.697632 m, bearing: 190.927318 deg, approach rate: 0.000000 m/s, LOS rate: -0.144846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.784675 deg. 2025-01-08T19:50:49.012Z,1736365849.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813351 target range: 285.000000 and range: 285.00 m. 2025-01-08T19:50:49.016Z,1736365849.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:49.017Z,1736365849.017 [DAT](INFO): DAT read: TxSync time:19:50:48.1701 2025-01-08T19:50:49.273Z,1736365849.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:49.440Z,1736365849.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:49.448Z,1736365849.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:49.450Z,1736365849.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.00 m. 2025-01-08T19:50:49.452Z,1736365849.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.000000 m, nav range: 284.686523 m, bearing: 190.858584 deg, approach rate: -0.024421 m/s, LOS rate: -0.151115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768977 deg. 2025-01-08T19:50:49.454Z,1736365849.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813076 target range: 285.000000 and range: 285.00 m. 2025-01-08T19:50:49.524Z,1736365849.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:49.524Z,1736365849.524 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:49.525Z,1736365849.525 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:49.525Z,1736365849.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:49.776Z,1736365849.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:49.776Z,1736365849.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994433 2025-01-08T19:50:49.820Z,1736365849.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:49.854Z,1736365849.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.00 m. 2025-01-08T19:50:49.861Z,1736365849.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.000000 m, nav range: 284.677490 m, bearing: 190.804310 deg, approach rate: -0.022343 m/s, LOS rate: -0.134244 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812361 deg. 2025-01-08T19:50:49.862Z,1736365849.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813834 target range: 285.000000 and range: 285.00 m. 2025-01-08T19:50:50.028Z,1736365850.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:50.030Z,1736365850.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247597 2025-01-08T19:50:50.281Z,1736365850.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:50.283Z,1736365850.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500402 2025-01-08T19:50:50.358Z,1736365850.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:50.392Z,1736365850.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.00 m. 2025-01-08T19:50:50.395Z,1736365850.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.000000 m, nav range: 284.656921 m, bearing: 190.729515 deg, approach rate: -0.038215 m/s, LOS rate: -0.138973 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.750785 deg. 2025-01-08T19:50:50.400Z,1736365850.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812759 target range: 285.000000 and range: 285.00 m. 2025-01-08T19:50:50.532Z,1736365850.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:50.533Z,1736365850.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750718 2025-01-08T19:50:50.705Z,1736365850.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:50.715Z,1736365850.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.00 m. 2025-01-08T19:50:50.720Z,1736365850.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.000000 m, nav range: 284.643524 m, bearing: 190.681117 deg, approach rate: -0.041537 m/s, LOS rate: -0.150059 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829987 deg. 2025-01-08T19:50:50.721Z,1736365850.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814141 target range: 285.000000 and range: 285.00 m. 2025-01-08T19:50:50.785Z,1736365850.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:50.786Z,1736365850.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003851 2025-01-08T19:50:51.036Z,1736365851.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:51.036Z,1736365851.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254412 2025-01-08T19:50:51.188Z,1736365851.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:51.214Z,1736365851.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.00 m. 2025-01-08T19:50:51.221Z,1736365851.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.000000 m, nav range: 284.626312 m, bearing: 190.615686 deg, approach rate: -0.034448 m/s, LOS rate: -0.130962 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.778882 deg. 2025-01-08T19:50:51.222Z,1736365851.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813250 target range: 285.000000 and range: 285.00 m. 2025-01-08T19:50:51.289Z,1736365851.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:51.291Z,1736365851.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508552 2025-01-08T19:50:51.540Z,1736365851.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:51.540Z,1736365851.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758601 2025-01-08T19:50:51.554Z,1736365851.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:51.561Z,1736365851.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:51.580Z,1736365851.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.00 m. 2025-01-08T19:50:51.587Z,1736365851.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.000000 m, nav range: 284.615051 m, bearing: 190.565533 deg, approach rate: -0.030748 m/s, LOS rate: -0.136947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824722 deg. 2025-01-08T19:50:51.589Z,1736365851.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814050 target range: 285.000000 and range: 285.00 m. 2025-01-08T19:50:51.794Z,1736365851.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:51.796Z,1736365851.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013509 2025-01-08T19:50:51.918Z,1736365851.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:51.926Z,1736365851.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.00 m. 2025-01-08T19:50:51.930Z,1736365851.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.000000 m, nav range: 284.604919 m, bearing: 190.517431 deg, approach rate: -0.029300 m/s, LOS rate: -0.139111 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830876 deg. 2025-01-08T19:50:51.932Z,1736365851.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814157 target range: 285.000000 and range: 285.00 m. 2025-01-08T19:50:52.044Z,1736365852.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:52.045Z,1736365852.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262646 2025-01-08T19:50:52.296Z,1736365852.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:52.298Z,1736365852.298 [DAT](INFO): DAT read: Rx Time:19:50:50.9533 2025-01-08T19:50:52.299Z,1736365852.299 [DAT](INFO): Rx dataTimestamp_ set to:1736365852.298374 2025-01-08T19:50:52.301Z,1736365852.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518582 2025-01-08T19:50:52.399Z,1736365852.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:52.428Z,1736365852.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.00 m. 2025-01-08T19:50:52.437Z,1736365852.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.000000 m, nav range: 284.594910 m, bearing: 190.458354 deg, approach rate: -0.020691 m/s, LOS rate: -0.122119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797950 deg. 2025-01-08T19:50:52.438Z,1736365852.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813582 target range: 285.000000 and range: 285.00 m. 2025-01-08T19:50:52.548Z,1736365852.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:52.549Z,1736365852.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766830 2025-01-08T19:50:52.692Z,1736365852.692 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:50:52.745Z,1736365852.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:52.755Z,1736365852.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.00 m. 2025-01-08T19:50:52.758Z,1736365852.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.000000 m, nav range: 284.588165 m, bearing: 190.415755 deg, approach rate: -0.019566 m/s, LOS rate: -0.123586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847386 deg. 2025-01-08T19:50:52.759Z,1736365852.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814445 target range: 285.000000 and range: 285.00 m. 2025-01-08T19:50:52.800Z,1736365852.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:52.806Z,1736365852.806 [DAT](INFO): DAT read: 19:50:50.9533 LVL= 26752, 32753, 15474, 32755, AGC= 62, IDX= 429, 0.34,-2.290, 2.967,-1.843,-2.686, PHS= 0.484,-0.584, 0.839, RAW= 163.9, -11.5, CAL= 168.5, -17.7, ROT= 341.5, 17.7 2025-01-08T19:50:52.808Z,1736365852.808 [DAT](INFO): got valid direction response: 19:50:50.9533 LVL= 26752, 32753, 15474, 32755, AGC= 62, IDX= 429, 0.34,-2.290, 2.967,-1.843,-2.686, PHS= 0.484,-0.584, 0.839, RAW= 163.9, -11.5, CAL= 168.5, -17.7, ROT= 341.5, 17.7 2025-01-08T19:50:52.809Z,1736365852.809 [DAT](INFO): DAT read: Bearing 341.5, 17.7 (Local) 2025-01-08T19:50:52.809Z,1736365852.809 [DAT](INFO): Local bearing/azimuth received: Bearing 341.5, 17.7 (Local) 2025-01-08T19:50:52.810Z,1736365852.810 [DAT](INFO): DAT read: Range 10 to 50 : 283.7 m (Round-trip 378.3 ms) speed 0.7 m/s 2025-01-08T19:50:52.811Z,1736365852.811 [DAT](INFO): DAT read: user:887> 2025-01-08T19:50:52.812Z,1736365852.812 [DAT](INFO): DAT read: Tx time:19:50:52.0708 2025-01-08T19:50:52.813Z,1736365852.813 [DAT](INFO): Ping request sent. 2025-01-08T19:50:52.813Z,1736365852.813 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:52.813Z,1736365852.813 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:52.814Z,1736365852.814 [DAT](INFO): direction in FSK: [0.114648,-0.936446,0.331550] 2025-01-08T19:50:52.815Z,1736365852.815 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:52.815Z,1736365852.815 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:52.818Z,1736365852.818 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:52.819Z,1736365852.819 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:53.052Z,1736365853.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:53.053Z,1736365853.053 [DAT](INFO): DAT read: TxSync time:19:50:52.0701 2025-01-08T19:50:53.212Z,1736365853.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:53.234Z,1736365853.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 283.700012 m, deltaT: 4.033617 s, deltaX: -1.299988 m, approachRate: -0.322288 m/s, rangeRepo size: 4 2025-01-08T19:50:53.236Z,1736365853.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 283.700012 m, bearing: 192.256559 deg, lat: 36.901985 deg, lon: -122.116947 deg, deltaT: 4.033617 s, deltaX: -1.299988 m, approachRate: -0.322288 m/s, posRepo size: 4 2025-01-08T19:50:53.237Z,1736365853.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.70 m. 2025-01-08T19:50:53.240Z,1736365853.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 283.700012 m, nav range: 280.454102 m, bearing: 190.814622 deg, approach rate: 0.000000 m/s, LOS rate: -0.123586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797893 deg. 2025-01-08T19:50:53.241Z,1736365853.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813581 target range: 283.700012 and range: 283.70 m. 2025-01-08T19:50:53.304Z,1736365853.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:53.556Z,1736365853.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:53.597Z,1736365853.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:53.611Z,1736365853.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:53.616Z,1736365853.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.70 m. 2025-01-08T19:50:53.619Z,1736365853.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 283.700012 m, nav range: 280.448883 m, bearing: 190.768492 deg, approach rate: -0.013617 m/s, LOS rate: -0.120372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836793 deg. 2025-01-08T19:50:53.621Z,1736365853.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814260 target range: 283.700012 and range: 283.70 m. 2025-01-08T19:50:53.696Z,1736365853.696 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:50:53.808Z,1736365853.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:53.808Z,1736365853.808 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:53.808Z,1736365853.808 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:53.809Z,1736365853.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:53.955Z,1736365853.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:53.965Z,1736365853.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.70 m. 2025-01-08T19:50:53.967Z,1736365853.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 283.700012 m, nav range: 280.444275 m, bearing: 190.725631 deg, approach rate: -0.013228 m/s, LOS rate: -0.123035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846603 deg. 2025-01-08T19:50:53.969Z,1736365853.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814432 target range: 283.700012 and range: 283.70 m. 2025-01-08T19:50:54.061Z,1736365854.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:54.062Z,1736365854.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249137 2025-01-08T19:50:54.312Z,1736365854.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:54.313Z,1736365854.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499768 2025-01-08T19:50:54.417Z,1736365854.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:54.429Z,1736365854.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.70 m. 2025-01-08T19:50:54.436Z,1736365854.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 283.700012 m, nav range: 280.442291 m, bearing: 190.672953 deg, approach rate: -0.004273 m/s, LOS rate: -0.113471 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817153 deg. 2025-01-08T19:50:54.437Z,1736365854.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813918 target range: 283.700012 and range: 283.70 m. 2025-01-08T19:50:54.566Z,1736365854.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:54.568Z,1736365854.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754891 2025-01-08T19:50:54.759Z,1736365854.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:54.768Z,1736365854.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.70 m. 2025-01-08T19:50:54.772Z,1736365854.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 283.700012 m, nav range: 280.441833 m, bearing: 190.633894 deg, approach rate: -0.001348 m/s, LOS rate: -0.115003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858010 deg. 2025-01-08T19:50:54.773Z,1736365854.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814631 target range: 283.700012 and range: 283.70 m. 2025-01-08T19:50:54.821Z,1736365854.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:54.821Z,1736365854.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008368 2025-01-08T19:50:55.072Z,1736365855.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:55.072Z,1736365855.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259530 2025-01-08T19:50:55.214Z,1736365855.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:55.258Z,1736365855.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.70 m. 2025-01-08T19:50:55.265Z,1736365855.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 283.700012 m, nav range: 280.442322 m, bearing: 190.582080 deg, approach rate: 0.000998 m/s, LOS rate: -0.105901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819744 deg. 2025-01-08T19:50:55.266Z,1736365855.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813962 target range: 283.700012 and range: 283.70 m. 2025-01-08T19:50:55.324Z,1736365855.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:55.326Z,1736365855.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512466 2025-01-08T19:50:55.578Z,1736365855.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:55.578Z,1736365855.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765568 2025-01-08T19:50:55.608Z,1736365855.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:55.615Z,1736365855.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:55.617Z,1736365855.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.70 m. 2025-01-08T19:50:55.621Z,1736365855.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 283.700012 m, nav range: 280.451416 m, bearing: 190.537762 deg, approach rate: 0.025286 m/s, LOS rate: -0.123220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842237 deg. 2025-01-08T19:50:55.622Z,1736365855.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814355 target range: 283.700012 and range: 283.70 m. 2025-01-08T19:50:55.832Z,1736365855.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:55.832Z,1736365855.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019592 2025-01-08T19:50:55.976Z,1736365855.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:55.990Z,1736365855.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.70 m. 2025-01-08T19:50:55.993Z,1736365855.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 283.700012 m, nav range: 280.461273 m, bearing: 190.496429 deg, approach rate: 0.026443 m/s, LOS rate: -0.110877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851192 deg. 2025-01-08T19:50:55.994Z,1736365855.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814512 target range: 283.700012 and range: 283.70 m. 2025-01-08T19:50:56.085Z,1736365856.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:56.086Z,1736365856.086 [DAT](INFO): DAT read: Rx Time:19:50:54.8482 2025-01-08T19:50:56.087Z,1736365856.087 [DAT](INFO): Rx dataTimestamp_ set to:1736365856.086393 2025-01-08T19:50:56.088Z,1736365856.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274985 2025-01-08T19:50:56.336Z,1736365856.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:56.336Z,1736365856.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523409 2025-01-08T19:50:56.430Z,1736365856.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:56.448Z,1736365856.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.70 m. 2025-01-08T19:50:56.451Z,1736365856.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 283.700012 m, nav range: 280.478363 m, bearing: 190.443581 deg, approach rate: 0.037450 m/s, LOS rate: -0.115801 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816654 deg. 2025-01-08T19:50:56.453Z,1736365856.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813909 target range: 283.700012 and range: 283.70 m. 2025-01-08T19:50:56.588Z,1736365856.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:56.598Z,1736365856.598 [DAT](INFO): DAT read: 19:50:54.8482 LVL= 23776, 32753, 14242, 32755, AGC= 66, IDX= 390,-0.28,-1.821,-2.747,-1.340,-2.373, PHS= 0.641,-0.326, 1.030, RAW= 166.2, -21.5, CAL= 169.7, -27.5, ROT= 340.3, 27.5 2025-01-08T19:50:56.600Z,1736365856.600 [DAT](INFO): got valid direction response: 19:50:54.8482 LVL= 23776, 32753, 14242, 32755, AGC= 66, IDX= 390,-0.28,-1.821,-2.747,-1.340,-2.373, PHS= 0.641,-0.326, 1.030, RAW= 166.2, -21.5, CAL= 169.7, -27.5, ROT= 340.3, 27.5 2025-01-08T19:50:56.601Z,1736365856.601 [DAT](INFO): DAT read: Bearing 340.3, 27.5 (Local) 2025-01-08T19:50:56.602Z,1736365856.602 [DAT](INFO): Local bearing/azimuth received: Bearing 340.3, 27.5 (Local) 2025-01-08T19:50:56.603Z,1736365856.603 [DAT](INFO): DAT read: Range 10 to 50 : 279.8 m (Round-trip 373.1 ms) speed 0.4 m/s 2025-01-08T19:50:56.604Z,1736365856.604 [DAT](INFO): DAT read: user:888> 2025-01-08T19:50:56.605Z,1736365856.605 [DAT](INFO): DAT read: Tx time:19:50:55.9709 2025-01-08T19:50:56.605Z,1736365856.605 [DAT](INFO): Ping request sent. 2025-01-08T19:50:56.605Z,1736365856.605 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:50:56.605Z,1736365856.605 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:50:56.606Z,1736365856.606 [DAT](INFO): direction in FSK: [0.305342,-0.907097,0.289728] 2025-01-08T19:50:56.606Z,1736365856.606 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:56.607Z,1736365856.607 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:56.618Z,1736365856.618 [DAT](INFO): publishing transmit ping time 2025-01-08T19:50:56.619Z,1736365856.619 [DAT](INFO): publishing direction and range info 2025-01-08T19:50:56.809Z,1736365856.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:56.840Z,1736365856.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:56.842Z,1736365856.842 [DAT](INFO): DAT read: TxSync time:19:50:55.9702 2025-01-08T19:50:56.868Z,1736365856.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 279.799988 m, deltaT: 3.788199 s, deltaX: -3.900024 m, approachRate: -1.029519 m/s, rangeRepo size: 4 2025-01-08T19:50:56.870Z,1736365856.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 279.799988 m, bearing: 204.425269 deg, lat: 36.901985 deg, lon: -122.116947 deg, deltaT: 3.788199 s, deltaX: -3.900024 m, approachRate: -1.029519 m/s, posRepo size: 4 2025-01-08T19:50:56.871Z,1736365856.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:50:56.878Z,1736365856.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.492859 m, bearing: 190.399334 deg, approach rate: 0.000000 m/s, LOS rate: -0.115801 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830764 deg. 2025-01-08T19:50:56.883Z,1736365856.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814155 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:50:57.092Z,1736365857.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:57.193Z,1736365857.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:57.226Z,1736365857.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:50:57.274Z,1736365857.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.507141 m, bearing: 190.354568 deg, approach rate: 0.039389 m/s, LOS rate: -0.123454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840896 deg. 2025-01-08T19:50:57.275Z,1736365857.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814332 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:50:57.345Z,1736365857.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:57.597Z,1736365857.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:57.633Z,1736365857.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:57.649Z,1736365857.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:57.676Z,1736365857.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:50:57.688Z,1736365857.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.529297 m, bearing: 190.299967 deg, approach rate: 0.049103 m/s, LOS rate: -0.120999 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811398 deg. 2025-01-08T19:50:57.689Z,1736365857.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813817 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:50:57.848Z,1736365857.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:57.848Z,1736365857.848 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:50:57.848Z,1736365857.848 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:50:57.849Z,1736365857.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:50:57.999Z,1736365857.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:58.007Z,1736365858.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:50:58.010Z,1736365858.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.547821 m, bearing: 190.254554 deg, approach rate: 0.055953 m/s, LOS rate: -0.137163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838957 deg. 2025-01-08T19:50:58.027Z,1736365858.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814298 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:50:58.100Z,1736365858.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:58.100Z,1736365858.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495492 2025-01-08T19:50:58.352Z,1736365858.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:58.352Z,1736365858.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747498 2025-01-08T19:50:58.434Z,1736365858.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:58.442Z,1736365858.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:50:58.445Z,1736365858.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.570068 m, bearing: 190.196123 deg, approach rate: 0.051165 m/s, LOS rate: -0.134372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799907 deg. 2025-01-08T19:50:58.446Z,1736365858.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813616 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:50:58.604Z,1736365858.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:58.604Z,1736365858.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999340 2025-01-08T19:50:58.801Z,1736365858.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:58.809Z,1736365858.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:50:58.828Z,1736365858.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.589142 m, bearing: 190.146748 deg, approach rate: 0.051890 m/s, LOS rate: -0.134316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827073 deg. 2025-01-08T19:50:58.830Z,1736365858.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814091 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:50:58.856Z,1736365858.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:58.857Z,1736365858.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251721 2025-01-08T19:50:59.108Z,1736365859.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:59.108Z,1736365859.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503448 2025-01-08T19:50:59.215Z,1736365859.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:59.223Z,1736365859.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:50:59.234Z,1736365859.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.610657 m, bearing: 190.091204 deg, approach rate: 0.052026 m/s, LOS rate: -0.134305 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808567 deg. 2025-01-08T19:50:59.245Z,1736365859.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813767 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:50:59.360Z,1736365859.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:59.361Z,1736365859.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756517 2025-01-08T19:50:59.612Z,1736365859.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:59.613Z,1736365859.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008251 2025-01-08T19:50:59.633Z,1736365859.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:50:59.662Z,1736365859.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:50:59.670Z,1736365859.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:50:59.683Z,1736365859.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.630493 m, bearing: 190.030816 deg, approach rate: 0.044396 m/s, LOS rate: -0.135144 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.794039 deg. 2025-01-08T19:50:59.685Z,1736365859.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813514 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:50:59.864Z,1736365859.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:50:59.865Z,1736365859.865 [DAT](INFO): DAT read: Rx Time:19:50:58.7025 2025-01-08T19:50:59.865Z,1736365859.865 [DAT](INFO): Rx dataTimestamp_ set to:1736365859.864717 2025-01-08T19:50:59.865Z,1736365859.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260561 2025-01-08T19:51:00.011Z,1736365860.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:00.021Z,1736365860.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:51:00.024Z,1736365860.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.648346 m, bearing: 189.976138 deg, approach rate: 0.050829 m/s, LOS rate: -0.155666 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811163 deg. 2025-01-08T19:51:00.025Z,1736365860.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813813 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:51:00.116Z,1736365860.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:00.117Z,1736365860.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512293 2025-01-08T19:51:00.369Z,1736365860.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:00.372Z,1736365860.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767092 2025-01-08T19:51:00.485Z,1736365860.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:00.496Z,1736365860.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:51:00.499Z,1736365860.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.663635 m, bearing: 189.902537 deg, approach rate: 0.032181 m/s, LOS rate: -0.154905 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.754397 deg. 2025-01-08T19:51:00.500Z,1736365860.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812822 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:51:00.621Z,1736365860.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:00.630Z,1736365860.630 [DAT](INFO): DAT read: 19:50:58.7025 LVL= 23536, 25953, 15442, 31715, AGC= 60, IDX= 485, 0.05, 1.770, 0.637, 2.401, 1.774, PHS= 0.084,-1.090, 0.624, RAW= 168.0, 5.1, CAL= 168.1, -4.1, ROT= 341.9, 4.1 2025-01-08T19:51:00.631Z,1736365860.631 [DAT](INFO): got valid direction response: 19:50:58.7025 LVL= 23536, 25953, 15442, 31715, AGC= 60, IDX= 485, 0.05, 1.770, 0.637, 2.401, 1.774, PHS= 0.084,-1.090, 0.624, RAW= 168.0, 5.1, CAL= 168.1, -4.1, ROT= 341.9, 4.1 2025-01-08T19:51:00.632Z,1736365860.632 [DAT](INFO): DAT read: Bearing 341.9, 4.1 (Local) 2025-01-08T19:51:00.632Z,1736365860.632 [DAT](INFO): Local bearing/azimuth received: Bearing 341.9, 4.1 (Local) 2025-01-08T19:51:00.634Z,1736365860.634 [DAT](INFO): DAT read: Range 10 to 50 : 245.5 m (Round-trip 327.4 ms) speed 0.2 m/s 2025-01-08T19:51:00.635Z,1736365860.635 [DAT](INFO): DAT read: user:889> 2025-01-08T19:51:00.636Z,1736365860.636 [DAT](INFO): DAT read: Tx time:19:50:59.8209 2025-01-08T19:51:00.636Z,1736365860.636 [DAT](INFO): Ping request sent. 2025-01-08T19:51:00.636Z,1736365860.636 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:00.637Z,1736365860.637 [DAT](INFO): DAT read: TxSync time:19:50:59.8202 2025-01-08T19:51:00.637Z,1736365860.637 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:00.638Z,1736365860.638 [DAT](INFO): direction in FSK: [-0.201368,-0.948645,0.243976] 2025-01-08T19:51:00.638Z,1736365860.638 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:00.638Z,1736365860.638 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:00.641Z,1736365860.641 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:00.642Z,1736365860.642 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:00.824Z,1736365860.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:00.847Z,1736365860.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 245.500000 m, deltaT: 4.032839 s, deltaX: -34.299988 m, approachRate: -8.505172 m/s, rangeRepo size: 4 2025-01-08T19:51:00.860Z,1736365860.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:51:00.868Z,1736365860.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.674377 m, bearing: 189.849799 deg, approach rate: 0.030767 m/s, LOS rate: -0.151039 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816980 deg. 2025-01-08T19:51:00.869Z,1736365860.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813914 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:51:00.872Z,1736365860.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:01.126Z,1736365861.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:01.223Z,1736365861.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:01.250Z,1736365861.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:51:01.253Z,1736365861.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.686768 m, bearing: 189.787692 deg, approach rate: 0.030613 m/s, LOS rate: -0.153447 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788874 deg. 2025-01-08T19:51:01.258Z,1736365861.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813424 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:51:01.377Z,1736365861.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:01.628Z,1736365861.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:01.663Z,1736365861.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:01.716Z,1736365861.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:01.718Z,1736365861.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:51:01.729Z,1736365861.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.694580 m, bearing: 189.716692 deg, approach rate: 0.016706 m/s, LOS rate: -0.151819 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.762194 deg. 2025-01-08T19:51:01.730Z,1736365861.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812958 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:51:01.880Z,1736365861.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:01.880Z,1736365861.880 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:01.881Z,1736365861.881 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:01.881Z,1736365861.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:02.035Z,1736365862.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:02.043Z,1736365862.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:51:02.047Z,1736365862.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.700439 m, bearing: 189.656675 deg, approach rate: 0.018007 m/s, LOS rate: -0.184446 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795139 deg. 2025-01-08T19:51:02.048Z,1736365862.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813533 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:51:02.132Z,1736365862.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:02.134Z,1736365862.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497361 2025-01-08T19:51:02.384Z,1736365862.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:02.384Z,1736365862.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748412 2025-01-08T19:51:02.501Z,1736365862.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:02.525Z,1736365862.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:51:02.528Z,1736365862.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.699524 m, bearing: 189.582903 deg, approach rate: -0.001900 m/s, LOS rate: -0.153097 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.753871 deg. 2025-01-08T19:51:02.529Z,1736365862.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812813 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:51:02.636Z,1736365862.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:02.637Z,1736365862.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001320 2025-01-08T19:51:02.842Z,1736365862.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:02.851Z,1736365862.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:51:02.870Z,1736365862.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.697815 m, bearing: 189.527373 deg, approach rate: -0.005247 m/s, LOS rate: -0.170484 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808598 deg. 2025-01-08T19:51:02.871Z,1736365862.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813768 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:51:02.888Z,1736365862.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:02.889Z,1736365862.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252648 2025-01-08T19:51:03.140Z,1736365863.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:03.140Z,1736365863.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504453 2025-01-08T19:51:03.254Z,1736365863.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:03.264Z,1736365863.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:51:03.270Z,1736365863.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.696106 m, bearing: 189.461227 deg, approach rate: -0.004144 m/s, LOS rate: -0.160378 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.776747 deg. 2025-01-08T19:51:03.272Z,1736365863.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813212 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:51:03.393Z,1736365863.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:03.394Z,1736365863.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757590 2025-01-08T19:51:03.644Z,1736365863.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:03.645Z,1736365863.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008519 2025-01-08T19:51:03.665Z,1736365863.665 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010811520866,35.0, +10.9, 3.3, 0 2025-01-08T19:51:03.689Z,1736365863.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:51:03.689Z,1736365863.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:03.720Z,1736365863.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:51:03.723Z,1736365863.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.693726 m, bearing: 189.391705 deg, approach rate: -0.005322 m/s, LOS rate: -0.155443 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.766622 deg. 2025-01-08T19:51:03.728Z,1736365863.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813035 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:51:03.896Z,1736365863.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:03.897Z,1736365863.897 [DAT](INFO): DAT read: Rx Time:19:51:02.5942 2025-01-08T19:51:03.898Z,1736365863.898 [DAT](INFO): Rx dataTimestamp_ set to:1736365863.897318 2025-01-08T19:51:03.898Z,1736365863.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262136 2025-01-08T19:51:04.056Z,1736365864.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:51:04.056Z,1736365864.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:04.064Z,1736365864.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:04.066Z,1736365864.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m. 2025-01-08T19:51:04.069Z,1736365864.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.799988 m, nav range: 280.691711 m, bearing: 189.332962 deg, approach rate: -0.005667 m/s, LOS rate: -0.165271 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.798956 deg. 2025-01-08T19:51:04.070Z,1736365864.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813600 target range: 279.799988 and range: 279.80 m. 2025-01-08T19:51:04.148Z,1736365864.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:04.149Z,1736365864.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513325 2025-01-08T19:51:04.400Z,1736365864.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:04.406Z,1736365864.406 [DAT](INFO): DAT read: 19:51:02.5942 LVL= 21296, 27105, 11922, 25587, AGC= 59, IDX= 126, 0.02,-2.330, 2.960,-1.726,-2.376, PHS= 0.134,-0.900, 0.647, RAW= 169.0, 1.8, CAL= 169.9, -6.8, ROT= 340.1, 6.8 2025-01-08T19:51:04.408Z,1736365864.408 [DAT](INFO): got valid direction response: 19:51:02.5942 LVL= 21296, 27105, 11922, 25587, AGC= 59, IDX= 126, 0.02,-2.330, 2.960,-1.726,-2.376, PHS= 0.134,-0.900, 0.647, RAW= 169.0, 1.8, CAL= 169.9, -6.8, ROT= 340.1, 6.8 2025-01-08T19:51:04.409Z,1736365864.409 [DAT](INFO): DAT read: Bearing 340.1, 6.8 (Local) 2025-01-08T19:51:04.409Z,1736365864.409 [DAT](INFO): Local bearing/azimuth received: Bearing 340.1, 6.8 (Local) 2025-01-08T19:51:04.410Z,1736365864.410 [DAT](INFO): DAT read: Range 10 to 50 : 276.8 m (Round-trip 369.1 ms) speed 0.7 m/s 2025-01-08T19:51:04.411Z,1736365864.411 [DAT](INFO): DAT read: user:890> 2025-01-08T19:51:04.413Z,1736365864.413 [DAT](INFO): DAT read: Tx time:19:51:03.6709 2025-01-08T19:51:04.413Z,1736365864.413 [DAT](INFO): Ping request sent. 2025-01-08T19:51:04.413Z,1736365864.413 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:04.414Z,1736365864.414 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:04.415Z,1736365864.415 [DAT](INFO): direction in FSK: [-0.137132,-0.963048,0.231805] 2025-01-08T19:51:04.415Z,1736365864.415 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:04.415Z,1736365864.415 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:04.418Z,1736365864.418 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:04.418Z,1736365864.418 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:04.570Z,1736365864.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:04.621Z,1736365864.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 276.799988 m, deltaT: 7.811821 s, deltaX: -3.000000 m, approachRate: -0.384033 m/s, rangeRepo size: 4 2025-01-08T19:51:04.628Z,1736365864.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 276.799988 m, bearing: 176.733160 deg, lat: 36.902020 deg, lon: -122.116262 deg, deltaT: 7.811821 s, deltaX: -3.000000 m, approachRate: -0.384033 m/s, posRepo size: 4 2025-01-08T19:51:04.629Z,1736365864.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.80 m. 2025-01-08T19:51:04.636Z,1736365864.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.799988 m, nav range: 273.562836 m, bearing: 176.710448 deg, approach rate: 0.000000 m/s, LOS rate: -0.165271 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.700137 deg. 2025-01-08T19:51:04.638Z,1736365864.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811875 target range: 276.799988 and range: 276.80 m. 2025-01-08T19:51:04.652Z,1736365864.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:04.653Z,1736365864.653 [DAT](INFO): DAT read: TxSync time:19:51:03.6702 2025-01-08T19:51:04.904Z,1736365864.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:04.958Z,1736365864.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:04.967Z,1736365864.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.80 m. 2025-01-08T19:51:04.970Z,1736365864.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.799988 m, nav range: 273.612793 m, bearing: 176.655390 deg, approach rate: 0.144255 m/s, LOS rate: -0.158954 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810043 deg. 2025-01-08T19:51:04.971Z,1736365864.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813793 target range: 276.799988 and range: 276.80 m. 2025-01-08T19:51:05.156Z,1736365865.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:05.408Z,1736365865.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:05.415Z,1736365865.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:05.444Z,1736365865.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.80 m. 2025-01-08T19:51:05.454Z,1736365865.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.799988 m, nav range: 273.663666 m, bearing: 176.598397 deg, approach rate: 0.106748 m/s, LOS rate: -0.119568 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.804240 deg. 2025-01-08T19:51:05.457Z,1736365865.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813692 target range: 276.799988 and range: 276.80 m. 2025-01-08T19:51:05.660Z,1736365865.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:05.751Z,1736365865.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:05.773Z,1736365865.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.80 m. 2025-01-08T19:51:05.776Z,1736365865.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.799988 m, nav range: 273.701416 m, bearing: 176.556569 deg, approach rate: 0.114559 m/s, LOS rate: -0.126917 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849718 deg. 2025-01-08T19:51:05.777Z,1736365865.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814486 target range: 276.799988 and range: 276.80 m. 2025-01-08T19:51:05.913Z,1736365865.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:06.164Z,1736365866.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:06.188Z,1736365866.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:06.195Z,1736365866.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:06.198Z,1736365866.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.80 m. 2025-01-08T19:51:06.201Z,1736365866.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.799988 m, nav range: 273.751251 m, bearing: 176.502251 deg, approach rate: 0.117314 m/s, LOS rate: -0.127842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812264 deg. 2025-01-08T19:51:06.202Z,1736365866.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813832 target range: 276.799988 and range: 276.80 m. 2025-01-08T19:51:06.418Z,1736365866.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:06.419Z,1736365866.419 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:06.420Z,1736365866.420 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:06.420Z,1736365866.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:06.601Z,1736365866.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:06.637Z,1736365866.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.80 m. 2025-01-08T19:51:06.653Z,1736365866.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.799988 m, nav range: 273.800659 m, bearing: 176.455983 deg, approach rate: 0.113953 m/s, LOS rate: -0.106692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836407 deg. 2025-01-08T19:51:06.659Z,1736365866.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814253 target range: 276.799988 and range: 276.80 m. 2025-01-08T19:51:06.668Z,1736365866.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:06.670Z,1736365866.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255965 2025-01-08T19:51:06.921Z,1736365866.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:06.922Z,1736365866.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507839 2025-01-08T19:51:07.109Z,1736365867.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:07.118Z,1736365867.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.80 m. 2025-01-08T19:51:07.121Z,1736365867.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.799988 m, nav range: 273.863831 m, bearing: 176.399321 deg, approach rate: 0.129701 m/s, LOS rate: -0.116309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.805241 deg. 2025-01-08T19:51:07.123Z,1736365867.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813710 target range: 276.799988 and range: 276.80 m. 2025-01-08T19:51:07.172Z,1736365867.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:07.173Z,1736365867.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759085 2025-01-08T19:51:07.426Z,1736365867.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:07.429Z,1736365867.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015104 2025-01-08T19:51:07.549Z,1736365867.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:07.591Z,1736365867.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.80 m. 2025-01-08T19:51:07.597Z,1736365867.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.799988 m, nav range: 273.922455 m, bearing: 176.353937 deg, approach rate: 0.124163 m/s, LOS rate: -0.096099 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839066 deg. 2025-01-08T19:51:07.604Z,1736365867.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814300 target range: 276.799988 and range: 276.80 m. 2025-01-08T19:51:07.676Z,1736365867.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:07.677Z,1736365867.677 [DAT](INFO): DAT read: Rx Time:19:51:06.4399 2025-01-08T19:51:07.678Z,1736365867.678 [DAT](INFO): Rx dataTimestamp_ set to:1736365867.677571 2025-01-08T19:51:07.679Z,1736365867.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265320 2025-01-08T19:51:07.928Z,1736365867.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:07.928Z,1736365867.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515056 2025-01-08T19:51:07.930Z,1736365867.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:07.963Z,1736365867.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.80 m. 2025-01-08T19:51:07.969Z,1736365867.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.799988 m, nav range: 273.973877 m, bearing: 176.314924 deg, approach rate: 0.139521 m/s, LOS rate: -0.105832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858170 deg. 2025-01-08T19:51:07.971Z,1736365867.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814633 target range: 276.799988 and range: 276.80 m. 2025-01-08T19:51:08.187Z,1736365868.187 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:08.194Z,1736365868.194 [DAT](INFO): DAT read: 19:51:06.4399 LVL= 23440, 22129, 13554, 26099, AGC= 64, IDX= 179, 0.25, 2.996, 1.976,-2.563, 3.025, PHS= 0.059,-1.002, 0.692, RAW= 171.7, 3.4, CAL= 172.1, -5.4, ROT= 337.9, 5.4 2025-01-08T19:51:08.204Z,1736365868.204 [DAT](INFO): got valid direction response: 19:51:06.4399 LVL= 23440, 22129, 13554, 26099, AGC= 64, IDX= 179, 0.25, 2.996, 1.976,-2.563, 3.025, PHS= 0.059,-1.002, 0.692, RAW= 171.7, 3.4, CAL= 172.1, -5.4, ROT= 337.9, 5.4 2025-01-08T19:51:08.204Z,1736365868.204 [DAT](INFO): DAT read: Bearing 337.9, 5.4 (Local) 2025-01-08T19:51:08.205Z,1736365868.205 [DAT](INFO): Local bearing/azimuth received: Bearing 337.9, 5.4 (Local) 2025-01-08T19:51:08.206Z,1736365868.206 [DAT](INFO): DAT read: Range 10 to 50 : 273.5 m (Round-trip 364.7 ms) speed 0.8 m/s 2025-01-08T19:51:08.212Z,1736365868.212 [DAT](INFO): DAT read: user:891> 2025-01-08T19:51:08.224Z,1736365868.224 [DAT](INFO): DAT read: Tx time:19:51:07.5210 2025-01-08T19:51:08.224Z,1736365868.224 [DAT](INFO): Ping request sent. 2025-01-08T19:51:08.224Z,1736365868.224 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:08.225Z,1736365868.225 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:08.226Z,1736365868.226 [DAT](INFO): direction in FSK: [-0.164993,-0.969250,0.182568] 2025-01-08T19:51:08.227Z,1736365868.227 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:08.237Z,1736365868.237 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:08.245Z,1736365868.245 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:08.245Z,1736365868.245 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:08.398Z,1736365868.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:08.432Z,1736365868.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:08.433Z,1736365868.433 [DAT](INFO): DAT read: TxSync time:19:51:07.5203 2025-01-08T19:51:08.458Z,1736365868.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 273.500000 m, deltaT: 3.787833 s, deltaX: -3.299988 m, approachRate: -0.871207 m/s, rangeRepo size: 4 2025-01-08T19:51:08.464Z,1736365868.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 273.500000 m, bearing: 176.979979 deg, lat: 36.902025 deg, lon: -122.116301 deg, deltaT: 3.787833 s, deltaX: -3.299988 m, approachRate: -0.871207 m/s, posRepo size: 4 2025-01-08T19:51:08.465Z,1736365868.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.50 m. 2025-01-08T19:51:08.472Z,1736365868.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.500000 m, nav range: 273.291534 m, bearing: 176.979882 deg, approach rate: 0.000000 m/s, LOS rate: -0.105832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819130 deg. 2025-01-08T19:51:08.473Z,1736365868.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813952 target range: 273.500000 and range: 273.50 m. 2025-01-08T19:51:08.685Z,1736365868.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:08.821Z,1736365868.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:08.836Z,1736365868.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:08.838Z,1736365868.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.50 m. 2025-01-08T19:51:08.846Z,1736365868.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.500000 m, nav range: 273.355042 m, bearing: 176.937955 deg, approach rate: 0.163813 m/s, LOS rate: -0.108122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849437 deg. 2025-01-08T19:51:08.852Z,1736365868.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814481 target range: 273.500000 and range: 273.50 m. 2025-01-08T19:51:08.936Z,1736365868.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:08.937Z,1736365868.937 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:08.937Z,1736365868.937 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:08.937Z,1736365868.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:09.157Z,1736365869.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:09.166Z,1736365869.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.50 m. 2025-01-08T19:51:09.169Z,1736365869.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.500000 m, nav range: 273.405548 m, bearing: 176.904646 deg, approach rate: 0.154034 m/s, LOS rate: -0.101567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875278 deg. 2025-01-08T19:51:09.170Z,1736365869.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814932 target range: 273.500000 and range: 273.50 m. 2025-01-08T19:51:09.189Z,1736365869.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:09.190Z,1736365869.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.965965 2025-01-08T19:51:09.441Z,1736365869.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:09.443Z,1736365869.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.218561 2025-01-08T19:51:09.613Z,1736365869.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:09.643Z,1736365869.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.50 m. 2025-01-08T19:51:09.647Z,1736365869.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.500000 m, nav range: 273.484802 m, bearing: 176.857606 deg, approach rate: 0.167601 m/s, LOS rate: -0.099448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834108 deg. 2025-01-08T19:51:09.653Z,1736365869.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814213 target range: 273.500000 and range: 273.50 m. 2025-01-08T19:51:09.693Z,1736365869.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:09.695Z,1736365869.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470065 2025-01-08T19:51:09.944Z,1736365869.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:09.944Z,1736365869.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720222 2025-01-08T19:51:09.991Z,1736365869.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:09.000Z,1736365870.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.50 m. 2025-01-08T19:51:10.003Z,1736365870.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.500000 m, nav range: 273.551208 m, bearing: 176.818744 deg, approach rate: 0.184224 m/s, LOS rate: -0.107784 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858630 deg. 2025-01-08T19:51:10.013Z,1736365870.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814641 target range: 273.500000 and range: 273.50 m. 2025-01-08T19:51:10.196Z,1736365870.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:10.197Z,1736365870.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973006 2025-01-08T19:51:10.448Z,1736365870.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:10.448Z,1736365870.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224259 2025-01-08T19:51:10.466Z,1736365870.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:10.474Z,1736365870.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.50 m. 2025-01-08T19:51:10.477Z,1736365870.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.500000 m, nav range: 273.635468 m, bearing: 176.769865 deg, approach rate: 0.177460 m/s, LOS rate: -0.102915 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828594 deg. 2025-01-08T19:51:10.478Z,1736365870.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814117 target range: 273.500000 and range: 273.50 m. 2025-01-08T19:51:10.700Z,1736365870.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:10.700Z,1736365870.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476283 2025-01-08T19:51:10.824Z,1736365870.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:10.834Z,1736365870.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.50 m. 2025-01-08T19:51:10.837Z,1736365870.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.500000 m, nav range: 273.704254 m, bearing: 176.729147 deg, approach rate: 0.191241 m/s, LOS rate: -0.113176 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853063 deg. 2025-01-08T19:51:10.838Z,1736365870.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814544 target range: 273.500000 and range: 273.50 m. 2025-01-08T19:51:10.952Z,1736365870.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:10.952Z,1736365870.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728151 2025-01-08T19:51:11.197Z,1736365871.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:11.204Z,1736365871.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:11.205Z,1736365871.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980574 2025-01-08T19:51:11.206Z,1736365871.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:11.209Z,1736365871.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.50 m. 2025-01-08T19:51:11.212Z,1736365871.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.500000 m, nav range: 273.775787 m, bearing: 176.686904 deg, approach rate: 0.190961 m/s, LOS rate: -0.112740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848491 deg. 2025-01-08T19:51:11.214Z,1736365871.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814465 target range: 273.500000 and range: 273.50 m. 2025-01-08T19:51:11.457Z,1736365871.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:11.460Z,1736365871.460 [DAT](INFO): DAT read: Rx Time:19:51:10.2872 2025-01-08T19:51:11.461Z,1736365871.461 [DAT](INFO): Rx dataTimestamp_ set to:1736365871.460589 2025-01-08T19:51:11.465Z,1736365871.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238869 2025-01-08T19:51:11.632Z,1736365871.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:11.640Z,1736365871.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.50 m. 2025-01-08T19:51:11.643Z,1736365871.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.500000 m, nav range: 273.862549 m, bearing: 176.632058 deg, approach rate: 0.200948 m/s, LOS rate: -0.126987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810703 deg. 2025-01-08T19:51:11.645Z,1736365871.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813805 target range: 273.500000 and range: 273.50 m. 2025-01-08T19:51:11.708Z,1736365871.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:11.708Z,1736365871.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484228 2025-01-08T19:51:11.961Z,1736365871.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:11.964Z,1736365871.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739280 2025-01-08T19:51:12.031Z,1736365872.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:12.055Z,1736365872.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.50 m. 2025-01-08T19:51:12.062Z,1736365872.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.500000 m, nav range: 273.941895 m, bearing: 176.581851 deg, approach rate: 0.193223 m/s, LOS rate: -0.122229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824609 deg. 2025-01-08T19:51:12.064Z,1736365872.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814048 target range: 273.500000 and range: 273.50 m. 2025-01-08T19:51:12.212Z,1736365872.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:12.222Z,1736365872.222 [DAT](INFO): DAT read: 19:51:10.2872 LVL= 25904, 28577, 16882, 30931, AGC= 62, IDX= 182, 0.13, 1.991, 0.899, 2.663, 2.004, PHS= 0.074,-1.058, 0.656, RAW= 169.5, 4.4, CAL= 169.7, -4.7, ROT= 340.3, 4.7 2025-01-08T19:51:12.234Z,1736365872.234 [DAT](INFO): got valid direction response: 19:51:10.2872 LVL= 25904, 28577, 16882, 30931, AGC= 62, IDX= 182, 0.13, 1.991, 0.899, 2.663, 2.004, PHS= 0.074,-1.058, 0.656, RAW= 169.5, 4.4, CAL= 169.7, -4.7, ROT= 340.3, 4.7 2025-01-08T19:51:12.235Z,1736365872.235 [DAT](INFO): DAT read: Bearing 340.3, 4.7 (Local) 2025-01-08T19:51:12.236Z,1736365872.236 [DAT](INFO): Local bearing/azimuth received: Bearing 340.3, 4.7 (Local) 2025-01-08T19:51:12.237Z,1736365872.237 [DAT](INFO): DAT read: Range 10 to 50 : 271.5 m (Round-trip 362.0 ms) speed 0.4 m/s 2025-01-08T19:51:12.238Z,1736365872.238 [DAT](INFO): DAT read: user:892> 2025-01-08T19:51:12.239Z,1736365872.239 [DAT](INFO): DAT read: Tx time:19:51:11.3710 2025-01-08T19:51:12.239Z,1736365872.239 [DAT](INFO): Ping request sent. 2025-01-08T19:51:12.239Z,1736365872.239 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:12.240Z,1736365872.240 [DAT](INFO): DAT read: TxSync time:19:51:11.3703 2025-01-08T19:51:12.241Z,1736365872.241 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:12.241Z,1736365872.241 [DAT](INFO): direction in FSK: [-0.186274,-0.957860,0.218645] 2025-01-08T19:51:12.242Z,1736365872.242 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:12.242Z,1736365872.242 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:12.245Z,1736365872.245 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:12.246Z,1736365872.246 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:12.466Z,1736365872.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:12.477Z,1736365872.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:12.508Z,1736365872.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 271.500000 m, deltaT: 4.024136 s, deltaX: -2.000000 m, approachRate: -0.497001 m/s, rangeRepo size: 4 2025-01-08T19:51:12.510Z,1736365872.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 271.500000 m, bearing: 176.023467 deg, lat: 36.902059 deg, lon: -122.116277 deg, deltaT: 4.024136 s, deltaX: -2.000000 m, approachRate: -0.497001 m/s, posRepo size: 4 2025-01-08T19:51:12.511Z,1736365872.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T19:51:12.518Z,1736365872.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 270.323334 m, bearing: 176.023341 deg, approach rate: 0.000000 m/s, LOS rate: -0.122229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810936 deg. 2025-01-08T19:51:12.523Z,1736365872.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813809 target range: 271.500000 and range: 271.50 m. 2025-01-08T19:51:12.717Z,1736365872.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:12.842Z,1736365872.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:12.851Z,1736365872.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T19:51:12.854Z,1736365872.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 270.399353 m, bearing: 175.970400 deg, approach rate: 0.215820 m/s, LOS rate: -0.150259 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816408 deg. 2025-01-08T19:51:12.856Z,1736365872.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813904 target range: 271.500000 and range: 271.50 m. 2025-01-08T19:51:12.968Z,1736365872.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:13.217Z,1736365873.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:13.220Z,1736365873.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:13.225Z,1736365873.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:13.227Z,1736365873.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T19:51:13.230Z,1736365873.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 270.476959 m, bearing: 175.915949 deg, approach rate: 0.206671 m/s, LOS rate: -0.144964 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811883 deg. 2025-01-08T19:51:13.232Z,1736365873.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813826 target range: 271.500000 and range: 271.50 m. 2025-01-08T19:51:13.474Z,1736365873.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:13.484Z,1736365873.484 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:13.484Z,1736365873.484 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:13.485Z,1736365873.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:13.661Z,1736365873.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:13.686Z,1736365873.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T19:51:13.693Z,1736365873.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 270.567383 m, bearing: 175.846434 deg, approach rate: 0.197067 m/s, LOS rate: -0.151449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.766713 deg. 2025-01-08T19:51:13.694Z,1736365873.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813037 target range: 271.500000 and range: 271.50 m. 2025-01-08T19:51:13.725Z,1736365873.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:13.726Z,1736365873.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486091 2025-01-08T19:51:13.976Z,1736365873.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:13.976Z,1736365873.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736776 2025-01-08T19:51:14.020Z,1736365874.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:14.044Z,1736365874.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T19:51:14.052Z,1736365874.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 270.640381 m, bearing: 175.790205 deg, approach rate: 0.203475 m/s, LOS rate: -0.156692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.806544 deg. 2025-01-08T19:51:14.053Z,1736365874.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813732 target range: 271.500000 and range: 271.50 m. 2025-01-08T19:51:14.228Z,1736365874.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:14.228Z,1736365874.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988820 2025-01-08T19:51:14.438Z,1736365874.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:14.481Z,1736365874.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:14.483Z,1736365874.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243348 2025-01-08T19:51:14.497Z,1736365874.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T19:51:14.506Z,1736365874.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 270.725128 m, bearing: 175.724870 deg, approach rate: 0.198788 m/s, LOS rate: -0.153204 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.779245 deg. 2025-01-08T19:51:14.512Z,1736365874.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813256 target range: 271.500000 and range: 271.50 m. 2025-01-08T19:51:14.732Z,1736365874.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:14.734Z,1736365874.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494403 2025-01-08T19:51:14.858Z,1736365874.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:14.902Z,1736365874.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T19:51:14.909Z,1736365874.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 270.806335 m, bearing: 175.655912 deg, approach rate: 0.188193 m/s, LOS rate: -0.159758 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768376 deg. 2025-01-08T19:51:14.910Z,1736365874.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813066 target range: 271.500000 and range: 271.50 m. 2025-01-08T19:51:14.984Z,1736365874.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:14.985Z,1736365874.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745760 2025-01-08T19:51:15.236Z,1736365875.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:15.236Z,1736365875.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996974 2025-01-08T19:51:15.268Z,1736365875.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:15.284Z,1736365875.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:15.286Z,1736365875.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T19:51:15.292Z,1736365875.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 270.885162 m, bearing: 175.588654 deg, approach rate: 0.205580 m/s, LOS rate: -0.175356 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.773473 deg. 2025-01-08T19:51:15.294Z,1736365875.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813155 target range: 271.500000 and range: 271.50 m. 2025-01-08T19:51:15.490Z,1736365875.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:15.493Z,1736365875.493 [DAT](INFO): DAT read: Rx Time:19:51:14.1353 2025-01-08T19:51:15.494Z,1736365875.494 [DAT](INFO): Rx dataTimestamp_ set to:1736365875.493674 2025-01-08T19:51:15.497Z,1736365875.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256883 2025-01-08T19:51:15.687Z,1736365875.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:15.707Z,1736365875.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T19:51:15.710Z,1736365875.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 270.963440 m, bearing: 175.518453 deg, approach rate: 0.187483 m/s, LOS rate: -0.168092 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.764643 deg. 2025-01-08T19:51:15.716Z,1736365875.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813001 target range: 271.500000 and range: 271.50 m. 2025-01-08T19:51:15.740Z,1736365875.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:15.741Z,1736365875.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500989 2025-01-08T19:51:15.993Z,1736365875.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:16.006Z,1736365876.006 [DAT](INFO): DAT read: 19:51:14.1353 LVL= 26656, 28657, 15298, 32755, AGC= 62, IDX= 182, 0.24,-0.016,-1.074, 0.655,-0.007, PHS= 0.079,-1.021, 0.659, RAW= 169.9, 3.9, CAL= 170.2, -5.1, ROT= 339.8, 5.1 2025-01-08T19:51:16.009Z,1736365876.009 [DAT](INFO): got valid direction response: 19:51:14.1353 LVL= 26656, 28657, 15298, 32755, AGC= 62, IDX= 182, 0.24,-0.016,-1.074, 0.655,-0.007, PHS= 0.079,-1.021, 0.659, RAW= 169.9, 3.9, CAL= 170.2, -5.1, ROT= 339.8, 5.1 2025-01-08T19:51:16.010Z,1736365876.010 [DAT](INFO): DAT read: Bearing 339.8, 5.1 (Local) 2025-01-08T19:51:16.047Z,1736365876.047 [DAT](INFO): Local bearing/azimuth received: Bearing 339.8, 5.1 (Local) 2025-01-08T19:51:16.049Z,1736365876.049 [DAT](INFO): DAT read: Range 10 to 50 : 270.0 m (Round-trip 360.0 ms) speed 0.4 m/s 2025-01-08T19:51:16.050Z,1736365876.050 [DAT](INFO): DAT read: user:893> 2025-01-08T19:51:16.051Z,1736365876.051 [DAT](INFO): DAT read: Tx time:19:51:15.2211 2025-01-08T19:51:16.051Z,1736365876.051 [DAT](INFO): Ping request sent. 2025-01-08T19:51:16.059Z,1736365876.059 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:16.060Z,1736365876.060 [DAT](INFO): DAT read: TxSync time:19:51:15.2204 2025-01-08T19:51:16.060Z,1736365876.060 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:16.061Z,1736365876.061 [DAT](INFO): direction in FSK: [-0.175979,-0.961001,0.213326] 2025-01-08T19:51:16.062Z,1736365876.062 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:16.062Z,1736365876.062 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:16.082Z,1736365876.082 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:16.082Z,1736365876.082 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:16.132Z,1736365876.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:16.160Z,1736365876.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 270.000000 m, deltaT: 3.781565 s, deltaX: -1.500000 m, approachRate: -0.396661 m/s, rangeRepo size: 4 2025-01-08T19:51:16.162Z,1736365876.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 270.000000 m, bearing: 175.261137 deg, lat: 36.902059 deg, lon: -122.116269 deg, deltaT: 3.781565 s, deltaX: -1.500000 m, approachRate: -0.396661 m/s, posRepo size: 4 2025-01-08T19:51:16.168Z,1736365876.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.00 m. 2025-01-08T19:51:16.170Z,1736365876.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.000000 m, nav range: 271.102081 m, bearing: 175.298371 deg, approach rate: 0.000000 m/s, LOS rate: -0.168092 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.747416 deg. 2025-01-08T19:51:16.180Z,1736365876.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812700 target range: 270.000000 and range: 270.00 m. 2025-01-08T19:51:16.244Z,1736365876.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:16.476Z,1736365876.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:16.497Z,1736365876.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:16.541Z,1736365876.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.00 m. 2025-01-08T19:51:16.548Z,1736365876.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.000000 m, nav range: 271.165802 m, bearing: 175.241447 deg, approach rate: 0.165108 m/s, LOS rate: -0.147463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.804454 deg. 2025-01-08T19:51:16.550Z,1736365876.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813696 target range: 270.000000 and range: 270.00 m. 2025-01-08T19:51:16.749Z,1736365876.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:16.915Z,1736365876.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:16.924Z,1736365876.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.00 m. 2025-01-08T19:51:16.926Z,1736365876.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.000000 m, nav range: 271.238647 m, bearing: 175.169435 deg, approach rate: 0.190535 m/s, LOS rate: -0.188304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.759210 deg. 2025-01-08T19:51:16.928Z,1736365876.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812906 target range: 270.000000 and range: 270.00 m. 2025-01-08T19:51:17.002Z,1736365877.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:17.252Z,1736365877.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:17.263Z,1736365877.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:17.286Z,1736365877.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:17.299Z,1736365877.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.00 m. 2025-01-08T19:51:17.302Z,1736365877.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.000000 m, nav range: 271.295410 m, bearing: 175.113037 deg, approach rate: 0.153412 m/s, LOS rate: -0.152395 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.806029 deg. 2025-01-08T19:51:17.308Z,1736365877.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813723 target range: 270.000000 and range: 270.00 m. 2025-01-08T19:51:17.505Z,1736365877.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:17.507Z,1736365877.507 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:17.508Z,1736365877.508 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:17.508Z,1736365877.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:17.706Z,1736365877.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:17.716Z,1736365877.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.00 m. 2025-01-08T19:51:17.719Z,1736365877.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.000000 m, nav range: 271.362244 m, bearing: 175.045255 deg, approach rate: 0.157913 m/s, LOS rate: -0.160116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.771890 deg. 2025-01-08T19:51:17.720Z,1736365877.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813128 target range: 270.000000 and range: 270.00 m. 2025-01-08T19:51:17.756Z,1736365877.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:17.757Z,1736365877.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706006 2025-01-08T19:51:18.008Z,1736365878.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:18.009Z,1736365878.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957639 2025-01-08T19:51:18.080Z,1736365878.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:18.103Z,1736365878.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.00 m. 2025-01-08T19:51:18.106Z,1736365878.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.000000 m, nav range: 271.418518 m, bearing: 174.988172 deg, approach rate: 0.147021 m/s, LOS rate: -0.149103 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803974 deg. 2025-01-08T19:51:18.111Z,1736365878.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813687 target range: 270.000000 and range: 270.00 m. 2025-01-08T19:51:18.265Z,1736365878.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:18.266Z,1736365878.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214928 2025-01-08T19:51:18.469Z,1736365878.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:18.482Z,1736365878.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.00 m. 2025-01-08T19:51:18.518Z,1736365878.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:18.521Z,1736365878.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469174 2025-01-08T19:51:18.528Z,1736365878.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.000000 m, nav range: 271.477356 m, bearing: 174.928912 deg, approach rate: 0.153904 m/s, LOS rate: -0.154974 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797446 deg. 2025-01-08T19:51:18.538Z,1736365878.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813573 target range: 270.000000 and range: 270.00 m. 2025-01-08T19:51:18.769Z,1736365878.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:18.770Z,1736365878.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719129 2025-01-08T19:51:18.926Z,1736365878.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:18.935Z,1736365878.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.00 m. 2025-01-08T19:51:18.938Z,1736365878.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.000000 m, nav range: 271.540222 m, bearing: 174.864727 deg, approach rate: 0.138587 m/s, LOS rate: -0.141460 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782678 deg. 2025-01-08T19:51:18.939Z,1736365878.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813316 target range: 270.000000 and range: 270.00 m. 2025-01-08T19:51:19.020Z,1736365879.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:19.021Z,1736365879.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970298 2025-01-08T19:51:19.272Z,1736365879.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:19.273Z,1736365879.273 [DAT](INFO): DAT read: Rx Time:19:51:17.9825 2025-01-08T19:51:19.273Z,1736365879.273 [DAT](INFO): Rx dataTimestamp_ set to:1736365879.272682 2025-01-08T19:51:19.273Z,1736365879.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222471 2025-01-08T19:51:19.287Z,1736365879.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:19.322Z,1736365879.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:19.329Z,1736365879.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.00 m. 2025-01-08T19:51:19.337Z,1736365879.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.000000 m, nav range: 271.591064 m, bearing: 174.814132 deg, approach rate: 0.129140 m/s, LOS rate: -0.128488 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823430 deg. 2025-01-08T19:51:19.338Z,1736365879.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814027 target range: 270.000000 and range: 270.00 m. 2025-01-08T19:51:19.525Z,1736365879.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:19.528Z,1736365879.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475898 2025-01-08T19:51:19.744Z,1736365879.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:19.754Z,1736365879.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.00 m. 2025-01-08T19:51:19.756Z,1736365879.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.000000 m, nav range: 271.654877 m, bearing: 174.756535 deg, approach rate: 0.150172 m/s, LOS rate: -0.135513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802438 deg. 2025-01-08T19:51:19.758Z,1736365879.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813661 target range: 270.000000 and range: 270.00 m. 2025-01-08T19:51:19.779Z,1736365879.779 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:19.786Z,1736365879.786 [DAT](INFO): DAT read: 19:51:17.9825 LVL= 25008, 25473, 17378, 27587, AGC= 59, IDX= 406, 0.37,-0.101,-1.123, 0.287,-0.700, PHS= 0.687,-0.376, 0.984, RAW= 162.0, -20.3, CAL= 166.2, -26.5, ROT= 343.8, 26.5 2025-01-08T19:51:19.787Z,1736365879.787 [DAT](INFO): got valid direction response: 19:51:17.9825 LVL= 25008, 25473, 17378, 27587, AGC= 59, IDX= 406, 0.37,-0.101,-1.123, 0.287,-0.700, PHS= 0.687,-0.376, 0.984, RAW= 162.0, -20.3, CAL= 166.2, -26.5, ROT= 343.8, 26.5 2025-01-08T19:51:19.788Z,1736365879.788 [DAT](INFO): DAT read: Bearing 343.8, 26.5 (Local) 2025-01-08T19:51:19.788Z,1736365879.788 [DAT](INFO): Local bearing/azimuth received: Bearing 343.8, 26.5 (Local) 2025-01-08T19:51:19.790Z,1736365879.790 [DAT](INFO): DAT read: Range 10 to 50 : 267.9 m (Round-trip 357.2 ms) speed 0.4 m/s 2025-01-08T19:51:19.790Z,1736365879.790 [DAT](INFO): DAT read: user:894> 2025-01-08T19:51:19.791Z,1736365879.791 [DAT](INFO): DAT read: Tx time:19:51:19.0711 2025-01-08T19:51:19.791Z,1736365879.791 [DAT](INFO): Ping request sent. 2025-01-08T19:51:19.792Z,1736365879.792 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:19.792Z,1736365879.792 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:19.793Z,1736365879.793 [DAT](INFO): direction in FSK: [0.280623,-0.890873,0.357206] 2025-01-08T19:51:19.793Z,1736365879.793 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:19.793Z,1736365879.793 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:19.796Z,1736365879.796 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:19.796Z,1736365879.796 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:20.033Z,1736365880.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:20.034Z,1736365880.034 [DAT](INFO): DAT read: TxSync time:19:51:19.0704 2025-01-08T19:51:20.116Z,1736365880.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:20.141Z,1736365880.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 267.899994 m, deltaT: 3.785950 s, deltaX: -2.100006 m, approachRate: -0.554684 m/s, rangeRepo size: 4 2025-01-08T19:51:20.152Z,1736365880.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 267.899994 m, bearing: 202.171028 deg, lat: 36.902059 deg, lon: -122.116277 deg, deltaT: 3.785950 s, deltaX: -2.100006 m, approachRate: -0.554684 m/s, posRepo size: 4 2025-01-08T19:51:20.153Z,1736365880.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.90 m. 2025-01-08T19:51:20.160Z,1736365880.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.899994 m, nav range: 271.644623 m, bearing: 174.855125 deg, approach rate: 0.000000 m/s, LOS rate: -0.135513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817822 deg. 2025-01-08T19:51:20.161Z,1736365880.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813929 target range: 267.899994 and range: 267.90 m. 2025-01-08T19:51:20.284Z,1736365880.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:20.493Z,1736365880.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:20.502Z,1736365880.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.90 m. 2025-01-08T19:51:20.505Z,1736365880.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.899994 m, nav range: 271.698914 m, bearing: 174.807070 deg, approach rate: 0.150362 m/s, LOS rate: -0.133067 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831049 deg. 2025-01-08T19:51:20.507Z,1736365880.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814160 target range: 267.899994 and range: 267.90 m. 2025-01-08T19:51:20.538Z,1736365880.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:20.788Z,1736365880.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:20.923Z,1736365880.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:20.931Z,1736365880.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.90 m. 2025-01-08T19:51:20.934Z,1736365880.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.899994 m, nav range: 271.763214 m, bearing: 174.757466 deg, approach rate: 0.149787 m/s, LOS rate: -0.115524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826411 deg. 2025-01-08T19:51:20.935Z,1736365880.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814079 target range: 267.899994 and range: 267.90 m. 2025-01-08T19:51:21.040Z,1736365881.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:21.292Z,1736365881.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:21.304Z,1736365881.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:21.333Z,1736365881.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:21.335Z,1736365881.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.90 m. 2025-01-08T19:51:21.342Z,1736365881.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.899994 m, nav range: 271.821198 m, bearing: 174.713428 deg, approach rate: 0.143592 m/s, LOS rate: -0.109032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843103 deg. 2025-01-08T19:51:21.343Z,1736365881.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814370 target range: 267.899994 and range: 267.90 m. 2025-01-08T19:51:21.544Z,1736365881.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:21.544Z,1736365881.544 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:21.544Z,1736365881.544 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:21.544Z,1736365881.544 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:21.725Z,1736365881.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:21.735Z,1736365881.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.90 m. 2025-01-08T19:51:21.738Z,1736365881.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.899994 m, nav range: 271.887543 m, bearing: 174.668827 deg, approach rate: 0.165683 m/s, LOS rate: -0.111355 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841416 deg. 2025-01-08T19:51:21.739Z,1736365881.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814341 target range: 267.899994 and range: 267.90 m. 2025-01-08T19:51:21.796Z,1736365881.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:21.796Z,1736365881.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004804 2025-01-08T19:51:22.048Z,1736365882.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:22.048Z,1736365882.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256916 2025-01-08T19:51:22.117Z,1736365882.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:22.125Z,1736365882.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.90 m. 2025-01-08T19:51:22.128Z,1736365882.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.899994 m, nav range: 271.950073 m, bearing: 174.627406 deg, approach rate: 0.160551 m/s, LOS rate: -0.106327 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850952 deg. 2025-01-08T19:51:22.129Z,1736365882.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814507 target range: 267.899994 and range: 267.90 m. 2025-01-08T19:51:22.300Z,1736365882.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:22.300Z,1736365882.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508852 2025-01-08T19:51:22.517Z,1736365882.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:22.548Z,1736365882.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.90 m. 2025-01-08T19:51:22.551Z,1736365882.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.899994 m, nav range: 272.014984 m, bearing: 174.585038 deg, approach rate: 0.153327 m/s, LOS rate: -0.100053 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848115 deg. 2025-01-08T19:51:22.552Z,1736365882.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:22.552Z,1736365882.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760925 2025-01-08T19:51:22.564Z,1736365882.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814458 target range: 267.899994 and range: 267.90 m. 2025-01-08T19:51:22.804Z,1736365882.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:22.805Z,1736365882.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012948 2025-01-08T19:51:22.954Z,1736365882.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:22.966Z,1736365882.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.90 m. 2025-01-08T19:51:22.969Z,1736365882.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.899994 m, nav range: 272.091431 m, bearing: 174.540618 deg, approach rate: 0.182765 m/s, LOS rate: -0.106169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841962 deg. 2025-01-08T19:51:22.970Z,1736365882.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814351 target range: 267.899994 and range: 267.90 m. 2025-01-08T19:51:23.056Z,1736365883.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:23.057Z,1736365883.057 [DAT](INFO): DAT read: Rx Time:19:51:21.8293 2025-01-08T19:51:23.057Z,1736365883.057 [DAT](INFO): Rx dataTimestamp_ set to:1736365883.056901 2025-01-08T19:51:23.058Z,1736365883.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266140 2025-01-08T19:51:23.308Z,1736365883.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:23.308Z,1736365883.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516770 2025-01-08T19:51:23.364Z,1736365883.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:23.370Z,1736365883.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:23.372Z,1736365883.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.90 m. 2025-01-08T19:51:23.376Z,1736365883.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.899994 m, nav range: 272.164154 m, bearing: 174.499111 deg, approach rate: 0.179061 m/s, LOS rate: -0.102171 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850701 deg. 2025-01-08T19:51:23.377Z,1736365883.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814503 target range: 267.899994 and range: 267.90 m. 2025-01-08T19:51:23.560Z,1736365883.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:23.574Z,1736365883.574 [DAT](INFO): DAT read: 19:51:21.8293 LVL= 22656, 21889, 12354, 25187, AGC= 62, IDX= 405, 0.24, 2.516, 1.339, 2.996, 1.891, PHS= 0.713,-0.504, 1.102, RAW= 163.4, -17.7, CAL= 168.1, -23.6, ROT= 341.9, 23.6 2025-01-08T19:51:23.598Z,1736365883.598 [DAT](INFO): got valid direction response: 19:51:21.8293 LVL= 22656, 21889, 12354, 25187, AGC= 62, IDX= 405, 0.24, 2.516, 1.339, 2.996, 1.891, PHS= 0.713,-0.504, 1.102, RAW= 163.4, -17.7, CAL= 168.1, -23.6, ROT= 341.9, 23.6 2025-01-08T19:51:23.603Z,1736365883.603 [DAT](INFO): DAT read: Bearing 341.9, 23.6 (Local) 2025-01-08T19:51:23.617Z,1736365883.617 [DAT](INFO): Local bearing/azimuth received: Bearing 341.9, 23.6 (Local) 2025-01-08T19:51:23.668Z,1736365883.668 [DAT](INFO): DAT read: Range 10 to 50 : 265.5 m (Round-trip 354.1 ms) speed 0.1 m/s 2025-01-08T19:51:23.669Z,1736365883.669 [DAT](INFO): DAT read: user:895> 2025-01-08T19:51:23.670Z,1736365883.670 [DAT](INFO): DAT read: Tx time:19:51:22.9211 2025-01-08T19:51:23.670Z,1736365883.670 [DAT](INFO): Ping request sent. 2025-01-08T19:51:23.671Z,1736365883.671 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:23.680Z,1736365883.680 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:23.681Z,1736365883.681 [DAT](INFO): direction in FSK: [0.233321,-0.912203,0.336818] 2025-01-08T19:51:23.681Z,1736365883.681 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:23.682Z,1736365883.682 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:23.693Z,1736365883.693 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:23.693Z,1736365883.693 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:23.812Z,1736365883.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:23.814Z,1736365883.814 [DAT](INFO): DAT read: TxSync time:19:51:22.9204 2025-01-08T19:51:23.820Z,1736365883.820 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:51:23.828Z,1736365883.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:23.857Z,1736365883.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 265.500000 m, deltaT: 3.780704 s, deltaX: -2.399994 m, approachRate: -0.634801 m/s, rangeRepo size: 4 2025-01-08T19:51:23.863Z,1736365883.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 265.500000 m, bearing: 200.551974 deg, lat: 36.902079 deg, lon: -122.116301 deg, deltaT: 3.780704 s, deltaX: -2.399994 m, approachRate: -0.634801 m/s, posRepo size: 4 2025-01-08T19:51:23.864Z,1736365883.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.50 m. 2025-01-08T19:51:23.867Z,1736365883.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 265.500000 m, nav range: 269.926483 m, bearing: 174.859067 deg, approach rate: 0.000000 m/s, LOS rate: -0.102171 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826848 deg. 2025-01-08T19:51:23.872Z,1736365883.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814086 target range: 265.500000 and range: 265.50 m. 2025-01-08T19:51:24.064Z,1736365884.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:24.173Z,1736365884.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:24.189Z,1736365884.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.50 m. 2025-01-08T19:51:24.197Z,1736365884.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 265.500000 m, nav range: 269.995270 m, bearing: 174.822750 deg, approach rate: 0.206522 m/s, LOS rate: -0.109007 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866266 deg. 2025-01-08T19:51:24.198Z,1736365884.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814775 target range: 265.500000 and range: 265.50 m. 2025-01-08T19:51:24.316Z,1736365884.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:24.569Z,1736365884.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:24.577Z,1736365884.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:24.617Z,1736365884.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.50 m. 2025-01-08T19:51:24.658Z,1736365884.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 265.500000 m, nav range: 270.075348 m, bearing: 174.780295 deg, approach rate: 0.197451 m/s, LOS rate: -0.104654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847857 deg. 2025-01-08T19:51:24.668Z,1736365884.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814453 target range: 265.500000 and range: 265.50 m. 2025-01-08T19:51:24.820Z,1736365884.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:24.824Z,1736365884.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:51:25.002Z,1736365885.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:25.036Z,1736365885.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.50 m. 2025-01-08T19:51:25.052Z,1736365885.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 265.500000 m, nav range: 270.167511 m, bearing: 174.732215 deg, approach rate: 0.217132 m/s, LOS rate: -0.113235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830997 deg. 2025-01-08T19:51:25.053Z,1736365885.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814159 target range: 265.500000 and range: 265.50 m. 2025-01-08T19:51:25.072Z,1736365885.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:25.324Z,1736365885.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:25.382Z,1736365885.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:25.405Z,1736365885.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:25.412Z,1736365885.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.50 m. 2025-01-08T19:51:25.420Z,1736365885.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 265.500000 m, nav range: 270.250122 m, bearing: 174.689348 deg, approach rate: 0.212960 m/s, LOS rate: -0.110471 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846626 deg. 2025-01-08T19:51:25.421Z,1736365885.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814432 target range: 265.500000 and range: 265.50 m. 2025-01-08T19:51:25.576Z,1736365885.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:25.576Z,1736365885.576 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:25.576Z,1736365885.576 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:25.576Z,1736365885.576 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:25.818Z,1736365885.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:25.828Z,1736365885.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:25.829Z,1736365885.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.158276 2025-01-08T19:51:25.831Z,1736365885.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.50 m. 2025-01-08T19:51:25.834Z,1736365885.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 265.500000 m, nav range: 270.351196 m, bearing: 174.634489 deg, approach rate: 0.240613 m/s, LOS rate: -0.130546 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810673 deg. 2025-01-08T19:51:25.835Z,1736365885.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813804 target range: 265.500000 and range: 265.50 m. 2025-01-08T19:51:26.080Z,1736365886.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:26.081Z,1736365886.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.410736 2025-01-08T19:51:26.197Z,1736365886.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:26.206Z,1736365886.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.50 m. 2025-01-08T19:51:26.209Z,1736365886.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 265.500000 m, nav range: 270.438995 m, bearing: 174.586988 deg, approach rate: 0.232144 m/s, LOS rate: -0.125554 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832730 deg. 2025-01-08T19:51:26.210Z,1736365886.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814189 target range: 265.500000 and range: 265.50 m. 2025-01-08T19:51:26.332Z,1736365886.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:26.333Z,1736365886.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.662140 2025-01-08T19:51:26.584Z,1736365886.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:26.585Z,1736365886.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.914120 2025-01-08T19:51:26.658Z,1736365886.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:26.697Z,1736365886.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.50 m. 2025-01-08T19:51:26.703Z,1736365886.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 265.500000 m, nav range: 270.545929 m, bearing: 174.529308 deg, approach rate: 0.217590 m/s, LOS rate: -0.117322 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802215 deg. 2025-01-08T19:51:26.713Z,1736365886.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813657 target range: 265.500000 and range: 265.50 m. 2025-01-08T19:51:26.836Z,1736365886.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:26.836Z,1736365886.836 [DAT](INFO): DAT read: Rx Time:19:51:25.6766 2025-01-08T19:51:26.837Z,1736365886.837 [DAT](INFO): Rx dataTimestamp_ set to:1736365886.836622 2025-01-08T19:51:26.837Z,1736365886.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.167040 2025-01-08T19:51:27.054Z,1736365887.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:27.063Z,1736365887.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.50 m. 2025-01-08T19:51:27.066Z,1736365887.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 265.500000 m, nav range: 270.643311 m, bearing: 174.475404 deg, approach rate: 0.266793 m/s, LOS rate: -0.147625 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813534 deg. 2025-01-08T19:51:27.067Z,1736365887.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813854 target range: 265.500000 and range: 265.50 m. 2025-01-08T19:51:27.088Z,1736365887.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:27.088Z,1736365887.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.418088 2025-01-08T19:51:27.341Z,1736365887.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:27.344Z,1736365887.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.672624 2025-01-08T19:51:27.426Z,1736365887.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:27.433Z,1736365887.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:27.436Z,1736365887.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.50 m. 2025-01-08T19:51:27.438Z,1736365887.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 265.500000 m, nav range: 270.734344 m, bearing: 174.424851 deg, approach rate: 0.243886 m/s, LOS rate: -0.135389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823580 deg. 2025-01-08T19:51:27.440Z,1736365887.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814030 target range: 265.500000 and range: 265.50 m. 2025-01-08T19:51:27.592Z,1736365887.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:27.600Z,1736365887.600 [DAT](INFO): DAT read: 19:51:25.6766 LVL= 30928, 32241, 16802, 32755, AGC= 64, IDX= 174,-0.08, 1.730, 0.722, 2.431, 1.738, PHS= 0.080,-0.970, 0.690, RAW= 171.3, 2.8, CAL= 171.8, -5.9, ROT= 338.2, 5.9 2025-01-08T19:51:27.601Z,1736365887.601 [DAT](INFO): got valid direction response: 19:51:25.6766 LVL= 30928, 32241, 16802, 32755, AGC= 64, IDX= 174,-0.08, 1.730, 0.722, 2.431, 1.738, PHS= 0.080,-0.970, 0.690, RAW= 171.3, 2.8, CAL= 171.8, -5.9, ROT= 338.2, 5.9 2025-01-08T19:51:27.602Z,1736365887.602 [DAT](INFO): DAT read: Bearing 338.2, 5.9 (Local) 2025-01-08T19:51:27.602Z,1736365887.602 [DAT](INFO): Local bearing/azimuth received: Bearing 338.2, 5.9 (Local) 2025-01-08T19:51:27.604Z,1736365887.604 [DAT](INFO): DAT read: Range 10 to 50 : 263.4 m (Round-trip 351.2 ms) speed 0.4 m/s 2025-01-08T19:51:27.605Z,1736365887.605 [DAT](INFO): DAT read: user:896> 2025-01-08T19:51:27.606Z,1736365887.606 [DAT](INFO): DAT read: Tx time:19:51:26.7712 2025-01-08T19:51:27.606Z,1736365887.606 [DAT](INFO): Ping request sent. 2025-01-08T19:51:27.606Z,1736365887.606 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:27.607Z,1736365887.607 [DAT](INFO): DAT read: TxSync time:19:51:26.7705 2025-01-08T19:51:27.607Z,1736365887.607 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:27.608Z,1736365887.608 [DAT](INFO): direction in FSK: [-0.153400,-0.969623,0.190526] 2025-01-08T19:51:27.609Z,1736365887.609 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:27.609Z,1736365887.609 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:27.613Z,1736365887.613 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:27.613Z,1736365887.613 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:27.844Z,1736365887.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:27.881Z,1736365887.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:27.915Z,1736365887.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 263.399994 m, deltaT: 4.032201 s, deltaX: -2.100006 m, approachRate: -0.520809 m/s, rangeRepo size: 4 2025-01-08T19:51:27.917Z,1736365887.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 263.399994 m, bearing: 177.711512 deg, lat: 36.902141 deg, lon: -122.116482 deg, deltaT: 4.032201 s, deltaX: -2.100006 m, approachRate: -0.520809 m/s, posRepo size: 4 2025-01-08T19:51:27.918Z,1736365887.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T19:51:27.925Z,1736365887.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 262.814819 m, bearing: 177.711442 deg, approach rate: 0.000000 m/s, LOS rate: -0.135389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783918 deg. 2025-01-08T19:51:27.926Z,1736365887.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813337 target range: 263.399994 and range: 263.40 m. 2025-01-08T19:51:28.097Z,1736365888.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:28.248Z,1736365888.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:28.256Z,1736365888.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T19:51:28.259Z,1736365888.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 262.885315 m, bearing: 177.656558 deg, approach rate: 0.201546 m/s, LOS rate: -0.156870 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810580 deg. 2025-01-08T19:51:28.260Z,1736365888.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813803 target range: 263.399994 and range: 263.40 m. 2025-01-08T19:51:28.351Z,1736365888.351 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:28.604Z,1736365888.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:28.664Z,1736365888.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:28.720Z,1736365888.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T19:51:28.723Z,1736365888.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 262.962830 m, bearing: 177.594210 deg, approach rate: 0.167340 m/s, LOS rate: -0.134557 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788200 deg. 2025-01-08T19:51:28.741Z,1736365888.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813412 target range: 263.399994 and range: 263.40 m. 2025-01-08T19:51:28.856Z,1736365888.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:29.068Z,1736365889.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:29.082Z,1736365889.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T19:51:29.088Z,1736365889.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 263.034973 m, bearing: 177.531487 deg, approach rate: 0.199544 m/s, LOS rate: -0.173440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.787070 deg. 2025-01-08T19:51:29.089Z,1736365889.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813393 target range: 263.399994 and range: 263.40 m. 2025-01-08T19:51:29.108Z,1736365889.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:29.360Z,1736365889.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:29.445Z,1736365889.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:29.452Z,1736365889.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:29.454Z,1736365889.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T19:51:29.457Z,1736365889.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 263.102203 m, bearing: 177.473035 deg, approach rate: 0.179990 m/s, LOS rate: -0.156450 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799874 deg. 2025-01-08T19:51:29.459Z,1736365889.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813616 target range: 263.399994 and range: 263.40 m. 2025-01-08T19:51:29.614Z,1736365889.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:29.614Z,1736365889.614 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:29.614Z,1736365889.614 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:29.615Z,1736365889.615 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:29.864Z,1736365889.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:29.865Z,1736365889.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258371 2025-01-08T19:51:29.875Z,1736365889.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:29.884Z,1736365889.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T19:51:29.886Z,1736365889.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 263.173737 m, bearing: 177.404529 deg, approach rate: 0.166746 m/s, LOS rate: -0.159645 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.769728 deg. 2025-01-08T19:51:29.908Z,1736365889.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813090 target range: 263.399994 and range: 263.40 m. 2025-01-08T19:51:30.116Z,1736365890.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:30.117Z,1736365890.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510759 2025-01-08T19:51:30.252Z,1736365890.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:30.260Z,1736365890.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T19:51:30.266Z,1736365890.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 263.236572 m, bearing: 177.344355 deg, approach rate: 0.166749 m/s, LOS rate: -0.159648 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.794708 deg. 2025-01-08T19:51:30.267Z,1736365890.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813526 target range: 263.399994 and range: 263.40 m. 2025-01-08T19:51:30.368Z,1736365890.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:30.370Z,1736365890.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763146 2025-01-08T19:51:30.620Z,1736365890.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:30.621Z,1736365890.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014709 2025-01-08T19:51:30.742Z,1736365890.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:30.759Z,1736365890.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T19:51:30.772Z,1736365890.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 263.318115 m, bearing: 177.266445 deg, approach rate: 0.163501 m/s, LOS rate: -0.156168 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.741531 deg. 2025-01-08T19:51:30.773Z,1736365890.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812598 target range: 263.399994 and range: 263.40 m. 2025-01-08T19:51:30.872Z,1736365890.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:30.873Z,1736365890.873 [DAT](INFO): DAT read: Rx Time:19:51:29.5247 2025-01-08T19:51:30.873Z,1736365890.873 [DAT](INFO): Rx dataTimestamp_ set to:1736365890.872969 2025-01-08T19:51:30.874Z,1736365890.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267633 2025-01-08T19:51:31.095Z,1736365891.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:31.103Z,1736365891.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T19:51:31.109Z,1736365891.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 263.375977 m, bearing: 177.212407 deg, approach rate: 0.168150 m/s, LOS rate: -0.157005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813109 deg. 2025-01-08T19:51:31.114Z,1736365891.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813847 target range: 263.399994 and range: 263.40 m. 2025-01-08T19:51:31.124Z,1736365891.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:31.124Z,1736365891.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518317 2025-01-08T19:51:31.376Z,1736365891.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:31.384Z,1736365891.384 [DAT](INFO): DAT read: 19:51:29.5247 LVL= 23328, 28497, 13906, 30307, AGC= 61, IDX= 180, 0.49, 1.675, 0.582, 2.360, 1.707, PHS= 0.056,-1.078, 0.650, RAW= 169.8, 4.9, CAL= 169.9, -4.2, ROT= 340.1, 4.2 2025-01-08T19:51:31.385Z,1736365891.385 [DAT](INFO): got valid direction response: 19:51:29.5247 LVL= 23328, 28497, 13906, 30307, AGC= 61, IDX= 180, 0.49, 1.675, 0.582, 2.360, 1.707, PHS= 0.056,-1.078, 0.650, RAW= 169.8, 4.9, CAL= 169.9, -4.2, ROT= 340.1, 4.2 2025-01-08T19:51:31.386Z,1736365891.386 [DAT](INFO): DAT read: Bearing 340.1, 4.2 (Local) 2025-01-08T19:51:31.386Z,1736365891.386 [DAT](INFO): Local bearing/azimuth received: Bearing 340.1, 4.2 (Local) 2025-01-08T19:51:31.387Z,1736365891.387 [DAT](INFO): DAT read: Range 10 to 50 : 261.9 m (Round-trip 349.3 ms) speed 0.4 m/s 2025-01-08T19:51:31.388Z,1736365891.388 [DAT](INFO): DAT read: user:897> 2025-01-08T19:51:31.389Z,1736365891.389 [DAT](INFO): DAT read: Tx time:19:51:30.6212 2025-01-08T19:51:31.389Z,1736365891.389 [DAT](INFO): Ping request sent. 2025-01-08T19:51:31.389Z,1736365891.389 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:31.389Z,1736365891.389 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:31.390Z,1736365891.390 [DAT](INFO): direction in FSK: [-0.196260,-0.957125,0.213058] 2025-01-08T19:51:31.391Z,1736365891.391 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:31.391Z,1736365891.391 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:31.422Z,1736365891.422 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:31.422Z,1736365891.422 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:31.480Z,1736365891.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:31.542Z,1736365891.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 261.899994 m, deltaT: 3.783976 s, deltaX: -1.500000 m, approachRate: -0.396408 m/s, rangeRepo size: 4 2025-01-08T19:51:31.553Z,1736365891.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 261.899994 m, bearing: 174.131038 deg, lat: 36.902175 deg, lon: -122.116482 deg, deltaT: 3.783976 s, deltaX: -1.500000 m, approachRate: -0.396408 m/s, posRepo size: 4 2025-01-08T19:51:31.554Z,1736365891.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:31.560Z,1736365891.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 259.679382 m, bearing: 177.112252 deg, approach rate: 0.000000 m/s, LOS rate: -0.157005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768562 deg. 2025-01-08T19:51:31.562Z,1736365891.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813069 target range: 261.899994 and range: 261.90 m. 2025-01-08T19:51:31.629Z,1736365891.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:31.630Z,1736365891.630 [DAT](INFO): DAT read: TxSync time:19:51:30.6205 2025-01-08T19:51:31.880Z,1736365891.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:31.941Z,1736365891.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:31.956Z,1736365891.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:31.958Z,1736365891.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:31.965Z,1736365891.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 259.751556 m, bearing: 177.043287 deg, approach rate: 0.173275 m/s, LOS rate: -0.165524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768351 deg. 2025-01-08T19:51:31.966Z,1736365891.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813066 target range: 261.899994 and range: 261.90 m. 2025-01-08T19:51:32.133Z,1736365892.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:32.134Z,1736365892.134 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:32.134Z,1736365892.134 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:32.135Z,1736365892.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:32.284Z,1736365892.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:32.312Z,1736365892.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:32.315Z,1736365892.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 259.805634 m, bearing: 176.991873 deg, approach rate: 0.154186 m/s, LOS rate: -0.146563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820977 deg. 2025-01-08T19:51:32.317Z,1736365892.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813984 target range: 261.899994 and range: 261.90 m. 2025-01-08T19:51:32.385Z,1736365892.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:32.386Z,1736365892.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996204 2025-01-08T19:51:32.636Z,1736365892.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:32.636Z,1736365892.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247199 2025-01-08T19:51:32.745Z,1736365892.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:32.778Z,1736365892.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:32.798Z,1736365892.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 259.877045 m, bearing: 176.923077 deg, approach rate: 0.152282 m/s, LOS rate: -0.146665 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768856 deg. 2025-01-08T19:51:32.799Z,1736365892.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813075 target range: 261.899994 and range: 261.90 m. 2025-01-08T19:51:32.888Z,1736365892.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:32.889Z,1736365892.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499838 2025-01-08T19:51:33.126Z,1736365893.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:33.134Z,1736365893.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:33.137Z,1736365893.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 259.927643 m, bearing: 176.868653 deg, approach rate: 0.142181 m/s, LOS rate: -0.152903 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811946 deg. 2025-01-08T19:51:33.138Z,1736365893.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813827 target range: 261.899994 and range: 261.90 m. 2025-01-08T19:51:33.141Z,1736365893.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:33.143Z,1736365893.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753726 2025-01-08T19:51:33.392Z,1736365893.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:33.392Z,1736365893.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003266 2025-01-08T19:51:33.503Z,1736365893.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:33.512Z,1736365893.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:33.515Z,1736365893.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 259.978973 m, bearing: 176.814876 deg, approach rate: 0.136038 m/s, LOS rate: -0.142495 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813887 deg. 2025-01-08T19:51:33.516Z,1736365893.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813860 target range: 261.899994 and range: 261.90 m. 2025-01-08T19:51:33.644Z,1736365893.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:33.644Z,1736365893.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255111 2025-01-08T19:51:33.897Z,1736365893.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:33.897Z,1736365893.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508247 2025-01-08T19:51:33.918Z,1736365893.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:33.960Z,1736365893.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:33.968Z,1736365893.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.037506 m, bearing: 176.758581 deg, approach rate: 0.130399 m/s, LOS rate: -0.125385 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.806340 deg. 2025-01-08T19:51:33.969Z,1736365893.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813729 target range: 261.899994 and range: 261.90 m. 2025-01-08T19:51:34.150Z,1736365894.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:34.151Z,1736365894.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762266 2025-01-08T19:51:34.301Z,1736365894.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:34.307Z,1736365894.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:34.309Z,1736365894.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:34.312Z,1736365894.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.091919 m, bearing: 176.706768 deg, approach rate: 0.155754 m/s, LOS rate: -0.148281 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819780 deg. 2025-01-08T19:51:34.314Z,1736365894.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813963 target range: 261.899994 and range: 261.90 m. 2025-01-08T19:51:34.400Z,1736365894.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:34.401Z,1736365894.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011854 2025-01-08T19:51:34.652Z,1736365894.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:34.653Z,1736365894.653 [DAT](INFO): DAT read: Rx Time:19:51:33.3715 2025-01-08T19:51:34.654Z,1736365894.654 [DAT](INFO): Rx dataTimestamp_ set to:1736365894.653464 2025-01-08T19:51:34.655Z,1736365894.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265434 2025-01-08T19:51:34.750Z,1736365894.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:34.809Z,1736365894.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:34.817Z,1736365894.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.156097 m, bearing: 176.646079 deg, approach rate: 0.128349 m/s, LOS rate: -0.121339 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793167 deg. 2025-01-08T19:51:34.818Z,1736365894.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813499 target range: 261.899994 and range: 261.90 m. 2025-01-08T19:51:34.904Z,1736365894.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:34.905Z,1736365894.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515283 2025-01-08T19:51:35.134Z,1736365895.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:35.148Z,1736365895.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:35.151Z,1736365895.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.211975 m, bearing: 176.594996 deg, approach rate: 0.165647 m/s, LOS rate: -0.151401 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821971 deg. 2025-01-08T19:51:35.152Z,1736365895.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814002 target range: 261.899994 and range: 261.90 m. 2025-01-08T19:51:35.156Z,1736365895.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:35.157Z,1736365895.157 [DAT](INFO): DAT read: Range 10 to 50 : 259.5 m (Round-trip 346.1 ms) speed 0.3 m/s 2025-01-08T19:51:35.158Z,1736365895.158 [DAT](INFO): DAT read: user:898> 2025-01-08T19:51:35.159Z,1736365895.159 [DAT](INFO): DAT read: Tx time:19:51:34.4712 2025-01-08T19:51:35.159Z,1736365895.159 [DAT](INFO): Ping request sent. 2025-01-08T19:51:35.159Z,1736365895.159 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:35.160Z,1736365895.160 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:51:35.160Z,1736365895.160 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:35.160Z,1736365895.160 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:35.408Z,1736365895.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:35.409Z,1736365895.409 [DAT](INFO): DAT read: TxSync time:19:51:34.4705 2025-01-08T19:51:35.511Z,1736365895.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:35.522Z,1736365895.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 259.500000 m, deltaT: 3.779637 s, deltaX: -2.399994 m, approachRate: -0.634980 m/s, rangeRepo size: 4 2025-01-08T19:51:35.522Z,1736365895.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:35.525Z,1736365895.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.266663 m, bearing: 176.545028 deg, approach rate: 0.146046 m/s, LOS rate: -0.133414 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825315 deg. 2025-01-08T19:51:35.526Z,1736365895.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814060 target range: 261.899994 and range: 259.50 m. 2025-01-08T19:51:35.661Z,1736365895.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:35.912Z,1736365895.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:35.939Z,1736365895.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:35.949Z,1736365895.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:35.952Z,1736365895.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.330658 m, bearing: 176.489933 deg, approach rate: 0.149614 m/s, LOS rate: -0.128775 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809942 deg. 2025-01-08T19:51:35.953Z,1736365895.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813792 target range: 261.899994 and range: 259.50 m. 2025-01-08T19:51:36.165Z,1736365896.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:36.329Z,1736365896.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:36.341Z,1736365896.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:36.344Z,1736365896.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:36.349Z,1736365896.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.388824 m, bearing: 176.439732 deg, approach rate: 0.147488 m/s, LOS rate: -0.127263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824617 deg. 2025-01-08T19:51:36.350Z,1736365896.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814048 target range: 261.899994 and range: 259.50 m. 2025-01-08T19:51:36.416Z,1736365896.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:36.416Z,1736365896.416 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:36.416Z,1736365896.416 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:36.417Z,1736365896.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:36.668Z,1736365896.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:36.669Z,1736365896.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509730 2025-01-08T19:51:36.731Z,1736365896.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:36.739Z,1736365896.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:36.742Z,1736365896.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.449646 m, bearing: 176.387994 deg, approach rate: 0.153615 m/s, LOS rate: -0.130642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820010 deg. 2025-01-08T19:51:36.760Z,1736365896.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813967 target range: 261.899994 and range: 259.50 m. 2025-01-08T19:51:36.920Z,1736365896.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:36.920Z,1736365896.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760956 2025-01-08T19:51:37.156Z,1736365897.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:37.172Z,1736365897.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:37.173Z,1736365897.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013609 2025-01-08T19:51:37.189Z,1736365897.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:37.196Z,1736365897.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.516418 m, bearing: 176.332230 deg, approach rate: 0.148572 m/s, LOS rate: -0.124046 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.807938 deg. 2025-01-08T19:51:37.197Z,1736365897.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813756 target range: 261.899994 and range: 259.50 m. 2025-01-08T19:51:37.426Z,1736365897.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:37.428Z,1736365897.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268865 2025-01-08T19:51:37.532Z,1736365897.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:37.557Z,1736365897.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:37.560Z,1736365897.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.575867 m, bearing: 176.283003 deg, approach rate: 0.161552 m/s, LOS rate: -0.133744 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827541 deg. 2025-01-08T19:51:37.561Z,1736365897.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814099 target range: 261.899994 and range: 259.50 m. 2025-01-08T19:51:37.676Z,1736365897.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:37.677Z,1736365897.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517938 2025-01-08T19:51:37.928Z,1736365897.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:37.928Z,1736365897.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768996 2025-01-08T19:51:37.987Z,1736365897.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:38.013Z,1736365898.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:38.020Z,1736365898.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.651245 m, bearing: 176.221989 deg, approach rate: 0.165352 m/s, LOS rate: -0.133803 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792198 deg. 2025-01-08T19:51:38.021Z,1736365898.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813482 target range: 261.899994 and range: 259.50 m. 2025-01-08T19:51:38.180Z,1736365898.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:38.180Z,1736365898.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020862 2025-01-08T19:51:38.360Z,1736365898.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:38.370Z,1736365898.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:38.373Z,1736365898.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:38.375Z,1736365898.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.713409 m, bearing: 176.171927 deg, approach rate: 0.172628 m/s, LOS rate: -0.138987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825036 deg. 2025-01-08T19:51:38.377Z,1736365898.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814055 target range: 261.899994 and range: 259.50 m. 2025-01-08T19:51:38.433Z,1736365898.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:38.434Z,1736365898.434 [DAT](INFO): DAT read: Rx Time:19:51:37.2195 2025-01-08T19:51:38.435Z,1736365898.435 [DAT](INFO): Rx dataTimestamp_ set to:1736365898.434286 2025-01-08T19:51:38.436Z,1736365898.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276164 2025-01-08T19:51:38.684Z,1736365898.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:38.684Z,1736365898.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524950 2025-01-08T19:51:38.757Z,1736365898.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:38.767Z,1736365898.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:38.770Z,1736365898.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.779755 m, bearing: 176.118691 deg, approach rate: 0.168362 m/s, LOS rate: -0.135062 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815519 deg. 2025-01-08T19:51:38.771Z,1736365898.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813889 target range: 261.899994 and range: 259.50 m. 2025-01-08T19:51:38.936Z,1736365898.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:38.937Z,1736365898.937 [DAT](INFO): DAT read: Range 10 to 50 : 258.0 m (Round-trip 344.1 ms) speed 0.4 m/s 2025-01-08T19:51:38.938Z,1736365898.938 [DAT](INFO): DAT read: user:899> 2025-01-08T19:51:38.939Z,1736365898.939 [DAT](INFO): DAT read: Tx time:19:51:38.3212 2025-01-08T19:51:38.939Z,1736365898.939 [DAT](INFO): Ping request sent. 2025-01-08T19:51:38.939Z,1736365898.939 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:38.940Z,1736365898.940 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:51:38.940Z,1736365898.940 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:38.940Z,1736365898.940 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:39.180Z,1736365899.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:39.188Z,1736365899.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:39.189Z,1736365899.189 [DAT](INFO): DAT read: TxSync time:19:51:38.3205 2025-01-08T19:51:39.220Z,1736365899.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 258.000000 m, deltaT: 3.780005 s, deltaX: -1.500000 m, approachRate: -0.396825 m/s, rangeRepo size: 4 2025-01-08T19:51:39.221Z,1736365899.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:39.228Z,1736365899.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.852448 m, bearing: 176.063514 deg, approach rate: 0.162045 m/s, LOS rate: -0.122964 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809704 deg. 2025-01-08T19:51:39.229Z,1736365899.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813787 target range: 261.899994 and range: 258.00 m. 2025-01-08T19:51:39.440Z,1736365899.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:39.562Z,1736365899.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:39.571Z,1736365899.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:39.574Z,1736365899.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.917969 m, bearing: 176.013721 deg, approach rate: 0.184105 m/s, LOS rate: -0.139877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825845 deg. 2025-01-08T19:51:39.576Z,1736365899.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814069 target range: 261.899994 and range: 258.00 m. 2025-01-08T19:51:39.692Z,1736365899.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:39.944Z,1736365899.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:39.999Z,1736365899.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:40.024Z,1736365900.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:40.027Z,1736365900.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 260.993195 m, bearing: 175.956357 deg, approach rate: 0.166119 m/s, LOS rate: -0.126639 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803144 deg. 2025-01-08T19:51:40.032Z,1736365900.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813673 target range: 261.899994 and range: 258.00 m. 2025-01-08T19:51:40.196Z,1736365900.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:40.360Z,1736365900.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:40.369Z,1736365900.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:40.372Z,1736365900.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 261.055054 m, bearing: 175.908908 deg, approach rate: 0.179080 m/s, LOS rate: -0.137329 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832875 deg. 2025-01-08T19:51:40.374Z,1736365900.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814192 target range: 261.899994 and range: 258.00 m. 2025-01-08T19:51:40.448Z,1736365900.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:40.700Z,1736365900.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:40.768Z,1736365900.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:40.775Z,1736365900.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:40.777Z,1736365900.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:40.797Z,1736365900.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 261.125275 m, bearing: 175.855397 deg, approach rate: 0.172307 m/s, LOS rate: -0.131268 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814698 deg. 2025-01-08T19:51:40.798Z,1736365900.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813875 target range: 261.899994 and range: 258.00 m. 2025-01-08T19:51:40.952Z,1736365900.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:40.952Z,1736365900.952 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:40.952Z,1736365900.952 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:40.953Z,1736365900.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:41.200Z,1736365901.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:41.204Z,1736365901.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:41.204Z,1736365901.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264959 2025-01-08T19:51:41.210Z,1736365901.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:41.213Z,1736365901.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 261.206879 m, bearing: 175.792842 deg, approach rate: 0.188303 m/s, LOS rate: -0.144303 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.787579 deg. 2025-01-08T19:51:41.215Z,1736365901.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813401 target range: 261.899994 and range: 258.00 m. 2025-01-08T19:51:41.456Z,1736365901.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:41.457Z,1736365901.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517948 2025-01-08T19:51:41.572Z,1736365901.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:41.581Z,1736365901.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:41.584Z,1736365901.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 261.277588 m, bearing: 175.739095 deg, approach rate: 0.190811 m/s, LOS rate: -0.144997 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813991 deg. 2025-01-08T19:51:41.585Z,1736365901.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813862 target range: 261.899994 and range: 258.00 m. 2025-01-08T19:51:41.708Z,1736365901.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:41.708Z,1736365901.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769031 2025-01-08T19:51:41.961Z,1736365901.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:41.961Z,1736365901.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021762 2025-01-08T19:51:42.033Z,1736365902.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:42.042Z,1736365902.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:42.045Z,1736365902.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 261.362274 m, bearing: 175.677439 deg, approach rate: 0.183672 m/s, LOS rate: -0.133679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.790280 deg. 2025-01-08T19:51:42.047Z,1736365902.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813448 target range: 261.899994 and range: 258.00 m. 2025-01-08T19:51:42.212Z,1736365902.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:42.213Z,1736365902.213 [DAT](INFO): DAT read: Rx Time:19:51:41.0662 2025-01-08T19:51:42.213Z,1736365902.213 [DAT](INFO): Rx dataTimestamp_ set to:1736365902.212889 2025-01-08T19:51:42.214Z,1736365902.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274230 2025-01-08T19:51:42.397Z,1736365902.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:42.420Z,1736365902.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:42.422Z,1736365902.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 261.429321 m, bearing: 175.628808 deg, approach rate: 0.177577 m/s, LOS rate: -0.128767 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829333 deg. 2025-01-08T19:51:42.424Z,1736365902.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814130 target range: 261.899994 and range: 258.00 m. 2025-01-08T19:51:42.464Z,1736365902.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:42.466Z,1736365902.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526127 2025-01-08T19:51:42.717Z,1736365902.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:42.720Z,1736365902.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779254 2025-01-08T19:51:42.806Z,1736365902.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:42.814Z,1736365902.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:42.816Z,1736365902.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.90 m. 2025-01-08T19:51:42.818Z,1736365902.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.899994 m, nav range: 261.504700 m, bearing: 175.574251 deg, approach rate: 0.190223 m/s, LOS rate: -0.137639 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811563 deg. 2025-01-08T19:51:42.820Z,1736365902.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813820 target range: 261.899994 and range: 258.00 m. 2025-01-08T19:51:42.968Z,1736365902.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:42.976Z,1736365902.976 [DAT](INFO): DAT read: 19:51:41.0662 LVL= 20976, 32145, 12658, 26995, AGC= 64, IDX= 173,-0.14,-2.427, 2.867,-1.736,-2.388, PHS= 0.049,-0.981, 0.649, RAW= 171.3, 4.0, CAL= 171.6, -4.9, ROT= 338.4, 4.9 2025-01-08T19:51:42.977Z,1736365902.977 [DAT](INFO): got valid direction response: 19:51:41.0662 LVL= 20976, 32145, 12658, 26995, AGC= 64, IDX= 173,-0.14,-2.427, 2.867,-1.736,-2.388, PHS= 0.049,-0.981, 0.649, RAW= 171.3, 4.0, CAL= 171.6, -4.9, ROT= 338.4, 4.9 2025-01-08T19:51:42.978Z,1736365902.978 [DAT](INFO): DAT read: Bearing 338.4, 4.9 (Local) 2025-01-08T19:51:42.978Z,1736365902.978 [DAT](INFO): Local bearing/azimuth received: Bearing 338.4, 4.9 (Local) 2025-01-08T19:51:42.981Z,1736365902.981 [DAT](INFO): DAT read: Range 10 to 50 : 255.5 m (Round-trip 340.7 ms) speed 0.4 m/s 2025-01-08T19:51:42.982Z,1736365902.982 [DAT](INFO): DAT read: user:900> 2025-01-08T19:51:42.982Z,1736365902.982 [DAT](INFO): DAT read: Tx time:19:51:42.1713 2025-01-08T19:51:42.983Z,1736365902.983 [DAT](INFO): Ping request sent. 2025-01-08T19:51:42.983Z,1736365902.983 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:42.984Z,1736365902.984 [DAT](INFO): DAT read: TxSync time:19:51:42.1706 2025-01-08T19:51:42.984Z,1736365902.984 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:42.985Z,1736365902.985 [DAT](INFO): direction in FSK: [-0.176500,-0.966217,0.187810] 2025-01-08T19:51:42.985Z,1736365902.985 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:42.985Z,1736365902.985 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:42.998Z,1736365902.998 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:42.998Z,1736365902.998 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:43.220Z,1736365903.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:43.245Z,1736365903.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:43.275Z,1736365903.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 255.500000 m, deltaT: 4.032681 s, deltaX: -2.500000 m, approachRate: -0.619935 m/s, rangeRepo size: 4 2025-01-08T19:51:43.285Z,1736365903.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 255.500000 m, bearing: 175.828478 deg, lat: 36.902232 deg, lon: -122.116504 deg, deltaT: 11.592323 s, deltaX: -6.399994 m, approachRate: -0.552089 m/s, posRepo size: 4 2025-01-08T19:51:43.286Z,1736365903.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.50 m. 2025-01-08T19:51:43.293Z,1736365903.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.500000 m, nav range: 255.073776 m, bearing: 175.828353 deg, approach rate: 0.000000 m/s, LOS rate: -0.137639 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786743 deg. 2025-01-08T19:51:43.294Z,1736365903.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813387 target range: 255.500000 and range: 255.50 m. 2025-01-08T19:51:43.472Z,1736365903.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:43.611Z,1736365903.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:43.622Z,1736365903.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.50 m. 2025-01-08T19:51:43.624Z,1736365903.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.500000 m, nav range: 255.140686 m, bearing: 175.777754 deg, approach rate: 0.191522 m/s, LOS rate: -0.144797 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823429 deg. 2025-01-08T19:51:43.626Z,1736365903.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814027 target range: 255.500000 and range: 255.50 m. 2025-01-08T19:51:43.724Z,1736365903.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:43.976Z,1736365903.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:44.033Z,1736365904.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:44.058Z,1736365904.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.50 m. 2025-01-08T19:51:44.065Z,1736365904.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.500000 m, nav range: 255.213501 m, bearing: 175.718079 deg, approach rate: 0.166961 m/s, LOS rate: -0.136792 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796215 deg. 2025-01-08T19:51:44.066Z,1736365904.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813552 target range: 255.500000 and range: 255.50 m. 2025-01-08T19:51:44.228Z,1736365904.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:44.427Z,1736365904.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:44.436Z,1736365904.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.50 m. 2025-01-08T19:51:44.439Z,1736365904.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.500000 m, nav range: 255.281647 m, bearing: 175.662474 deg, approach rate: 0.180040 m/s, LOS rate: -0.146869 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808416 deg. 2025-01-08T19:51:44.440Z,1736365904.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813765 target range: 255.500000 and range: 255.50 m. 2025-01-08T19:51:44.481Z,1736365904.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:44.732Z,1736365904.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:44.836Z,1736365904.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:44.843Z,1736365904.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:44.845Z,1736365904.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.50 m. 2025-01-08T19:51:44.849Z,1736365904.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.500000 m, nav range: 255.352737 m, bearing: 175.604698 deg, approach rate: 0.173858 m/s, LOS rate: -0.141256 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.801908 deg. 2025-01-08T19:51:44.850Z,1736365904.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813652 target range: 255.500000 and range: 255.50 m. 2025-01-08T19:51:44.984Z,1736365904.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:44.985Z,1736365904.985 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:44.985Z,1736365904.985 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:44.985Z,1736365904.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:45.236Z,1736365905.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:45.239Z,1736365905.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255854 2025-01-08T19:51:45.276Z,1736365905.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:45.290Z,1736365905.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.50 m. 2025-01-08T19:51:45.305Z,1736365905.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.500000 m, nav range: 255.434723 m, bearing: 175.540912 deg, approach rate: 0.184338 m/s, LOS rate: -0.143371 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783892 deg. 2025-01-08T19:51:45.311Z,1736365905.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813337 target range: 255.500000 and range: 255.50 m. 2025-01-08T19:51:45.488Z,1736365905.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:45.488Z,1736365905.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505729 2025-01-08T19:51:45.637Z,1736365905.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:45.647Z,1736365905.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.50 m. 2025-01-08T19:51:45.651Z,1736365905.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.500000 m, nav range: 255.502609 m, bearing: 175.488321 deg, approach rate: 0.190682 m/s, LOS rate: -0.147682 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817455 deg. 2025-01-08T19:51:45.653Z,1736365905.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813923 target range: 255.500000 and range: 255.50 m. 2025-01-08T19:51:45.740Z,1736365905.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:45.741Z,1736365905.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758265 2025-01-08T19:51:45.992Z,1736365905.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:45.992Z,1736365905.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009653 2025-01-08T19:51:46.073Z,1736365906.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:46.082Z,1736365906.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.50 m. 2025-01-08T19:51:46.101Z,1736365906.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.500000 m, nav range: 255.580017 m, bearing: 175.425327 deg, approach rate: 0.177567 m/s, LOS rate: -0.144459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786262 deg. 2025-01-08T19:51:46.102Z,1736365906.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813378 target range: 255.500000 and range: 255.50 m. 2025-01-08T19:51:46.244Z,1736365906.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:46.245Z,1736365906.245 [DAT](INFO): DAT read: Rx Time:19:51:44.9152 2025-01-08T19:51:46.245Z,1736365906.245 [DAT](INFO): Rx dataTimestamp_ set to:1736365906.244744 2025-01-08T19:51:46.246Z,1736365906.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262804 2025-01-08T19:51:46.445Z,1736365906.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:46.454Z,1736365906.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.50 m. 2025-01-08T19:51:46.457Z,1736365906.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.500000 m, nav range: 255.646179 m, bearing: 175.371512 deg, approach rate: 0.177684 m/s, LOS rate: -0.144485 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813786 deg. 2025-01-08T19:51:46.458Z,1736365906.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813859 target range: 255.500000 and range: 255.50 m. 2025-01-08T19:51:46.496Z,1736365906.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:46.497Z,1736365906.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514165 2025-01-08T19:51:46.748Z,1736365906.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:46.754Z,1736365906.754 [DAT](INFO): DAT read: 19:51:44.9152 LVL= 26560, 32753, 16034, 32755, AGC= 62, IDX= 432,-0.19, 1.381, 0.472, 1.866, 0.759, PHS= 0.710,-0.240, 1.104, RAW= 166.6, -24.9, CAL= 169.4, -31.3, ROT= 340.6, 31.3 2025-01-08T19:51:46.756Z,1736365906.756 [DAT](INFO): got valid direction response: 19:51:44.9152 LVL= 26560, 32753, 16034, 32755, AGC= 62, IDX= 432,-0.19, 1.381, 0.472, 1.866, 0.759, PHS= 0.710,-0.240, 1.104, RAW= 166.6, -24.9, CAL= 169.4, -31.3, ROT= 340.6, 31.3 2025-01-08T19:51:46.757Z,1736365906.757 [DAT](INFO): DAT read: Bearing 340.6, 31.3 (Local) 2025-01-08T19:51:46.757Z,1736365906.757 [DAT](INFO): Local bearing/azimuth received: Bearing 340.6, 31.3 (Local) 2025-01-08T19:51:46.758Z,1736365906.758 [DAT](INFO): DAT read: Range 10 to 50 : 254.7 m (Round-trip 339.7 ms) speed 0.2 m/s 2025-01-08T19:51:46.760Z,1736365906.760 [DAT](INFO): DAT read: user:901> 2025-01-08T19:51:46.760Z,1736365906.760 [DAT](INFO): DAT read: Tx time:19:51:46.0213 2025-01-08T19:51:46.761Z,1736365906.761 [DAT](INFO): Ping request sent. 2025-01-08T19:51:46.761Z,1736365906.761 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:46.761Z,1736365906.761 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:46.762Z,1736365906.762 [DAT](INFO): direction in FSK: [0.368484,-0.886451,0.280042] 2025-01-08T19:51:46.762Z,1736365906.762 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:46.764Z,1736365906.764 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:46.767Z,1736365906.767 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:46.767Z,1736365906.767 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:46.864Z,1736365906.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:46.912Z,1736365906.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 254.699997 m, deltaT: 3.779303 s, deltaX: -0.800003 m, approachRate: -0.211680 m/s, rangeRepo size: 4 2025-01-08T19:51:46.922Z,1736365906.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 254.699997 m, bearing: 207.787236 deg, lat: 36.902232 deg, lon: -122.116504 deg, deltaT: 3.779303 s, deltaX: -0.800003 m, approachRate: -0.211680 m/s, posRepo size: 4 2025-01-08T19:51:46.929Z,1736365906.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.70 m. 2025-01-08T19:51:46.977Z,1736365906.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.699997 m, nav range: 255.721222 m, bearing: 175.310891 deg, approach rate: 0.000000 m/s, LOS rate: -0.144485 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.777412 deg. 2025-01-08T19:51:46.000Z,1736365907.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:47.001Z,1736365907.001 [DAT](INFO): DAT read: TxSync time:19:51:46.0206 2025-01-08T19:51:47.003Z,1736365907.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813224 target range: 254.699997 and range: 254.70 m. 2025-01-08T19:51:47.252Z,1736365907.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:47.325Z,1736365907.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:47.331Z,1736365907.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:47.333Z,1736365907.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.70 m. 2025-01-08T19:51:47.336Z,1736365907.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.699997 m, nav range: 255.802063 m, bearing: 175.242490 deg, approach rate: 0.191228 m/s, LOS rate: -0.161749 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.770050 deg. 2025-01-08T19:51:47.337Z,1736365907.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813096 target range: 254.699997 and range: 254.70 m. 2025-01-08T19:51:47.504Z,1736365907.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:47.504Z,1736365907.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:47.505Z,1736365907.505 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:47.505Z,1736365907.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:47.681Z,1736365907.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:47.711Z,1736365907.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.70 m. 2025-01-08T19:51:47.717Z,1736365907.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.699997 m, nav range: 255.864304 m, bearing: 175.189557 deg, approach rate: 0.164937 m/s, LOS rate: -0.140237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816428 deg. 2025-01-08T19:51:47.719Z,1736365907.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813905 target range: 254.699997 and range: 254.70 m. 2025-01-08T19:51:47.756Z,1736365907.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:47.757Z,1736365907.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995868 2025-01-08T19:51:48.009Z,1736365908.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:48.012Z,1736365908.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250199 2025-01-08T19:51:48.124Z,1736365908.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:48.133Z,1736365908.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.70 m. 2025-01-08T19:51:48.136Z,1736365908.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.699997 m, nav range: 255.941162 m, bearing: 175.123834 deg, approach rate: 0.181749 m/s, LOS rate: -0.155370 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.778078 deg. 2025-01-08T19:51:48.137Z,1736365908.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813235 target range: 254.699997 and range: 254.70 m. 2025-01-08T19:51:48.260Z,1736365908.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:48.260Z,1736365908.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499724 2025-01-08T19:51:48.484Z,1736365908.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:48.492Z,1736365908.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.70 m. 2025-01-08T19:51:48.495Z,1736365908.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.699997 m, nav range: 256.003204 m, bearing: 175.070233 deg, approach rate: 0.172790 m/s, LOS rate: -0.149245 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814422 deg. 2025-01-08T19:51:48.497Z,1736365908.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813870 target range: 254.699997 and range: 254.70 m. 2025-01-08T19:51:48.512Z,1736365908.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:48.513Z,1736365908.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752421 2025-01-08T19:51:48.764Z,1736365908.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:48.765Z,1736365908.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004182 2025-01-08T19:51:48.887Z,1736365908.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:48.912Z,1736365908.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.70 m. 2025-01-08T19:51:48.916Z,1736365908.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.699997 m, nav range: 256.073120 m, bearing: 175.010500 deg, approach rate: 0.173549 m/s, LOS rate: -0.148234 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796036 deg. 2025-01-08T19:51:48.917Z,1736365908.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813549 target range: 254.699997 and range: 254.70 m. 2025-01-08T19:51:49.016Z,1736365909.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:49.017Z,1736365909.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256019 2025-01-08T19:51:49.270Z,1736365909.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:49.270Z,1736365909.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509687 2025-01-08T19:51:49.343Z,1736365909.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:49.356Z,1736365909.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:49.358Z,1736365909.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.70 m. 2025-01-08T19:51:49.362Z,1736365909.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.699997 m, nav range: 256.150391 m, bearing: 174.943301 deg, approach rate: 0.166896 m/s, LOS rate: -0.145099 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.773652 deg. 2025-01-08T19:51:49.363Z,1736365909.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813158 target range: 254.699997 and range: 254.70 m. 2025-01-08T19:51:49.520Z,1736365909.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:49.521Z,1736365909.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759804 2025-01-08T19:51:49.700Z,1736365909.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:49.708Z,1736365909.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.70 m. 2025-01-08T19:51:49.711Z,1736365909.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.699997 m, nav range: 256.212280 m, bearing: 174.889684 deg, approach rate: 0.176933 m/s, LOS rate: -0.153244 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814376 deg. 2025-01-08T19:51:49.713Z,1736365909.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813869 target range: 254.699997 and range: 254.70 m. 2025-01-08T19:51:49.772Z,1736365909.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:49.773Z,1736365909.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012056 2025-01-08T19:51:50.025Z,1736365910.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:50.028Z,1736365910.028 [DAT](INFO): DAT read: Rx Time:19:51:48.7615 2025-01-08T19:51:50.030Z,1736365910.030 [DAT](INFO): Rx dataTimestamp_ set to:1736365910.028756 2025-01-08T19:51:50.032Z,1736365910.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271079 2025-01-08T19:51:50.135Z,1736365910.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:50.143Z,1736365910.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.70 m. 2025-01-08T19:51:50.147Z,1736365910.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.699997 m, nav range: 256.290771 m, bearing: 174.825881 deg, approach rate: 0.180445 m/s, LOS rate: -0.146635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783835 deg. 2025-01-08T19:51:50.149Z,1736365910.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813336 target range: 254.699997 and range: 254.70 m. 2025-01-08T19:51:50.276Z,1736365910.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:50.276Z,1736365910.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515750 2025-01-08T19:51:50.516Z,1736365910.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:50.525Z,1736365910.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.70 m. 2025-01-08T19:51:50.528Z,1736365910.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:50.535Z,1736365910.535 [DAT](INFO): DAT read: 19:51:48.7615 LVL= 23840, 28785, 13746, 28739, AGC= 60, IDX= 396,-0.38,-2.414, 3.058,-1.791,-2.956, PHS= 0.631,-0.221, 1.163, RAW= 172.4, -24.7, CAL= 174.5, -31.1, ROT= 335.5, 31.1 2025-01-08T19:51:50.536Z,1736365910.536 [DAT](INFO): got valid direction response: 19:51:48.7615 LVL= 23840, 28785, 13746, 28739, AGC= 60, IDX= 396,-0.38,-2.414, 3.058,-1.791,-2.956, PHS= 0.631,-0.221, 1.163, RAW= 172.4, -24.7, CAL= 174.5, -31.1, ROT= 335.5, 31.1 2025-01-08T19:51:50.537Z,1736365910.537 [DAT](INFO): DAT read: Bearing 335.5, 31.1 (Local) 2025-01-08T19:51:50.538Z,1736365910.538 [DAT](INFO): Local bearing/azimuth received: Bearing 335.5, 31.1 (Local) 2025-01-08T19:51:50.539Z,1736365910.539 [DAT](INFO): DAT read: Range 10 to 50 : 252.0 m (Round-trip 336.0 ms) speed 0.5 m/s 2025-01-08T19:51:50.540Z,1736365910.540 [DAT](INFO): DAT read: user:902> 2025-01-08T19:51:50.541Z,1736365910.541 [DAT](INFO): DAT read: Tx time:19:51:49.8713 2025-01-08T19:51:50.541Z,1736365910.541 [DAT](INFO): Ping request sent. 2025-01-08T19:51:50.541Z,1736365910.541 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:50.541Z,1736365910.541 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:50.542Z,1736365910.542 [DAT](INFO): direction in FSK: [0.368546,-0.910113,0.189387] 2025-01-08T19:51:50.542Z,1736365910.542 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:50.543Z,1736365910.543 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:50.544Z,1736365910.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.699997 m, nav range: 256.359894 m, bearing: 174.769959 deg, approach rate: 0.180868 m/s, LOS rate: -0.146288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.807467 deg. 2025-01-08T19:51:50.545Z,1736365910.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813748 target range: 254.699997 and range: 254.70 m. 2025-01-08T19:51:50.566Z,1736365910.566 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:50.566Z,1736365910.566 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:50.780Z,1736365910.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:50.781Z,1736365910.781 [DAT](INFO): DAT read: TxSync time:19:51:49.8706 2025-01-08T19:51:50.909Z,1736365910.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:50.940Z,1736365910.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 252.000000 m, deltaT: 3.780044 s, deltaX: -2.699997 m, approachRate: -0.714277 m/s, rangeRepo size: 4 2025-01-08T19:51:50.942Z,1736365910.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 252.000000 m, bearing: 207.309102 deg, lat: 36.902232 deg, lon: -122.116504 deg, deltaT: 3.780044 s, deltaX: -2.699997 m, approachRate: -0.714277 m/s, posRepo size: 4 2025-01-08T19:51:50.947Z,1736365910.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.00 m. 2025-01-08T19:51:50.950Z,1736365910.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.000000 m, nav range: 256.431091 m, bearing: 174.712394 deg, approach rate: 0.000000 m/s, LOS rate: -0.146288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800724 deg. 2025-01-08T19:51:50.956Z,1736365910.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813631 target range: 252.000000 and range: 252.00 m. 2025-01-08T19:51:51.033Z,1736365911.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:51.284Z,1736365911.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:51.357Z,1736365911.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:51.364Z,1736365911.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:51.366Z,1736365911.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.00 m. 2025-01-08T19:51:51.369Z,1736365911.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.000000 m, nav range: 256.512604 m, bearing: 174.648678 deg, approach rate: 0.183921 m/s, LOS rate: -0.143721 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.784099 deg. 2025-01-08T19:51:51.370Z,1736365911.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813341 target range: 252.000000 and range: 252.00 m. 2025-01-08T19:51:51.536Z,1736365911.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:51.536Z,1736365911.536 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:51.536Z,1736365911.536 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:51.537Z,1736365911.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:51.712Z,1736365911.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:51.721Z,1736365911.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.00 m. 2025-01-08T19:51:51.724Z,1736365911.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.000000 m, nav range: 256.576965 m, bearing: 174.598446 deg, approach rate: 0.181375 m/s, LOS rate: -0.141521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824529 deg. 2025-01-08T19:51:51.725Z,1736365911.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814046 target range: 252.000000 and range: 252.00 m. 2025-01-08T19:51:51.789Z,1736365911.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:51.790Z,1736365911.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248567 2025-01-08T19:51:52.041Z,1736365912.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:52.044Z,1736365912.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501865 2025-01-08T19:51:52.164Z,1736365912.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:52.173Z,1736365912.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.00 m. 2025-01-08T19:51:52.176Z,1736365912.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.000000 m, nav range: 256.657837 m, bearing: 174.536188 deg, approach rate: 0.178864 m/s, LOS rate: -0.137652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788473 deg. 2025-01-08T19:51:52.177Z,1736365912.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813417 target range: 252.000000 and range: 252.00 m. 2025-01-08T19:51:52.296Z,1736365912.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:52.296Z,1736365912.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755273 2025-01-08T19:51:52.530Z,1736365912.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:52.539Z,1736365912.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.00 m. 2025-01-08T19:51:52.545Z,1736365912.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.000000 m, nav range: 256.724396 m, bearing: 174.485908 deg, approach rate: 0.182007 m/s, LOS rate: -0.137455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824387 deg. 2025-01-08T19:51:52.547Z,1736365912.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814044 target range: 252.000000 and range: 252.00 m. 2025-01-08T19:51:52.548Z,1736365912.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:52.549Z,1736365912.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007432 2025-01-08T19:51:52.800Z,1736365912.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:52.800Z,1736365912.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259375 2025-01-08T19:51:52.928Z,1736365912.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:52.938Z,1736365912.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.00 m. 2025-01-08T19:51:52.941Z,1736365912.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.000000 m, nav range: 256.797424 m, bearing: 174.431381 deg, approach rate: 0.182871 m/s, LOS rate: -0.136504 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811651 deg. 2025-01-08T19:51:52.942Z,1736365912.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813821 target range: 252.000000 and range: 252.00 m. 2025-01-08T19:51:53.054Z,1736365913.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:53.056Z,1736365913.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514649 2025-01-08T19:51:53.304Z,1736365913.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:53.304Z,1736365913.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763231 2025-01-08T19:51:53.407Z,1736365913.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:53.414Z,1736365913.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:53.419Z,1736365913.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.00 m. 2025-01-08T19:51:53.423Z,1736365913.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.000000 m, nav range: 256.877869 m, bearing: 174.367778 deg, approach rate: 0.167698 m/s, LOS rate: -0.132548 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.784438 deg. 2025-01-08T19:51:53.424Z,1736365913.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813346 target range: 252.000000 and range: 252.00 m. 2025-01-08T19:51:53.556Z,1736365913.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:53.557Z,1736365913.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015618 2025-01-08T19:51:53.749Z,1736365913.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:53.758Z,1736365913.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.00 m. 2025-01-08T19:51:53.781Z,1736365913.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.000000 m, nav range: 256.934692 m, bearing: 174.323198 deg, approach rate: 0.167140 m/s, LOS rate: -0.131096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841478 deg. 2025-01-08T19:51:53.782Z,1736365913.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814342 target range: 252.000000 and range: 252.00 m. 2025-01-08T19:51:53.808Z,1736365913.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:53.809Z,1736365913.809 [DAT](INFO): DAT read: Rx Time:19:51:52.6085 2025-01-08T19:51:53.809Z,1736365913.809 [DAT](INFO): Rx dataTimestamp_ set to:1736365913.808755 2025-01-08T19:51:53.810Z,1736365913.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268506 2025-01-08T19:51:54.062Z,1736365914.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:54.065Z,1736365914.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522995 2025-01-08T19:51:54.156Z,1736365914.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:54.189Z,1736365914.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.00 m. 2025-01-08T19:51:54.196Z,1736365914.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.000000 m, nav range: 257.001709 m, bearing: 174.269834 deg, approach rate: 0.155528 m/s, LOS rate: -0.123811 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815138 deg. 2025-01-08T19:51:54.197Z,1736365914.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813882 target range: 252.000000 and range: 252.00 m. 2025-01-08T19:51:54.314Z,1736365914.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:54.330Z,1736365914.330 [DAT](INFO): DAT read: 19:51:52.6085 LVL= 19360, 29841, 12274, 30323, AGC= 56, IDX= 413, 0.15,-0.353,-1.266, 0.088,-1.035, PHS= 0.770,-0.184, 1.120, RAW= 165.0, -27.3, CAL= 167.4, -33.8, ROT= 342.6, 33.8 2025-01-08T19:51:54.331Z,1736365914.331 [DAT](INFO): got valid direction response: 19:51:52.6085 LVL= 19360, 29841, 12274, 30323, AGC= 56, IDX= 413, 0.15,-0.353,-1.266, 0.088,-1.035, PHS= 0.770,-0.184, 1.120, RAW= 165.0, -27.3, CAL= 167.4, -33.8, ROT= 342.6, 33.8 2025-01-08T19:51:54.336Z,1736365914.336 [DAT](INFO): DAT read: Bearing 342.6, 33.8 (Local) 2025-01-08T19:51:54.336Z,1736365914.336 [DAT](INFO): Local bearing/azimuth received: Bearing 342.6, 33.8 (Local) 2025-01-08T19:51:54.338Z,1736365914.338 [DAT](INFO): DAT read: Range 10 to 50 : 249.7 m (Round-trip 333.0 ms) speed 0.6 m/s 2025-01-08T19:51:54.338Z,1736365914.338 [DAT](INFO): DAT read: user:903> 2025-01-08T19:51:54.347Z,1736365914.347 [DAT](INFO): DAT read: Tx time:19:51:53.7214 2025-01-08T19:51:54.348Z,1736365914.348 [DAT](INFO): Ping request sent. 2025-01-08T19:51:54.348Z,1736365914.348 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:54.348Z,1736365914.348 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:54.349Z,1736365914.349 [DAT](INFO): direction in FSK: [0.408908,-0.861799,0.300163] 2025-01-08T19:51:54.349Z,1736365914.349 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:54.350Z,1736365914.350 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:54.357Z,1736365914.357 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:54.357Z,1736365914.357 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:54.554Z,1736365914.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:54.564Z,1736365914.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:54.565Z,1736365914.565 [DAT](INFO): DAT read: TxSync time:19:51:53.7207 2025-01-08T19:51:54.586Z,1736365914.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 249.699997 m, deltaT: 3.786438 s, deltaX: -2.300003 m, approachRate: -0.607432 m/s, rangeRepo size: 4 2025-01-08T19:51:54.589Z,1736365914.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 249.699997 m, bearing: 210.636412 deg, lat: 36.902520 deg, lon: -122.118055 deg, deltaT: 3.786438 s, deltaX: -2.300003 m, approachRate: -0.607432 m/s, posRepo size: 4 2025-01-08T19:51:54.590Z,1736365914.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T19:51:54.601Z,1736365914.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 250.228760 m, bearing: 206.609941 deg, approach rate: 0.000000 m/s, LOS rate: -0.123811 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827879 deg. 2025-01-08T19:51:54.602Z,1736365914.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814105 target range: 249.699997 and range: 249.70 m. 2025-01-08T19:51:54.816Z,1736365914.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:54.955Z,1736365914.955 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:51:54.956Z,1736365914.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:54.965Z,1736365914.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T19:51:54.968Z,1736365914.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 250.161621 m, bearing: 206.558455 deg, approach rate: -0.176716 m/s, LOS rate: -0.135552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820688 deg. 2025-01-08T19:51:54.969Z,1736365914.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813979 target range: 249.699997 and range: 249.70 m. 2025-01-08T19:51:55.070Z,1736365915.070 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:55.320Z,1736365915.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:55.372Z,1736365915.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:55.420Z,1736365915.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T19:51:55.422Z,1736365915.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 250.091599 m, bearing: 206.501930 deg, approach rate: -0.156140 m/s, LOS rate: -0.126078 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.805565 deg. 2025-01-08T19:51:55.426Z,1736365915.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813715 target range: 249.699997 and range: 249.70 m. 2025-01-08T19:51:55.572Z,1736365915.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:55.761Z,1736365915.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:55.769Z,1736365915.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:55.771Z,1736365915.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T19:51:55.774Z,1736365915.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 250.028534 m, bearing: 206.450687 deg, approach rate: -0.176287 m/s, LOS rate: -0.143280 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821417 deg. 2025-01-08T19:51:55.776Z,1736365915.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813992 target range: 249.699997 and range: 249.70 m. 2025-01-08T19:51:55.825Z,1736365915.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:55.825Z,1736365915.825 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:55.826Z,1736365915.826 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:55.826Z,1736365915.826 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:51:55.948Z,1736365915.948 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:51:56.077Z,1736365916.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:56.080Z,1736365916.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731870 2025-01-08T19:51:56.189Z,1736365916.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:56.198Z,1736365916.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T19:51:56.201Z,1736365916.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 249.951035 m, bearing: 206.393021 deg, approach rate: -0.181576 m/s, LOS rate: -0.135150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802136 deg. 2025-01-08T19:51:56.202Z,1736365916.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813655 target range: 249.699997 and range: 249.70 m. 2025-01-08T19:51:56.328Z,1736365916.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:56.328Z,1736365916.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980405 2025-01-08T19:51:56.567Z,1736365916.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:56.576Z,1736365916.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T19:51:56.578Z,1736365916.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 249.883408 m, bearing: 206.342042 deg, approach rate: -0.179027 m/s, LOS rate: -0.134991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822209 deg. 2025-01-08T19:51:56.580Z,1736365916.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:56.581Z,1736365916.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232895 2025-01-08T19:51:56.582Z,1736365916.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814006 target range: 249.699997 and range: 249.70 m. 2025-01-08T19:51:56.832Z,1736365916.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:56.833Z,1736365916.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484623 2025-01-08T19:51:56.978Z,1736365916.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:56.988Z,1736365916.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T19:51:56.990Z,1736365916.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 249.810410 m, bearing: 206.286535 deg, approach rate: -0.177474 m/s, LOS rate: -0.134989 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808617 deg. 2025-01-08T19:51:56.992Z,1736365916.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813768 target range: 249.699997 and range: 249.70 m. 2025-01-08T19:51:57.085Z,1736365917.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:57.087Z,1736365917.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738943 2025-01-08T19:51:57.336Z,1736365917.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:57.337Z,1736365917.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988694 2025-01-08T19:51:57.410Z,1736365917.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:57.418Z,1736365917.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T19:51:57.421Z,1736365917.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 249.730606 m, bearing: 206.226715 deg, approach rate: -0.185264 m/s, LOS rate: -0.138917 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795670 deg. 2025-01-08T19:51:57.422Z,1736365917.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813542 target range: 249.699997 and range: 249.70 m. 2025-01-08T19:51:57.588Z,1736365917.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:57.589Z,1736365917.589 [DAT](INFO): DAT read: Rx Time:19:51:56.4552 2025-01-08T19:51:57.589Z,1736365917.589 [DAT](INFO): Rx dataTimestamp_ set to:1736365917.588688 2025-01-08T19:51:57.589Z,1736365917.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241570 2025-01-08T19:51:57.793Z,1736365917.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:57.801Z,1736365917.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:57.803Z,1736365917.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T19:51:57.832Z,1736365917.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 249.659927 m, bearing: 206.173511 deg, approach rate: -0.183582 m/s, LOS rate: -0.138232 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815530 deg. 2025-01-08T19:51:57.833Z,1736365917.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813889 target range: 249.699997 and range: 249.70 m. 2025-01-08T19:51:57.840Z,1736365917.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:57.841Z,1736365917.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492703 2025-01-08T19:51:58.092Z,1736365918.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:58.092Z,1736365918.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.744518 2025-01-08T19:51:58.214Z,1736365918.214 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +31, +670, 2025-01-08T19:51:58.222Z,1736365918.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:51:58.222Z,1736365918.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:58.252Z,1736365918.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T19:51:58.261Z,1736365918.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 249.580994 m, bearing: 206.114056 deg, approach rate: -0.175589 m/s, LOS rate: -0.132298 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796768 deg. 2025-01-08T19:51:58.268Z,1736365918.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813561 target range: 249.699997 and range: 249.70 m. 2025-01-08T19:51:58.347Z,1736365918.347 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:58.358Z,1736365918.358 [DAT](INFO): DAT read: 19:51:56.4552 LVL= 19792, 22689, 14114, 29523, AGC= 64, IDX= 157, 0.13, 2.460, 1.444,-3.055, 2.491, PHS= 0.057,-1.000, 0.735, RAW= 172.8, 2.8, CAL= 173.2, -5.9, ROT= 336.8, 5.9 2025-01-08T19:51:58.360Z,1736365918.360 [DAT](INFO): got valid direction response: 19:51:56.4552 LVL= 19792, 22689, 14114, 29523, AGC= 64, IDX= 157, 0.13, 2.460, 1.444,-3.055, 2.491, PHS= 0.057,-1.000, 0.735, RAW= 172.8, 2.8, CAL= 173.2, -5.9, ROT= 336.8, 5.9 2025-01-08T19:51:58.361Z,1736365918.361 [DAT](INFO): DAT read: Bearing 336.8, 5.9 (Local) 2025-01-08T19:51:58.362Z,1736365918.362 [DAT](INFO): Local bearing/azimuth received: Bearing 336.8, 5.9 (Local) 2025-01-08T19:51:58.381Z,1736365918.381 [DAT](INFO): DAT read: Range 10 to 50 : 247.2 m (Round-trip 329.6 ms) speed 0.2 m/s 2025-01-08T19:51:58.382Z,1736365918.382 [DAT](INFO): DAT read: user:904> 2025-01-08T19:51:58.399Z,1736365918.399 [DAT](INFO): DAT read: Tx time:19:51:57.5714 2025-01-08T19:51:58.400Z,1736365918.400 [DAT](INFO): Ping request sent. 2025-01-08T19:51:58.400Z,1736365918.400 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:51:58.400Z,1736365918.400 [DAT](INFO): DAT read: TxSync time:19:51:57.5707 2025-01-08T19:51:58.401Z,1736365918.401 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:51:58.402Z,1736365918.402 [DAT](INFO): direction in FSK: [-0.151203,-0.974732,0.164425] 2025-01-08T19:51:58.402Z,1736365918.402 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:58.402Z,1736365918.402 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:58.410Z,1736365918.410 [DAT](INFO): publishing transmit ping time 2025-01-08T19:51:58.410Z,1736365918.410 [DAT](INFO): publishing direction and range info 2025-01-08T19:51:58.596Z,1736365918.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:58.616Z,1736365918.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:51:58.616Z,1736365918.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:58.657Z,1736365918.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 247.199997 m, deltaT: 4.033524 s, deltaX: -2.500000 m, approachRate: -0.619805 m/s, rangeRepo size: 4 2025-01-08T19:51:58.676Z,1736365918.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 247.199997 m, bearing: 177.732721 deg, lat: 36.902520 deg, lon: -122.118055 deg, deltaT: 4.033524 s, deltaX: -2.500000 m, approachRate: -0.619805 m/s, posRepo size: 4 2025-01-08T19:51:58.677Z,1736365918.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.20 m. 2025-01-08T19:51:58.689Z,1736365918.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.199997 m, nav range: 249.509552 m, bearing: 206.060033 deg, approach rate: 0.000000 m/s, LOS rate: -0.132298 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817145 deg. 2025-01-08T19:51:58.690Z,1736365918.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813917 target range: 247.199997 and range: 247.20 m. 2025-01-08T19:51:58.848Z,1736365918.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:58.985Z,1736365918.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:51:58.985Z,1736365918.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:59.014Z,1736365919.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.20 m. 2025-01-08T19:51:59.018Z,1736365919.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.199997 m, nav range: 249.440186 m, bearing: 206.008242 deg, approach rate: -0.190754 m/s, LOS rate: -0.142461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819772 deg. 2025-01-08T19:51:59.019Z,1736365919.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813963 target range: 247.199997 and range: 247.20 m. 2025-01-08T19:51:59.101Z,1736365919.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:59.352Z,1736365919.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:59.445Z,1736365919.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:59.454Z,1736365919.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.20 m. 2025-01-08T19:51:59.457Z,1736365919.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.199997 m, nav range: 249.343796 m, bearing: 205.937464 deg, approach rate: -0.219380 m/s, LOS rate: -0.161152 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.762769 deg. 2025-01-08T19:51:59.458Z,1736365919.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812968 target range: 247.199997 and range: 247.20 m. 2025-01-08T19:51:59.604Z,1736365919.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:59.806Z,1736365919.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:51:59.833Z,1736365919.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:51:59.840Z,1736365919.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.20 m. 2025-01-08T19:51:59.843Z,1736365919.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.199997 m, nav range: 249.267227 m, bearing: 205.882112 deg, approach rate: -0.200558 m/s, LOS rate: -0.145027 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809083 deg. 2025-01-08T19:51:59.844Z,1736365919.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813776 target range: 247.199997 and range: 247.20 m. 2025-01-08T19:51:59.856Z,1736365919.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:51:59.856Z,1736365919.856 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:51:59.856Z,1736365919.856 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:51:59.857Z,1736365919.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:00.110Z,1736365920.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:00.112Z,1736365920.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711634 2025-01-08T19:52:00.244Z,1736365920.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:00.269Z,1736365920.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.20 m. 2025-01-08T19:52:00.273Z,1736365920.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.199997 m, nav range: 249.180954 m, bearing: 205.813408 deg, approach rate: -0.198817 m/s, LOS rate: -0.158385 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.769003 deg. 2025-01-08T19:52:00.274Z,1736365920.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813077 target range: 247.199997 and range: 247.20 m. 2025-01-08T19:52:00.361Z,1736365920.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:00.362Z,1736365920.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961960 2025-01-08T19:52:00.612Z,1736365920.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:00.613Z,1736365920.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213472 2025-01-08T19:52:00.628Z,1736365920.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:00.656Z,1736365920.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.20 m. 2025-01-08T19:52:00.661Z,1736365920.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.199997 m, nav range: 249.108765 m, bearing: 205.755727 deg, approach rate: -0.187176 m/s, LOS rate: -0.149599 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802096 deg. 2025-01-08T19:52:00.663Z,1736365920.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813655 target range: 247.199997 and range: 247.20 m. 2025-01-08T19:52:00.864Z,1736365920.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:00.864Z,1736365920.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464529 2025-01-08T19:52:01.012Z,1736365921.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:01.021Z,1736365921.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.20 m. 2025-01-08T19:52:01.024Z,1736365921.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.199997 m, nav range: 249.030182 m, bearing: 205.692810 deg, approach rate: -0.214736 m/s, LOS rate: -0.171983 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786376 deg. 2025-01-08T19:52:01.025Z,1736365921.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813380 target range: 247.199997 and range: 247.20 m. 2025-01-08T19:52:01.116Z,1736365921.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:01.116Z,1736365921.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716655 2025-01-08T19:52:01.368Z,1736365921.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:01.368Z,1736365921.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968640 2025-01-08T19:52:01.460Z,1736365921.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:01.469Z,1736365921.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.20 m. 2025-01-08T19:52:01.472Z,1736365921.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.199997 m, nav range: 248.943832 m, bearing: 205.622084 deg, approach rate: -0.192931 m/s, LOS rate: -0.158078 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.762936 deg. 2025-01-08T19:52:01.473Z,1736365921.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812971 target range: 247.199997 and range: 247.20 m. 2025-01-08T19:52:01.621Z,1736365921.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:01.621Z,1736365921.621 [DAT](INFO): DAT read: Rx Time:19:52:00.3036 2025-01-08T19:52:01.622Z,1736365921.622 [DAT](INFO): Rx dataTimestamp_ set to:1736365921.621482 2025-01-08T19:52:01.622Z,1736365921.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222476 2025-01-08T19:52:01.825Z,1736365921.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:01.834Z,1736365921.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.20 m. 2025-01-08T19:52:01.837Z,1736365921.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.199997 m, nav range: 248.873367 m, bearing: 205.564437 deg, approach rate: -0.192921 m/s, LOS rate: -0.157873 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802196 deg. 2025-01-08T19:52:01.838Z,1736365921.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813656 target range: 247.199997 and range: 247.20 m. 2025-01-08T19:52:01.872Z,1736365921.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:01.873Z,1736365921.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.473463 2025-01-08T19:52:02.124Z,1736365922.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:02.131Z,1736365922.131 [DAT](INFO): DAT read: 19:52:00.3036 LVL= 27632, 28145, 17378, 30195, AGC= 65, IDX= 163, 0.16, 0.229,-0.954, 0.942, 0.265, PHS= 0.052,-1.171, 0.675, RAW= 169.4, 5.5, CAL= 169.3, -3.8, ROT= 340.7, 3.8 2025-01-08T19:52:02.132Z,1736365922.132 [DAT](INFO): got valid direction response: 19:52:00.3036 LVL= 27632, 28145, 17378, 30195, AGC= 65, IDX= 163, 0.16, 0.229,-0.954, 0.942, 0.265, PHS= 0.052,-1.171, 0.675, RAW= 169.4, 5.5, CAL= 169.3, -3.8, ROT= 340.7, 3.8 2025-01-08T19:52:02.133Z,1736365922.133 [DAT](INFO): DAT read: Bearing 340.7, 3.8 (Local) 2025-01-08T19:52:02.134Z,1736365922.134 [DAT](INFO): Local bearing/azimuth received: Bearing 340.7, 3.8 (Local) 2025-01-08T19:52:02.136Z,1736365922.136 [DAT](INFO): DAT read: Range 10 to 50 : 245.9 m (Round-trip 327.9 ms) speed 0.4 m/s 2025-01-08T19:52:02.137Z,1736365922.137 [DAT](INFO): DAT read: user:905> 2025-01-08T19:52:02.140Z,1736365922.140 [DAT](INFO): DAT read: Tx time:19:52:01.4215 2025-01-08T19:52:02.141Z,1736365922.141 [DAT](INFO): Ping request sent. 2025-01-08T19:52:02.141Z,1736365922.141 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:02.142Z,1736365922.142 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:02.143Z,1736365922.143 [DAT](INFO): direction in FSK: [-0.207473,-0.953446,0.218851] 2025-01-08T19:52:02.144Z,1736365922.144 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:02.144Z,1736365922.144 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:02.148Z,1736365922.148 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:02.148Z,1736365922.148 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:02.365Z,1736365922.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:02.376Z,1736365922.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:02.377Z,1736365922.377 [DAT](INFO): DAT read: TxSync time:19:52:01.4208 2025-01-08T19:52:02.399Z,1736365922.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 245.899994 m, deltaT: 3.775945 s, deltaX: -1.300003 m, approachRate: -0.344285 m/s, rangeRepo size: 4 2025-01-08T19:52:02.409Z,1736365922.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 245.899994 m, bearing: 173.645984 deg, lat: 36.902520 deg, lon: -122.118055 deg, deltaT: 3.775945 s, deltaX: -1.300003 m, approachRate: -0.344285 m/s, posRepo size: 4 2025-01-08T19:52:02.410Z,1736365922.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.90 m. 2025-01-08T19:52:02.421Z,1736365922.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.899994 m, nav range: 248.772034 m, bearing: 205.479405 deg, approach rate: 0.000000 m/s, LOS rate: -0.157873 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.709484 deg. 2025-01-08T19:52:02.422Z,1736365922.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812038 target range: 245.899994 and range: 245.90 m. 2025-01-08T19:52:02.629Z,1736365922.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:02.736Z,1736365922.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:02.742Z,1736365922.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:02.745Z,1736365922.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.90 m. 2025-01-08T19:52:02.753Z,1736365922.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.899994 m, nav range: 248.705093 m, bearing: 205.423804 deg, approach rate: -0.191415 m/s, LOS rate: -0.159032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808340 deg. 2025-01-08T19:52:02.754Z,1736365922.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813764 target range: 245.899994 and range: 245.90 m. 2025-01-08T19:52:02.881Z,1736365922.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:02.882Z,1736365922.882 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:02.882Z,1736365922.882 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:02.882Z,1736365922.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:03.119Z,1736365923.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:03.127Z,1736365923.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.90 m. 2025-01-08T19:52:03.132Z,1736365923.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:03.132Z,1736365923.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991949 2025-01-08T19:52:03.140Z,1736365923.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.899994 m, nav range: 248.629379 m, bearing: 205.360958 deg, approach rate: -0.198023 m/s, LOS rate: -0.164418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786591 deg. 2025-01-08T19:52:03.142Z,1736365923.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813384 target range: 245.899994 and range: 245.90 m. 2025-01-08T19:52:03.384Z,1736365923.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:03.385Z,1736365923.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244182 2025-01-08T19:52:03.565Z,1736365923.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:03.574Z,1736365923.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.90 m. 2025-01-08T19:52:03.593Z,1736365923.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.899994 m, nav range: 248.554306 m, bearing: 205.293155 deg, approach rate: -0.168073 m/s, LOS rate: -0.151843 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.771716 deg. 2025-01-08T19:52:03.594Z,1736365923.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813125 target range: 245.899994 and range: 245.90 m. 2025-01-08T19:52:03.636Z,1736365923.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:03.637Z,1736365923.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495995 2025-01-08T19:52:03.888Z,1736365923.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:03.889Z,1736365923.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747974 2025-01-08T19:52:03.931Z,1736365923.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:03.941Z,1736365923.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.90 m. 2025-01-08T19:52:03.945Z,1736365923.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.899994 m, nav range: 248.493668 m, bearing: 205.237580 deg, approach rate: -0.165832 m/s, LOS rate: -0.152022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808422 deg. 2025-01-08T19:52:03.947Z,1736365923.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813765 target range: 245.899994 and range: 245.90 m. 2025-01-08T19:52:04.141Z,1736365924.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:04.142Z,1736365924.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000774 2025-01-08T19:52:04.392Z,1736365924.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:04.392Z,1736365924.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251929 2025-01-08T19:52:04.402Z,1736365924.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:04.411Z,1736365924.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.90 m. 2025-01-08T19:52:04.414Z,1736365924.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.899994 m, nav range: 248.417068 m, bearing: 205.169572 deg, approach rate: -0.162532 m/s, LOS rate: -0.144347 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.771102 deg. 2025-01-08T19:52:04.416Z,1736365924.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813114 target range: 245.899994 and range: 245.90 m. 2025-01-08T19:52:04.644Z,1736365924.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:04.645Z,1736365924.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503923 2025-01-08T19:52:04.777Z,1736365924.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:04.784Z,1736365924.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:04.786Z,1736365924.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.90 m. 2025-01-08T19:52:04.794Z,1736365924.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.899994 m, nav range: 248.356766 m, bearing: 205.115430 deg, approach rate: -0.160736 m/s, LOS rate: -0.144350 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812722 deg. 2025-01-08T19:52:04.795Z,1736365924.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813840 target range: 245.899994 and range: 245.90 m. 2025-01-08T19:52:04.896Z,1736365924.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:04.897Z,1736365924.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756552 2025-01-08T19:52:05.148Z,1736365925.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:05.149Z,1736365925.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008250 2025-01-08T19:52:05.339Z,1736365925.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:05.377Z,1736365925.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.90 m. 2025-01-08T19:52:05.388Z,1736365925.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.899994 m, nav range: 248.273895 m, bearing: 205.036965 deg, approach rate: -0.140255 m/s, LOS rate: -0.132842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.739716 deg. 2025-01-08T19:52:05.389Z,1736365925.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812566 target range: 245.899994 and range: 245.90 m. 2025-01-08T19:52:05.400Z,1736365925.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:05.400Z,1736365925.400 [DAT](INFO): DAT read: Rx Time:19:52:04.1504 2025-01-08T19:52:05.401Z,1736365925.401 [DAT](INFO): Rx dataTimestamp_ set to:1736365925.400646 2025-01-08T19:52:05.401Z,1736365925.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260916 2025-01-08T19:52:05.652Z,1736365925.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:05.655Z,1736365925.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513706 2025-01-08T19:52:05.748Z,1736365925.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:05.765Z,1736365925.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.90 m. 2025-01-08T19:52:05.776Z,1736365925.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.899994 m, nav range: 248.213379 m, bearing: 204.978971 deg, approach rate: -0.155904 m/s, LOS rate: -0.149442 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.801163 deg. 2025-01-08T19:52:05.777Z,1736365925.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813638 target range: 245.899994 and range: 245.90 m. 2025-01-08T19:52:05.904Z,1736365925.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:05.918Z,1736365925.918 [DAT](INFO): DAT read: 19:52:04.1504 LVL= 19952, 27425, 13890, 28883, AGC= 63, IDX= 152, 0.14,-0.902,-1.857,-0.141,-0.924, PHS= 0.109,-0.886, 0.780, RAW= 173.6, -0.0, CAL= 174.5, -8.1, ROT= 335.5, 8.1 2025-01-08T19:52:05.937Z,1736365925.937 [DAT](INFO): got valid direction response: 19:52:04.1504 LVL= 19952, 27425, 13890, 28883, AGC= 63, IDX= 152, 0.14,-0.902,-1.857,-0.141,-0.924, PHS= 0.109,-0.886, 0.780, RAW= 173.6, -0.0, CAL= 174.5, -8.1, ROT= 335.5, 8.1 2025-01-08T19:52:05.938Z,1736365925.938 [DAT](INFO): DAT read: Bearing 335.5, 8.1 (Local) 2025-01-08T19:52:05.939Z,1736365925.939 [DAT](INFO): Local bearing/azimuth received: Bearing 335.5, 8.1 (Local) 2025-01-08T19:52:05.949Z,1736365925.949 [DAT](INFO): DAT read: Range 10 to 50 : 243.6 m (Round-trip 324.8 ms) speed 0.5 m/s 2025-01-08T19:52:05.950Z,1736365925.950 [DAT](INFO): DAT read: user:906> 2025-01-08T19:52:05.950Z,1736365925.950 [DAT](INFO): DAT read: Tx time:19:52:05.2715 2025-01-08T19:52:05.951Z,1736365925.951 [DAT](INFO): Ping request sent. 2025-01-08T19:52:05.951Z,1736365925.951 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:05.961Z,1736365925.961 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:05.963Z,1736365925.963 [DAT](INFO): direction in FSK: [-0.096342,-0.983202,0.155022] 2025-01-08T19:52:05.967Z,1736365925.967 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:05.968Z,1736365925.968 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:05.970Z,1736365925.970 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:05.971Z,1736365925.971 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:06.135Z,1736365926.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:06.156Z,1736365926.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:06.157Z,1736365926.157 [DAT](INFO): DAT read: TxSync time:19:52:05.2708 2025-01-08T19:52:06.172Z,1736365926.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 243.600006 m, deltaT: 3.780497 s, deltaX: -2.299988 m, approachRate: -0.608382 m/s, rangeRepo size: 4 2025-01-08T19:52:06.174Z,1736365926.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 243.600006 m, bearing: 180.511376 deg, lat: 36.902354 deg, lon: -122.116904 deg, deltaT: 3.780497 s, deltaX: -2.299988 m, approachRate: -0.608382 m/s, posRepo size: 4 2025-01-08T19:52:06.180Z,1736365926.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:06.182Z,1736365926.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 243.546906 m, bearing: 180.511391 deg, approach rate: 0.000000 m/s, LOS rate: -0.149442 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.794609 deg. 2025-01-08T19:52:06.188Z,1736365926.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813524 target range: 243.600006 and range: 243.60 m. 2025-01-08T19:52:06.408Z,1736365926.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:06.572Z,1736365926.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:06.580Z,1736365926.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:06.582Z,1736365926.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 243.594650 m, bearing: 180.450642 deg, approach rate: 0.115880 m/s, LOS rate: -0.147412 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792978 deg. 2025-01-08T19:52:06.584Z,1736365926.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813496 target range: 243.600006 and range: 243.60 m. 2025-01-08T19:52:06.661Z,1736365926.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:06.912Z,1736365926.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:06.942Z,1736365926.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:06.953Z,1736365926.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:06.955Z,1736365926.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:06.957Z,1736365926.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 243.635254 m, bearing: 180.399095 deg, approach rate: 0.108239 m/s, LOS rate: -0.137390 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820570 deg. 2025-01-08T19:52:06.959Z,1736365926.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813977 target range: 243.600006 and range: 243.60 m. 2025-01-08T19:52:07.164Z,1736365927.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:07.165Z,1736365927.165 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:07.165Z,1736365927.165 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:07.166Z,1736365927.166 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:07.362Z,1736365927.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:07.372Z,1736365927.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:07.374Z,1736365927.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 243.678925 m, bearing: 180.341632 deg, approach rate: 0.104675 m/s, LOS rate: -0.137708 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802831 deg. 2025-01-08T19:52:07.397Z,1736365927.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813667 target range: 243.600006 and range: 243.60 m. 2025-01-08T19:52:07.416Z,1736365927.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:07.417Z,1736365927.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465650 2025-01-08T19:52:07.669Z,1736365927.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:07.671Z,1736365927.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719753 2025-01-08T19:52:07.753Z,1736365927.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:07.761Z,1736365927.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:07.764Z,1736365927.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 243.720001 m, bearing: 180.288172 deg, approach rate: 0.105636 m/s, LOS rate: -0.137459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814835 deg. 2025-01-08T19:52:07.766Z,1736365927.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813877 target range: 243.600006 and range: 243.60 m. 2025-01-08T19:52:07.921Z,1736365927.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:07.922Z,1736365927.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971508 2025-01-08T19:52:08.145Z,1736365928.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:08.154Z,1736365928.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:08.157Z,1736365928.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 243.762390 m, bearing: 180.234474 deg, approach rate: 0.107671 m/s, LOS rate: -0.136373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814121 deg. 2025-01-08T19:52:08.158Z,1736365928.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813865 target range: 243.600006 and range: 243.60 m. 2025-01-08T19:52:08.172Z,1736365928.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:08.173Z,1736365928.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221635 2025-01-08T19:52:08.424Z,1736365928.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:08.425Z,1736365928.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473920 2025-01-08T19:52:08.576Z,1736365928.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:08.584Z,1736365928.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:08.587Z,1736365928.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 243.810898 m, bearing: 180.174031 deg, approach rate: 0.112907 m/s, LOS rate: -0.140659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793895 deg. 2025-01-08T19:52:08.588Z,1736365928.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813511 target range: 243.600006 and range: 243.60 m. 2025-01-08T19:52:08.676Z,1736365928.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:08.677Z,1736365928.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726403 2025-01-08T19:52:08.928Z,1736365928.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:08.928Z,1736365928.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977481 2025-01-08T19:52:08.953Z,1736365928.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:08.980Z,1736365928.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:08.982Z,1736365928.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:08.989Z,1736365928.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 243.854187 m, bearing: 180.121081 deg, approach rate: 0.108849 m/s, LOS rate: -0.133118 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816364 deg. 2025-01-08T19:52:08.990Z,1736365928.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813904 target range: 243.600006 and range: 243.60 m. 2025-01-08T19:52:09.180Z,1736365929.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:09.181Z,1736365929.181 [DAT](INFO): DAT read: Rx Time:19:52:07.9982 2025-01-08T19:52:09.181Z,1736365929.181 [DAT](INFO): Rx dataTimestamp_ set to:1736365929.181086 2025-01-08T19:52:09.182Z,1736365929.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231013 2025-01-08T19:52:09.384Z,1736365929.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:09.393Z,1736365929.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:09.400Z,1736365929.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 243.899734 m, bearing: 180.058713 deg, approach rate: 0.110797 m/s, LOS rate: -0.151686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788118 deg. 2025-01-08T19:52:09.402Z,1736365929.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813411 target range: 243.600006 and range: 243.60 m. 2025-01-08T19:52:09.432Z,1736365929.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:09.433Z,1736365929.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481807 2025-01-08T19:52:09.684Z,1736365929.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:09.685Z,1736365929.685 [DAT](INFO): DAT read: Range 10 to 50 : 241.8 m (Round-trip 322.5 ms) speed 0.8 m/s 2025-01-08T19:52:09.686Z,1736365929.686 [DAT](INFO): DAT read: user:907> 2025-01-08T19:52:09.687Z,1736365929.687 [DAT](INFO): DAT read: Tx time:19:52:09.0715 2025-01-08T19:52:09.687Z,1736365929.687 [DAT](INFO): Ping request sent. 2025-01-08T19:52:09.687Z,1736365929.687 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:09.688Z,1736365929.688 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:52:09.688Z,1736365929.688 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:09.689Z,1736365929.689 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:09.798Z,1736365929.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:09.825Z,1736365929.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 241.800003 m, deltaT: 3.779521 s, deltaX: -1.800003 m, approachRate: -0.476252 m/s, rangeRepo size: 4 2025-01-08T19:52:09.826Z,1736365929.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:09.833Z,1736365929.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 243.944046 m, bearing: 179.998835 deg, approach rate: 0.102570 m/s, LOS rate: -0.138578 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795586 deg. 2025-01-08T19:52:09.834Z,1736365929.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813541 target range: 243.600006 and range: 241.80 m. 2025-01-08T19:52:09.936Z,1736365929.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:09.938Z,1736365929.938 [DAT](INFO): DAT read: TxSync time:19:52:09.0708 2025-01-08T19:52:10.178Z,1736365930.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:10.190Z,1736365930.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:10.197Z,1736365930.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:10.217Z,1736365930.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 243.984726 m, bearing: 179.944101 deg, approach rate: 0.109171 m/s, LOS rate: -0.146862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811014 deg. 2025-01-08T19:52:10.218Z,1736365930.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813810 target range: 243.600006 and range: 241.80 m. 2025-01-08T19:52:10.440Z,1736365930.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:10.593Z,1736365930.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:10.602Z,1736365930.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:10.627Z,1736365930.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 244.033279 m, bearing: 179.881977 deg, approach rate: 0.120033 m/s, LOS rate: -0.153552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788851 deg. 2025-01-08T19:52:10.629Z,1736365930.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813424 target range: 243.600006 and range: 241.80 m. 2025-01-08T19:52:10.692Z,1736365930.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:10.944Z,1736365930.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:10.986Z,1736365930.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:10.993Z,1736365930.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:10.995Z,1736365930.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:10.999Z,1736365930.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 244.079529 m, bearing: 179.823095 deg, approach rate: 0.117642 m/s, LOS rate: -0.149745 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.798576 deg. 2025-01-08T19:52:11.000Z,1736365931.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813593 target range: 243.600006 and range: 241.80 m. 2025-01-08T19:52:11.196Z,1736365931.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:11.197Z,1736365931.197 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:11.197Z,1736365931.197 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:11.197Z,1736365931.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:11.413Z,1736365931.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:11.422Z,1736365931.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:11.425Z,1736365931.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 244.128067 m, bearing: 179.755940 deg, approach rate: 0.113680 m/s, LOS rate: -0.157251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.773761 deg. 2025-01-08T19:52:11.426Z,1736365931.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813160 target range: 243.600006 and range: 241.80 m. 2025-01-08T19:52:11.461Z,1736365931.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:11.462Z,1736365931.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773965 2025-01-08T19:52:11.712Z,1736365931.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:11.713Z,1736365931.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025093 2025-01-08T19:52:11.790Z,1736365931.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:11.812Z,1736365931.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:11.844Z,1736365931.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 244.171860 m, bearing: 179.696755 deg, approach rate: 0.112847 m/s, LOS rate: -0.152481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797666 deg. 2025-01-08T19:52:11.845Z,1736365931.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813577 target range: 243.600006 and range: 241.80 m. 2025-01-08T19:52:11.965Z,1736365931.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:11.966Z,1736365931.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278448 2025-01-08T19:52:12.191Z,1736365932.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:12.202Z,1736365932.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:12.205Z,1736365932.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 244.218964 m, bearing: 179.633754 deg, approach rate: 0.120319 m/s, LOS rate: -0.160895 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786220 deg. 2025-01-08T19:52:12.206Z,1736365932.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813377 target range: 243.600006 and range: 241.80 m. 2025-01-08T19:52:12.220Z,1736365932.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:12.220Z,1736365932.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532815 2025-01-08T19:52:12.472Z,1736365932.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:12.473Z,1736365932.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785319 2025-01-08T19:52:12.637Z,1736365932.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:12.661Z,1736365932.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:12.670Z,1736365932.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 244.274445 m, bearing: 179.562166 deg, approach rate: 0.120758 m/s, LOS rate: -0.155781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760472 deg. 2025-01-08T19:52:12.676Z,1736365932.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812928 target range: 243.600006 and range: 241.80 m. 2025-01-08T19:52:12.724Z,1736365932.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:12.725Z,1736365932.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037130 2025-01-08T19:52:12.976Z,1736365932.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:12.976Z,1736365932.977 [DAT](INFO): DAT read: Rx Time:19:52:11.7946 2025-01-08T19:52:12.977Z,1736365932.977 [DAT](INFO): Rx dataTimestamp_ set to:1736365932.976684 2025-01-08T19:52:12.977Z,1736365932.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289993 2025-01-08T19:52:12.999Z,1736365932.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:13.006Z,1736365933.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:13.008Z,1736365933.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:13.010Z,1736365933.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 244.319687 m, bearing: 179.504135 deg, approach rate: 0.130479 m/s, LOS rate: -0.167328 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.801129 deg. 2025-01-08T19:52:13.040Z,1736365933.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813638 target range: 243.600006 and range: 241.80 m. 2025-01-08T19:52:13.230Z,1736365933.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:13.231Z,1736365933.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543929 2025-01-08T19:52:13.435Z,1736365933.434 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 704, -5,A 2025-01-08T19:52:13.481Z,1736365933.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:13.504Z,1736365933.504 [DAT](INFO): DAT read: 19:52:11.7946 LVL= 21616, 30001, 14930, 29075, AGC= 62, IDX= 131,-0.15,-1.552,-2.601,-0.904,-1.460, PHS=-0.004,-1.094, 0.552, RAW= 169.4, 7.6, CAL= 168.9, -2.1, ROT= 341.1, 2.1 2025-01-08T19:52:13.505Z,1736365933.505 [DAT](INFO): got valid direction response: 19:52:11.7946 LVL= 21616, 30001, 14930, 29075, AGC= 62, IDX= 131,-0.15,-1.552,-2.601,-0.904,-1.460, PHS=-0.004,-1.094, 0.552, RAW= 169.4, 7.6, CAL= 168.9, -2.1, ROT= 341.1, 2.1 2025-01-08T19:52:13.506Z,1736365933.506 [DAT](INFO): DAT read: Bearing 341.1, 2.1 (Local) 2025-01-08T19:52:13.506Z,1736365933.506 [DAT](INFO): Local bearing/azimuth received: Bearing 341.1, 2.1 (Local) 2025-01-08T19:52:13.507Z,1736365933.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:52:13.507Z,1736365933.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:13.520Z,1736365933.520 [DAT](INFO): DAT read: Range 10 to 50 : 239.1 m (Round-trip 318.8 ms) speed 0.3 m/s 2025-01-08T19:52:13.520Z,1736365933.520 [DAT](INFO): DAT read: user:908> 2025-01-08T19:52:13.521Z,1736365933.521 [DAT](INFO): DAT read: Tx time:19:52:12.8716 2025-01-08T19:52:13.521Z,1736365933.521 [DAT](INFO): Ping request sent. 2025-01-08T19:52:13.522Z,1736365933.522 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:13.522Z,1736365933.522 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:13.523Z,1736365933.523 [DAT](INFO): direction in FSK: [-0.245908,-0.945268,0.214468] 2025-01-08T19:52:13.526Z,1736365933.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.60 m. 2025-01-08T19:52:13.531Z,1736365933.531 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:13.532Z,1736365933.532 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:13.534Z,1736365933.534 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:13.535Z,1736365933.535 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:13.537Z,1736365933.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.600006 m, nav range: 244.382385 m, bearing: 179.424256 deg, approach rate: 0.120976 m/s, LOS rate: -0.154086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.735612 deg. 2025-01-08T19:52:13.538Z,1736365933.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812494 target range: 243.600006 and range: 241.80 m. 2025-01-08T19:52:13.733Z,1736365933.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:13.734Z,1736365933.734 [DAT](INFO): DAT read: TxSync time:19:52:12.8708 2025-01-08T19:52:13.866Z,1736365933.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T19:52:13.866Z,1736365933.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:13.897Z,1736365933.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 239.100006 m, deltaT: 3.797845 s, deltaX: -2.699997 m, approachRate: -0.710929 m/s, rangeRepo size: 4 2025-01-08T19:52:13.903Z,1736365933.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 239.100006 m, bearing: 172.354171 deg, lat: 36.902354 deg, lon: -122.116713 deg, deltaT: 7.577366 s, deltaX: -4.500000 m, approachRate: -0.593874 m/s, posRepo size: 4 2025-01-08T19:52:13.904Z,1736365933.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:13.907Z,1736365933.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 245.205353 m, bearing: 175.394626 deg, approach rate: 0.000000 m/s, LOS rate: -0.154086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.806328 deg. 2025-01-08T19:52:13.912Z,1736365933.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813728 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:13.984Z,1736365933.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:14.236Z,1736365934.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:14.238Z,1736365934.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:52:14.238Z,1736365934.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:14.248Z,1736365934.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:14.250Z,1736365934.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 245.269028 m, bearing: 175.336075 deg, approach rate: 0.178819 m/s, LOS rate: -0.164388 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799579 deg. 2025-01-08T19:52:14.252Z,1736365934.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813611 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:14.488Z,1736365934.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:14.686Z,1736365934.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:14.724Z,1736365934.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:14.726Z,1736365934.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 245.343994 m, bearing: 175.264424 deg, approach rate: 0.164443 m/s, LOS rate: -0.157122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760302 deg. 2025-01-08T19:52:14.733Z,1736365934.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812925 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:14.741Z,1736365934.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:14.992Z,1736365934.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:15.044Z,1736365935.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:15.052Z,1736365935.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:15.054Z,1736365935.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:15.057Z,1736365935.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 245.404404 m, bearing: 175.207116 deg, approach rate: 0.172413 m/s, LOS rate: -0.163521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803305 deg. 2025-01-08T19:52:15.058Z,1736365935.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813676 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:15.244Z,1736365935.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:15.244Z,1736365935.244 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:15.244Z,1736365935.244 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:15.244Z,1736365935.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:15.488Z,1736365935.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:15.497Z,1736365935.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:15.498Z,1736365935.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976271 2025-01-08T19:52:15.508Z,1736365935.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:15.510Z,1736365935.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 245.485214 m, bearing: 175.137777 deg, approach rate: 0.179676 m/s, LOS rate: -0.154119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.767240 deg. 2025-01-08T19:52:15.520Z,1736365935.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813046 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:15.749Z,1736365935.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:15.751Z,1736365935.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229254 2025-01-08T19:52:15.893Z,1736365935.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:15.903Z,1736365935.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:15.905Z,1736365935.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 245.559662 m, bearing: 175.074473 deg, approach rate: 0.186549 m/s, LOS rate: -0.158578 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.785333 deg. 2025-01-08T19:52:15.906Z,1736365935.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813362 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:15.000Z,1736365936.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:16.000Z,1736365936.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478841 2025-01-08T19:52:16.252Z,1736365936.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:16.253Z,1736365936.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730915 2025-01-08T19:52:16.266Z,1736365936.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:16.274Z,1736365936.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:16.277Z,1736365936.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 245.628342 m, bearing: 175.016348 deg, approach rate: 0.184660 m/s, LOS rate: -0.156239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800859 deg. 2025-01-08T19:52:16.279Z,1736365936.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813633 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:16.506Z,1736365936.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:16.507Z,1736365936.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985167 2025-01-08T19:52:16.691Z,1736365936.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:16.723Z,1736365936.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:16.726Z,1736365936.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 245.708817 m, bearing: 174.950805 deg, approach rate: 0.181007 m/s, LOS rate: -0.147373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.778623 deg. 2025-01-08T19:52:16.731Z,1736365936.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813245 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:16.757Z,1736365936.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:16.758Z,1736365936.758 [DAT](INFO): DAT read: Rx Time:19:52:15.5402 2025-01-08T19:52:16.758Z,1736365936.758 [DAT](INFO): Rx dataTimestamp_ set to:1736365936.757740 2025-01-08T19:52:16.759Z,1736365936.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236918 2025-01-08T19:52:17.008Z,1736365937.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:17.008Z,1736365937.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486737 2025-01-08T19:52:17.059Z,1736365937.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:17.083Z,1736365937.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:17.089Z,1736365937.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:17.094Z,1736365937.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 245.778778 m, bearing: 174.894011 deg, approach rate: 0.189156 m/s, LOS rate: -0.153510 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.804855 deg. 2025-01-08T19:52:17.104Z,1736365937.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813703 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:17.260Z,1736365937.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:17.267Z,1736365937.267 [DAT](INFO): DAT read: 19:52:15.5402 LVL= 23520, 27073, 11730, 29011, AGC= 62, IDX= 400,-0.08, 1.061, 0.026, 1.870, 1.150, PHS=-0.001,-1.077, 0.717, RAW= 173.4, 4.7, CAL= 173.5, -4.4, ROT= 336.5, 4.4 2025-01-08T19:52:17.268Z,1736365937.268 [DAT](INFO): got valid direction response: 19:52:15.5402 LVL= 23520, 27073, 11730, 29011, AGC= 62, IDX= 400,-0.08, 1.061, 0.026, 1.870, 1.150, PHS=-0.001,-1.077, 0.717, RAW= 173.4, 4.7, CAL= 173.5, -4.4, ROT= 336.5, 4.4 2025-01-08T19:52:17.269Z,1736365937.269 [DAT](INFO): DAT read: Bearing 336.5, 4.4 (Local) 2025-01-08T19:52:17.270Z,1736365937.270 [DAT](INFO): Local bearing/azimuth received: Bearing 336.5, 4.4 (Local) 2025-01-08T19:52:17.271Z,1736365937.271 [DAT](INFO): DAT read: Range 10 to 50 : 198.3 m (Round-trip 264.4 ms) speed 0.4 m/s 2025-01-08T19:52:17.272Z,1736365937.272 [DAT](INFO): DAT read: user:909> 2025-01-08T19:52:17.273Z,1736365937.273 [DAT](INFO): DAT read: Tx time:19:52:16.6216 2025-01-08T19:52:17.273Z,1736365937.273 [DAT](INFO): Ping request sent. 2025-01-08T19:52:17.273Z,1736365937.273 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:17.273Z,1736365937.273 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:17.274Z,1736365937.274 [DAT](INFO): direction in FSK: [-0.185857,-0.970938,0.150786] 2025-01-08T19:52:17.274Z,1736365937.274 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:17.275Z,1736365937.275 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:17.278Z,1736365937.278 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:17.278Z,1736365937.278 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:17.512Z,1736365937.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:17.513Z,1736365937.513 [DAT](INFO): DAT read: TxSync time:19:52:16.6208 2025-01-08T19:52:17.520Z,1736365937.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:17.555Z,1736365937.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 198.300003 m, deltaT: 3.778162 s, deltaX: -40.800003 m, approachRate: -10.798903 m/s, rangeRepo size: 4 2025-01-08T19:52:17.556Z,1736365937.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:17.559Z,1736365937.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 245.869781 m, bearing: 174.826978 deg, approach rate: 0.199261 m/s, LOS rate: -0.146722 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.774162 deg. 2025-01-08T19:52:17.564Z,1736365937.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813167 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:17.764Z,1736365937.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:17.886Z,1736365937.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:17.903Z,1736365937.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:17.906Z,1736365937.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 245.944733 m, bearing: 174.771458 deg, approach rate: 0.209871 m/s, LOS rate: -0.155412 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808680 deg. 2025-01-08T19:52:17.907Z,1736365937.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813769 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:18.016Z,1736365938.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:18.268Z,1736365938.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:18.278Z,1736365938.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:18.287Z,1736365938.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:18.290Z,1736365938.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 246.022598 m, bearing: 174.713311 deg, approach rate: 0.202830 m/s, LOS rate: -0.151419 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800801 deg. 2025-01-08T19:52:18.291Z,1736365938.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813632 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:18.520Z,1736365938.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:18.714Z,1736365938.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:18.722Z,1736365938.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:18.725Z,1736365938.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 246.105469 m, bearing: 174.650498 deg, approach rate: 0.190333 m/s, LOS rate: -0.144218 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786812 deg. 2025-01-08T19:52:18.726Z,1736365938.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813388 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:18.772Z,1736365938.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:19.024Z,1736365939.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:19.080Z,1736365939.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:19.087Z,1736365939.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:19.089Z,1736365939.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:19.108Z,1736365939.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 246.175354 m, bearing: 174.597696 deg, approach rate: 0.190543 m/s, LOS rate: -0.143926 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816825 deg. 2025-01-08T19:52:19.109Z,1736365939.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813912 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:19.276Z,1736365939.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:19.276Z,1736365939.276 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:19.276Z,1736365939.276 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:19.277Z,1736365939.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:19.509Z,1736365939.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:19.518Z,1736365939.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:19.528Z,1736365939.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:19.528Z,1736365939.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255393 2025-01-08T19:52:19.537Z,1736365939.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 246.257843 m, bearing: 174.537329 deg, approach rate: 0.192087 m/s, LOS rate: -0.140526 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.794148 deg. 2025-01-08T19:52:19.538Z,1736365939.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813516 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:19.780Z,1736365939.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:19.781Z,1736365939.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507481 2025-01-08T19:52:19.908Z,1736365939.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:19.932Z,1736365939.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:19.941Z,1736365939.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 246.335159 m, bearing: 174.481119 deg, approach rate: 0.189213 m/s, LOS rate: -0.137517 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.806610 deg. 2025-01-08T19:52:19.942Z,1736365939.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813734 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:20.032Z,1736365940.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:20.032Z,1736365940.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759399 2025-01-08T19:52:20.284Z,1736365940.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:20.285Z,1736365940.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011522 2025-01-08T19:52:20.293Z,1736365940.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:20.303Z,1736365940.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:20.306Z,1736365940.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 246.409927 m, bearing: 174.426979 deg, approach rate: 0.198792 m/s, LOS rate: -0.143902 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812818 deg. 2025-01-08T19:52:20.307Z,1736365940.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813842 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:20.536Z,1736365940.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:20.537Z,1736365940.537 [DAT](INFO): DAT read: Rx Time:19:52:19.3408 2025-01-08T19:52:20.538Z,1736365940.538 [DAT](INFO): Rx dataTimestamp_ set to:1736365940.537657 2025-01-08T19:52:20.539Z,1736365940.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265853 2025-01-08T19:52:20.745Z,1736365940.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:20.755Z,1736365940.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.10 m. 2025-01-08T19:52:20.758Z,1736365940.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.100006 m, nav range: 246.491943 m, bearing: 174.366514 deg, approach rate: 0.181466 m/s, LOS rate: -0.133739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793853 deg. 2025-01-08T19:52:20.759Z,1736365940.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813511 target range: 239.100006 and range: 239.10 m. 2025-01-08T19:52:20.788Z,1736365940.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:20.788Z,1736365940.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515351 2025-01-08T19:52:21.041Z,1736365941.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:21.061Z,1736365941.061 [DAT](INFO): DAT read: 19:52:19.3408 LVL= 23376, 32753, 14114, 30915, AGC= 59, IDX= 463, 0.19,-3.113, 2.107,-2.646, 2.259, PHS= 0.999,-0.105, 1.375, RAW= 164.2, -31.0, CAL= 165.8, -37.7, ROT= 344.2, 37.7 2025-01-08T19:52:21.062Z,1736365941.062 [DAT](INFO): got valid direction response: 19:52:19.3408 LVL= 23376, 32753, 14114, 30915, AGC= 59, IDX= 463, 0.19,-3.113, 2.107,-2.646, 2.259, PHS= 0.999,-0.105, 1.375, RAW= 164.2, -31.0, CAL= 165.8, -37.7, ROT= 344.2, 37.7 2025-01-08T19:52:21.068Z,1736365941.068 [DAT](INFO): DAT read: Bearing 344.2, 37.7 (Local) 2025-01-08T19:52:21.068Z,1736365941.068 [DAT](INFO): Local bearing/azimuth received: Bearing 344.2, 37.7 (Local) 2025-01-08T19:52:21.069Z,1736365941.069 [DAT](INFO): DAT read: Range 10 to 50 : 236.2 m (Round-trip 315.0 ms) speed 0.4 m/s 2025-01-08T19:52:21.070Z,1736365941.070 [DAT](INFO): DAT read: user:910> 2025-01-08T19:52:21.071Z,1736365941.071 [DAT](INFO): DAT read: Tx time:19:52:20.4216 2025-01-08T19:52:21.119Z,1736365941.119 [DAT](INFO): Ping request sent. 2025-01-08T19:52:21.119Z,1736365941.119 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:21.120Z,1736365941.120 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:21.121Z,1736365941.121 [DAT](INFO): direction in FSK: [0.472410,-0.826584,0.305921] 2025-01-08T19:52:21.121Z,1736365941.121 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:21.121Z,1736365941.121 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:21.136Z,1736365941.136 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:21.137Z,1736365941.137 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:21.210Z,1736365941.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:21.249Z,1736365941.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 236.199997 m, deltaT: 7.560115 s, deltaX: -2.900009 m, approachRate: -0.383593 m/s, rangeRepo size: 4 2025-01-08T19:52:21.251Z,1736365941.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 236.199997 m, bearing: 215.232437 deg, lat: 36.902432 deg, lon: -122.116796 deg, deltaT: 7.560115 s, deltaX: -2.900009 m, approachRate: -0.383593 m/s, posRepo size: 4 2025-01-08T19:52:21.256Z,1736365941.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.20 m. 2025-01-08T19:52:21.259Z,1736365941.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.199997 m, nav range: 237.368530 m, bearing: 175.871265 deg, approach rate: 0.000000 m/s, LOS rate: -0.133739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.777352 deg. 2025-01-08T19:52:21.260Z,1736365941.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813223 target range: 236.199997 and range: 236.20 m. 2025-01-08T19:52:21.292Z,1736365941.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:21.293Z,1736365941.293 [DAT](INFO): DAT read: TxSync time:19:52:20.4208 2025-01-08T19:52:21.544Z,1736365941.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:21.591Z,1736365941.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:21.598Z,1736365941.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:21.601Z,1736365941.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.20 m. 2025-01-08T19:52:21.604Z,1736365941.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.199997 m, nav range: 237.430847 m, bearing: 175.819122 deg, approach rate: 0.176762 m/s, LOS rate: -0.147863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818801 deg. 2025-01-08T19:52:21.605Z,1736365941.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813946 target range: 236.199997 and range: 236.20 m. 2025-01-08T19:52:21.796Z,1736365941.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:21.797Z,1736365941.797 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:21.797Z,1736365941.797 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:21.797Z,1736365941.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:21.943Z,1736365941.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:21.973Z,1736365941.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.20 m. 2025-01-08T19:52:21.980Z,1736365941.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.199997 m, nav range: 237.488022 m, bearing: 175.770857 deg, approach rate: 0.153583 m/s, LOS rate: -0.129620 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830426 deg. 2025-01-08T19:52:21.981Z,1736365941.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814149 target range: 236.199997 and range: 236.20 m. 2025-01-08T19:52:22.048Z,1736365942.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:22.049Z,1736365942.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.929686 2025-01-08T19:52:22.300Z,1736365942.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:22.300Z,1736365942.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.180982 2025-01-08T19:52:22.358Z,1736365942.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:22.380Z,1736365942.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.20 m. 2025-01-08T19:52:22.382Z,1736365942.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.199997 m, nav range: 237.555634 m, bearing: 175.714009 deg, approach rate: 0.168037 m/s, LOS rate: -0.141246 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.804692 deg. 2025-01-08T19:52:22.388Z,1736365942.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813700 target range: 236.199997 and range: 236.20 m. 2025-01-08T19:52:22.554Z,1736365942.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:22.555Z,1736365942.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.435344 2025-01-08T19:52:22.774Z,1736365942.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:22.783Z,1736365942.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.20 m. 2025-01-08T19:52:22.786Z,1736365942.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.199997 m, nav range: 237.618958 m, bearing: 175.656562 deg, approach rate: 0.155279 m/s, LOS rate: -0.140831 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802891 deg. 2025-01-08T19:52:22.790Z,1736365942.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813669 target range: 236.199997 and range: 236.20 m. 2025-01-08T19:52:22.804Z,1736365942.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:22.804Z,1736365942.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.684985 2025-01-08T19:52:23.056Z,1736365943.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:23.056Z,1736365943.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.936858 2025-01-08T19:52:23.152Z,1736365943.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:23.177Z,1736365943.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.20 m. 2025-01-08T19:52:23.184Z,1736365943.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.199997 m, nav range: 237.677261 m, bearing: 175.604341 deg, approach rate: 0.148098 m/s, LOS rate: -0.132613 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818564 deg. 2025-01-08T19:52:23.185Z,1736365943.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813942 target range: 236.199997 and range: 236.20 m. 2025-01-08T19:52:23.309Z,1736365943.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:23.310Z,1736365943.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.190682 2025-01-08T19:52:23.560Z,1736365943.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:23.561Z,1736365943.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.441376 2025-01-08T19:52:23.585Z,1736365943.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:23.594Z,1736365943.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.20 m. 2025-01-08T19:52:23.598Z,1736365943.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.199997 m, nav range: 237.744415 m, bearing: 175.544462 deg, approach rate: 0.160941 m/s, LOS rate: -0.143465 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795602 deg. 2025-01-08T19:52:23.599Z,1736365943.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813541 target range: 236.199997 and range: 236.20 m. 2025-01-08T19:52:23.812Z,1736365943.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:23.813Z,1736365943.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.693567 2025-01-08T19:52:23.966Z,1736365943.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:23.973Z,1736365943.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:23.975Z,1736365943.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.20 m. 2025-01-08T19:52:23.978Z,1736365943.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.199997 m, nav range: 237.803925 m, bearing: 175.491877 deg, approach rate: 0.156212 m/s, LOS rate: -0.138001 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817471 deg. 2025-01-08T19:52:23.979Z,1736365943.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813923 target range: 236.199997 and range: 236.20 m. 2025-01-08T19:52:24.064Z,1736365944.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:24.065Z,1736365944.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945752 2025-01-08T19:52:24.316Z,1736365944.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:24.316Z,1736365944.316 [DAT](INFO): DAT read: Rx Time:19:52:23.1378 2025-01-08T19:52:24.317Z,1736365944.317 [DAT](INFO): Rx dataTimestamp_ set to:1736365944.316652 2025-01-08T19:52:24.317Z,1736365944.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.198002 2025-01-08T19:52:24.388Z,1736365944.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:24.414Z,1736365944.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.20 m. 2025-01-08T19:52:24.421Z,1736365944.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.199997 m, nav range: 237.870483 m, bearing: 175.433576 deg, approach rate: 0.151554 m/s, LOS rate: -0.132713 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800334 deg. 2025-01-08T19:52:24.422Z,1736365944.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813624 target range: 236.199997 and range: 236.20 m. 2025-01-08T19:52:24.568Z,1736365944.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:24.568Z,1736365944.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.448872 2025-01-08T19:52:24.822Z,1736365944.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:24.885Z,1736365944.885 [DAT](INFO): DAT read: 19:52:23.1378 LVL= 20784, 28401, 11874, 28947, AGC= 60, IDX= 406,-0.23, 0.001,-0.864, 0.536,-0.506, PHS= 0.595,-0.311, 1.039, RAW= 168.8, -21.4, CAL= 172.0, -27.4, ROT= 338.0, 27.4 2025-01-08T19:52:24.886Z,1736365944.886 [DAT](INFO): got valid direction response: 19:52:23.1378 LVL= 20784, 28401, 11874, 28947, AGC= 60, IDX= 406,-0.23, 0.001,-0.864, 0.536,-0.506, PHS= 0.595,-0.311, 1.039, RAW= 168.8, -21.4, CAL= 172.0, -27.4, ROT= 338.0, 27.4 2025-01-08T19:52:24.887Z,1736365944.887 [DAT](INFO): DAT read: Bearing 338.0, 27.4 (Local) 2025-01-08T19:52:24.896Z,1736365944.896 [DAT](INFO): Local bearing/azimuth received: Bearing 338.0, 27.4 (Local) 2025-01-08T19:52:24.908Z,1736365944.908 [DAT](INFO): DAT read: Range 10 to 50 : 234.0 m (Round-trip 312.0 ms) speed 0.4 m/s 2025-01-08T19:52:24.909Z,1736365944.909 [DAT](INFO): DAT read: user:911> 2025-01-08T19:52:24.909Z,1736365944.909 [DAT](INFO): DAT read: Tx time:19:52:24.2217 2025-01-08T19:52:24.910Z,1736365944.910 [DAT](INFO): Ping request sent. 2025-01-08T19:52:24.910Z,1736365944.910 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:24.910Z,1736365944.910 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:24.911Z,1736365944.911 [DAT](INFO): direction in FSK: [0.306752,-0.919049,0.247491] 2025-01-08T19:52:24.920Z,1736365944.920 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:24.920Z,1736365944.920 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:24.928Z,1736365944.928 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:24.928Z,1736365944.928 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:25.034Z,1736365945.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:25.069Z,1736365945.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 234.000000 m, deltaT: 3.781285 s, deltaX: -2.199997 m, approachRate: -0.581812 m/s, rangeRepo size: 4 2025-01-08T19:52:25.071Z,1736365945.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 234.000000 m, bearing: 204.593993 deg, lat: 36.902664 deg, lon: -122.116904 deg, deltaT: 3.781285 s, deltaX: -2.199997 m, approachRate: -0.581812 m/s, posRepo size: 4 2025-01-08T19:52:25.072Z,1736365945.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:25.073Z,1736365945.073 [DAT](INFO): DAT read: TxSync time:19:52:24.2209 2025-01-08T19:52:25.084Z,1736365945.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:25.086Z,1736365945.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 211.506912 m, bearing: 177.362036 deg, approach rate: 0.000000 m/s, LOS rate: -0.132713 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.714852 deg. 2025-01-08T19:52:25.092Z,1736365945.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812132 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:25.324Z,1736365945.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:25.552Z,1736365945.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:25.570Z,1736365945.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:25.573Z,1736365945.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 211.575882 m, bearing: 177.279772 deg, approach rate: 0.137504 m/s, LOS rate: -0.163956 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.728475 deg. 2025-01-08T19:52:25.574Z,1736365945.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812370 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:25.576Z,1736365945.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:25.828Z,1736365945.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:26.016Z,1736365946.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:26.023Z,1736365946.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:26.028Z,1736365946.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:26.035Z,1736365946.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 211.640091 m, bearing: 177.196875 deg, approach rate: 0.140288 m/s, LOS rate: -0.181064 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.726573 deg. 2025-01-08T19:52:26.037Z,1736365946.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812336 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:26.081Z,1736365946.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:26.082Z,1736365946.082 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:26.082Z,1736365946.082 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:26.082Z,1736365946.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:26.085Z,1736365946.085 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:52:26.332Z,1736365946.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:26.332Z,1736365946.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.422637 2025-01-08T19:52:26.389Z,1736365946.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:26.398Z,1736365946.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:26.414Z,1736365946.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 211.689499 m, bearing: 177.132495 deg, approach rate: 0.133211 m/s, LOS rate: -0.173537 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782093 deg. 2025-01-08T19:52:26.419Z,1736365946.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813305 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:26.585Z,1736365946.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:26.586Z,1736365946.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.675978 2025-01-08T19:52:26.802Z,1736365946.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:26.810Z,1736365946.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:26.814Z,1736365946.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 211.748642 m, bearing: 177.059075 deg, approach rate: 0.143477 m/s, LOS rate: -0.178061 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.754990 deg. 2025-01-08T19:52:26.816Z,1736365946.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812832 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:26.836Z,1736365946.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:26.836Z,1736365946.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.926620 2025-01-08T19:52:27.089Z,1736365947.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:27.090Z,1736365947.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180013 2025-01-08T19:52:27.092Z,1736365947.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:52:27.184Z,1736365947.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:27.192Z,1736365947.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:27.194Z,1736365947.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 211.803711 m, bearing: 176.991227 deg, approach rate: 0.144369 m/s, LOS rate: -0.177826 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.771695 deg. 2025-01-08T19:52:27.197Z,1736365947.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813124 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:27.340Z,1736365947.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:27.340Z,1736365947.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430520 2025-01-08T19:52:27.592Z,1736365947.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:27.592Z,1736365947.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682625 2025-01-08T19:52:27.641Z,1736365947.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:27.669Z,1736365947.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:27.674Z,1736365947.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 211.871521 m, bearing: 176.906259 deg, approach rate: 0.142208 m/s, LOS rate: -0.178134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.720367 deg. 2025-01-08T19:52:27.681Z,1736365947.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812228 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:27.844Z,1736365947.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:27.844Z,1736365947.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.934580 2025-01-08T19:52:27.986Z,1736365947.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:27.995Z,1736365947.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:27.997Z,1736365947.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 211.922409 m, bearing: 176.842096 deg, approach rate: 0.156137 m/s, LOS rate: -0.196820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782745 deg. 2025-01-08T19:52:28.000Z,1736365948.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813317 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:28.097Z,1736365948.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:28.098Z,1736365948.098 [DAT](INFO): DAT read: Rx Time:19:52:26.9078 2025-01-08T19:52:28.098Z,1736365948.098 [DAT](INFO): Rx dataTimestamp_ set to:1736365948.097708 2025-01-08T19:52:28.099Z,1736365948.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.189146 2025-01-08T19:52:28.350Z,1736365948.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:28.357Z,1736365948.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443596 2025-01-08T19:52:28.416Z,1736365948.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:28.422Z,1736365948.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:28.428Z,1736365948.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:28.436Z,1736365948.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 211.984436 m, bearing: 176.763905 deg, approach rate: 0.143043 m/s, LOS rate: -0.180267 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.740683 deg. 2025-01-08T19:52:28.437Z,1736365948.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812583 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:28.601Z,1736365948.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:28.606Z,1736365948.606 [DAT](INFO): DAT read: Range 10 to 50 : 211.4 m (Round-trip 281.9 ms) speed 0.5 m/s 2025-01-08T19:52:28.611Z,1736365948.611 [DAT](INFO): DAT read: user:912> 2025-01-08T19:52:28.613Z,1736365948.613 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:52:28.616Z,1736365948.616 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:28.616Z,1736365948.616 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:28.617Z,1736365948.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:28.821Z,1736365948.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:28.831Z,1736365948.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 211.399994 m, deltaT: 3.778241 s, deltaX: -22.600006 m, approachRate: -5.981621 m/s, rangeRepo size: 4 2025-01-08T19:52:28.832Z,1736365948.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:28.834Z,1736365948.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 212.050171 m, bearing: 176.686096 deg, approach rate: 0.163704 m/s, LOS rate: -0.193712 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.741833 deg. 2025-01-08T19:52:28.837Z,1736365948.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812603 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:28.872Z,1736365948.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:28.873Z,1736365948.873 [DAT](INFO): DAT read: Tx time:19:52:2801 2025-01-08T19:52:28.874Z,1736365948.874 [DAT](INFO): unknown deviceResponse_: Tx time:19:52:2801 2025-01-08T19:52:28.875Z,1736365948.875 [DAT](INFO): DAT read: TxSync time:19:52:28.0209 2025-01-08T19:52:28.876Z,1736365948.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.966554 2025-01-08T19:52:29.124Z,1736365949.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:29.124Z,1736365949.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.214566 2025-01-08T19:52:29.200Z,1736365949.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:29.209Z,1736365949.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:29.211Z,1736365949.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 212.110138 m, bearing: 176.614828 deg, approach rate: 0.158297 m/s, LOS rate: -0.188074 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.761445 deg. 2025-01-08T19:52:29.213Z,1736365949.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812945 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:29.376Z,1736365949.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:29.376Z,1736365949.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.466640 2025-01-08T19:52:29.628Z,1736365949.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:29.629Z,1736365949.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.718728 2025-01-08T19:52:29.658Z,1736365949.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:29.693Z,1736365949.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:29.700Z,1736365949.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 212.182007 m, bearing: 176.526929 deg, approach rate: 0.148454 m/s, LOS rate: -0.181505 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.711581 deg. 2025-01-08T19:52:29.701Z,1736365949.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812075 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:29.880Z,1736365949.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:29.881Z,1736365949.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.971283 2025-01-08T19:52:30.010Z,1736365950.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:30.018Z,1736365950.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:30.021Z,1736365950.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 212.237213 m, bearing: 176.459244 deg, approach rate: 0.169463 m/s, LOS rate: -0.207715 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.772184 deg. 2025-01-08T19:52:30.022Z,1736365950.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813133 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:30.132Z,1736365950.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:30.133Z,1736365950.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.222842 2025-01-08T19:52:30.384Z,1736365950.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:30.384Z,1736365950.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.474601 2025-01-08T19:52:30.414Z,1736365950.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:30.429Z,1736365950.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:30.436Z,1736365950.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:30.439Z,1736365950.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 212.300705 m, bearing: 176.381812 deg, approach rate: 0.152022 m/s, LOS rate: -0.185343 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.742963 deg. 2025-01-08T19:52:30.444Z,1736365950.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812623 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:30.638Z,1736365950.638 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:30.641Z,1736365950.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.730963 2025-01-08T19:52:30.824Z,1736365950.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:30.834Z,1736365950.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:30.837Z,1736365950.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 212.365295 m, bearing: 176.304161 deg, approach rate: 0.162391 m/s, LOS rate: -0.195169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.742305 deg. 2025-01-08T19:52:30.838Z,1736365950.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812611 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:30.888Z,1736365950.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:30.889Z,1736365950.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.978750 2025-01-08T19:52:31.140Z,1736365951.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:31.140Z,1736365951.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.230551 2025-01-08T19:52:31.224Z,1736365951.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:31.233Z,1736365951.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:31.236Z,1736365951.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 212.428543 m, bearing: 176.228630 deg, approach rate: 0.158261 m/s, LOS rate: -0.188938 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.748665 deg. 2025-01-08T19:52:31.237Z,1736365951.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812722 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:31.392Z,1736365951.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:31.393Z,1736365951.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.482853 2025-01-08T19:52:31.645Z,1736365951.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:31.647Z,1736365951.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.737179 2025-01-08T19:52:31.706Z,1736365951.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:31.737Z,1736365951.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:31.740Z,1736365951.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 212.505447 m, bearing: 176.140698 deg, approach rate: 0.152817 m/s, LOS rate: -0.174667 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.711487 deg. 2025-01-08T19:52:31.741Z,1736365951.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812073 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:31.898Z,1736365951.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:31.899Z,1736365951.899 [DAT](INFO): DAT read: Rx Time:19:52:30.7329 2025-01-08T19:52:31.900Z,1736365951.900 [DAT](INFO): Rx dataTimestamp_ set to:1736365951.899583 2025-01-08T19:52:31.900Z,1736365951.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.990601 2025-01-08T19:52:32.038Z,1736365952.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:32.046Z,1736365952.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:32.049Z,1736365952.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 212.558609 m, bearing: 176.080219 deg, approach rate: 0.171685 m/s, LOS rate: -0.195266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793797 deg. 2025-01-08T19:52:32.050Z,1736365952.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813510 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:32.148Z,1736365952.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:32.149Z,1736365952.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.238756 2025-01-08T19:52:32.401Z,1736365952.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:32.404Z,1736365952.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.493239 2025-01-08T19:52:32.473Z,1736365952.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:32.480Z,1736365952.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:32.482Z,1736365952.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.00 m. 2025-01-08T19:52:32.485Z,1736365952.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.000000 m, nav range: 212.628677 m, bearing: 176.000914 deg, approach rate: 0.160689 m/s, LOS rate: -0.181813 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.737350 deg. 2025-01-08T19:52:32.486Z,1736365952.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812525 target range: 234.000000 and range: 234.00 m. 2025-01-08T19:52:32.654Z,1736365952.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:32.677Z,1736365952.677 [DAT](INFO): DAT read: 19:52:30.7329 LVL= 16928, 16369, 11298, 15091, AGC= 64, IDX= 180,-0.08,-0.349,-1.364, 0.228,-0.989, PHS= 0.728,-0.328, 1.215, RAW= 168.0, -22.7, CAL= 171.0, -28.9, ROT= 339.0, 28.9 2025-01-08T19:52:32.678Z,1736365952.678 [DAT](INFO): got valid direction response: 19:52:30.7329 LVL= 16928, 16369, 11298, 15091, AGC= 64, IDX= 180,-0.08,-0.349,-1.364, 0.228,-0.989, PHS= 0.728,-0.328, 1.215, RAW= 168.0, -22.7, CAL= 171.0, -28.9, ROT= 339.0, 28.9 2025-01-08T19:52:32.680Z,1736365952.680 [DAT](INFO): DAT read: Bearing 339.0, 28.9 (Local) 2025-01-08T19:52:32.681Z,1736365952.681 [DAT](INFO): Local bearing/azimuth received: Bearing 339.0, 28.9 (Local) 2025-01-08T19:52:32.693Z,1736365952.693 [DAT](INFO): DAT read: Range 10 to 50 : 230.2 m (Round-trip 307.0 ms) speed 0.3 m/s 2025-01-08T19:52:32.693Z,1736365952.693 [DAT](INFO): DAT read: user:913> 2025-01-08T19:52:32.694Z,1736365952.694 [DAT](INFO): DAT read: Tx time:19:52:31.8217 2025-01-08T19:52:32.694Z,1736365952.694 [DAT](INFO): Ping request sent. 2025-01-08T19:52:32.695Z,1736365952.695 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:32.704Z,1736365952.704 [DAT](INFO): DAT read: TxSync time:19:52:31.8209 2025-01-08T19:52:32.705Z,1736365952.705 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:32.706Z,1736365952.706 [DAT](INFO): direction in FSK: [0.328909,-0.907836,0.260101] 2025-01-08T19:52:32.706Z,1736365952.706 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:32.707Z,1736365952.707 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:32.739Z,1736365952.739 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:32.759Z,1736365952.759 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:32.904Z,1736365952.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:32.910Z,1736365952.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:32.935Z,1736365952.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 230.199997 m, deltaT: 7.832229 s, deltaX: -3.800003 m, approachRate: -0.485175 m/s, rangeRepo size: 4 2025-01-08T19:52:32.942Z,1736365952.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 230.199997 m, bearing: 204.761648 deg, lat: 36.902708 deg, lon: -122.118101 deg, deltaT: 7.832229 s, deltaX: -3.800003 m, approachRate: -0.485175 m/s, posRepo size: 4 2025-01-08T19:52:32.942Z,1736365952.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:32.950Z,1736365952.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 226.542679 m, bearing: 203.772925 deg, approach rate: 0.000000 m/s, LOS rate: -0.181813 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.728726 deg. 2025-01-08T19:52:32.951Z,1736365952.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812374 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:33.156Z,1736365953.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:33.236Z,1736365953.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:33.244Z,1736365953.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:33.248Z,1736365953.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 226.489975 m, bearing: 203.718563 deg, approach rate: -0.169981 m/s, LOS rate: -0.175372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812061 deg. 2025-01-08T19:52:33.249Z,1736365953.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813828 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:33.408Z,1736365953.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:33.662Z,1736365953.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:33.720Z,1736365953.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:33.728Z,1736365953.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:33.732Z,1736365953.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 226.414536 m, bearing: 203.639657 deg, approach rate: -0.155954 m/s, LOS rate: -0.163175 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.738392 deg. 2025-01-08T19:52:33.733Z,1736365953.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812543 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:33.912Z,1736365953.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:34.034Z,1736365954.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:34.067Z,1736365954.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:34.074Z,1736365954.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 226.365768 m, bearing: 203.588346 deg, approach rate: -0.144429 m/s, LOS rate: -0.151995 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821222 deg. 2025-01-08T19:52:34.079Z,1736365954.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813989 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:34.164Z,1736365954.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:34.416Z,1736365954.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:34.441Z,1736365954.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:34.451Z,1736365954.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:34.454Z,1736365954.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 226.303314 m, bearing: 203.521760 deg, approach rate: -0.162190 m/s, LOS rate: -0.172969 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.775373 deg. 2025-01-08T19:52:34.471Z,1736365954.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813188 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:34.670Z,1736365954.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:34.885Z,1736365954.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:34.892Z,1736365954.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:34.894Z,1736365954.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:34.898Z,1736365954.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 226.240891 m, bearing: 203.450707 deg, approach rate: -0.140832 m/s, LOS rate: -0.160344 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.761971 deg. 2025-01-08T19:52:34.899Z,1736365954.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812954 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:34.920Z,1736365954.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:34.920Z,1736365954.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:34.920Z,1736365954.920 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:34.920Z,1736365954.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:35.177Z,1736365955.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:35.179Z,1736365955.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484058 2025-01-08T19:52:35.256Z,1736365955.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:35.265Z,1736365955.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:35.269Z,1736365955.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 226.189285 m, bearing: 203.391065 deg, approach rate: -0.138927 m/s, LOS rate: -0.160599 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796222 deg. 2025-01-08T19:52:35.270Z,1736365955.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813552 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:35.428Z,1736365955.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:35.428Z,1736365955.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733810 2025-01-08T19:52:35.682Z,1736365955.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:35.684Z,1736365955.684 [DAT](INFO): DAT read: Rx Time:19:52:34.5022 2025-01-08T19:52:35.686Z,1736365955.686 [DAT](INFO): Rx dataTimestamp_ set to:1736365955.685028 2025-01-08T19:52:35.688Z,1736365955.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992392 2025-01-08T19:52:35.757Z,1736365955.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:35.782Z,1736365955.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:35.789Z,1736365955.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 226.127243 m, bearing: 203.311760 deg, approach rate: -0.120135 m/s, LOS rate: -0.153605 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.737206 deg. 2025-01-08T19:52:35.790Z,1736365955.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812522 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:35.932Z,1736365955.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:35.933Z,1736365955.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238009 2025-01-08T19:52:36.056Z,1736365956.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:36.082Z,1736365956.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:36.097Z,1736365956.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 226.090485 m, bearing: 203.264379 deg, approach rate: -0.122945 m/s, LOS rate: -0.158501 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833020 deg. 2025-01-08T19:52:36.104Z,1736365956.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814194 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:36.186Z,1736365956.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:36.205Z,1736365956.205 [DAT](INFO): DAT read: 19:52:34.5022 LVL= 16816, 14753, 11826, 17715, AGC= 65, IDX= 122,-0.29,-0.668,-1.384,-0.059,-1.443, PHS= 0.863, 0.107, 1.382, RAW= 173.8, -36.8, CAL= 174.3, -42.3, ROT= 335.7, 42.3 2025-01-08T19:52:36.208Z,1736365956.208 [DAT](INFO): got valid direction response: 19:52:34.5022 LVL= 16816, 14753, 11826, 17715, AGC= 65, IDX= 122,-0.29,-0.668,-1.384,-0.059,-1.443, PHS= 0.863, 0.107, 1.382, RAW= 173.8, -36.8, CAL= 174.3, -42.3, ROT= 335.7, 42.3 2025-01-08T19:52:36.209Z,1736365956.209 [DAT](INFO): DAT read: Bearing 335.7, 42.3 (Local) 2025-01-08T19:52:36.209Z,1736365956.209 [DAT](INFO): Local bearing/azimuth received: Bearing 335.7, 42.3 (Local) 2025-01-08T19:52:36.210Z,1736365956.210 [DAT](INFO): DAT read: Range 10 to 50 : 207.2 m (Round-trip 276.3 ms) speed 0.6 m/s 2025-01-08T19:52:36.231Z,1736365956.231 [DAT](INFO): DAT read: user:914> 2025-01-08T19:52:36.232Z,1736365956.232 [DAT](INFO): DAT read: Tx time:19:52:35.6217 2025-01-08T19:52:36.233Z,1736365956.233 [DAT](INFO): Ping request sent. 2025-01-08T19:52:36.233Z,1736365956.233 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:36.233Z,1736365956.233 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:36.234Z,1736365956.234 [DAT](INFO): direction in FSK: [0.569601,-0.806061,0.160690] 2025-01-08T19:52:36.234Z,1736365956.234 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:36.234Z,1736365956.234 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:36.250Z,1736365956.250 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:36.250Z,1736365956.250 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:36.436Z,1736365956.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:36.436Z,1736365956.436 [DAT](INFO): DAT read: TxSync time:19:52:35.6209 2025-01-08T19:52:36.508Z,1736365956.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:36.534Z,1736365956.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 207.199997 m, deltaT: 3.531254 s, deltaX: -23.000000 m, approachRate: -6.513267 m/s, rangeRepo size: 4 2025-01-08T19:52:36.535Z,1736365956.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:36.541Z,1736365956.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 226.035736 m, bearing: 203.192691 deg, approach rate: -0.121035 m/s, LOS rate: -0.158520 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760074 deg. 2025-01-08T19:52:36.543Z,1736365956.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812921 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:36.690Z,1736365956.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:36.908Z,1736365956.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:36.940Z,1736365956.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:36.940Z,1736365956.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:36.942Z,1736365956.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:36.950Z,1736365956.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 225.987701 m, bearing: 203.131874 deg, approach rate: -0.117373 m/s, LOS rate: -0.148638 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792698 deg. 2025-01-08T19:52:36.951Z,1736365956.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813491 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:37.192Z,1736365957.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:37.192Z,1736365957.192 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:37.192Z,1736365957.192 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:37.192Z,1736365957.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:37.289Z,1736365957.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:37.298Z,1736365957.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:37.301Z,1736365957.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 225.942154 m, bearing: 203.073813 deg, approach rate: -0.127996 m/s, LOS rate: -0.163195 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800968 deg. 2025-01-08T19:52:37.302Z,1736365957.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813635 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:37.444Z,1736365957.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:37.444Z,1736365957.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.211644 2025-01-08T19:52:37.698Z,1736365957.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:37.700Z,1736365957.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467195 2025-01-08T19:52:37.775Z,1736365957.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:37.784Z,1736365957.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:37.786Z,1736365957.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 225.885544 m, bearing: 202.999345 deg, approach rate: -0.116693 m/s, LOS rate: -0.153543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.751728 deg. 2025-01-08T19:52:37.788Z,1736365957.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812776 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:37.948Z,1736365957.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:37.948Z,1736365957.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715570 2025-01-08T19:52:38.094Z,1736365958.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:38.123Z,1736365958.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:38.137Z,1736365958.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 225.848709 m, bearing: 202.950350 deg, approach rate: -0.108827 m/s, LOS rate: -0.144777 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828178 deg. 2025-01-08T19:52:38.138Z,1736365958.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814110 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:38.201Z,1736365958.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:38.201Z,1736365958.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968661 2025-01-08T19:52:38.452Z,1736365958.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:38.452Z,1736365958.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219686 2025-01-08T19:52:38.511Z,1736365958.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:38.520Z,1736365958.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:38.524Z,1736365958.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 225.801407 m, bearing: 202.886257 deg, approach rate: -0.118752 m/s, LOS rate: -0.160939 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782869 deg. 2025-01-08T19:52:38.525Z,1736365958.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813319 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:38.706Z,1736365958.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:38.709Z,1736365958.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475722 2025-01-08T19:52:38.927Z,1736365958.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:38.956Z,1736365958.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:38.956Z,1736365958.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723803 2025-01-08T19:52:38.960Z,1736365958.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:38.962Z,1736365958.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:38.969Z,1736365958.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 225.753006 m, bearing: 202.821684 deg, approach rate: -0.109616 m/s, LOS rate: -0.146274 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.781426 deg. 2025-01-08T19:52:38.970Z,1736365958.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813294 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:39.209Z,1736365959.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:39.211Z,1736365959.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977973 2025-01-08T19:52:39.312Z,1736365959.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:39.321Z,1736365959.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:39.324Z,1736365959.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 225.708984 m, bearing: 202.761874 deg, approach rate: -0.122666 m/s, LOS rate: -0.166693 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795721 deg. 2025-01-08T19:52:39.325Z,1736365959.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813543 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:39.460Z,1736365959.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:39.461Z,1736365959.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228149 2025-01-08T19:52:39.714Z,1736365959.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:39.717Z,1736365959.717 [DAT](INFO): DAT read: Rx Time:19:52:38.3277 2025-01-08T19:52:39.729Z,1736365959.729 [DAT](INFO): Rx dataTimestamp_ set to:1736365959.718191 2025-01-08T19:52:39.733Z,1736365959.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498123 2025-01-08T19:52:39.822Z,1736365959.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:39.850Z,1736365959.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:39.857Z,1736365959.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 225.651810 m, bearing: 202.682172 deg, approach rate: -0.108116 m/s, LOS rate: -0.150754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.736021 deg. 2025-01-08T19:52:39.858Z,1736365959.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812501 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:39.964Z,1736365959.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:39.965Z,1736365959.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.732207 2025-01-08T19:52:40.178Z,1736365960.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:40.192Z,1736365960.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.20 m. 2025-01-08T19:52:40.194Z,1736365960.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.199997 m, nav range: 225.612640 m, bearing: 202.626596 deg, approach rate: -0.114571 m/s, LOS rate: -0.162587 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808432 deg. 2025-01-08T19:52:40.196Z,1736365960.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813765 target range: 230.199997 and range: 230.20 m. 2025-01-08T19:52:40.218Z,1736365960.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:40.229Z,1736365960.229 [DAT](INFO): DAT read: 19:52:38.3277 LVL= 11040, 9665, 6290, 10563, AGC= 60, IDX= 189, 0.33,-0.815,-1.529,-0.091,-1.476, PHS= 0.749,-0.006, 1.382, RAW= 177.1, -32.0, CAL= 177.6, -39.6, ROT= 332.4, 39.6 2025-01-08T19:52:40.232Z,1736365960.232 [DAT](INFO): got valid direction response: 19:52:38.3277 LVL= 11040, 9665, 6290, 10563, AGC= 60, IDX= 189, 0.33,-0.815,-1.529,-0.091,-1.476, PHS= 0.749,-0.006, 1.382, RAW= 177.1, -32.0, CAL= 177.6, -39.6, ROT= 332.4, 39.6 2025-01-08T19:52:40.233Z,1736365960.233 [DAT](INFO): DAT read: Bearing 332.4, 39.6 (Local) 2025-01-08T19:52:40.233Z,1736365960.233 [DAT](INFO): Local bearing/azimuth received: Bearing 332.4, 39.6 (Local) 2025-01-08T19:52:40.237Z,1736365960.237 [DAT](INFO): DAT read: Range 10 to 50 : 226.2 m (Round-trip 301.7 ms) speed 0.6 m/s 2025-01-08T19:52:40.238Z,1736365960.238 [DAT](INFO): DAT read: user:915> 2025-01-08T19:52:40.240Z,1736365960.240 [DAT](INFO): DAT read: Tx time:19:52:39.4218 2025-01-08T19:52:40.240Z,1736365960.240 [DAT](INFO): Ping request sent. 2025-01-08T19:52:40.240Z,1736365960.240 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:40.241Z,1736365960.241 [DAT](INFO): DAT read: TxSync time:19:52:39.4210 2025-01-08T19:52:40.242Z,1736365960.242 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:40.268Z,1736365960.268 [DAT](INFO): direction in FSK: [0.495685,-0.860585,0.117003] 2025-01-08T19:52:40.268Z,1736365960.268 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:40.269Z,1736365960.269 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:40.278Z,1736365960.278 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:40.278Z,1736365960.278 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:40.468Z,1736365960.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:40.566Z,1736365960.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:40.598Z,1736365960.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 226.199997 m, deltaT: 7.562753 s, deltaX: -4.000000 m, approachRate: -0.528908 m/s, rangeRepo size: 4 2025-01-08T19:52:40.605Z,1736365960.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 226.199997 m, bearing: 215.963296 deg, lat: 36.902856 deg, lon: -122.118494 deg, deltaT: 7.562753 s, deltaX: -4.000000 m, approachRate: -0.528908 m/s, posRepo size: 4 2025-01-08T19:52:40.606Z,1736365960.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.20 m. 2025-01-08T19:52:40.613Z,1736365960.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.199997 m, nav range: 227.139526 m, bearing: 212.345466 deg, approach rate: 0.000000 m/s, LOS rate: -0.162587 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.776973 deg. 2025-01-08T19:52:40.614Z,1736365960.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813216 target range: 226.199997 and range: 226.20 m. 2025-01-08T19:52:40.720Z,1736365960.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:40.974Z,1736365960.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:41.011Z,1736365961.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:41.019Z,1736365961.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:41.021Z,1736365961.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.20 m. 2025-01-08T19:52:41.024Z,1736365961.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.199997 m, nav range: 227.041168 m, bearing: 212.279401 deg, approach rate: -0.232324 m/s, LOS rate: -0.156115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.776906 deg. 2025-01-08T19:52:41.025Z,1736365961.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813215 target range: 226.199997 and range: 226.20 m. 2025-01-08T19:52:41.224Z,1736365961.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:41.224Z,1736365961.224 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:41.224Z,1736365961.224 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:41.224Z,1736365961.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:41.401Z,1736365961.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:41.459Z,1736365961.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.20 m. 2025-01-08T19:52:41.462Z,1736365961.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.199997 m, nav range: 226.955368 m, bearing: 212.221553 deg, approach rate: -0.199541 m/s, LOS rate: -0.134585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.801578 deg. 2025-01-08T19:52:41.476Z,1736365961.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:41.476Z,1736365961.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236488 2025-01-08T19:52:41.489Z,1736365961.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813646 target range: 226.199997 and range: 226.20 m. 2025-01-08T19:52:41.730Z,1736365961.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:41.732Z,1736365961.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491696 2025-01-08T19:52:41.872Z,1736365961.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:41.881Z,1736365961.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.20 m. 2025-01-08T19:52:41.884Z,1736365961.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.199997 m, nav range: 226.848618 m, bearing: 212.151853 deg, approach rate: -0.248311 m/s, LOS rate: -0.162204 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.765990 deg. 2025-01-08T19:52:41.885Z,1736365961.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813025 target range: 226.199997 and range: 226.20 m. 2025-01-08T19:52:41.981Z,1736365961.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:41.981Z,1736365961.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741250 2025-01-08T19:52:42.232Z,1736365962.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:42.234Z,1736365962.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994104 2025-01-08T19:52:42.246Z,1736365962.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:42.254Z,1736365962.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.20 m. 2025-01-08T19:52:42.260Z,1736365962.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.199997 m, nav range: 226.764313 m, bearing: 212.096447 deg, approach rate: -0.226076 m/s, LOS rate: -0.148634 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808908 deg. 2025-01-08T19:52:42.262Z,1736365962.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813774 target range: 226.199997 and range: 226.20 m. 2025-01-08T19:52:42.484Z,1736365962.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:42.485Z,1736365962.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244639 2025-01-08T19:52:42.644Z,1736365962.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:42.659Z,1736365962.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.20 m. 2025-01-08T19:52:42.664Z,1736365962.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.199997 m, nav range: 226.675156 m, bearing: 212.037306 deg, approach rate: -0.220603 m/s, LOS rate: -0.146391 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797694 deg. 2025-01-08T19:52:42.666Z,1736365962.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813578 target range: 226.199997 and range: 226.20 m. 2025-01-08T19:52:42.737Z,1736365962.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:42.739Z,1736365962.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498557 2025-01-08T19:52:42.988Z,1736365962.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:42.988Z,1736365962.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748431 2025-01-08T19:52:43.065Z,1736365963.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:43.072Z,1736365963.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:43.074Z,1736365963.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.20 m. 2025-01-08T19:52:43.077Z,1736365963.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.199997 m, nav range: 226.575500 m, bearing: 211.973610 deg, approach rate: -0.239587 m/s, LOS rate: -0.153204 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.784014 deg. 2025-01-08T19:52:43.078Z,1736365963.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813339 target range: 226.199997 and range: 226.20 m. 2025-01-08T19:52:43.240Z,1736365963.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:43.240Z,1736365963.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000346 2025-01-08T19:52:43.452Z,1736365963.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:43.462Z,1736365963.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.20 m. 2025-01-08T19:52:43.465Z,1736365963.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.199997 m, nav range: 226.484528 m, bearing: 211.914981 deg, approach rate: -0.234691 m/s, LOS rate: -0.151310 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799230 deg. 2025-01-08T19:52:43.467Z,1736365963.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813605 target range: 226.199997 and range: 226.20 m. 2025-01-08T19:52:43.492Z,1736365963.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:43.492Z,1736365963.492 [DAT](INFO): DAT read: Rx Time:19:52:42.1246 2025-01-08T19:52:43.493Z,1736365963.493 [DAT](INFO): Rx dataTimestamp_ set to:1736365963.492601 2025-01-08T19:52:43.493Z,1736365963.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253439 2025-01-08T19:52:43.744Z,1736365963.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:43.745Z,1736365963.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504514 2025-01-08T19:52:43.916Z,1736365963.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:43.925Z,1736365963.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.20 m. 2025-01-08T19:52:43.928Z,1736365963.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.199997 m, nav range: 226.370422 m, bearing: 211.843277 deg, approach rate: -0.246342 m/s, LOS rate: -0.154879 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.759969 deg. 2025-01-08T19:52:43.929Z,1736365963.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812920 target range: 226.199997 and range: 226.20 m. 2025-01-08T19:52:43.997Z,1736365963.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:44.013Z,1736365964.013 [DAT](INFO): DAT read: 19:52:42.1246 LVL= 23792, 30369, 13010, 29555, AGC= 62, IDX= 132,-0.44, 0.959, 0.018, 1.807, 1.036, PHS= 0.011,-0.970, 0.768, RAW= 175.7, 2.6, CAL= 176.1, -6.0, ROT= 333.9, 6.0 2025-01-08T19:52:44.017Z,1736365964.017 [DAT](INFO): got valid direction response: 19:52:42.1246 LVL= 23792, 30369, 13010, 29555, AGC= 62, IDX= 132,-0.44, 0.959, 0.018, 1.807, 1.036, PHS= 0.011,-0.970, 0.768, RAW= 175.7, 2.6, CAL= 176.1, -6.0, ROT= 333.9, 6.0 2025-01-08T19:52:44.037Z,1736365964.037 [DAT](INFO): DAT read: Bearing 333.9, 6.0 (Local) 2025-01-08T19:52:44.038Z,1736365964.038 [DAT](INFO): Local bearing/azimuth received: Bearing 333.9, 6.0 (Local) 2025-01-08T19:52:44.049Z,1736365964.049 [DAT](INFO): DAT read: Range 10 to 50 : 223.9 m (Round-trip 298.6 ms) speed 0.3 m/s 2025-01-08T19:52:44.050Z,1736365964.050 [DAT](INFO): DAT read: user:916> 2025-01-08T19:52:44.051Z,1736365964.051 [DAT](INFO): DAT read: Tx time:19:52:43.2218 2025-01-08T19:52:44.052Z,1736365964.052 [DAT](INFO): Ping request sent. 2025-01-08T19:52:44.052Z,1736365964.052 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:44.052Z,1736365964.052 [DAT](INFO): DAT read: TxSync time:19:52:43.2210 2025-01-08T19:52:44.053Z,1736365964.053 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:44.054Z,1736365964.054 [DAT](INFO): direction in FSK: [-0.142765,-0.983168,0.114015] 2025-01-08T19:52:44.054Z,1736365964.054 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:44.054Z,1736365964.054 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:44.062Z,1736365964.062 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:44.062Z,1736365964.062 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:44.248Z,1736365964.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:44.273Z,1736365964.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:44.302Z,1736365964.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 223.899994 m, deltaT: 3.779177 s, deltaX: -2.300003 m, approachRate: -0.608599 m/s, rangeRepo size: 4 2025-01-08T19:52:44.308Z,1736365964.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 223.899994 m, bearing: 178.352876 deg, lat: 36.902708 deg, lon: -122.118149 deg, deltaT: 3.779177 s, deltaX: -2.300003 m, approachRate: -0.608599 m/s, posRepo size: 4 2025-01-08T19:52:44.312Z,1736365964.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.90 m. 2025-01-08T19:52:44.314Z,1736365964.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.899994 m, nav range: 226.748688 m, bearing: 202.985756 deg, approach rate: 0.000000 m/s, LOS rate: -0.154879 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800478 deg. 2025-01-08T19:52:44.316Z,1736365964.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813626 target range: 223.899994 and range: 223.90 m. 2025-01-08T19:52:44.500Z,1736365964.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:44.672Z,1736365964.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:44.685Z,1736365964.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.90 m. 2025-01-08T19:52:44.688Z,1736365964.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.899994 m, nav range: 226.688828 m, bearing: 202.921345 deg, approach rate: -0.155886 m/s, LOS rate: -0.167780 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.781904 deg. 2025-01-08T19:52:44.689Z,1736365964.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813302 target range: 223.899994 and range: 223.90 m. 2025-01-08T19:52:44.753Z,1736365964.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:45.004Z,1736365965.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:45.086Z,1736365965.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:45.114Z,1736365965.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:45.120Z,1736365965.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.90 m. 2025-01-08T19:52:45.123Z,1736365965.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.899994 m, nav range: 226.618225 m, bearing: 202.852276 deg, approach rate: -0.162329 m/s, LOS rate: -0.158853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.767915 deg. 2025-01-08T19:52:45.125Z,1736365965.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813058 target range: 223.899994 and range: 223.90 m. 2025-01-08T19:52:45.257Z,1736365965.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:45.257Z,1736365965.257 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:45.258Z,1736365965.258 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:45.258Z,1736365965.258 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:45.482Z,1736365965.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:45.504Z,1736365965.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.90 m. 2025-01-08T19:52:45.508Z,1736365965.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:45.509Z,1736365965.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457528 2025-01-08T19:52:45.509Z,1736365965.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.899994 m, nav range: 226.551025 m, bearing: 202.786183 deg, approach rate: -0.174749 m/s, LOS rate: -0.171923 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.776849 deg. 2025-01-08T19:52:45.510Z,1736365965.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813214 target range: 223.899994 and range: 223.90 m. 2025-01-08T19:52:45.760Z,1736365965.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:45.760Z,1736365965.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709270 2025-01-08T19:52:45.947Z,1736365965.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:45.956Z,1736365965.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.90 m. 2025-01-08T19:52:45.959Z,1736365965.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.899994 m, nav range: 226.466568 m, bearing: 202.706431 deg, approach rate: -0.187238 m/s, LOS rate: -0.176872 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.735844 deg. 2025-01-08T19:52:45.985Z,1736365965.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812499 target range: 223.899994 and range: 223.90 m. 2025-01-08T19:52:46.014Z,1736365966.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:46.015Z,1736365966.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963461 2025-01-08T19:52:46.265Z,1736365966.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:46.267Z,1736365966.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215206 2025-01-08T19:52:46.345Z,1736365966.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:46.376Z,1736365966.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.90 m. 2025-01-08T19:52:46.379Z,1736365966.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.899994 m, nav range: 226.394791 m, bearing: 202.637672 deg, approach rate: -0.170578 m/s, LOS rate: -0.163456 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768847 deg. 2025-01-08T19:52:46.382Z,1736365966.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813074 target range: 223.899994 and range: 223.90 m. 2025-01-08T19:52:46.516Z,1736365966.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:46.516Z,1736365966.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465351 2025-01-08T19:52:46.769Z,1736365966.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:46.769Z,1736365966.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718245 2025-01-08T19:52:46.805Z,1736365966.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:46.814Z,1736365966.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.90 m. 2025-01-08T19:52:46.859Z,1736365966.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.899994 m, nav range: 226.312469 m, bearing: 202.558421 deg, approach rate: -0.188462 m/s, LOS rate: -0.181500 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.737347 deg. 2025-01-08T19:52:46.886Z,1736365966.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812525 target range: 223.899994 and range: 223.90 m. 2025-01-08T19:52:47.020Z,1736365967.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:47.020Z,1736365967.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969336 2025-01-08T19:52:47.246Z,1736365967.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:47.273Z,1736365967.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:47.274Z,1736365967.274 [DAT](INFO): DAT read: Rx Time:19:52:45.9235 2025-01-08T19:52:47.276Z,1736365967.276 [DAT](INFO): Rx dataTimestamp_ set to:1736365967.275436 2025-01-08T19:52:47.276Z,1736365967.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225218 2025-01-08T19:52:47.286Z,1736365967.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:47.294Z,1736365967.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.90 m. 2025-01-08T19:52:47.301Z,1736365967.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.899994 m, nav range: 226.232956 m, bearing: 202.480386 deg, approach rate: -0.165492 m/s, LOS rate: -0.162471 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.741002 deg. 2025-01-08T19:52:47.302Z,1736365967.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812588 target range: 223.899994 and range: 223.90 m. 2025-01-08T19:52:47.525Z,1736365967.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:47.526Z,1736365967.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474997 2025-01-08T19:52:47.666Z,1736365967.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:47.681Z,1736365967.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.90 m. 2025-01-08T19:52:47.689Z,1736365967.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.899994 m, nav range: 226.157120 m, bearing: 202.406054 deg, approach rate: -0.195774 m/s, LOS rate: -0.191955 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.752117 deg. 2025-01-08T19:52:47.690Z,1736365967.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812782 target range: 223.899994 and range: 223.90 m. 2025-01-08T19:52:47.777Z,1736365967.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:47.787Z,1736365967.787 [DAT](INFO): DAT read: 19:52:45.9235 LVL= 24528, 23761, 17682, 32355, AGC= 59, IDX= 141, 0.40,-0.461,-1.487, 0.354,-0.365, PHS=-0.009,-1.075, 0.716, RAW= 173.7, 4.8, CAL= 173.7, -4.3, ROT= 336.3, 4.3 2025-01-08T19:52:47.789Z,1736365967.789 [DAT](INFO): got valid direction response: 19:52:45.9235 LVL= 24528, 23761, 17682, 32355, AGC= 59, IDX= 141, 0.40,-0.461,-1.487, 0.354,-0.365, PHS=-0.009,-1.075, 0.716, RAW= 173.7, 4.8, CAL= 173.7, -4.3, ROT= 336.3, 4.3 2025-01-08T19:52:47.790Z,1736365967.790 [DAT](INFO): DAT read: Bearing 336.3, 4.3 (Local) 2025-01-08T19:52:47.790Z,1736365967.790 [DAT](INFO): Local bearing/azimuth received: Bearing 336.3, 4.3 (Local) 2025-01-08T19:52:47.792Z,1736365967.792 [DAT](INFO): DAT read: Range 10 to 50 : 223.1 m (Round-trip 297.5 ms) speed 0.4 m/s 2025-01-08T19:52:47.793Z,1736365967.793 [DAT](INFO): DAT read: user:917> 2025-01-08T19:52:47.794Z,1736365967.794 [DAT](INFO): DAT read: Tx time:19:52:47.0218 2025-01-08T19:52:47.794Z,1736365967.794 [DAT](INFO): Ping request sent. 2025-01-08T19:52:47.794Z,1736365967.794 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:47.794Z,1736365967.794 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:47.796Z,1736365967.796 [DAT](INFO): direction in FSK: [-0.187305,-0.971471,0.145471] 2025-01-08T19:52:47.797Z,1736365967.797 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:47.798Z,1736365967.798 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:47.812Z,1736365967.812 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:47.812Z,1736365967.812 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:48.028Z,1736365968.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:48.029Z,1736365968.029 [DAT](INFO): DAT read: TxSync time:19:52:47.0211 2025-01-08T19:52:48.102Z,1736365968.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:48.132Z,1736365968.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 223.100006 m, deltaT: 3.779420 s, deltaX: -0.799988 m, approachRate: -0.211669 m/s, rangeRepo size: 4 2025-01-08T19:52:48.134Z,1736365968.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 223.100006 m, bearing: 175.571223 deg, lat: 36.902708 deg, lon: -122.118149 deg, deltaT: 3.779420 s, deltaX: -0.799988 m, approachRate: -0.211669 m/s, posRepo size: 4 2025-01-08T19:52:48.143Z,1736365968.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.10 m. 2025-01-08T19:52:48.147Z,1736365968.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.100006 m, nav range: 226.079727 m, bearing: 202.328197 deg, approach rate: 0.000000 m/s, LOS rate: -0.191955 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.718106 deg. 2025-01-08T19:52:48.152Z,1736365968.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812189 target range: 223.100006 and range: 223.10 m. 2025-01-08T19:52:48.281Z,1736365968.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:48.444Z,1736365968.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:48.466Z,1736365968.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.10 m. 2025-01-08T19:52:48.481Z,1736365968.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.100006 m, nav range: 226.018585 m, bearing: 202.266998 deg, approach rate: -0.180256 m/s, LOS rate: -0.180474 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.791540 deg. 2025-01-08T19:52:48.482Z,1736365968.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813470 target range: 223.100006 and range: 223.10 m. 2025-01-08T19:52:48.533Z,1736365968.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:48.784Z,1736365968.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:48.917Z,1736365968.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:48.929Z,1736365968.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.10 m. 2025-01-08T19:52:48.937Z,1736365968.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.100006 m, nav range: 225.933884 m, bearing: 202.182674 deg, approach rate: -0.183028 m/s, LOS rate: -0.182280 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.722122 deg. 2025-01-08T19:52:48.938Z,1736365968.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812259 target range: 223.100006 and range: 223.10 m. 2025-01-08T19:52:49.037Z,1736365969.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:49.288Z,1736365969.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:49.338Z,1736365969.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:49.344Z,1736365969.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:49.346Z,1736365969.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.10 m. 2025-01-08T19:52:49.353Z,1736365969.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.100006 m, nav range: 225.863892 m, bearing: 202.105918 deg, approach rate: -0.167780 m/s, LOS rate: -0.184051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.744849 deg. 2025-01-08T19:52:49.355Z,1736365969.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812655 target range: 223.100006 and range: 223.10 m. 2025-01-08T19:52:49.540Z,1736365969.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:49.540Z,1736365969.540 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:49.540Z,1736365969.540 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:49.540Z,1736365969.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:49.688Z,1736365969.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:49.697Z,1736365969.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.10 m. 2025-01-08T19:52:49.700Z,1736365969.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.100006 m, nav range: 225.806046 m, bearing: 202.042124 deg, approach rate: -0.165423 m/s, LOS rate: -0.182478 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783757 deg. 2025-01-08T19:52:49.701Z,1736365969.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813334 target range: 223.100006 and range: 223.10 m. 2025-01-08T19:52:49.793Z,1736365969.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:49.794Z,1736365969.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999528 2025-01-08T19:52:50.044Z,1736365970.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:50.044Z,1736365970.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250313 2025-01-08T19:52:50.101Z,1736365970.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:50.110Z,1736365970.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.10 m. 2025-01-08T19:52:50.113Z,1736365970.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.100006 m, nav range: 225.747025 m, bearing: 201.970660 deg, approach rate: -0.142756 m/s, LOS rate: -0.172898 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760738 deg. 2025-01-08T19:52:50.115Z,1736365970.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812933 target range: 223.100006 and range: 223.10 m. 2025-01-08T19:52:50.296Z,1736365970.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:50.296Z,1736365970.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502216 2025-01-08T19:52:50.466Z,1736365970.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:50.474Z,1736365970.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.10 m. 2025-01-08T19:52:50.477Z,1736365970.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.100006 m, nav range: 225.694992 m, bearing: 201.907672 deg, approach rate: -0.142682 m/s, LOS rate: -0.172763 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786181 deg. 2025-01-08T19:52:50.478Z,1736365970.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813377 target range: 223.100006 and range: 223.10 m. 2025-01-08T19:52:50.548Z,1736365970.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:50.549Z,1736365970.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754498 2025-01-08T19:52:50.801Z,1736365970.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:50.802Z,1736365970.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007386 2025-01-08T19:52:50.946Z,1736365970.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:50.968Z,1736365970.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.10 m. 2025-01-08T19:52:50.974Z,1736365970.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.100006 m, nav range: 225.626450 m, bearing: 201.824803 deg, approach rate: -0.140300 m/s, LOS rate: -0.169676 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.726507 deg. 2025-01-08T19:52:50.984Z,1736365970.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812335 target range: 223.100006 and range: 223.10 m. 2025-01-08T19:52:51.052Z,1736365971.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:51.053Z,1736365971.053 [DAT](INFO): DAT read: Rx Time:19:52:49.7210 2025-01-08T19:52:51.053Z,1736365971.053 [DAT](INFO): Rx dataTimestamp_ set to:1736365971.052685 2025-01-08T19:52:51.054Z,1736365971.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259725 2025-01-08T19:52:51.302Z,1736365971.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:51.304Z,1736365971.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:51.305Z,1736365971.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510444 2025-01-08T19:52:51.312Z,1736365971.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.10 m. 2025-01-08T19:52:51.315Z,1736365971.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 223.100006 m, nav range: 225.583633 m, bearing: 201.762930 deg, approach rate: -0.122648 m/s, LOS rate: -0.177271 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.789532 deg. 2025-01-08T19:52:51.316Z,1736365971.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813436 target range: 223.100006 and range: 223.10 m. 2025-01-08T19:52:51.557Z,1736365971.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:51.564Z,1736365971.564 [DAT](INFO): DAT read: 19:52:49.7210 LVL= 26432, 31009, 13282, 30355, AGC= 63, IDX= 106, 0.36,-0.536,-1.613, 0.343,-0.424, PHS=-0.023,-1.142, 0.765, RAW= 174.3, 4.9, CAL= 174.3, -4.2, ROT= 335.7, 4.2 2025-01-08T19:52:51.566Z,1736365971.566 [DAT](INFO): got valid direction response: 19:52:49.7210 LVL= 26432, 31009, 13282, 30355, AGC= 63, IDX= 106, 0.36,-0.536,-1.613, 0.343,-0.424, PHS=-0.023,-1.142, 0.765, RAW= 174.3, 4.9, CAL= 174.3, -4.2, ROT= 335.7, 4.2 2025-01-08T19:52:51.567Z,1736365971.567 [DAT](INFO): DAT read: Bearing 335.7, 4.2 (Local) 2025-01-08T19:52:51.568Z,1736365971.568 [DAT](INFO): Local bearing/azimuth received: Bearing 335.7, 4.2 (Local) 2025-01-08T19:52:51.570Z,1736365971.570 [DAT](INFO): DAT read: Range 10 to 50 : 221.2 m (Round-trip 295.0 ms) speed 0.4 m/s 2025-01-08T19:52:51.572Z,1736365971.572 [DAT](INFO): DAT read: user:918> 2025-01-08T19:52:51.573Z,1736365971.573 [DAT](INFO): DAT read: Tx time:19:52:50.8219 2025-01-08T19:52:51.573Z,1736365971.573 [DAT](INFO): Ping request sent. 2025-01-08T19:52:51.573Z,1736365971.573 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:51.574Z,1736365971.574 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:51.594Z,1736365971.594 [DAT](INFO): direction in FSK: [-0.188428,-0.972649,0.135823] 2025-01-08T19:52:51.594Z,1736365971.594 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:51.594Z,1736365971.594 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:51.598Z,1736365971.598 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:51.598Z,1736365971.598 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:51.708Z,1736365971.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:51.734Z,1736365971.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 221.199997 m, deltaT: 3.780446 s, deltaX: -1.900009 m, approachRate: -0.502589 m/s, rangeRepo size: 4 2025-01-08T19:52:51.741Z,1736365971.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 221.199997 m, bearing: 174.646189 deg, lat: 36.902612 deg, lon: -122.117081 deg, deltaT: 3.780446 s, deltaX: -1.900009 m, approachRate: -0.502589 m/s, posRepo size: 4 2025-01-08T19:52:51.742Z,1736365971.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T19:52:51.749Z,1736365971.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 220.537811 m, bearing: 176.980089 deg, approach rate: 0.000000 m/s, LOS rate: -0.177271 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.750934 deg. 2025-01-08T19:52:51.750Z,1736365971.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812762 target range: 221.199997 and range: 221.20 m. 2025-01-08T19:52:51.809Z,1736365971.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:51.810Z,1736365971.810 [DAT](INFO): DAT read: TxSync time:19:52:50.8211 2025-01-08T19:52:52.060Z,1736365972.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:52.099Z,1736365972.099 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +29.81, +265.3 +3.29, 8.41, 0.00 2025-01-08T19:52:52.122Z,1736365972.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:52:52.123Z,1736365972.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:52.137Z,1736365972.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:52.144Z,1736365972.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T19:52:52.152Z,1736365972.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 220.611053 m, bearing: 176.907846 deg, approach rate: 0.180551 m/s, LOS rate: -0.178028 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.758531 deg. 2025-01-08T19:52:52.153Z,1736365972.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812894 target range: 221.199997 and range: 221.20 m. 2025-01-08T19:52:52.314Z,1736365972.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:52.315Z,1736365972.315 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:52.315Z,1736365972.315 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:52.315Z,1736365972.315 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:52.493Z,1736365972.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:52:52.493Z,1736365972.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:52.502Z,1736365972.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T19:52:52.505Z,1736365972.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 220.676819 m, bearing: 176.843199 deg, approach rate: 0.181083 m/s, LOS rate: -0.177950 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.781305 deg. 2025-01-08T19:52:52.506Z,1736365972.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813292 target range: 221.199997 and range: 221.20 m. 2025-01-08T19:52:52.568Z,1736365972.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:52.569Z,1736365972.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995298 2025-01-08T19:52:52.820Z,1736365972.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:52.821Z,1736365972.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247187 2025-01-08T19:52:52.000Z,1736365973.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T19:52:52.000Z,1736365973.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:53.016Z,1736365973.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T19:52:53.019Z,1736365973.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 220.766037 m, bearing: 176.755615 deg, approach rate: 0.173675 m/s, LOS rate: -0.170425 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.712543 deg. 2025-01-08T19:52:53.020Z,1736365973.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812092 target range: 221.199997 and range: 221.20 m. 2025-01-08T19:52:53.072Z,1736365973.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:53.072Z,1736365973.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498869 2025-01-08T19:52:53.324Z,1736365973.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:53.324Z,1736365973.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750882 2025-01-08T19:52:53.338Z,1736365973.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:53.406Z,1736365973.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T19:52:53.413Z,1736365973.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 220.824158 m, bearing: 176.702834 deg, approach rate: 0.149030 m/s, LOS rate: -0.135303 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816885 deg. 2025-01-08T19:52:53.414Z,1736365973.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813913 target range: 221.199997 and range: 221.20 m. 2025-01-08T19:52:53.576Z,1736365973.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:53.577Z,1736365973.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002993 2025-01-08T19:52:53.724Z,1736365973.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:53.733Z,1736365973.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T19:52:53.736Z,1736365973.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 220.889740 m, bearing: 176.643488 deg, approach rate: 0.200504 m/s, LOS rate: -0.181383 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797203 deg. 2025-01-08T19:52:53.737Z,1736365973.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813569 target range: 221.199997 and range: 221.20 m. 2025-01-08T19:52:53.828Z,1736365973.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:53.829Z,1736365973.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255004 2025-01-08T19:52:54.080Z,1736365974.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:54.081Z,1736365974.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507572 2025-01-08T19:52:54.153Z,1736365974.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:54.177Z,1736365974.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:54.188Z,1736365974.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T19:52:54.195Z,1736365974.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 220.965546 m, bearing: 176.580801 deg, approach rate: 0.168493 m/s, LOS rate: -0.139286 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.787191 deg. 2025-01-08T19:52:54.196Z,1736365974.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813395 target range: 221.199997 and range: 221.20 m. 2025-01-08T19:52:54.332Z,1736365974.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:54.332Z,1736365974.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758845 2025-01-08T19:52:54.527Z,1736365974.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:54.561Z,1736365974.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T19:52:54.568Z,1736365974.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 221.031738 m, bearing: 176.526268 deg, approach rate: 0.175363 m/s, LOS rate: -0.144430 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811637 deg. 2025-01-08T19:52:54.569Z,1736365974.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813821 target range: 221.199997 and range: 221.20 m. 2025-01-08T19:52:54.584Z,1736365974.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:54.585Z,1736365974.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011113 2025-01-08T19:52:54.836Z,1736365974.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:54.836Z,1736365974.836 [DAT](INFO): DAT read: Rx Time:19:52:53.5185 2025-01-08T19:52:54.837Z,1736365974.837 [DAT](INFO): Rx dataTimestamp_ set to:1736365974.836642 2025-01-08T19:52:54.837Z,1736365974.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263923 2025-01-08T19:52:54.952Z,1736365974.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:55.019Z,1736365975.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T19:52:55.022Z,1736365975.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 221.107346 m, bearing: 176.464536 deg, approach rate: 0.166262 m/s, LOS rate: -0.135704 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.790055 deg. 2025-01-08T19:52:55.028Z,1736365975.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813445 target range: 221.199997 and range: 221.20 m. 2025-01-08T19:52:55.088Z,1736365975.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:55.090Z,1736365975.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516057 2025-01-08T19:52:55.340Z,1736365975.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:55.346Z,1736365975.346 [DAT](INFO): DAT read: 19:52:53.5185 LVL= 18160, 20017, 10306, 19363, AGC= 64, IDX= 119, 0.37, 2.257, 1.220,-3.123, 2.325, PHS= 0.021,-1.058, 0.832, RAW= 175.3, 2.5, CAL= 175.7, -6.0, ROT= 334.3, 6.0 2025-01-08T19:52:55.347Z,1736365975.347 [DAT](INFO): got valid direction response: 19:52:53.5185 LVL= 18160, 20017, 10306, 19363, AGC= 64, IDX= 119, 0.37, 2.257, 1.220,-3.123, 2.325, PHS= 0.021,-1.058, 0.832, RAW= 175.3, 2.5, CAL= 175.7, -6.0, ROT= 334.3, 6.0 2025-01-08T19:52:55.348Z,1736365975.348 [DAT](INFO): DAT read: Bearing 334.3, 6.0 (Local) 2025-01-08T19:52:55.349Z,1736365975.349 [DAT](INFO): Local bearing/azimuth received: Bearing 334.3, 6.0 (Local) 2025-01-08T19:52:55.350Z,1736365975.350 [DAT](INFO): DAT read: Range 10 to 50 : 219.3 m (Round-trip 292.4 ms) speed 0.4 m/s 2025-01-08T19:52:55.351Z,1736365975.351 [DAT](INFO): DAT read: user:919> 2025-01-08T19:52:55.356Z,1736365975.356 [DAT](INFO): DAT read: Tx time:19:52:54.6219 2025-01-08T19:52:55.356Z,1736365975.356 [DAT](INFO): Ping request sent. 2025-01-08T19:52:55.356Z,1736365975.356 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:55.357Z,1736365975.357 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:55.357Z,1736365975.357 [DAT](INFO): direction in FSK: [-0.142744,-0.982284,0.121420] 2025-01-08T19:52:55.358Z,1736365975.358 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:55.358Z,1736365975.358 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:55.361Z,1736365975.361 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:55.361Z,1736365975.361 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:55.465Z,1736365975.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:55.501Z,1736365975.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 219.300003 m, deltaT: 3.782653 s, deltaX: -1.899994 m, approachRate: -0.502291 m/s, rangeRepo size: 4 2025-01-08T19:52:55.510Z,1736365975.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 219.300003 m, bearing: 177.365874 deg, lat: 36.902612 deg, lon: -122.117081 deg, deltaT: 3.782653 s, deltaX: -1.899994 m, approachRate: -0.502291 m/s, posRepo size: 4 2025-01-08T19:52:55.512Z,1736365975.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.30 m. 2025-01-08T19:52:55.521Z,1736365975.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.300003 m, nav range: 221.194870 m, bearing: 176.392340 deg, approach rate: 0.000000 m/s, LOS rate: -0.135704 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.777628 deg. 2025-01-08T19:52:55.522Z,1736365975.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813228 target range: 219.300003 and range: 219.30 m. 2025-01-08T19:52:55.592Z,1736365975.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:55.594Z,1736365975.594 [DAT](INFO): DAT read: TxSync time:19:52:54.6211 2025-01-08T19:52:55.800Z,1736365975.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:55.809Z,1736365975.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.30 m. 2025-01-08T19:52:55.812Z,1736365975.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.300003 m, nav range: 221.252396 m, bearing: 176.345356 deg, approach rate: 0.186625 m/s, LOS rate: -0.152386 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834272 deg. 2025-01-08T19:52:55.814Z,1736365975.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814216 target range: 219.300003 and range: 219.30 m. 2025-01-08T19:52:55.844Z,1736365975.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:56.096Z,1736365976.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:56.234Z,1736365976.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:56.241Z,1736365976.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:56.243Z,1736365976.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.30 m. 2025-01-08T19:52:56.246Z,1736365976.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.300003 m, nav range: 221.318527 m, bearing: 176.284306 deg, approach rate: 0.152424 m/s, LOS rate: -0.140668 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792094 deg. 2025-01-08T19:52:56.248Z,1736365976.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813480 target range: 219.300003 and range: 219.30 m. 2025-01-08T19:52:56.348Z,1736365976.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:56.349Z,1736365976.349 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:52:56.349Z,1736365976.349 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:52:56.349Z,1736365976.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:52:56.600Z,1736365976.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:56.601Z,1736365976.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244320 2025-01-08T19:52:56.626Z,1736365976.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:56.635Z,1736365976.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.30 m. 2025-01-08T19:52:56.638Z,1736365976.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.300003 m, nav range: 221.378220 m, bearing: 176.229072 deg, approach rate: 0.152223 m/s, LOS rate: -0.140817 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809528 deg. 2025-01-08T19:52:56.639Z,1736365976.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813785 target range: 219.300003 and range: 219.30 m. 2025-01-08T19:52:56.852Z,1736365976.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:56.852Z,1736365976.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496008 2025-01-08T19:52:57.084Z,1736365977.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:57.092Z,1736365977.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.30 m. 2025-01-08T19:52:57.094Z,1736365977.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.300003 m, nav range: 221.439255 m, bearing: 176.162973 deg, approach rate: 0.133639 m/s, LOS rate: -0.144687 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.776945 deg. 2025-01-08T19:52:57.098Z,1736365977.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813216 target range: 219.300003 and range: 219.30 m. 2025-01-08T19:52:57.104Z,1736365977.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:57.104Z,1736365977.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748141 2025-01-08T19:52:57.212Z,1736365977.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:52:57.357Z,1736365977.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:57.358Z,1736365977.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001112 2025-01-08T19:52:57.426Z,1736365977.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:57.460Z,1736365977.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.30 m. 2025-01-08T19:52:57.463Z,1736365977.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.300003 m, nav range: 221.485703 m, bearing: 176.113476 deg, approach rate: 0.125974 m/s, LOS rate: -0.134216 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826728 deg. 2025-01-08T19:52:57.468Z,1736365977.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814085 target range: 219.300003 and range: 219.30 m. 2025-01-08T19:52:57.608Z,1736365977.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:57.609Z,1736365977.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252380 2025-01-08T19:52:57.839Z,1736365977.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:57.848Z,1736365977.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.30 m. 2025-01-08T19:52:57.851Z,1736365977.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.300003 m, nav range: 221.541840 m, bearing: 176.053911 deg, approach rate: 0.144604 m/s, LOS rate: -0.153394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796539 deg. 2025-01-08T19:52:57.853Z,1736365977.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813558 target range: 219.300003 and range: 219.30 m. 2025-01-08T19:52:57.860Z,1736365977.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:57.860Z,1736365977.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504175 2025-01-08T19:52:58.112Z,1736365978.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:58.112Z,1736365978.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756118 2025-01-08T19:52:58.216Z,1736365978.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:52:58.265Z,1736365978.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:58.271Z,1736365978.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:52:58.273Z,1736365978.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.30 m. 2025-01-08T19:52:58.277Z,1736365978.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.300003 m, nav range: 221.595871 m, bearing: 175.989668 deg, approach rate: 0.127143 m/s, LOS rate: -0.151137 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782503 deg. 2025-01-08T19:52:58.278Z,1736365978.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813313 target range: 219.300003 and range: 219.30 m. 2025-01-08T19:52:58.365Z,1736365978.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:58.366Z,1736365978.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009536 2025-01-08T19:52:58.616Z,1736365978.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:58.616Z,1736365978.616 [DAT](INFO): DAT read: Rx Time:19:52:57.3155 2025-01-08T19:52:58.617Z,1736365978.617 [DAT](INFO): Rx dataTimestamp_ set to:1736365978.616664 2025-01-08T19:52:58.617Z,1736365978.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261190 2025-01-08T19:52:58.688Z,1736365978.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:58.710Z,1736365978.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.30 m. 2025-01-08T19:52:58.717Z,1736365978.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.300003 m, nav range: 221.650146 m, bearing: 175.925888 deg, approach rate: 0.124340 m/s, LOS rate: -0.146077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783895 deg. 2025-01-08T19:52:58.718Z,1736365978.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813337 target range: 219.300003 and range: 219.30 m. 2025-01-08T19:52:58.868Z,1736365978.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:58.869Z,1736365978.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512210 2025-01-08T19:52:59.112Z,1736365979.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:59.128Z,1736365979.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:59.139Z,1736365979.139 [DAT](INFO): DAT read: 19:52:57.3156 LVL= 19984, 22769, 11858, 25395, AGC= 62, IDX= 116, 0.01, 2.552, 1.589,-2.847, 2.592, PHS= 0.048,-0.956, 0.841, RAW= 176.1, 0.9, CAL= 176.7, -7.3, ROT= 333.3, 7.3 2025-01-08T19:52:59.140Z,1736365979.140 [DAT](INFO): got valid direction response: 19:52:57.3156 LVL= 19984, 22769, 11858, 25395, AGC= 62, IDX= 116, 0.01, 2.552, 1.589,-2.847, 2.592, PHS= 0.048,-0.956, 0.841, RAW= 176.1, 0.9, CAL= 176.7, -7.3, ROT= 333.3, 7.3 2025-01-08T19:52:59.141Z,1736365979.141 [DAT](INFO): DAT read: Bearing 333.3, 7.3 (Local) 2025-01-08T19:52:59.141Z,1736365979.141 [DAT](INFO): Local bearing/azimuth received: Bearing 333.3, 7.3 (Local) 2025-01-08T19:52:59.143Z,1736365979.143 [DAT](INFO): DAT read: Range 10 to 50 : 217.0 m (Round-trip 289.4 ms) speed 1.1 m/s 2025-01-08T19:52:59.144Z,1736365979.144 [DAT](INFO): DAT read: user:920> 2025-01-08T19:52:59.144Z,1736365979.144 [DAT](INFO): DAT read: Tx time:19:52:58.4220 2025-01-08T19:52:59.145Z,1736365979.145 [DAT](INFO): Ping request sent. 2025-01-08T19:52:59.145Z,1736365979.145 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:52:59.145Z,1736365979.145 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:52:59.146Z,1736365979.146 [DAT](INFO): direction in FSK: [-0.110086,-0.987831,0.109870] 2025-01-08T19:52:59.147Z,1736365979.147 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:59.148Z,1736365979.148 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:59.151Z,1736365979.151 [DAT](INFO): publishing transmit ping time 2025-01-08T19:52:59.155Z,1736365979.155 [DAT](INFO): publishing direction and range info 2025-01-08T19:52:59.172Z,1736365979.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 217.000000 m, deltaT: 3.788071 s, deltaX: -2.300003 m, approachRate: -0.607170 m/s, rangeRepo size: 4 2025-01-08T19:52:59.174Z,1736365979.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 217.000000 m, bearing: 179.709998 deg, lat: 36.902612 deg, lon: -122.117081 deg, deltaT: 3.788071 s, deltaX: -2.300003 m, approachRate: -0.607170 m/s, posRepo size: 4 2025-01-08T19:52:59.180Z,1736365979.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:52:59.183Z,1736365979.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 221.698227 m, bearing: 175.858359 deg, approach rate: 0.000000 m/s, LOS rate: -0.146077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.773082 deg. 2025-01-08T19:52:59.185Z,1736365979.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813148 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:52:59.380Z,1736365979.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:59.381Z,1736365979.381 [DAT](INFO): DAT read: TxSync time:19:52:58.4212 2025-01-08T19:52:59.536Z,1736365979.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:59.554Z,1736365979.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:52:59.561Z,1736365979.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 221.744904 m, bearing: 175.793502 deg, approach rate: 0.121971 m/s, LOS rate: -0.169443 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.780657 deg. 2025-01-08T19:52:59.562Z,1736365979.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813281 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:52:59.632Z,1736365979.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:52:59.866Z,1736365979.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:52:59.875Z,1736365979.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:52:59.878Z,1736365979.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 221.784729 m, bearing: 175.738133 deg, approach rate: 0.124113 m/s, LOS rate: -0.172522 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809111 deg. 2025-01-08T19:52:59.879Z,1736365979.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813777 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:52:59.884Z,1736365979.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:00.136Z,1736365980.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:00.294Z,1736365980.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:00.302Z,1736365980.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:00.304Z,1736365980.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:00.307Z,1736365980.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 221.830750 m, bearing: 175.664522 deg, approach rate: 0.107158 m/s, LOS rate: -0.171366 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.754402 deg. 2025-01-08T19:53:00.324Z,1736365980.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812822 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:00.388Z,1736365980.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:00.389Z,1736365980.389 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:00.389Z,1736365980.389 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:00.390Z,1736365980.390 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:00.640Z,1736365980.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:00.640Z,1736365980.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495717 2025-01-08T19:53:00.684Z,1736365980.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:00.716Z,1736365980.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:00.719Z,1736365980.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 221.872696 m, bearing: 175.597483 deg, approach rate: 0.101852 m/s, LOS rate: -0.162748 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.774110 deg. 2025-01-08T19:53:00.722Z,1736365980.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813166 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:00.892Z,1736365980.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:00.892Z,1736365980.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747701 2025-01-08T19:53:01.144Z,1736365981.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:01.145Z,1736365981.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999909 2025-01-08T19:53:01.157Z,1736365981.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:01.183Z,1736365981.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:01.190Z,1736365981.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 221.928131 m, bearing: 175.511805 deg, approach rate: 0.118796 m/s, LOS rate: -0.183561 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.718217 deg. 2025-01-08T19:53:01.191Z,1736365981.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812191 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:01.396Z,1736365981.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:01.397Z,1736365981.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252350 2025-01-08T19:53:01.509Z,1736365981.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:01.521Z,1736365981.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:01.524Z,1736365981.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 221.969849 m, bearing: 175.447863 deg, approach rate: 0.123316 m/s, LOS rate: -0.188975 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783398 deg. 2025-01-08T19:53:01.525Z,1736365981.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813328 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:01.660Z,1736365981.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:01.661Z,1736365981.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516069 2025-01-08T19:53:01.893Z,1736365981.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:01.905Z,1736365981.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:01.908Z,1736365981.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.015411 m, bearing: 175.378486 deg, approach rate: 0.118519 m/s, LOS rate: -0.180427 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.767100 deg. 2025-01-08T19:53:01.910Z,1736365981.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813044 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:01.912Z,1736365981.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:01.913Z,1736365981.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767871 2025-01-08T19:53:02.164Z,1736365982.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:02.165Z,1736365982.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020013 2025-01-08T19:53:02.312Z,1736365982.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:02.336Z,1736365982.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:02.338Z,1736365982.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:02.345Z,1736365982.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.073013 m, bearing: 175.301109 deg, approach rate: 0.133084 m/s, LOS rate: -0.178726 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.743118 deg. 2025-01-08T19:53:02.351Z,1736365982.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812625 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:02.416Z,1736365982.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:02.417Z,1736365982.417 [DAT](INFO): DAT read: Rx Time:19:53:01.0834 2025-01-08T19:53:02.418Z,1736365982.418 [DAT](INFO): Rx dataTimestamp_ set to:1736365982.417933 2025-01-08T19:53:02.419Z,1736365982.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274082 2025-01-08T19:53:02.668Z,1736365982.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:02.669Z,1736365982.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524445 2025-01-08T19:53:02.733Z,1736365982.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:02.800Z,1736365982.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:02.803Z,1736365982.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.131149 m, bearing: 175.223615 deg, approach rate: 0.125820 m/s, LOS rate: -0.167671 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.742767 deg. 2025-01-08T19:53:02.808Z,1736365982.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812619 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:02.920Z,1736365982.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:02.932Z,1736365982.932 [DAT](INFO): DAT read: 19:53:01.0834 LVL= 28800, 24769, 16306, 26867, AGC= 61, IDX= 119,-0.15,-0.855,-1.810, 0.002,-0.742, PHS=-0.025,-1.021, 0.741, RAW= 175.7, 4.0, CAL= 175.8, -4.8, ROT= 334.2, 4.8 2025-01-08T19:53:02.933Z,1736365982.933 [DAT](INFO): got valid direction response: 19:53:01.0834 LVL= 28800, 24769, 16306, 26867, AGC= 61, IDX= 119,-0.15,-0.855,-1.810, 0.002,-0.742, PHS=-0.025,-1.021, 0.741, RAW= 175.7, 4.0, CAL= 175.8, -4.8, ROT= 334.2, 4.8 2025-01-08T19:53:02.934Z,1736365982.934 [DAT](INFO): DAT read: Bearing 334.2, 4.8 (Local) 2025-01-08T19:53:02.934Z,1736365982.934 [DAT](INFO): Local bearing/azimuth received: Bearing 334.2, 4.8 (Local) 2025-01-08T19:53:02.937Z,1736365982.937 [DAT](INFO): DAT read: Range 10 to 50 : 192.9 m (Round-trip 257.3 ms) speed 0.5 m/s 2025-01-08T19:53:02.938Z,1736365982.938 [DAT](INFO): DAT read: user:921> 2025-01-08T19:53:02.939Z,1736365982.939 [DAT](INFO): DAT read: Tx time:19:53:02.1720 2025-01-08T19:53:02.940Z,1736365982.940 [DAT](INFO): Ping request sent. 2025-01-08T19:53:02.940Z,1736365982.940 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:02.940Z,1736365982.940 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:53:02.941Z,1736365982.941 [DAT](INFO): direction in FSK: [-0.170549,-0.978875,0.112771] 2025-01-08T19:53:02.942Z,1736365982.942 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:02.942Z,1736365982.942 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:02.945Z,1736365982.945 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:02.945Z,1736365982.945 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:03.172Z,1736365983.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:03.172Z,1736365983.172 [DAT](INFO): DAT read: TxSync time:19:53:02.1712 2025-01-08T19:53:03.243Z,1736365983.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:03.275Z,1736365983.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 192.899994 m, deltaT: 3.792618 s, deltaX: -24.100006 m, approachRate: -6.354451 m/s, rangeRepo size: 4 2025-01-08T19:53:03.281Z,1736365983.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:03.284Z,1736365983.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.211090 m, bearing: 175.126032 deg, approach rate: 0.168675 m/s, LOS rate: -0.205827 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.682545 deg. 2025-01-08T19:53:03.286Z,1736365983.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811568 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:03.425Z,1736365983.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:03.575Z,1736365983.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:03.589Z,1736365983.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:03.591Z,1736365983.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.263123 m, bearing: 175.061355 deg, approach rate: 0.165509 m/s, LOS rate: -0.205681 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.781203 deg. 2025-01-08T19:53:03.593Z,1736365983.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813290 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:03.676Z,1736365983.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:03.928Z,1736365983.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:03.964Z,1736365983.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:03.973Z,1736365983.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:03.975Z,1736365983.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.323364 m, bearing: 174.986451 deg, approach rate: 0.156849 m/s, LOS rate: -0.194974 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.750534 deg. 2025-01-08T19:53:03.977Z,1736365983.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812755 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:04.180Z,1736365984.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:04.394Z,1736365984.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:04.402Z,1736365984.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:04.405Z,1736365984.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:04.408Z,1736365984.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.393021 m, bearing: 174.905640 deg, approach rate: 0.161163 m/s, LOS rate: -0.186911 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.732834 deg. 2025-01-08T19:53:04.409Z,1736365984.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812446 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:04.432Z,1736365984.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:04.432Z,1736365984.432 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:04.432Z,1736365984.432 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:04.432Z,1736365984.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:04.685Z,1736365984.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:04.687Z,1736365984.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746065 2025-01-08T19:53:04.775Z,1736365984.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:04.784Z,1736365984.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:04.786Z,1736365984.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.455505 m, bearing: 174.834222 deg, approach rate: 0.164837 m/s, LOS rate: -0.188351 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760993 deg. 2025-01-08T19:53:04.788Z,1736365984.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812937 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:04.936Z,1736365984.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:04.936Z,1736365984.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996302 2025-01-08T19:53:05.188Z,1736365985.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:05.188Z,1736365985.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248281 2025-01-08T19:53:05.205Z,1736365985.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:05.215Z,1736365985.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:05.218Z,1736365985.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.540039 m, bearing: 174.756046 deg, approach rate: 0.196047 m/s, LOS rate: -0.181233 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.740750 deg. 2025-01-08T19:53:05.220Z,1736365985.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812584 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:05.440Z,1736365985.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:05.441Z,1736365985.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500439 2025-01-08T19:53:05.597Z,1736365985.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:05.615Z,1736365985.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:05.622Z,1736365985.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.617203 m, bearing: 174.685004 deg, approach rate: 0.193157 m/s, LOS rate: -0.177771 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.762137 deg. 2025-01-08T19:53:05.628Z,1736365985.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812957 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:05.692Z,1736365985.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:05.694Z,1736365985.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753797 2025-01-08T19:53:05.944Z,1736365985.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:05.944Z,1736365985.944 [DAT](INFO): DAT read: Rx Time:19:53:04.8005 2025-01-08T19:53:05.945Z,1736365985.945 [DAT](INFO): Rx dataTimestamp_ set to:1736365985.944557 2025-01-08T19:53:05.945Z,1736365985.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005253 2025-01-08T19:53:05.998Z,1736365985.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:06.020Z,1736365986.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:06.022Z,1736365986.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.696762 m, bearing: 174.612204 deg, approach rate: 0.196519 m/s, LOS rate: -0.179759 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.756865 deg. 2025-01-08T19:53:06.024Z,1736365986.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812865 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:06.196Z,1736365986.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:06.197Z,1736365986.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257008 2025-01-08T19:53:06.416Z,1736365986.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:06.422Z,1736365986.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:06.427Z,1736365986.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:06.445Z,1736365986.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.788025 m, bearing: 174.539145 deg, approach rate: 0.224177 m/s, LOS rate: -0.179388 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.756100 deg. 2025-01-08T19:53:06.448Z,1736365986.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:06.449Z,1736365986.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508924 2025-01-08T19:53:06.453Z,1736365986.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812852 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:06.700Z,1736365986.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:06.708Z,1736365986.708 [DAT](INFO): DAT read: 19:53:04.8005 LVL= 24304, 24625, 17090, 27779, AGC= 62, IDX= 103,-0.35,-2.487, 2.877,-1.571,-2.356, PHS=-0.043,-1.004, 0.782, RAW= 177.5, 3.5, CAL= 177.6, -5.2, ROT= 332.4, 5.2 2025-01-08T19:53:06.710Z,1736365986.710 [DAT](INFO): got valid direction response: 19:53:04.8005 LVL= 24304, 24625, 17090, 27779, AGC= 62, IDX= 103,-0.35,-2.487, 2.877,-1.571,-2.356, PHS=-0.043,-1.004, 0.782, RAW= 177.5, 3.5, CAL= 177.6, -5.2, ROT= 332.4, 5.2 2025-01-08T19:53:06.712Z,1736365986.712 [DAT](INFO): DAT read: Bearing 332.4, 5.2 (Local) 2025-01-08T19:53:06.713Z,1736365986.713 [DAT](INFO): Local bearing/azimuth received: Bearing 332.4, 5.2 (Local) 2025-01-08T19:53:06.719Z,1736365986.719 [DAT](INFO): DAT read: Range 10 to 50 : 168.3 m (Round-trip 224.4 ms) speed 0.1 m/s 2025-01-08T19:53:06.721Z,1736365986.721 [DAT](INFO): DAT read: user:922> 2025-01-08T19:53:06.722Z,1736365986.722 [DAT](INFO): DAT read: Tx time:19:53:05.9220 2025-01-08T19:53:06.722Z,1736365986.722 [DAT](INFO): Ping request sent. 2025-01-08T19:53:06.722Z,1736365986.722 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:06.724Z,1736365986.724 [DAT](INFO): DAT read: TxSync time:19:53:05.9212 2025-01-08T19:53:06.724Z,1736365986.724 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:53:06.725Z,1736365986.725 [DAT](INFO): direction in FSK: [-0.157104,-0.984119,0.082634] 2025-01-08T19:53:06.725Z,1736365986.725 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:06.726Z,1736365986.726 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:06.729Z,1736365986.729 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:06.729Z,1736365986.729 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:06.820Z,1736365986.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:06.860Z,1736365986.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 168.300003 m, deltaT: 7.571876 s, deltaX: -48.699997 m, approachRate: -6.431695 m/s, rangeRepo size: 4 2025-01-08T19:53:06.861Z,1736365986.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:06.868Z,1736365986.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.876587 m, bearing: 174.468563 deg, approach rate: 0.208587 m/s, LOS rate: -0.166172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.763527 deg. 2025-01-08T19:53:06.869Z,1736365986.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812982 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:06.952Z,1736365986.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:07.204Z,1736365987.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:07.248Z,1736365987.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:07.265Z,1736365987.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:07.272Z,1736365987.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 222.962952 m, bearing: 174.398545 deg, approach rate: 0.208420 m/s, LOS rate: -0.168906 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.765215 deg. 2025-01-08T19:53:07.274Z,1736365987.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813011 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:07.456Z,1736365987.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:07.605Z,1736365987.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:07.615Z,1736365987.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:07.624Z,1736365987.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.035141 m, bearing: 174.339994 deg, approach rate: 0.206757 m/s, LOS rate: -0.167642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799590 deg. 2025-01-08T19:53:07.626Z,1736365987.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813611 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:07.708Z,1736365987.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:07.960Z,1736365987.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:08.008Z,1736365988.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:08.035Z,1736365988.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:08.038Z,1736365988.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.116653 m, bearing: 174.273985 deg, approach rate: 0.193914 m/s, LOS rate: -0.156975 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.777232 deg. 2025-01-08T19:53:08.039Z,1736365988.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813221 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:08.216Z,1736365988.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:08.465Z,1736365988.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:08.482Z,1736365988.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:08.498Z,1736365988.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:08.504Z,1736365988.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:08.507Z,1736365988.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.211151 m, bearing: 174.202220 deg, approach rate: 0.201400 m/s, LOS rate: -0.152886 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.759984 deg. 2025-01-08T19:53:08.517Z,1736365988.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812920 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:08.716Z,1736365988.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:08.716Z,1736365988.716 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:08.716Z,1736365988.716 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:08.717Z,1736365988.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:08.811Z,1736365988.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:08.820Z,1736365988.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:08.823Z,1736365988.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.277527 m, bearing: 174.152353 deg, approach rate: 0.210063 m/s, LOS rate: -0.157769 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825631 deg. 2025-01-08T19:53:08.824Z,1736365988.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814065 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:08.968Z,1736365988.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:08.968Z,1736365988.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245995 2025-01-08T19:53:09.220Z,1736365989.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:09.221Z,1736365989.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498179 2025-01-08T19:53:09.278Z,1736365989.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:09.287Z,1736365989.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:09.290Z,1736365989.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.359589 m, bearing: 174.086504 deg, approach rate: 0.175834 m/s, LOS rate: -0.141043 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.777713 deg. 2025-01-08T19:53:09.292Z,1736365989.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813229 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:09.472Z,1736365989.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:09.472Z,1736365989.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750021 2025-01-08T19:53:09.618Z,1736365989.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:09.627Z,1736365989.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:09.630Z,1736365989.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.419830 m, bearing: 174.038587 deg, approach rate: 0.177225 m/s, LOS rate: -0.140928 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831476 deg. 2025-01-08T19:53:09.631Z,1736365989.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814167 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:09.725Z,1736365989.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:09.727Z,1736365989.727 [DAT](INFO): DAT read: Rx Time:19:53:08.5788 2025-01-08T19:53:09.728Z,1736365989.728 [DAT](INFO): Rx dataTimestamp_ set to:1736365989.727233 2025-01-08T19:53:09.728Z,1736365989.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006064 2025-01-08T19:53:09.976Z,1736365989.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:09.978Z,1736365989.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255085 2025-01-08T19:53:10.032Z,1736365990.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:10.040Z,1736365990.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:10.043Z,1736365990.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.493484 m, bearing: 173.980325 deg, approach rate: 0.178044 m/s, LOS rate: -0.140792 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800457 deg. 2025-01-08T19:53:10.044Z,1736365990.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813626 target range: 217.000000 and range: 217.00 m. 2025-01-08T19:53:10.229Z,1736365990.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:10.233Z,1736365990.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510398 2025-01-08T19:53:10.476Z,1736365990.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:10.480Z,1736365990.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:10.482Z,1736365990.482 [DAT](INFO): DAT read: Range 10 to 50 : 189.4 m (Round-trip 252.6 ms) speed 0.4 m/s 2025-01-08T19:53:10.483Z,1736365990.483 [DAT](INFO): DAT read: user:923> 2025-01-08T19:53:10.484Z,1736365990.484 [DAT](INFO): DAT read: Tx time:19:53:09.6721 2025-01-08T19:53:10.484Z,1736365990.484 [DAT](INFO): Ping request sent. 2025-01-08T19:53:10.484Z,1736365990.484 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:10.485Z,1736365990.485 [DAT](INFO): DAT read: TxSync time:19:53:09.6713 2025-01-08T19:53:10.485Z,1736365990.485 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:53:10.485Z,1736365990.485 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:10.486Z,1736365990.486 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:10.493Z,1736365990.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 189.399994 m, deltaT: 11.352588 s, deltaX: -27.600006 m, approachRate: -2.431164 m/s, rangeRepo size: 4 2025-01-08T19:53:10.494Z,1736365990.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:10.498Z,1736365990.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.563034 m, bearing: 173.921712 deg, approach rate: 0.153782 m/s, LOS rate: -0.129559 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799403 deg. 2025-01-08T19:53:10.499Z,1736365990.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813608 target range: 217.000000 and range: 189.40 m. 2025-01-08T19:53:10.732Z,1736365990.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:10.833Z,1736365990.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:10.840Z,1736365990.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:10.842Z,1736365990.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:10.845Z,1736365990.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.619720 m, bearing: 173.874622 deg, approach rate: 0.162262 m/s, LOS rate: -0.134758 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833953 deg. 2025-01-08T19:53:10.847Z,1736365990.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814211 target range: 217.000000 and range: 189.40 m. 2025-01-08T19:53:10.984Z,1736365990.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:10.984Z,1736365990.984 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:10.984Z,1736365990.984 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:10.985Z,1736365990.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:11.237Z,1736365991.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:11.240Z,1736365991.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755182 2025-01-08T19:53:11.299Z,1736365991.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:11.308Z,1736365991.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:11.311Z,1736365991.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.682297 m, bearing: 173.813841 deg, approach rate: 0.134488 m/s, LOS rate: -0.130592 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792897 deg. 2025-01-08T19:53:11.312Z,1736365991.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813494 target range: 217.000000 and range: 189.40 m. 2025-01-08T19:53:11.488Z,1736365991.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:11.489Z,1736365991.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004321 2025-01-08T19:53:11.642Z,1736365991.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:11.654Z,1736365991.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:11.659Z,1736365991.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.728760 m, bearing: 173.769090 deg, approach rate: 0.134202 m/s, LOS rate: -0.129230 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840962 deg. 2025-01-08T19:53:11.661Z,1736365991.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814333 target range: 217.000000 and range: 189.40 m. 2025-01-08T19:53:11.741Z,1736365991.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:11.742Z,1736365991.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257578 2025-01-08T19:53:11.992Z,1736365991.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:11.992Z,1736365991.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508062 2025-01-08T19:53:12.056Z,1736365992.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:12.065Z,1736365992.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:12.072Z,1736365992.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.785385 m, bearing: 173.715087 deg, approach rate: 0.137569 m/s, LOS rate: -0.131165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813219 deg. 2025-01-08T19:53:12.074Z,1736365992.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813849 target range: 217.000000 and range: 189.40 m. 2025-01-08T19:53:12.246Z,1736365992.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:12.247Z,1736365992.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762072 2025-01-08T19:53:12.471Z,1736365992.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:12.480Z,1736365992.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:12.483Z,1736365992.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.841827 m, bearing: 173.658450 deg, approach rate: 0.136257 m/s, LOS rate: -0.136692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.805320 deg. 2025-01-08T19:53:12.496Z,1736365992.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:12.497Z,1736365992.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012866 2025-01-08T19:53:12.504Z,1736365992.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813711 target range: 217.000000 and range: 189.40 m. 2025-01-08T19:53:12.748Z,1736365992.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:12.750Z,1736365992.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265454 2025-01-08T19:53:12.855Z,1736365992.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:12.862Z,1736365992.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:12.865Z,1736365992.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:12.868Z,1736365992.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.894699 m, bearing: 173.606060 deg, approach rate: 0.137181 m/s, LOS rate: -0.135900 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818053 deg. 2025-01-08T19:53:12.869Z,1736365992.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813933 target range: 217.000000 and range: 189.40 m. 2025-01-08T19:53:13.000Z,1736365993.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:13.001Z,1736365993.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516928 2025-01-08T19:53:13.253Z,1736365993.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:13.256Z,1736365993.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770809 2025-01-08T19:53:13.318Z,1736365993.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:13.364Z,1736365993.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:13.374Z,1736365993.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 223.963913 m, bearing: 173.537376 deg, approach rate: 0.140347 m/s, LOS rate: -0.139228 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.769201 deg. 2025-01-08T19:53:13.380Z,1736365993.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813080 target range: 217.000000 and range: 189.40 m. 2025-01-08T19:53:13.504Z,1736365993.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:13.505Z,1736365993.505 [DAT](INFO): DAT read: Rx Time:19:53:12.3258 2025-01-08T19:53:13.506Z,1736365993.506 [DAT](INFO): Rx dataTimestamp_ set to:1736365993.505328 2025-01-08T19:53:13.507Z,1736365993.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022285 2025-01-08T19:53:13.700Z,1736365993.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:13.732Z,1736365993.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:13.741Z,1736365993.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 224.021469 m, bearing: 173.480854 deg, approach rate: 0.155966 m/s, LOS rate: -0.153126 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.805663 deg. 2025-01-08T19:53:13.742Z,1736365993.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813717 target range: 217.000000 and range: 189.40 m. 2025-01-08T19:53:13.756Z,1736365993.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:13.756Z,1736365993.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272220 2025-01-08T19:53:14.009Z,1736365994.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:14.012Z,1736365994.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526772 2025-01-08T19:53:14.116Z,1736365994.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:14.125Z,1736365994.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.00 m. 2025-01-08T19:53:14.130Z,1736365994.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.000000 m, nav range: 224.084702 m, bearing: 173.419245 deg, approach rate: 0.158926 m/s, LOS rate: -0.154803 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.790411 deg. 2025-01-08T19:53:14.135Z,1736365994.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813451 target range: 217.000000 and range: 189.40 m. 2025-01-08T19:53:14.261Z,1736365994.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:14.278Z,1736365994.278 [DAT](INFO): DAT read: 19:53:12.3258 LVL= 27088, 31985, 13938, 30451, AGC= 64, IDX= 408, 0.10,-2.145,-3.129,-1.115,-2.041, PHS=-0.016,-1.041, 0.923, RAW= 178.6, 1.6, CAL= 178.9, -6.6, ROT= 331.1, 6.6 2025-01-08T19:53:14.279Z,1736365994.279 [DAT](INFO): got valid direction response: 19:53:12.3258 LVL= 27088, 31985, 13938, 30451, AGC= 64, IDX= 408, 0.10,-2.145,-3.129,-1.115,-2.041, PHS=-0.016,-1.041, 0.923, RAW= 178.6, 1.6, CAL= 178.9, -6.6, ROT= 331.1, 6.6 2025-01-08T19:53:14.281Z,1736365994.281 [DAT](INFO): DAT read: Bearing 331.1, 6.6 (Local) 2025-01-08T19:53:14.281Z,1736365994.281 [DAT](INFO): Local bearing/azimuth received: Bearing 331.1, 6.6 (Local) 2025-01-08T19:53:14.283Z,1736365994.283 [DAT](INFO): DAT read: Range 10 to 50 : 187.2 m (Round-trip 249.6 ms) speed 0.4 m/s 2025-01-08T19:53:14.284Z,1736365994.284 [DAT](INFO): DAT read: user:924> 2025-01-08T19:53:14.285Z,1736365994.285 [DAT](INFO): DAT read: Tx time:19:53:13.4221 2025-01-08T19:53:14.285Z,1736365994.285 [DAT](INFO): Ping request sent. 2025-01-08T19:53:14.285Z,1736365994.285 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:14.286Z,1736365994.286 [DAT](INFO): DAT read: TxSync time:19:53:13.4213 2025-01-08T19:53:14.286Z,1736365994.286 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:53:14.287Z,1736365994.287 [DAT](INFO): direction in FSK: [-0.120147,-0.990511,0.066724] 2025-01-08T19:53:14.288Z,1736365994.288 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:14.288Z,1736365994.288 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:14.291Z,1736365994.291 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:14.304Z,1736365994.304 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:14.512Z,1736365994.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:14.554Z,1736365994.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:14.589Z,1736365994.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 187.199997 m, deltaT: 3.780859 s, deltaX: -2.199997 m, approachRate: -0.581878 m/s, rangeRepo size: 4 2025-01-08T19:53:14.591Z,1736365994.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 187.199997 m, bearing: 179.910952 deg, lat: 36.902873 deg, lon: -122.117215 deg, deltaT: 15.133447 s, deltaX: -29.800003 m, approachRate: -1.969148 m/s, posRepo size: 4 2025-01-08T19:53:14.597Z,1736365994.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:14.601Z,1736365994.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 194.185150 m, bearing: 175.839105 deg, approach rate: 0.000000 m/s, LOS rate: -0.154803 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760162 deg. 2025-01-08T19:53:14.602Z,1736365994.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812923 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:14.764Z,1736365994.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:14.931Z,1736365994.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:14.938Z,1736365994.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:14.940Z,1736365994.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:14.942Z,1736365994.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 194.239304 m, bearing: 175.767535 deg, approach rate: 0.154030 m/s, LOS rate: -0.203512 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760537 deg. 2025-01-08T19:53:14.944Z,1736365994.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812929 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:15.019Z,1736365995.019 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:15.019Z,1736365995.019 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:15.019Z,1736365995.019 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:15.020Z,1736365995.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:15.273Z,1736365995.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:15.276Z,1736365995.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990460 2025-01-08T19:53:15.368Z,1736365995.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:15.377Z,1736365995.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:15.380Z,1736365995.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 194.310623 m, bearing: 175.675266 deg, approach rate: 0.163096 m/s, LOS rate: -0.210927 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.698483 deg. 2025-01-08T19:53:15.381Z,1736365995.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811846 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:15.524Z,1736365995.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:15.524Z,1736365995.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239059 2025-01-08T19:53:15.731Z,1736365995.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:15.771Z,1736365995.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:15.774Z,1736365995.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 194.370148 m, bearing: 175.598806 deg, approach rate: 0.152906 m/s, LOS rate: -0.196349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.745879 deg. 2025-01-08T19:53:15.776Z,1736365995.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:15.776Z,1736365995.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491171 2025-01-08T19:53:15.779Z,1736365995.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812674 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:16.028Z,1736365996.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:16.029Z,1736365996.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743346 2025-01-08T19:53:16.134Z,1736365996.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:16.143Z,1736365996.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:16.146Z,1736365996.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 194.436218 m, bearing: 175.513777 deg, approach rate: 0.175365 m/s, LOS rate: -0.225608 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.720188 deg. 2025-01-08T19:53:16.148Z,1736365996.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812225 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:16.281Z,1736365996.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:16.284Z,1736365996.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997938 2025-01-08T19:53:16.532Z,1736365996.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:16.532Z,1736365996.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247164 2025-01-08T19:53:16.556Z,1736365996.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:16.592Z,1736365996.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:16.594Z,1736365996.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 194.512451 m, bearing: 175.419899 deg, approach rate: 0.170942 m/s, LOS rate: -0.210425 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.693668 deg. 2025-01-08T19:53:16.596Z,1736365996.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811762 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:16.785Z,1736365996.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:16.786Z,1736365996.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500683 2025-01-08T19:53:16.937Z,1736365996.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:16.944Z,1736365996.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:16.946Z,1736365996.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:16.949Z,1736365996.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 194.581146 m, bearing: 175.334968 deg, approach rate: 0.192489 m/s, LOS rate: -0.237901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.720483 deg. 2025-01-08T19:53:16.950Z,1736365996.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812230 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:17.036Z,1736365997.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:17.038Z,1736365997.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752245 2025-01-08T19:53:17.293Z,1736365997.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:17.296Z,1736365997.296 [DAT](INFO): DAT read: Rx Time:19:53:16.0420 2025-01-08T19:53:17.297Z,1736365997.297 [DAT](INFO): Rx dataTimestamp_ set to:1736365997.296570 2025-01-08T19:53:17.299Z,1736365997.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013177 2025-01-08T19:53:17.407Z,1736365997.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:17.433Z,1736365997.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:17.436Z,1736365997.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 194.668564 m, bearing: 175.228694 deg, approach rate: 0.179512 m/s, LOS rate: -0.218136 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.656511 deg. 2025-01-08T19:53:17.437Z,1736365997.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811114 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:17.540Z,1736365997.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:17.541Z,1736365997.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255809 2025-01-08T19:53:17.792Z,1736365997.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:17.802Z,1736365997.802 [DAT](INFO): DAT read: 19:53:16.0420 LVL= 29568, 30305, 16162, 32755, AGC= 61, IDX= 94,-0.36, 1.875, 0.985, 2.835, 2.009, PHS=-0.046,-0.976, 0.823, RAW= 178.9, 2.6, CAL= 179.1, -5.8, ROT= 330.9, 5.8 2025-01-08T19:53:17.803Z,1736365997.803 [DAT](INFO): got valid direction response: 19:53:16.0420 LVL= 29568, 30305, 16162, 32755, AGC= 61, IDX= 94,-0.36, 1.875, 0.985, 2.835, 2.009, PHS=-0.046,-0.976, 0.823, RAW= 178.9, 2.6, CAL= 179.1, -5.8, ROT= 330.9, 5.8 2025-01-08T19:53:17.804Z,1736365997.804 [DAT](INFO): DAT read: Bearing 330.9, 5.8 (Local) 2025-01-08T19:53:17.804Z,1736365997.804 [DAT](INFO): Local bearing/azimuth received: Bearing 330.9, 5.8 (Local) 2025-01-08T19:53:17.806Z,1736365997.806 [DAT](INFO): DAT read: Range 10 to 50 : 161.8 m (Round-trip 215.8 ms) speed 0.5 m/s 2025-01-08T19:53:17.807Z,1736365997.807 [DAT](INFO): DAT read: user:925> 2025-01-08T19:53:17.808Z,1736365997.808 [DAT](INFO): DAT read: Tx time:19:53:17.1721 2025-01-08T19:53:17.808Z,1736365997.808 [DAT](INFO): Ping request sent. 2025-01-08T19:53:17.808Z,1736365997.808 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:17.808Z,1736365997.808 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:53:17.809Z,1736365997.809 [DAT](INFO): direction in FSK: [-0.138360,-0.988580,0.059721] 2025-01-08T19:53:17.810Z,1736365997.810 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:17.810Z,1736365997.810 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:17.813Z,1736365997.813 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:17.813Z,1736365997.813 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:17.841Z,1736365997.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:17.905Z,1736365997.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 161.800003 m, deltaT: 3.531018 s, deltaX: -25.399994 m, approachRate: -7.193391 m/s, rangeRepo size: 4 2025-01-08T19:53:17.905Z,1736365997.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:17.926Z,1736365997.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 194.745789 m, bearing: 175.135576 deg, approach rate: 0.163773 m/s, LOS rate: -0.197399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.695946 deg. 2025-01-08T19:53:17.944Z,1736365997.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811802 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:18.044Z,1736365998.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:18.046Z,1736365998.046 [DAT](INFO): DAT read: TxSync time:19:53:17.1713 2025-01-08T19:53:18.236Z,1736365998.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:18.244Z,1736365998.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:18.256Z,1736365998.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 194.822113 m, bearing: 175.041361 deg, approach rate: 0.224365 m/s, LOS rate: -0.276847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.692655 deg. 2025-01-08T19:53:18.257Z,1736365998.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811745 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:18.298Z,1736365998.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:18.548Z,1736365998.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:18.661Z,1736365998.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:18.675Z,1736365998.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:18.681Z,1736365998.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 194.902390 m, bearing: 174.946982 deg, approach rate: 0.186655 m/s, LOS rate: -0.219354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.692170 deg. 2025-01-08T19:53:18.683Z,1736365998.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811736 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:18.801Z,1736365998.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:19.037Z,1736365999.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:19.044Z,1736365999.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:19.046Z,1736365999.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:19.049Z,1736365999.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 194.973129 m, bearing: 174.863098 deg, approach rate: 0.190598 m/s, LOS rate: -0.225932 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.723627 deg. 2025-01-08T19:53:19.050Z,1736365999.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812285 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:19.052Z,1736365999.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:19.052Z,1736365999.052 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:19.052Z,1736365999.052 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:19.053Z,1736365999.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:19.305Z,1736365999.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:19.308Z,1736365999.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499475 2025-01-08T19:53:19.470Z,1736365999.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:19.479Z,1736365999.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:19.482Z,1736365999.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 195.055298 m, bearing: 174.772280 deg, approach rate: 0.189682 m/s, LOS rate: -0.209561 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.702849 deg. 2025-01-08T19:53:19.484Z,1736365999.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811923 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:19.556Z,1736365999.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:19.557Z,1736365999.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749168 2025-01-08T19:53:19.808Z,1736365999.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:19.808Z,1736365999.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000150 2025-01-08T19:53:19.861Z,1736365999.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:19.874Z,1736365999.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:19.877Z,1736365999.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 195.129623 m, bearing: 174.690528 deg, approach rate: 0.188094 m/s, LOS rate: -0.206809 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.730026 deg. 2025-01-08T19:53:19.878Z,1736365999.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812397 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:20.062Z,1736366000.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:20.064Z,1736366000.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255606 2025-01-08T19:53:20.248Z,1736366000.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:20.257Z,1736366000.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:20.260Z,1736366000.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 195.204086 m, bearing: 174.609427 deg, approach rate: 0.194572 m/s, LOS rate: -0.211835 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.731980 deg. 2025-01-08T19:53:20.261Z,1736366000.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812431 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:20.333Z,1736366000.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:20.335Z,1736366000.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526422 2025-01-08T19:53:20.568Z,1736366000.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:20.569Z,1736366000.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760514 2025-01-08T19:53:20.700Z,1736366000.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:20.709Z,1736366000.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:20.712Z,1736366000.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 195.285660 m, bearing: 174.524320 deg, approach rate: 0.180477 m/s, LOS rate: -0.188218 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.719972 deg. 2025-01-08T19:53:20.714Z,1736366000.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812222 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:20.820Z,1736366000.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:20.821Z,1736366000.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012304 2025-01-08T19:53:21.051Z,1736366001.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:21.058Z,1736366001.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:21.072Z,1736366001.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:21.073Z,1736366001.073 [DAT](INFO): DAT read: Rx Time:19:53:19.7890 2025-01-08T19:53:21.073Z,1736366001.073 [DAT](INFO): Rx dataTimestamp_ set to:1736366001.072732 2025-01-08T19:53:21.074Z,1736366001.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265341 2025-01-08T19:53:21.080Z,1736366001.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:21.087Z,1736366001.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 195.349792 m, bearing: 174.458173 deg, approach rate: 0.182763 m/s, LOS rate: -0.188442 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.776811 deg. 2025-01-08T19:53:21.092Z,1736366001.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813213 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:21.325Z,1736366001.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:21.328Z,1736366001.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518482 2025-01-08T19:53:21.526Z,1736366001.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:21.543Z,1736366001.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.20 m. 2025-01-08T19:53:21.546Z,1736366001.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.199997 m, nav range: 195.425690 m, bearing: 174.377971 deg, approach rate: 0.156964 m/s, LOS rate: -0.165801 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.734677 deg. 2025-01-08T19:53:21.548Z,1736366001.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812478 target range: 187.199997 and range: 187.20 m. 2025-01-08T19:53:21.576Z,1736366001.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:21.583Z,1736366001.583 [DAT](INFO): DAT read: 19:53:19.7890 LVL= 22592, 24641, 11490, 29267, AGC= 63, IDX= 415,-0.43,-2.507, 2.905,-1.548,-2.358, PHS=-0.062,-0.974, 0.807, RAW= 179.2, 3.0, CAL= 179.3, -5.5, ROT= 330.7, 5.5 2025-01-08T19:53:21.584Z,1736366001.584 [DAT](INFO): got valid direction response: 19:53:19.7890 LVL= 22592, 24641, 11490, 29267, AGC= 63, IDX= 415,-0.43,-2.507, 2.905,-1.548,-2.358, PHS=-0.062,-0.974, 0.807, RAW= 179.2, 3.0, CAL= 179.3, -5.5, ROT= 330.7, 5.5 2025-01-08T19:53:21.585Z,1736366001.585 [DAT](INFO): DAT read: Bearing 330.7, 5.5 (Local) 2025-01-08T19:53:21.585Z,1736366001.585 [DAT](INFO): Local bearing/azimuth received: Bearing 330.7, 5.5 (Local) 2025-01-08T19:53:21.587Z,1736366001.587 [DAT](INFO): DAT read: Range 10 to 50 : 159.4 m (Round-trip 212.6 ms) speed 0.6 m/s 2025-01-08T19:53:21.588Z,1736366001.588 [DAT](INFO): DAT read: user:926> 2025-01-08T19:53:21.589Z,1736366001.589 [DAT](INFO): DAT read: Tx time:19:53:20.8722 2025-01-08T19:53:21.589Z,1736366001.589 [DAT](INFO): Ping request sent. 2025-01-08T19:53:21.589Z,1736366001.589 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:21.589Z,1736366001.589 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:53:21.590Z,1736366001.590 [DAT](INFO): direction in FSK: [-0.145753,-0.987870,0.053565] 2025-01-08T19:53:21.590Z,1736366001.590 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:21.591Z,1736366001.591 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:21.594Z,1736366001.594 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:21.594Z,1736366001.594 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:21.828Z,1736366001.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:21.829Z,1736366001.829 [DAT](INFO): DAT read: TxSync time:19:53:20.8714 2025-01-08T19:53:21.882Z,1736366001.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:21.935Z,1736366001.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.399994 m, deltaT: 7.314442 s, deltaX: -27.800003 m, approachRate: -3.800700 m/s, rangeRepo size: 4 2025-01-08T19:53:21.938Z,1736366001.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.399994 m, bearing: 177.280130 deg, lat: 36.903099 deg, lon: -122.117341 deg, deltaT: 7.314442 s, deltaX: -27.800003 m, approachRate: -3.800700 m/s, posRepo size: 4 2025-01-08T19:53:21.938Z,1736366001.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:21.945Z,1736366001.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 169.572220 m, bearing: 177.250895 deg, approach rate: 0.000000 m/s, LOS rate: -0.165801 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786396 deg. 2025-01-08T19:53:21.946Z,1736366001.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813381 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:22.081Z,1736366002.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:22.274Z,1736366002.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:22.283Z,1736366002.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:22.287Z,1736366002.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 169.622482 m, bearing: 177.176003 deg, approach rate: 0.139552 m/s, LOS rate: -0.207872 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.750580 deg. 2025-01-08T19:53:22.288Z,1736366002.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812756 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:22.334Z,1736366002.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:22.584Z,1736366002.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:22.690Z,1736366002.690 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 47, +25,A 2025-01-08T19:53:22.715Z,1736366002.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:53:22.715Z,1736366002.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:22.728Z,1736366002.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:22.736Z,1736366002.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 169.683243 m, bearing: 177.087166 deg, approach rate: 0.137855 m/s, LOS rate: -0.201484 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.708773 deg. 2025-01-08T19:53:22.737Z,1736366002.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812026 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:22.836Z,1736366002.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:23.071Z,1736366003.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:53:23.071Z,1736366003.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:23.078Z,1736366003.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:23.081Z,1736366003.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:23.092Z,1736366003.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:23.092Z,1736366003.092 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:23.092Z,1736366003.092 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:23.093Z,1736366003.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:23.100Z,1736366003.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 169.731873 m, bearing: 177.017207 deg, approach rate: 0.136603 m/s, LOS rate: -0.196460 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.765371 deg. 2025-01-08T19:53:23.101Z,1736366003.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813014 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:23.344Z,1736366003.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:23.345Z,1736366003.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755886 2025-01-08T19:53:23.555Z,1736366003.555 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +64, +510, 2025-01-08T19:53:23.562Z,1736366003.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T19:53:23.562Z,1736366003.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:23.571Z,1736366003.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:23.574Z,1736366003.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 169.800507 m, bearing: 176.920865 deg, approach rate: 0.139580 m/s, LOS rate: -0.195851 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.686278 deg. 2025-01-08T19:53:23.575Z,1736366003.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811633 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:23.596Z,1736366003.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:23.597Z,1736366003.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008411 2025-01-08T19:53:23.848Z,1736366003.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:23.848Z,1736366003.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259529 2025-01-08T19:53:23.930Z,1736366003.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T19:53:23.930Z,1736366003.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:23.944Z,1736366003.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:23.946Z,1736366003.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 169.853043 m, bearing: 176.848749 deg, approach rate: 0.141176 m/s, LOS rate: -0.193730 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.758908 deg. 2025-01-08T19:53:23.948Z,1736366003.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812901 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:24.102Z,1736366004.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:24.103Z,1736366004.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514400 2025-01-08T19:53:24.352Z,1736366004.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:24.352Z,1736366004.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763546 2025-01-08T19:53:24.466Z,1736366004.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:24.475Z,1736366004.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:24.478Z,1736366004.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 169.933014 m, bearing: 176.759050 deg, approach rate: 0.150578 m/s, LOS rate: -0.168815 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.706217 deg. 2025-01-08T19:53:24.479Z,1736366004.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811981 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:24.604Z,1736366004.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:24.604Z,1736366004.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015555 2025-01-08T19:53:24.856Z,1736366004.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:24.856Z,1736366004.856 [DAT](INFO): DAT read: Rx Time:19:53:23.5506 2025-01-08T19:53:24.857Z,1736366004.857 [DAT](INFO): Rx dataTimestamp_ set to:1736366004.856578 2025-01-08T19:53:24.857Z,1736366004.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268492 2025-01-08T19:53:24.937Z,1736366004.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:24.945Z,1736366004.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:24.948Z,1736366004.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.003510 m, bearing: 176.680435 deg, approach rate: 0.149908 m/s, LOS rate: -0.167104 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.739442 deg. 2025-01-08T19:53:24.951Z,1736366004.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812561 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:25.108Z,1736366005.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:25.108Z,1736366005.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519445 2025-01-08T19:53:25.285Z,1736366005.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:25.292Z,1736366005.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:25.294Z,1736366005.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:25.298Z,1736366005.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.057098 m, bearing: 176.622419 deg, approach rate: 0.153452 m/s, LOS rate: -0.166075 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.801196 deg. 2025-01-08T19:53:25.299Z,1736366005.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813639 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:25.360Z,1736366005.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:25.363Z,1736366005.363 [DAT](INFO): DAT read: Range 10 to 50 : 205.7 m (Round-trip 274.3 ms) speed 0.8 m/s 2025-01-08T19:53:25.364Z,1736366005.364 [DAT](INFO): DAT read: user:927> 2025-01-08T19:53:25.366Z,1736366005.366 [DAT](INFO): DAT read: Tx time:19:53:24.6722 2025-01-08T19:53:25.366Z,1736366005.366 [DAT](INFO): Ping request sent. 2025-01-08T19:53:25.366Z,1736366005.366 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:25.370Z,1736366005.370 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:53:25.370Z,1736366005.370 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:25.372Z,1736366005.372 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:25.612Z,1736366005.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:25.612Z,1736366005.612 [DAT](INFO): DAT read: TxSync time:19:53:24.6714 2025-01-08T19:53:25.726Z,1736366005.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:25.736Z,1736366005.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 205.699997 m, deltaT: 3.784867 s, deltaX: 46.300003 m, approachRate: 12.232927 m/s, rangeRepo size: 4 2025-01-08T19:53:25.737Z,1736366005.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:25.740Z,1736366005.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.126587 m, bearing: 176.544503 deg, approach rate: 0.157443 m/s, LOS rate: -0.176466 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.741534 deg. 2025-01-08T19:53:25.741Z,1736366005.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812598 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:25.866Z,1736366005.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:26.092Z,1736366006.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:26.101Z,1736366006.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:26.120Z,1736366006.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:26.122Z,1736366006.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.183731 m, bearing: 176.479768 deg, approach rate: 0.156126 m/s, LOS rate: -0.176805 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.781048 deg. 2025-01-08T19:53:26.127Z,1736366006.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813287 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:26.372Z,1736366006.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:26.526Z,1736366006.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:26.536Z,1736366006.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:26.538Z,1736366006.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.255478 m, bearing: 176.394893 deg, approach rate: 0.165300 m/s, LOS rate: -0.195463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.720672 deg. 2025-01-08T19:53:26.560Z,1736366006.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812233 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:26.625Z,1736366006.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:26.876Z,1736366006.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:26.950Z,1736366006.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:26.960Z,1736366006.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:26.963Z,1736366006.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.325821 m, bearing: 176.312156 deg, approach rate: 0.165512 m/s, LOS rate: -0.194595 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.727078 deg. 2025-01-08T19:53:26.964Z,1736366006.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812346 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:27.128Z,1736366007.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:27.303Z,1736366007.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:27.309Z,1736366007.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:27.312Z,1736366007.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:27.315Z,1736366007.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.384750 m, bearing: 176.243211 deg, approach rate: 0.167889 m/s, LOS rate: -0.196355 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768424 deg. 2025-01-08T19:53:27.316Z,1736366007.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813067 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:27.381Z,1736366007.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:27.381Z,1736366007.381 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:27.381Z,1736366007.381 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:27.382Z,1736366007.382 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:27.632Z,1736366007.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:27.632Z,1736366007.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266068 2025-01-08T19:53:27.732Z,1736366007.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:27.741Z,1736366007.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:27.744Z,1736366007.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.461365 m, bearing: 176.147867 deg, approach rate: 0.178328 m/s, LOS rate: -0.221822 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.689287 deg. 2025-01-08T19:53:27.745Z,1736366007.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811686 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:27.884Z,1736366007.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:27.885Z,1736366007.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518191 2025-01-08T19:53:28.119Z,1736366008.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:28.127Z,1736366008.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:28.132Z,1736366008.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.530243 m, bearing: 176.062122 deg, approach rate: 0.178328 m/s, LOS rate: -0.221907 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.718057 deg. 2025-01-08T19:53:28.133Z,1736366008.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812188 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:28.136Z,1736366008.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:28.137Z,1736366008.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770169 2025-01-08T19:53:28.344Z,1736366008.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:53:28.388Z,1736366008.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:28.389Z,1736366008.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022141 2025-01-08T19:53:28.545Z,1736366008.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:28.555Z,1736366008.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:28.558Z,1736366008.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.604065 m, bearing: 175.958627 deg, approach rate: 0.172781 m/s, LOS rate: -0.242127 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.664839 deg. 2025-01-08T19:53:28.559Z,1736366008.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811259 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:28.640Z,1736366008.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:28.642Z,1736366008.642 [DAT](INFO): DAT read: Rx Time:19:53:27.3470 2025-01-08T19:53:28.642Z,1736366008.642 [DAT](INFO): Rx dataTimestamp_ set to:1736366008.642075 2025-01-08T19:53:28.644Z,1736366008.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277336 2025-01-08T19:53:28.892Z,1736366008.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:28.893Z,1736366008.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526130 2025-01-08T19:53:28.932Z,1736366008.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:28.940Z,1736366008.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:28.943Z,1736366008.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.670670 m, bearing: 175.864552 deg, approach rate: 0.172585 m/s, LOS rate: -0.243670 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.693075 deg. 2025-01-08T19:53:28.944Z,1736366008.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811752 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:29.145Z,1736366009.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:29.166Z,1736366009.166 [DAT](INFO): DAT read: 19:53:27.3470 LVL= 22640, 21313, 9330, 27379, AGC= 59, IDX= 73,-0.04,-2.447, 3.018,-1.391,-2.291, PHS=-0.068,-0.927, 0.897, RAW= 181.9, 1.3, CAL= 182.2, -6.8, ROT= 327.8, 6.8 2025-01-08T19:53:29.169Z,1736366009.169 [DAT](INFO): got valid direction response: 19:53:27.3470 LVL= 22640, 21313, 9330, 27379, AGC= 59, IDX= 73,-0.04,-2.447, 3.018,-1.391,-2.291, PHS=-0.068,-0.927, 0.897, RAW= 181.9, 1.3, CAL= 182.2, -6.8, ROT= 327.8, 6.8 2025-01-08T19:53:29.170Z,1736366009.170 [DAT](INFO): DAT read: Bearing 327.8, 6.8 (Local) 2025-01-08T19:53:29.171Z,1736366009.171 [DAT](INFO): Local bearing/azimuth received: Bearing 327.8, 6.8 (Local) 2025-01-08T19:53:29.181Z,1736366009.181 [DAT](INFO): DAT read: Range 10 to 50 : 203.0 m (Round-trip 270.7 ms) speed 0.0 m/s 2025-01-08T19:53:29.182Z,1736366009.182 [DAT](INFO): DAT read: user:928> 2025-01-08T19:53:29.207Z,1736366009.207 [DAT](INFO): DAT read: Tx time:19:53:28.4722 2025-01-08T19:53:29.207Z,1736366009.207 [DAT](INFO): Ping request sent. 2025-01-08T19:53:29.220Z,1736366009.220 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:29.220Z,1736366009.220 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:53:29.222Z,1736366009.222 [DAT](INFO): direction in FSK: [-0.108332,-0.994075,0.008865] 2025-01-08T19:53:29.222Z,1736366009.222 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:29.223Z,1736366009.223 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:29.234Z,1736366009.234 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:29.234Z,1736366009.234 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:29.328Z,1736366009.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:29.348Z,1736366009.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:53:29.360Z,1736366009.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 203.000000 m, deltaT: 7.569932 s, deltaX: 43.600006 m, approachRate: 5.759630 m/s, rangeRepo size: 4 2025-01-08T19:53:29.360Z,1736366009.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:29.368Z,1736366009.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.738586 m, bearing: 175.768336 deg, approach rate: 0.163925 m/s, LOS rate: -0.232135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.686656 deg. 2025-01-08T19:53:29.369Z,1736366009.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811640 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:29.396Z,1736366009.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:29.397Z,1736366009.397 [DAT](INFO): DAT read: TxSync time:19:53:28.4714 2025-01-08T19:53:29.649Z,1736366009.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:29.821Z,1736366009.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:29.848Z,1736366009.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:29.850Z,1736366009.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:29.857Z,1736366009.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.830200 m, bearing: 175.641054 deg, approach rate: 0.184865 m/s, LOS rate: -0.256701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.593551 deg. 2025-01-08T19:53:29.858Z,1736366009.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810015 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:29.900Z,1736366009.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:29.901Z,1736366009.901 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:29.901Z,1736366009.901 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:29.901Z,1736366009.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:30.152Z,1736366010.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:30.152Z,1736366010.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.945288 2025-01-08T19:53:30.209Z,1736366010.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:30.219Z,1736366010.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:30.222Z,1736366010.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.901062 m, bearing: 175.540816 deg, approach rate: 0.192120 m/s, LOS rate: -0.271653 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674599 deg. 2025-01-08T19:53:30.223Z,1736366010.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811430 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:30.404Z,1736366010.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:30.404Z,1736366010.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197406 2025-01-08T19:53:30.624Z,1736366010.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:30.634Z,1736366010.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:30.637Z,1736366010.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 170.972504 m, bearing: 175.435217 deg, approach rate: 0.172414 m/s, LOS rate: -0.254740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.658526 deg. 2025-01-08T19:53:30.638Z,1736366010.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811149 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:30.656Z,1736366010.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:30.658Z,1736366010.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450564 2025-01-08T19:53:30.908Z,1736366010.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:30.908Z,1736366010.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701271 2025-01-08T19:53:31.005Z,1736366011.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:31.036Z,1736366011.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:31.039Z,1736366011.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 171.038376 m, bearing: 175.338245 deg, approach rate: 0.163694 m/s, LOS rate: -0.240885 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.684385 deg. 2025-01-08T19:53:31.041Z,1736366011.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811600 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:31.160Z,1736366011.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:31.160Z,1736366011.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953297 2025-01-08T19:53:31.413Z,1736366011.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:31.414Z,1736366011.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206845 2025-01-08T19:53:31.430Z,1736366011.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:31.467Z,1736366011.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:31.470Z,1736366011.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 171.112061 m, bearing: 175.230091 deg, approach rate: 0.172618 m/s, LOS rate: -0.253257 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.650871 deg. 2025-01-08T19:53:31.476Z,1736366011.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811015 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:31.664Z,1736366011.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:31.665Z,1736366011.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457794 2025-01-08T19:53:31.863Z,1736366011.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:31.870Z,1736366011.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:31.872Z,1736366011.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:31.875Z,1736366011.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 171.182053 m, bearing: 175.123160 deg, approach rate: 0.171027 m/s, LOS rate: -0.261183 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.654526 deg. 2025-01-08T19:53:31.904Z,1736366011.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811079 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:31.916Z,1736366011.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:31.920Z,1736366011.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713135 2025-01-08T19:53:32.168Z,1736366012.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:32.169Z,1736366012.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961533 2025-01-08T19:53:32.231Z,1736366012.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:32.255Z,1736366012.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:32.258Z,1736366012.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 171.241257 m, bearing: 175.032134 deg, approach rate: 0.154499 m/s, LOS rate: -0.237458 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.702207 deg. 2025-01-08T19:53:32.264Z,1736366012.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811911 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:32.420Z,1736366012.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:32.420Z,1736366012.420 [DAT](INFO): DAT read: Rx Time:19:53:31.0803 2025-01-08T19:53:32.421Z,1736366012.421 [DAT](INFO): Rx dataTimestamp_ set to:1736366012.420625 2025-01-08T19:53:32.421Z,1736366012.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214412 2025-01-08T19:53:32.672Z,1736366012.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:32.673Z,1736366012.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466429 2025-01-08T19:53:32.688Z,1736366012.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:32.701Z,1736366012.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.40 m. 2025-01-08T19:53:32.708Z,1736366012.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.399994 m, nav range: 171.311874 m, bearing: 174.926965 deg, approach rate: 0.158596 m/s, LOS rate: -0.236096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.659811 deg. 2025-01-08T19:53:32.709Z,1736366012.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811172 target range: 159.399994 and range: 159.40 m. 2025-01-08T19:53:32.924Z,1736366012.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:32.932Z,1736366012.932 [DAT](INFO): DAT read: 19:53:31.0803 LVL= 29216, 32241, 16546, 27699, AGC= 64, IDX= 276,-0.05, 0.383,-0.531, 1.436, 0.557, PHS=-0.086,-1.041, 0.877, RAW= 180.1, 3.0, CAL= 180.3, -5.5, ROT= 329.7, 5.5 2025-01-08T19:53:32.934Z,1736366012.934 [DAT](INFO): got valid direction response: 19:53:31.0803 LVL= 29216, 32241, 16546, 27699, AGC= 64, IDX= 276,-0.05, 0.383,-0.531, 1.436, 0.557, PHS=-0.086,-1.041, 0.877, RAW= 180.1, 3.0, CAL= 180.3, -5.5, ROT= 329.7, 5.5 2025-01-08T19:53:32.935Z,1736366012.935 [DAT](INFO): DAT read: Bearing 329.7, 5.5 (Local) 2025-01-08T19:53:32.938Z,1736366012.938 [DAT](INFO): Local bearing/azimuth received: Bearing 329.7, 5.5 (Local) 2025-01-08T19:53:32.942Z,1736366012.942 [DAT](INFO): DAT read: Range 10 to 50 : 152.9 m (Round-trip 203.9 ms) speed 0.4 m/s 2025-01-08T19:53:32.943Z,1736366012.943 [DAT](INFO): DAT read: user:929> 2025-01-08T19:53:32.954Z,1736366012.954 [DAT](INFO): DAT read: Tx time:19:53:32.1723 2025-01-08T19:53:32.954Z,1736366012.954 [DAT](INFO): Ping request sent. 2025-01-08T19:53:32.954Z,1736366012.954 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:32.955Z,1736366012.955 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:53:32.957Z,1736366012.957 [DAT](INFO): direction in FSK: [-0.145024,-0.988724,0.037331] 2025-01-08T19:53:32.957Z,1736366012.957 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:32.958Z,1736366012.958 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:32.992Z,1736366012.992 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:32.992Z,1736366012.992 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:33.062Z,1736366013.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:33.105Z,1736366013.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.899994 m, deltaT: 11.348211 s, deltaX: -6.500000 m, approachRate: -0.572778 m/s, rangeRepo size: 4 2025-01-08T19:53:33.112Z,1736366013.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 152.899994 m, bearing: 176.831247 deg, lat: 36.903167 deg, lon: -122.117370 deg, deltaT: 11.348211 s, deltaX: -6.500000 m, approachRate: -0.572778 m/s, posRepo size: 4 2025-01-08T19:53:33.113Z,1736366013.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:33.121Z,1736366013.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 163.562180 m, bearing: 175.498079 deg, approach rate: 0.000000 m/s, LOS rate: -0.236096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.689485 deg. 2025-01-08T19:53:33.122Z,1736366013.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811689 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:33.176Z,1736366013.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:33.177Z,1736366013.177 [DAT](INFO): DAT read: TxSync time:19:53:32.1715 2025-01-08T19:53:33.428Z,1736366013.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:33.467Z,1736366013.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:33.481Z,1736366013.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:33.484Z,1736366013.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 163.622849 m, bearing: 175.399413 deg, approach rate: 0.160710 m/s, LOS rate: -0.261266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.679301 deg. 2025-01-08T19:53:33.485Z,1736366013.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811512 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:33.681Z,1736366013.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:33.875Z,1736366013.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:33.882Z,1736366013.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:33.885Z,1736366013.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:33.888Z,1736366013.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 163.683975 m, bearing: 175.309879 deg, approach rate: 0.151552 m/s, LOS rate: -0.221899 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.706687 deg. 2025-01-08T19:53:33.889Z,1736366013.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811989 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:33.932Z,1736366013.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:33.932Z,1736366013.932 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:33.932Z,1736366013.932 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:33.933Z,1736366013.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:34.184Z,1736366014.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:34.184Z,1736366014.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230303 2025-01-08T19:53:34.248Z,1736366014.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:34.256Z,1736366014.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:34.268Z,1736366014.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 163.740051 m, bearing: 175.228079 deg, approach rate: 0.150934 m/s, LOS rate: -0.220096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.729874 deg. 2025-01-08T19:53:34.269Z,1736366014.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812394 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:34.436Z,1736366014.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:34.436Z,1736366014.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482274 2025-01-08T19:53:34.688Z,1736366014.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:34.688Z,1736366014.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734251 2025-01-08T19:53:34.700Z,1736366014.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:34.729Z,1736366014.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:34.737Z,1736366014.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 163.807617 m, bearing: 175.140156 deg, approach rate: 0.143017 m/s, LOS rate: -0.186032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.711526 deg. 2025-01-08T19:53:34.738Z,1736366014.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812074 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:34.940Z,1736366014.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:34.940Z,1736366014.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986208 2025-01-08T19:53:35.059Z,1736366015.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:35.093Z,1736366015.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:35.100Z,1736366015.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 163.862274 m, bearing: 175.070730 deg, approach rate: 0.150125 m/s, LOS rate: -0.190626 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.766981 deg. 2025-01-08T19:53:35.101Z,1736366015.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813042 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:35.192Z,1736366015.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:35.193Z,1736366015.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238358 2025-01-08T19:53:35.446Z,1736366015.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:35.449Z,1736366015.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494423 2025-01-08T19:53:35.609Z,1736366015.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:35.618Z,1736366015.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:35.637Z,1736366015.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 163.946716 m, bearing: 174.964127 deg, approach rate: 0.160706 m/s, LOS rate: -0.202776 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655547 deg. 2025-01-08T19:53:35.640Z,1736366015.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811097 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:35.698Z,1736366015.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:35.699Z,1736366015.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744523 2025-01-08T19:53:35.952Z,1736366015.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:35.953Z,1736366015.953 [DAT](INFO): DAT read: Rx Time:19:53:34.8106 2025-01-08T19:53:35.953Z,1736366015.953 [DAT](INFO): Rx dataTimestamp_ set to:1736366015.952960 2025-01-08T19:53:35.954Z,1736366015.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999619 2025-01-08T19:53:36.118Z,1736366016.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:36.125Z,1736366016.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:36.127Z,1736366016.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:36.146Z,1736366016.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 164.029205 m, bearing: 174.864594 deg, approach rate: 0.162234 m/s, LOS rate: -0.195658 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.676739 deg. 2025-01-08T19:53:36.147Z,1736366016.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811467 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:36.204Z,1736366016.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:36.205Z,1736366016.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250561 2025-01-08T19:53:36.456Z,1736366016.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:36.456Z,1736366016.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502136 2025-01-08T19:53:36.615Z,1736366016.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:36.624Z,1736366016.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:36.628Z,1736366016.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 164.114899 m, bearing: 174.767766 deg, approach rate: 0.172303 m/s, LOS rate: -0.194590 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.684857 deg. 2025-01-08T19:53:36.633Z,1736366016.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811608 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:36.708Z,1736366016.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:36.710Z,1736366016.710 [DAT](INFO): DAT read: Range 10 to 50 : 175.5 m (Round-trip 234.1 ms) speed 1.0 m/s 2025-01-08T19:53:36.710Z,1736366016.710 [DAT](INFO): DAT read: user:930> 2025-01-08T19:53:36.711Z,1736366016.711 [DAT](INFO): DAT read: Tx time:19:53:35.9239 2025-01-08T19:53:36.712Z,1736366016.712 [DAT](INFO): Ping request sent. 2025-01-08T19:53:36.712Z,1736366016.712 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:36.712Z,1736366016.712 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:53:36.712Z,1736366016.712 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:36.713Z,1736366016.713 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:36.960Z,1736366016.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:36.961Z,1736366016.961 [DAT](INFO): DAT read: TxSync time:19:53:35.9231 2025-01-08T19:53:36.982Z,1736366016.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:36.991Z,1736366016.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 175.500000 m, deltaT: 3.784122 s, deltaX: 22.600006 m, approachRate: 5.972325 m/s, rangeRepo size: 4 2025-01-08T19:53:36.992Z,1736366016.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:36.995Z,1736366016.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 164.175125 m, bearing: 174.707055 deg, approach rate: 0.164299 m/s, LOS rate: -0.165558 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793123 deg. 2025-01-08T19:53:36.997Z,1736366016.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813498 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:37.212Z,1736366017.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:37.365Z,1736366017.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:37.389Z,1736366017.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:37.397Z,1736366017.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 164.238235 m, bearing: 174.643786 deg, approach rate: 0.158375 m/s, LOS rate: -0.158715 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.785451 deg. 2025-01-08T19:53:37.398Z,1736366017.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813364 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:37.464Z,1736366017.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:37.716Z,1736366017.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:37.789Z,1736366017.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:37.799Z,1736366017.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:37.802Z,1736366017.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 164.314621 m, bearing: 174.570461 deg, approach rate: 0.186322 m/s, LOS rate: -0.178772 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.755317 deg. 2025-01-08T19:53:37.803Z,1736366017.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812838 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:37.968Z,1736366017.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:38.166Z,1736366018.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:38.182Z,1736366018.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:38.186Z,1736366018.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:38.217Z,1736366018.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 164.382919 m, bearing: 174.505595 deg, approach rate: 0.176469 m/s, LOS rate: -0.167532 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.780669 deg. 2025-01-08T19:53:38.218Z,1736366018.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813281 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:38.220Z,1736366018.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:38.220Z,1736366018.220 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:38.220Z,1736366018.220 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:38.221Z,1736366018.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:38.472Z,1736366018.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:38.473Z,1736366018.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761663 2025-01-08T19:53:38.636Z,1736366018.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:38.661Z,1736366018.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:38.670Z,1736366018.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 164.469498 m, bearing: 174.424636 deg, approach rate: 0.184534 m/s, LOS rate: -0.172466 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.732440 deg. 2025-01-08T19:53:38.676Z,1736366018.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812439 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:38.724Z,1736366018.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:38.725Z,1736366018.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012820 2025-01-08T19:53:38.977Z,1736366018.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:38.978Z,1736366018.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266436 2025-01-08T19:53:39.032Z,1736366019.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:39.041Z,1736366019.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:39.056Z,1736366019.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 164.547134 m, bearing: 174.349864 deg, approach rate: 0.201441 m/s, LOS rate: -0.193916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.750978 deg. 2025-01-08T19:53:39.057Z,1736366019.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812762 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:39.228Z,1736366019.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:39.228Z,1736366019.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516542 2025-01-08T19:53:39.376Z,1736366019.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:39.402Z,1736366019.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:39.409Z,1736366019.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 164.615356 m, bearing: 174.284919 deg, approach rate: 0.188800 m/s, LOS rate: -0.179657 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.780432 deg. 2025-01-08T19:53:39.410Z,1736366019.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813277 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:39.480Z,1736366019.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:39.482Z,1736366019.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769813 2025-01-08T19:53:39.732Z,1736366019.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:39.733Z,1736366019.733 [DAT](INFO): DAT read: Rx Time:19:53:38.5599 2025-01-08T19:53:39.733Z,1736366019.733 [DAT](INFO): Rx dataTimestamp_ set to:1736366019.732689 2025-01-08T19:53:39.733Z,1736366019.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021756 2025-01-08T19:53:39.824Z,1736366019.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:39.834Z,1736366019.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:39.837Z,1736366019.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 164.706680 m, bearing: 174.189380 deg, approach rate: 0.211607 m/s, LOS rate: -0.221251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.688733 deg. 2025-01-08T19:53:39.838Z,1736366019.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811676 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:39.985Z,1736366019.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:39.986Z,1736366019.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273765 2025-01-08T19:53:40.220Z,1736366020.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:40.237Z,1736366020.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:40.241Z,1736366020.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528473 2025-01-08T19:53:40.277Z,1736366020.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:40.279Z,1736366020.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T19:53:40.285Z,1736366020.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 164.781769 m, bearing: 174.111232 deg, approach rate: 0.168728 m/s, LOS rate: -0.175524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.740850 deg. 2025-01-08T19:53:40.287Z,1736366020.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812586 target range: 152.899994 and range: 152.90 m. 2025-01-08T19:53:40.488Z,1736366020.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:40.500Z,1736366020.500 [DAT](INFO): DAT read: 19:53:38.5599 LVL= 20208, 23841, 15378, 25331, AGC= 65, IDX= 419,-0.34, 2.635, 1.733,-2.514, 2.801, PHS=-0.078,-1.021, 0.965, RAW= 181.6, 1.6, CAL= 181.9, -6.5, ROT= 328.1, 6.5 2025-01-08T19:53:40.501Z,1736366020.501 [DAT](INFO): got valid direction response: 19:53:38.5599 LVL= 20208, 23841, 15378, 25331, AGC= 65, IDX= 419,-0.34, 2.635, 1.733,-2.514, 2.801, PHS=-0.078,-1.021, 0.965, RAW= 181.6, 1.6, CAL= 181.9, -6.5, ROT= 328.1, 6.5 2025-01-08T19:53:40.503Z,1736366020.503 [DAT](INFO): DAT read: Bearing 328.1, 6.5 (Local) 2025-01-08T19:53:40.504Z,1736366020.504 [DAT](INFO): Local bearing/azimuth received: Bearing 328.1, 6.5 (Local) 2025-01-08T19:53:40.506Z,1736366020.506 [DAT](INFO): DAT read: Range 10 to 50 : 173.9 m (Round-trip 231.9 ms) speed 0.7 m/s 2025-01-08T19:53:40.506Z,1736366020.506 [DAT](INFO): DAT read: user:931> 2025-01-08T19:53:40.508Z,1736366020.508 [DAT](INFO): DAT read: Tx time:19:53:39.6739 2025-01-08T19:53:40.508Z,1736366020.508 [DAT](INFO): Ping request sent. 2025-01-08T19:53:40.508Z,1736366020.508 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:40.509Z,1736366020.509 [DAT](INFO): DAT read: TxSync time:19:53:39.6731 2025-01-08T19:53:40.509Z,1736366020.509 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:53:40.510Z,1736366020.510 [DAT](INFO): direction in FSK: [-0.114829,-0.993302,0.012881] 2025-01-08T19:53:40.510Z,1736366020.510 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:40.510Z,1736366020.510 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:40.521Z,1736366020.521 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:40.522Z,1736366020.522 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:40.688Z,1736366020.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:40.721Z,1736366020.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 173.899994 m, deltaT: 7.564192 s, deltaX: 21.000000 m, approachRate: 2.776238 m/s, rangeRepo size: 4 2025-01-08T19:53:40.723Z,1736366020.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 173.899994 m, bearing: 180.421350 deg, lat: 36.903167 deg, lon: -122.117420 deg, deltaT: 7.564192 s, deltaX: 21.000000 m, approachRate: 2.776238 m/s, posRepo size: 4 2025-01-08T19:53:40.725Z,1736366020.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T19:53:40.740Z,1736366020.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:40.748Z,1736366020.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 164.478943 m, bearing: 175.540128 deg, approach rate: 0.000000 m/s, LOS rate: -0.175524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.742667 deg. 2025-01-08T19:53:40.749Z,1736366020.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812617 target range: 173.899994 and range: 173.90 m. 2025-01-08T19:53:40.993Z,1736366020.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:41.101Z,1736366021.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:41.111Z,1736366021.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T19:53:41.114Z,1736366021.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 164.564713 m, bearing: 175.442224 deg, approach rate: 0.219357 m/s, LOS rate: -0.250260 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.681630 deg. 2025-01-08T19:53:41.115Z,1736366021.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811552 target range: 173.899994 and range: 173.90 m. 2025-01-08T19:53:41.245Z,1736366021.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:41.448Z,1736366021.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:41.457Z,1736366021.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T19:53:41.459Z,1736366021.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 164.635803 m, bearing: 175.359756 deg, approach rate: 0.205845 m/s, LOS rate: -0.238683 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.727893 deg. 2025-01-08T19:53:41.461Z,1736366021.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812359 target range: 173.899994 and range: 173.90 m. 2025-01-08T19:53:41.496Z,1736366021.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:41.749Z,1736366021.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:41.878Z,1736366021.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:41.888Z,1736366021.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T19:53:41.891Z,1736366021.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 164.715210 m, bearing: 175.246945 deg, approach rate: 0.183966 m/s, LOS rate: -0.261230 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.636921 deg. 2025-01-08T19:53:41.892Z,1736366021.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810772 target range: 173.899994 and range: 173.90 m. 2025-01-08T19:53:41.000Z,1736366022.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:42.252Z,1736366022.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:42.265Z,1736366022.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:42.273Z,1736366022.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T19:53:42.276Z,1736366022.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 164.786346 m, bearing: 175.145672 deg, approach rate: 0.184730 m/s, LOS rate: -0.262875 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.671502 deg. 2025-01-08T19:53:42.277Z,1736366022.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811375 target range: 173.899994 and range: 173.90 m. 2025-01-08T19:53:42.504Z,1736366022.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:42.736Z,1736366022.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:42.743Z,1736366022.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:42.745Z,1736366022.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T19:53:42.749Z,1736366022.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 164.872116 m, bearing: 175.018556 deg, approach rate: 0.181680 m/s, LOS rate: -0.269120 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.594044 deg. 2025-01-08T19:53:42.750Z,1736366022.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810023 target range: 173.899994 and range: 173.90 m. 2025-01-08T19:53:42.765Z,1736366022.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:42.765Z,1736366022.765 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:42.765Z,1736366022.765 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:42.765Z,1736366022.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:43.016Z,1736366023.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:43.017Z,1736366023.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509201 2025-01-08T19:53:43.066Z,1736366023.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:43.075Z,1736366023.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T19:53:43.078Z,1736366023.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 164.931839 m, bearing: 174.929742 deg, approach rate: 0.181289 m/s, LOS rate: -0.269498 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.708843 deg. 2025-01-08T19:53:43.079Z,1736366023.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812027 target range: 173.899994 and range: 173.90 m. 2025-01-08T19:53:43.269Z,1736366023.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:43.270Z,1736366023.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761769 2025-01-08T19:53:43.462Z,1736366023.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:43.470Z,1736366023.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T19:53:43.473Z,1736366023.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 165.003067 m, bearing: 174.823397 deg, approach rate: 0.180056 m/s, LOS rate: -0.268713 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.656291 deg. 2025-01-08T19:53:43.474Z,1736366023.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811110 target range: 173.899994 and range: 173.90 m. 2025-01-08T19:53:43.520Z,1736366023.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:43.521Z,1736366023.521 [DAT](INFO): DAT read: Rx Time:19:53 2025-01-08T19:53:43.521Z,1736366023.521 [DAT](INFO): Rx dataTimestamp_ set to:1736366023.520772 2025-01-08T19:53:43.522Z,1736366023.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013618 2025-01-08T19:53:43.772Z,1736366023.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:43.772Z,1736366023.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264397 2025-01-08T19:53:43.889Z,1736366023.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:43.899Z,1736366023.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T19:53:43.902Z,1736366023.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 165.076172 m, bearing: 174.711279 deg, approach rate: 0.170676 m/s, LOS rate: -0.261641 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.638988 deg. 2025-01-08T19:53:43.903Z,1736366023.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810808 target range: 173.899994 and range: 173.90 m. 2025-01-08T19:53:44.024Z,1736366024.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:44.031Z,1736366024.031 [DAT](INFO): DAT read: 19:53:42.3072 LVL= 27504, 26993, 13922, 32323, AGC= 61, IDX= 407,-0.08,-3.075, 2.326,-1.969,-2.858, PHS=-0.129,-1.052, 0.886, RAW= 181.6, 3.5, CAL= 181.6, -5.0, ROT= 328.4, 5.0 2025-01-08T19:53:44.032Z,1736366024.032 [DAT](INFO): got valid direction response: 19:53:42.3072 LVL= 27504, 26993, 13922, 32323, AGC= 61, IDX= 407,-0.08,-3.075, 2.326,-1.969,-2.858, PHS=-0.129,-1.052, 0.886, RAW= 181.6, 3.5, CAL= 181.6, -5.0, ROT= 328.4, 5.0 2025-01-08T19:53:44.033Z,1736366024.033 [DAT](INFO): DAT read: Bearing 328.4, 5.0 (Local) 2025-01-08T19:53:44.034Z,1736366024.034 [DAT](INFO): Local bearing/azimuth received: Bearing 328.4, 5.0 (Local) 2025-01-08T19:53:44.036Z,1736366024.036 [DAT](INFO): DAT read: Range 10 to 50 : 171.8 m (Round-trip 229.1 ms) speed 0.4 m/s 2025-01-08T19:53:44.037Z,1736366024.037 [DAT](INFO): DAT read: user:932> 2025-01-08T19:53:44.038Z,1736366024.038 [DAT](INFO): DAT read: Tx time:19:53:43.4223 2025-01-08T19:53:44.038Z,1736366024.038 [DAT](INFO): Ping request sent. 2025-01-08T19:53:44.038Z,1736366024.038 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:44.038Z,1736366024.038 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:53:44.039Z,1736366024.039 [DAT](INFO): direction in FSK: [-0.152230,-0.988273,0.011974] 2025-01-08T19:53:44.040Z,1736366024.040 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:44.040Z,1736366024.040 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:44.043Z,1736366024.043 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:44.060Z,1736366024.060 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:44.276Z,1736366024.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:44.277Z,1736366024.277 [DAT](INFO): DAT read: TxSync time:19:53:43.4215 2025-01-08T19:53:44.286Z,1736366024.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:44.336Z,1736366024.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 171.800003 m, deltaT: 3.535986 s, deltaX: -2.099991 m, approachRate: -0.593891 m/s, rangeRepo size: 4 2025-01-08T19:53:44.339Z,1736366024.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.800003 m, bearing: 176.507990 deg, lat: 36.903114 deg, lon: -122.117477 deg, deltaT: 3.535986 s, deltaX: -2.099991 m, approachRate: -0.593891 m/s, posRepo size: 4 2025-01-08T19:53:44.348Z,1736366024.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m. 2025-01-08T19:53:44.350Z,1736366024.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.800003 m, nav range: 170.643372 m, bearing: 176.507920 deg, approach rate: 0.000000 m/s, LOS rate: -0.261641 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.634698 deg. 2025-01-08T19:53:44.356Z,1736366024.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810733 target range: 171.800003 and range: 171.80 m. 2025-01-08T19:53:44.528Z,1736366024.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:44.754Z,1736366024.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:44.760Z,1736366024.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:44.762Z,1736366024.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m. 2025-01-08T19:53:44.766Z,1736366024.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.800003 m, nav range: 170.701813 m, bearing: 176.397294 deg, approach rate: 0.135986 m/s, LOS rate: -0.257325 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.643427 deg. 2025-01-08T19:53:44.767Z,1736366024.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810885 target range: 171.800003 and range: 171.80 m. 2025-01-08T19:53:44.780Z,1736366024.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:44.781Z,1736366024.781 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:44.781Z,1736366024.781 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:44.781Z,1736366024.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:45.032Z,1736366025.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:45.033Z,1736366025.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994427 2025-01-08T19:53:45.075Z,1736366025.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:45.085Z,1736366025.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m. 2025-01-08T19:53:45.104Z,1736366025.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.800003 m, nav range: 170.741684 m, bearing: 176.321239 deg, approach rate: 0.123715 m/s, LOS rate: -0.235935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.747075 deg. 2025-01-08T19:53:45.105Z,1736366025.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812695 target range: 171.800003 and range: 171.80 m. 2025-01-08T19:53:45.284Z,1736366025.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:45.286Z,1736366025.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247207 2025-01-08T19:53:45.485Z,1736366025.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:45.493Z,1736366025.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m. 2025-01-08T19:53:45.498Z,1736366025.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.800003 m, nav range: 170.792480 m, bearing: 176.224262 deg, approach rate: 0.124207 m/s, LOS rate: -0.237056 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.684347 deg. 2025-01-08T19:53:45.499Z,1736366025.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811600 target range: 171.800003 and range: 171.80 m. 2025-01-08T19:53:45.536Z,1736366025.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:45.537Z,1736366025.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499023 2025-01-08T19:53:45.788Z,1736366025.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:45.788Z,1736366025.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750246 2025-01-08T19:53:45.937Z,1736366025.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:45.945Z,1736366025.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m. 2025-01-08T19:53:45.949Z,1736366025.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.800003 m, nav range: 170.845245 m, bearing: 176.127391 deg, approach rate: 0.116799 m/s, LOS rate: -0.214365 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.684667 deg. 2025-01-08T19:53:45.950Z,1736366025.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811605 target range: 171.800003 and range: 171.80 m. 2025-01-08T19:53:46.040Z,1736366026.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:46.041Z,1736366026.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002366 2025-01-08T19:53:46.292Z,1736366026.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:46.292Z,1736366026.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254276 2025-01-08T19:53:46.296Z,1736366026.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:46.309Z,1736366026.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m. 2025-01-08T19:53:46.312Z,1736366026.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.800003 m, nav range: 170.888321 m, bearing: 176.050268 deg, approach rate: 0.118422 m/s, LOS rate: -0.211972 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.743876 deg. 2025-01-08T19:53:46.313Z,1736366026.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812639 target range: 171.800003 and range: 171.80 m. 2025-01-08T19:53:46.544Z,1736366026.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:46.544Z,1736366026.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506259 2025-01-08T19:53:46.757Z,1736366026.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:46.765Z,1736366026.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:46.768Z,1736366026.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m. 2025-01-08T19:53:46.770Z,1736366026.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.800003 m, nav range: 170.943939 m, bearing: 175.951530 deg, approach rate: 0.121426 m/s, LOS rate: -0.215495 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.679072 deg. 2025-01-08T19:53:46.772Z,1736366026.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811508 target range: 171.800003 and range: 171.80 m. 2025-01-08T19:53:46.796Z,1736366026.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:46.797Z,1736366026.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758931 2025-01-08T19:53:47.049Z,1736366027.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:47.049Z,1736366027.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011086 2025-01-08T19:53:47.128Z,1736366027.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:47.146Z,1736366027.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m. 2025-01-08T19:53:47.154Z,1736366027.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.800003 m, nav range: 170.982834 m, bearing: 175.879634 deg, approach rate: 0.102659 m/s, LOS rate: -0.189718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.759550 deg. 2025-01-08T19:53:47.159Z,1736366027.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812912 target range: 171.800003 and range: 171.80 m. 2025-01-08T19:53:47.300Z,1736366027.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:47.301Z,1736366027.301 [DAT](INFO): DAT read: Rx Time:19:53:46.0541 2025-01-08T19:53:47.301Z,1736366027.301 [DAT](INFO): Rx dataTimestamp_ set to:1736366027.301179 2025-01-08T19:53:47.302Z,1736366027.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263824 2025-01-08T19:53:47.502Z,1736366027.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:47.512Z,1736366027.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.80 m. 2025-01-08T19:53:47.516Z,1736366027.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.800003 m, nav range: 171.023056 m, bearing: 175.807226 deg, approach rate: 0.109764 m/s, LOS rate: -0.197552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.758013 deg. 2025-01-08T19:53:47.517Z,1736366027.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812885 target range: 171.800003 and range: 171.80 m. 2025-01-08T19:53:47.552Z,1736366027.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:47.553Z,1736366027.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515093 2025-01-08T19:53:47.804Z,1736366027.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:47.810Z,1736366027.810 [DAT](INFO): DAT read: 19:53:46.0541 LVL= 28144, 27505, 12354, 32755, AGC= 59, IDX= 70, 0.37,-2.428, 2.970,-1.307,-2.239, PHS=-0.101,-1.027, 0.929, RAW= 181.7, 2.4, CAL= 181.9, -5.9, ROT= 328.1, 5.9 2025-01-08T19:53:47.811Z,1736366027.811 [DAT](INFO): got valid direction response: 19:53:46.0541 LVL= 28144, 27505, 12354, 32755, AGC= 59, IDX= 70, 0.37,-2.428, 2.970,-1.307,-2.239, PHS=-0.101,-1.027, 0.929, RAW= 181.7, 2.4, CAL= 181.9, -5.9, ROT= 328.1, 5.9 2025-01-08T19:53:47.812Z,1736366027.812 [DAT](INFO): DAT read: Bearing 328.1, 5.9 (Local) 2025-01-08T19:53:47.813Z,1736366027.813 [DAT](INFO): Local bearing/azimuth received: Bearing 328.1, 5.9 (Local) 2025-01-08T19:53:47.815Z,1736366027.815 [DAT](INFO): DAT read: Range 10 to 50 : 170.6 m (Round-trip 227.5 ms) speed 0.4 m/s 2025-01-08T19:53:47.816Z,1736366027.816 [DAT](INFO): DAT read: user:933> 2025-01-08T19:53:47.816Z,1736366027.816 [DAT](INFO): DAT read: Tx time:19:53:47.1724 2025-01-08T19:53:47.817Z,1736366027.817 [DAT](INFO): Ping request sent. 2025-01-08T19:53:47.817Z,1736366027.817 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:47.817Z,1736366027.817 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:53:47.818Z,1736366027.818 [DAT](INFO): direction in FSK: [-0.129780,-0.991490,0.010247] 2025-01-08T19:53:47.818Z,1736366027.818 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:47.819Z,1736366027.819 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:47.822Z,1736366027.822 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:47.822Z,1736366027.822 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:47.976Z,1736366027.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:48.010Z,1736366028.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.600006 m, deltaT: 3.779626 s, deltaX: -1.199997 m, approachRate: -0.317491 m/s, rangeRepo size: 4 2025-01-08T19:53:48.017Z,1736366028.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 170.600006 m, bearing: 178.455876 deg, lat: 36.903114 deg, lon: -122.117478 deg, deltaT: 3.779626 s, deltaX: -1.199997 m, approachRate: -0.317491 m/s, posRepo size: 4 2025-01-08T19:53:48.017Z,1736366028.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.60 m. 2025-01-08T19:53:48.025Z,1736366028.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.600006 m, nav range: 171.072983 m, bearing: 175.737612 deg, approach rate: 0.000000 m/s, LOS rate: -0.197552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.680514 deg. 2025-01-08T19:53:48.026Z,1736366028.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811532 target range: 170.600006 and range: 170.60 m. 2025-01-08T19:53:48.058Z,1736366028.058 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:48.058Z,1736366028.058 [DAT](INFO): DAT read: TxSync time:19:53:47.1716 2025-01-08T19:53:48.308Z,1736366028.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:48.328Z,1736366028.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:48.367Z,1736366028.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.60 m. 2025-01-08T19:53:48.370Z,1736366028.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.600006 m, nav range: 171.113663 m, bearing: 175.675749 deg, approach rate: 0.115066 m/s, LOS rate: -0.174942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.789641 deg. 2025-01-08T19:53:48.375Z,1736366028.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813437 target range: 170.600006 and range: 170.60 m. 2025-01-08T19:53:48.560Z,1736366028.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:48.722Z,1736366028.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:48.781Z,1736366028.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:48.789Z,1736366028.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.60 m. 2025-01-08T19:53:48.796Z,1736366028.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.600006 m, nav range: 171.158981 m, bearing: 175.606623 deg, approach rate: 0.106444 m/s, LOS rate: -0.162320 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.767864 deg. 2025-01-08T19:53:48.798Z,1736366028.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813057 target range: 170.600006 and range: 170.60 m. 2025-01-08T19:53:48.812Z,1736366028.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:48.812Z,1736366028.812 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:48.812Z,1736366028.812 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:48.813Z,1736366028.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:49.064Z,1736366029.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:49.065Z,1736366029.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247986 2025-01-08T19:53:49.212Z,1736366029.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:49.221Z,1736366029.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.60 m. 2025-01-08T19:53:49.224Z,1736366029.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.600006 m, nav range: 171.219437 m, bearing: 175.524470 deg, approach rate: 0.139794 m/s, LOS rate: -0.189899 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.728818 deg. 2025-01-08T19:53:49.225Z,1736366029.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812376 target range: 170.600006 and range: 170.60 m. 2025-01-08T19:53:49.316Z,1736366029.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:49.318Z,1736366029.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501095 2025-01-08T19:53:49.518Z,1736366029.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:49.527Z,1736366029.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.60 m. 2025-01-08T19:53:49.530Z,1736366029.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.600006 m, nav range: 171.258209 m, bearing: 175.473369 deg, approach rate: 0.126937 m/s, LOS rate: -0.167260 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821920 deg. 2025-01-08T19:53:49.532Z,1736366029.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814001 target range: 170.600006 and range: 170.60 m. 2025-01-08T19:53:49.568Z,1736366029.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:49.569Z,1736366029.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751883 2025-01-08T19:53:49.820Z,1736366029.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:49.820Z,1736366029.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003596 2025-01-08T19:53:49.946Z,1736366029.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:49.955Z,1736366029.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.60 m. 2025-01-08T19:53:49.958Z,1736366029.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.600006 m, nav range: 171.314651 m, bearing: 175.399866 deg, approach rate: 0.131853 m/s, LOS rate: -0.171652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.754751 deg. 2025-01-08T19:53:49.959Z,1736366029.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812829 target range: 170.600006 and range: 170.60 m. 2025-01-08T19:53:50.072Z,1736366030.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:50.073Z,1736366030.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255688 2025-01-08T19:53:50.324Z,1736366030.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:50.326Z,1736366030.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508696 2025-01-08T19:53:50.351Z,1736366030.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:50.359Z,1736366030.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.60 m. 2025-01-08T19:53:50.362Z,1736366030.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.600006 m, nav range: 171.369202 m, bearing: 175.330203 deg, approach rate: 0.134877 m/s, LOS rate: -0.172189 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.766265 deg. 2025-01-08T19:53:50.363Z,1736366030.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813029 target range: 170.600006 and range: 170.60 m. 2025-01-08T19:53:50.576Z,1736366030.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:50.578Z,1736366030.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760683 2025-01-08T19:53:50.736Z,1736366030.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:50.746Z,1736366030.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.60 m. 2025-01-08T19:53:50.760Z,1736366030.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.600006 m, nav range: 171.421524 m, bearing: 175.264107 deg, approach rate: 0.135684 m/s, LOS rate: -0.171349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.776961 deg. 2025-01-08T19:53:50.766Z,1736366030.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813216 target range: 170.600006 and range: 170.60 m. 2025-01-08T19:53:50.828Z,1736366030.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:50.828Z,1736366030.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011619 2025-01-08T19:53:51.080Z,1736366031.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:51.081Z,1736366031.081 [DAT](INFO): DAT read: Rx Time:19:53:49.8012 2025-01-08T19:53:51.082Z,1736366031.082 [DAT](INFO): Rx dataTimestamp_ set to:1736366031.081467 2025-01-08T19:53:51.082Z,1736366031.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265464 2025-01-08T19:53:51.167Z,1736366031.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:51.174Z,1736366031.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:51.176Z,1736366031.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.60 m. 2025-01-08T19:53:51.179Z,1736366031.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.600006 m, nav range: 171.491135 m, bearing: 175.182068 deg, approach rate: 0.161310 m/s, LOS rate: -0.190033 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.729172 deg. 2025-01-08T19:53:51.181Z,1736366031.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812382 target range: 170.600006 and range: 170.60 m. 2025-01-08T19:53:51.332Z,1736366031.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:51.334Z,1736366031.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516692 2025-01-08T19:53:51.540Z,1736366031.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:51.549Z,1736366031.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.60 m. 2025-01-08T19:53:51.552Z,1736366031.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.600006 m, nav range: 171.551682 m, bearing: 175.111141 deg, approach rate: 0.162608 m/s, LOS rate: -0.190419 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.762481 deg. 2025-01-08T19:53:51.553Z,1736366031.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812963 target range: 170.600006 and range: 170.60 m. 2025-01-08T19:53:51.584Z,1736366031.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:51.590Z,1736366031.590 [DAT](INFO): DAT read: 19:53:49.8012 LVL= 29984, 29297, 18850, 28227, AGC= 65, IDX= 408,-0.29, 2.668, 1.891, 3.075, 1.825, PHS= 0.931, 0.113, 1.248, RAW= 165.7, -38.6, CAL= 166.9, -43.0, ROT= 343.1, 43.0 2025-01-08T19:53:51.592Z,1736366031.592 [DAT](INFO): got valid direction response: 19:53:49.8012 LVL= 29984, 29297, 18850, 28227, AGC= 65, IDX= 408,-0.29, 2.668, 1.891, 3.075, 1.825, PHS= 0.931, 0.113, 1.248, RAW= 165.7, -38.6, CAL= 166.9, -43.0, ROT= 343.1, 43.0 2025-01-08T19:53:51.593Z,1736366031.593 [DAT](INFO): DAT read: Bearing 343.1, 43.0 (Local) 2025-01-08T19:53:51.593Z,1736366031.593 [DAT](INFO): Local bearing/azimuth received: Bearing 343.1, 43.0 (Local) 2025-01-08T19:53:51.594Z,1736366031.594 [DAT](INFO): DAT read: Range 10 to 50 : 168.5 m (Round-trip 224.7 ms) speed 0.6 m/s 2025-01-08T19:53:51.595Z,1736366031.595 [DAT](INFO): DAT read: user:934> 2025-01-08T19:53:51.596Z,1736366031.596 [DAT](INFO): DAT read: Tx time:19:53:50.9224 2025-01-08T19:53:51.597Z,1736366031.597 [DAT](INFO): Ping request sent. 2025-01-08T19:53:51.597Z,1736366031.597 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:51.597Z,1736366031.597 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:53:51.598Z,1736366031.598 [DAT](INFO): direction in FSK: [0.592358,-0.760318,0.266512] 2025-01-08T19:53:51.599Z,1736366031.599 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:51.599Z,1736366031.599 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:51.610Z,1736366031.610 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:51.611Z,1736366031.611 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:51.845Z,1736366031.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:51.846Z,1736366031.846 [DAT](INFO): DAT read: TxSync time:19:53:50.9216 2025-01-08T19:53:51.987Z,1736366031.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:52.019Z,1736366032.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 168.500000 m, deltaT: 3.780193 s, deltaX: -2.100006 m, approachRate: -0.555529 m/s, rangeRepo size: 4 2025-01-08T19:53:52.032Z,1736366032.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 168.500000 m, bearing: 223.864581 deg, lat: 36.903128 deg, lon: -122.117569 deg, deltaT: 3.780193 s, deltaX: -2.100006 m, approachRate: -0.555529 m/s, posRepo size: 4 2025-01-08T19:53:52.033Z,1736366032.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:52.040Z,1736366032.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 169.534500 m, bearing: 177.718751 deg, approach rate: 0.000000 m/s, LOS rate: -0.190419 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.707028 deg. 2025-01-08T19:53:52.041Z,1736366032.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811996 target range: 168.500000 and range: 168.50 m. 2025-01-08T19:53:52.096Z,1736366032.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:52.349Z,1736366032.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:52.361Z,1736366032.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:52.378Z,1736366032.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:52.385Z,1736366032.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 169.588303 m, bearing: 177.638412 deg, approach rate: 0.149510 m/s, LOS rate: -0.223179 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.734248 deg. 2025-01-08T19:53:52.386Z,1736366032.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812470 target range: 168.500000 and range: 168.50 m. 2025-01-08T19:53:52.600Z,1736366032.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:52.749Z,1736366032.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:52.762Z,1736366032.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:52.766Z,1736366032.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 169.643661 m, bearing: 177.554792 deg, approach rate: 0.144219 m/s, LOS rate: -0.217774 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.724409 deg. 2025-01-08T19:53:52.767Z,1736366032.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812299 target range: 168.500000 and range: 168.50 m. 2025-01-08T19:53:52.852Z,1736366032.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:53.104Z,1736366033.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:53.197Z,1736366033.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:53.205Z,1736366033.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:53.212Z,1736366033.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:53.216Z,1736366033.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 169.716599 m, bearing: 177.450229 deg, approach rate: 0.162225 m/s, LOS rate: -0.232464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.661638 deg. 2025-01-08T19:53:53.217Z,1736366033.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811203 target range: 168.500000 and range: 168.50 m. 2025-01-08T19:53:53.356Z,1736366033.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:53.356Z,1736366033.356 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:53.356Z,1736366033.356 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:53.357Z,1736366033.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:53.571Z,1736366033.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:53.595Z,1736366033.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:53.599Z,1736366033.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 169.778259 m, bearing: 177.362537 deg, approach rate: 0.160662 m/s, LOS rate: -0.228405 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.712208 deg. 2025-01-08T19:53:53.605Z,1736366033.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812086 target range: 168.500000 and range: 168.50 m. 2025-01-08T19:53:53.608Z,1736366033.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:53.609Z,1736366033.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011330 2025-01-08T19:53:53.862Z,1736366033.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:53.864Z,1736366033.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266692 2025-01-08T19:53:54.016Z,1736366034.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:54.025Z,1736366034.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:54.028Z,1736366034.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 169.853714 m, bearing: 177.251937 deg, approach rate: 0.175622 m/s, LOS rate: -0.257309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.643538 deg. 2025-01-08T19:53:54.029Z,1736366034.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810887 target range: 168.500000 and range: 168.50 m. 2025-01-08T19:53:54.113Z,1736366034.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:54.114Z,1736366034.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517217 2025-01-08T19:53:54.364Z,1736366034.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:54.364Z,1736366034.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767277 2025-01-08T19:53:54.368Z,1736366034.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:54.376Z,1736366034.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:54.378Z,1736366034.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 169.913223 m, bearing: 177.164682 deg, approach rate: 0.169754 m/s, LOS rate: -0.248814 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.713516 deg. 2025-01-08T19:53:54.381Z,1736366034.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812109 target range: 168.500000 and range: 168.50 m. 2025-01-08T19:53:54.616Z,1736366034.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:54.616Z,1736366034.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019271 2025-01-08T19:53:54.772Z,1736366034.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:54.798Z,1736366034.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:54.812Z,1736366034.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 169.981583 m, bearing: 177.064293 deg, approach rate: 0.161830 m/s, LOS rate: -0.237560 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674144 deg. 2025-01-08T19:53:54.822Z,1736366034.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811421 target range: 168.500000 and range: 168.50 m. 2025-01-08T19:53:54.870Z,1736366034.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:54.873Z,1736366034.873 [DAT](INFO): DAT read: Rx Time:19:53:53.5479 2025-01-08T19:53:54.874Z,1736366034.874 [DAT](INFO): Rx dataTimestamp_ set to:1736366034.873571 2025-01-08T19:53:54.876Z,1736366034.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278829 2025-01-08T19:53:55.120Z,1736366035.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:55.121Z,1736366035.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523988 2025-01-08T19:53:55.273Z,1736366035.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:55.280Z,1736366035.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:55.282Z,1736366035.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:55.285Z,1736366035.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.064529 m, bearing: 176.935046 deg, approach rate: 0.171176 m/s, LOS rate: -0.266597 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.587639 deg. 2025-01-08T19:53:55.287Z,1736366035.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809912 target range: 168.500000 and range: 168.50 m. 2025-01-08T19:53:55.372Z,1736366035.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:55.375Z,1736366035.375 [DAT](INFO): DAT read: W= 182.8, 1.0, CAL= 183.0, -6.9, ROT= 327.0, 6.9 2025-01-08T19:53:55.376Z,1736366035.376 [DAT](INFO): unknown deviceResponse_: W= 182.8, 1.0, CAL= 183.0, -6.9, ROT= 327.0, 6.9 2025-01-08T19:53:55.378Z,1736366035.378 [DAT](INFO): DAT read: Bearing 327.0, 6.9 (Local) 2025-01-08T19:53:55.378Z,1736366035.378 [DAT](INFO): Local bearing/azimuth received: Bearing 327.0, 6.9 (Local) 2025-01-08T19:53:55.381Z,1736366035.381 [DAT](INFO): DAT read: Range 10 to 50 : 165.9 m (Round-trip 221.3 ms) speed 0.6 m/s 2025-01-08T19:53:55.382Z,1736366035.382 [DAT](INFO): DAT read: user:935> 2025-01-08T19:53:55.382Z,1736366035.382 [DAT](INFO): DAT read: Tx time:19:53:54.6724 2025-01-08T19:53:55.383Z,1736366035.383 [DAT](INFO): Ping request sent. 2025-01-08T19:53:55.383Z,1736366035.383 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:55.383Z,1736366035.383 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:53:55.383Z,1736366035.383 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:55.384Z,1736366035.384 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:55.612Z,1736366035.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:55.622Z,1736366035.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 165.899994 m, deltaT: 3.788815 s, deltaX: -2.600006 m, approachRate: -0.686232 m/s, rangeRepo size: 4 2025-01-08T19:53:55.623Z,1736366035.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:55.624Z,1736366035.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:55.625Z,1736366035.625 [DAT](INFO): DAT read: TxSync time:19:53:54.6716 2025-01-08T19:53:55.628Z,1736366035.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.119751 m, bearing: 176.847543 deg, approach rate: 0.162878 m/s, LOS rate: -0.258008 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.712766 deg. 2025-01-08T19:53:55.629Z,1736366035.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812096 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:53:55.877Z,1736366035.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:56.010Z,1736366036.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:56.037Z,1736366036.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:56.040Z,1736366036.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.184143 m, bearing: 176.746018 deg, approach rate: 0.155036 m/s, LOS rate: -0.244346 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.670731 deg. 2025-01-08T19:53:56.041Z,1736366036.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811362 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:53:56.128Z,1736366036.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:56.380Z,1736366036.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:56.403Z,1736366036.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:56.411Z,1736366036.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:56.416Z,1736366036.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.247330 m, bearing: 176.645654 deg, approach rate: 0.168927 m/s, LOS rate: -0.268219 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674210 deg. 2025-01-08T19:53:56.419Z,1736366036.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811423 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:53:56.634Z,1736366036.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:56.795Z,1736366036.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:56.805Z,1736366036.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:56.808Z,1736366036.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.310379 m, bearing: 176.545513 deg, approach rate: 0.160106 m/s, LOS rate: -0.254202 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674876 deg. 2025-01-08T19:53:56.809Z,1736366036.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811434 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:53:56.885Z,1736366036.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:57.136Z,1736366037.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:57.229Z,1736366037.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:57.238Z,1736366037.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:57.241Z,1736366037.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.373093 m, bearing: 176.439667 deg, approach rate: 0.144625 m/s, LOS rate: -0.244004 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.657769 deg. 2025-01-08T19:53:57.242Z,1736366037.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811136 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:53:57.388Z,1736366037.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:57.607Z,1736366037.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:57.618Z,1736366037.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:57.621Z,1736366037.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:57.624Z,1736366037.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.428757 m, bearing: 176.347365 deg, approach rate: 0.145462 m/s, LOS rate: -0.241126 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.698373 deg. 2025-01-08T19:53:57.625Z,1736366037.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811844 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:53:57.642Z,1736366037.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:57.644Z,1736366037.644 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:57.644Z,1736366037.644 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:57.644Z,1736366037.644 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:53:57.894Z,1736366037.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:57.897Z,1736366037.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513577 2025-01-08T19:53:58.036Z,1736366038.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:58.044Z,1736366038.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:58.048Z,1736366038.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.488235 m, bearing: 176.249788 deg, approach rate: 0.140472 m/s, LOS rate: -0.230370 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.682560 deg. 2025-01-08T19:53:58.049Z,1736366038.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811568 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:53:58.144Z,1736366038.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:58.145Z,1736366038.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761655 2025-01-08T19:53:58.396Z,1736366038.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:58.397Z,1736366038.397 [DAT](INFO): DAT read: Rx Time:19:53:57.2612 2025-01-08T19:53:58.397Z,1736366038.397 [DAT](INFO): Rx dataTimestamp_ set to:1736366038.396704 2025-01-08T19:53:58.397Z,1736366038.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014681 2025-01-08T19:53:58.483Z,1736366038.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:58.500Z,1736366038.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:58.518Z,1736366038.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.551208 m, bearing: 176.148348 deg, approach rate: 0.138474 m/s, LOS rate: -0.222978 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.670982 deg. 2025-01-08T19:53:58.525Z,1736366038.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811366 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:53:58.648Z,1736366038.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:58.649Z,1736366038.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266426 2025-01-08T19:53:58.843Z,1736366038.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:58.901Z,1736366038.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:58.904Z,1736366038.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520620 2025-01-08T19:53:58.916Z,1736366038.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:58.974Z,1736366038.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.602448 m, bearing: 176.066505 deg, approach rate: 0.124891 m/s, LOS rate: -0.199424 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.729735 deg. 2025-01-08T19:53:58.981Z,1736366038.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812392 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:53:59.152Z,1736366039.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:59.158Z,1736366039.158 [DAT](INFO): DAT read: 19:53:57.2612 LVL= 28192, 28145, 22802, 31219, AGC= 64, IDX= 62,-0.08,-2.180,-3.066,-1.001,-1.958, PHS=-0.135,-1.061, 0.954, RAW= 182.7, 2.8, CAL= 182.8, -5.5, ROT= 327.2, 5.5 2025-01-08T19:53:59.159Z,1736366039.159 [DAT](INFO): got valid direction response: 19:53:57.2612 LVL= 28192, 28145, 22802, 31219, AGC= 64, IDX= 62,-0.08,-2.180,-3.066,-1.001,-1.958, PHS=-0.135,-1.061, 0.954, RAW= 182.7, 2.8, CAL= 182.8, -5.5, ROT= 327.2, 5.5 2025-01-08T19:53:59.160Z,1736366039.160 [DAT](INFO): DAT read: Bearing 327.2, 5.5 (Local) 2025-01-08T19:53:59.161Z,1736366039.161 [DAT](INFO): Local bearing/azimuth received: Bearing 327.2, 5.5 (Local) 2025-01-08T19:53:59.162Z,1736366039.162 [DAT](INFO): DAT read: Range 10 to 50 : 138.3 m (Round-trip 184.5 ms) speed 0.4 m/s 2025-01-08T19:53:59.163Z,1736366039.163 [DAT](INFO): DAT read: user:936> 2025-01-08T19:53:59.165Z,1736366039.165 [DAT](INFO): DAT read: Tx time:19:53:58.3741 2025-01-08T19:53:59.165Z,1736366039.165 [DAT](INFO): Ping request sent. 2025-01-08T19:53:59.165Z,1736366039.165 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:53:59.166Z,1736366039.166 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:53:59.167Z,1736366039.167 [DAT](INFO): direction in FSK: [-0.136289,-0.990650,-0.006068] 2025-01-08T19:53:59.167Z,1736366039.167 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:59.167Z,1736366039.167 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:59.220Z,1736366039.220 [DAT](INFO): publishing transmit ping time 2025-01-08T19:53:59.220Z,1736366039.220 [DAT](INFO): publishing direction and range info 2025-01-08T19:53:59.370Z,1736366039.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:59.404Z,1736366039.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:59.405Z,1736366039.405 [DAT](INFO): DAT read: TxSync time:19:53:58.3733 2025-01-08T19:53:59.415Z,1736366039.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 138.300003 m, deltaT: 3.778945 s, deltaX: -27.599991 m, approachRate: -7.303623 m/s, rangeRepo size: 4 2025-01-08T19:53:59.416Z,1736366039.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:59.419Z,1736366039.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.665634 m, bearing: 175.956936 deg, approach rate: 0.127142 m/s, LOS rate: -0.220390 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.646604 deg. 2025-01-08T19:53:59.424Z,1736366039.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810941 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:53:59.469Z,1736366039.469 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:53:59.656Z,1736366039.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:59.724Z,1736366039.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:53:59.740Z,1736366039.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:53:59.742Z,1736366039.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:53:59.749Z,1736366039.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.708099 m, bearing: 175.883209 deg, approach rate: 0.126668 m/s, LOS rate: -0.219863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.754062 deg. 2025-01-08T19:53:59.750Z,1736366039.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812816 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:53:59.910Z,1736366039.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:53:59.911Z,1736366039.911 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:53:59.911Z,1736366039.911 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:53:59.912Z,1736366039.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:00.125Z,1736366040.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:00.135Z,1736366040.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:54:00.138Z,1736366040.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.751389 m, bearing: 175.807380 deg, approach rate: 0.110143 m/s, LOS rate: -0.192889 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.747757 deg. 2025-01-08T19:54:00.139Z,1736366040.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812706 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:54:00.160Z,1736366040.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:00.161Z,1736366040.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995178 2025-01-08T19:54:00.412Z,1736366040.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:00.412Z,1736366040.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246981 2025-01-08T19:54:00.472Z,1736366040.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:54:00.510Z,1736366040.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:00.518Z,1736366040.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:54:00.522Z,1736366040.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.794327 m, bearing: 175.734521 deg, approach rate: 0.112034 m/s, LOS rate: -0.190054 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.756666 deg. 2025-01-08T19:54:00.524Z,1736366040.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812862 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:54:00.665Z,1736366040.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:00.666Z,1736366040.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499883 2025-01-08T19:54:00.918Z,1736366040.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:00.920Z,1736366040.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754364 2025-01-08T19:54:00.950Z,1736366040.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:00.987Z,1736366040.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:54:00.990Z,1736366040.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.844543 m, bearing: 175.651342 deg, approach rate: 0.107988 m/s, LOS rate: -0.178819 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.725725 deg. 2025-01-08T19:54:00.995Z,1736366040.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812322 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:54:01.168Z,1736366041.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:01.168Z,1736366041.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003032 2025-01-08T19:54:01.334Z,1736366041.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:01.343Z,1736366041.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:54:01.346Z,1736366041.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.885147 m, bearing: 175.581480 deg, approach rate: 0.112881 m/s, LOS rate: -0.194175 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.765651 deg. 2025-01-08T19:54:01.348Z,1736366041.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813019 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:54:01.420Z,1736366041.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:01.421Z,1736366041.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255225 2025-01-08T19:54:01.672Z,1736366041.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:01.673Z,1736366041.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507892 2025-01-08T19:54:01.727Z,1736366041.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:01.737Z,1736366041.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:54:01.739Z,1736366041.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.926865 m, bearing: 175.510165 deg, approach rate: 0.105929 m/s, LOS rate: -0.181039 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.761295 deg. 2025-01-08T19:54:01.741Z,1736366041.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812943 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:54:01.926Z,1736366041.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:01.929Z,1736366041.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762768 2025-01-08T19:54:02.149Z,1736366042.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:02.156Z,1736366042.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:02.158Z,1736366042.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:54:02.161Z,1736366042.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 170.973221 m, bearing: 175.435627 deg, approach rate: 0.110022 m/s, LOS rate: -0.176861 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.751634 deg. 2025-01-08T19:54:02.162Z,1736366042.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812774 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:54:02.176Z,1736366042.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:02.177Z,1736366042.177 [DAT](INFO): DAT read: Rx Time:19:54:00.9604 2025-01-08T19:54:02.177Z,1736366042.177 [DAT](INFO): Rx dataTimestamp_ set to:1736366042.176688 2025-01-08T19:54:02.177Z,1736366042.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012140 2025-01-08T19:54:02.428Z,1736366042.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:02.428Z,1736366042.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263059 2025-01-08T19:54:02.512Z,1736366042.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:02.545Z,1736366042.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.50 m. 2025-01-08T19:54:02.548Z,1736366042.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.500000 m, nav range: 171.013626 m, bearing: 175.371634 deg, approach rate: 0.104494 m/s, LOS rate: -0.165455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783255 deg. 2025-01-08T19:54:02.549Z,1736366042.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813326 target range: 168.500000 and range: 165.90 m. 2025-01-08T19:54:02.682Z,1736366042.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:02.693Z,1736366042.693 [DAT](INFO): DAT read: 19:54:00.9604 LVL= 30800, 25921, 10962, 30035, AGC= 62, IDX= 422, 0.40,-1.702,-2.519,-0.452,-1.450, PHS=-0.164,-1.022, 0.995, RAW= 184.9, 2.2, CAL= 185.0, -5.9, ROT= 325.0, 5.9 2025-01-08T19:54:02.695Z,1736366042.695 [DAT](INFO): got valid direction response: 19:54:00.9604 LVL= 30800, 25921, 10962, 30035, AGC= 62, IDX= 422, 0.40,-1.702,-2.519,-0.452,-1.450, PHS=-0.164,-1.022, 0.995, RAW= 184.9, 2.2, CAL= 185.0, -5.9, ROT= 325.0, 5.9 2025-01-08T19:54:02.705Z,1736366042.705 [DAT](INFO): DAT read: Bearing 325.0, 5.9 (Local) 2025-01-08T19:54:02.706Z,1736366042.706 [DAT](INFO): Local bearing/azimuth received: Bearing 325.0, 5.9 (Local) 2025-01-08T19:54:02.712Z,1736366042.712 [DAT](INFO): DAT read: Range 10 to 50 : 136.6 m (Round-trip 182.2 ms) speed 0.8 m/s 2025-01-08T19:54:02.713Z,1736366042.713 [DAT](INFO): DAT read: user:937> 2025-01-08T19:54:02.714Z,1736366042.714 [DAT](INFO): DAT read: Tx time:19:54:02.0741 2025-01-08T19:54:02.715Z,1736366042.715 [DAT](INFO): Ping request sent. 2025-01-08T19:54:02.715Z,1736366042.715 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:02.720Z,1736366042.720 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:54:02.721Z,1736366042.721 [DAT](INFO): direction in FSK: [-0.121224,-0.991651,-0.043971] 2025-01-08T19:54:02.722Z,1736366042.722 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:02.722Z,1736366042.722 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:02.740Z,1736366042.740 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:02.740Z,1736366042.740 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:02.930Z,1736366042.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:02.933Z,1736366042.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:02.936Z,1736366042.936 [DAT](INFO): DAT read: TxSync time:19:54:02.0733 2025-01-08T19:54:03.029Z,1736366043.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.600006 m, deltaT: 7.310421 s, deltaX: -29.299988 m, approachRate: -4.007976 m/s, rangeRepo size: 4 2025-01-08T19:54:03.036Z,1736366043.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.600006 m, bearing: 179.675781 deg, lat: 36.903430 deg, lon: -122.117643 deg, deltaT: 11.099236 s, deltaX: -31.899994 m, approachRate: -2.874071 m/s, posRepo size: 4 2025-01-08T19:54:03.037Z,1736366043.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T19:54:03.043Z,1736366043.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 137.094604 m, bearing: 176.865216 deg, approach rate: 0.000000 m/s, LOS rate: -0.165455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.735069 deg. 2025-01-08T19:54:03.045Z,1736366043.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812485 target range: 136.600006 and range: 136.60 m. 2025-01-08T19:54:03.184Z,1736366043.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:03.386Z,1736366043.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:03.394Z,1736366043.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T19:54:03.398Z,1736366043.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 137.142593 m, bearing: 176.759905 deg, approach rate: 0.131133 m/s, LOS rate: -0.287668 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.659368 deg. 2025-01-08T19:54:03.400Z,1736366043.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811163 target range: 136.600006 and range: 136.60 m. 2025-01-08T19:54:03.436Z,1736366043.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:03.688Z,1736366043.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:03.772Z,1736366043.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:03.794Z,1736366043.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T19:54:03.798Z,1736366043.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 137.183563 m, bearing: 176.670841 deg, approach rate: 0.102386 m/s, LOS rate: -0.222511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.708075 deg. 2025-01-08T19:54:03.800Z,1736366043.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812014 target range: 136.600006 and range: 136.60 m. 2025-01-08T19:54:03.942Z,1736366043.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:04.192Z,1736366044.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:04.254Z,1736366044.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:04.266Z,1736366044.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:04.268Z,1736366044.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T19:54:04.271Z,1736366044.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 137.242722 m, bearing: 176.553750 deg, approach rate: 0.124888 m/s, LOS rate: -0.247082 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.624069 deg. 2025-01-08T19:54:04.272Z,1736366044.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810547 target range: 136.600006 and range: 136.60 m. 2025-01-08T19:54:04.444Z,1736366044.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:04.444Z,1736366044.444 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:04.444Z,1736366044.444 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:04.444Z,1736366044.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:04.580Z,1736366044.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:04.589Z,1736366044.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T19:54:04.592Z,1736366044.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 137.283356 m, bearing: 176.474275 deg, approach rate: 0.126578 m/s, LOS rate: -0.247496 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.736834 deg. 2025-01-08T19:54:04.593Z,1736366044.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812516 target range: 136.600006 and range: 136.60 m. 2025-01-08T19:54:04.696Z,1736366044.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:04.697Z,1736366044.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982745 2025-01-08T19:54:04.948Z,1736366044.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:04.948Z,1736366044.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233704 2025-01-08T19:54:05.039Z,1736366045.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:05.064Z,1736366045.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T19:54:05.067Z,1736366045.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 137.340302 m, bearing: 176.363846 deg, approach rate: 0.121090 m/s, LOS rate: -0.234719 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.644042 deg. 2025-01-08T19:54:05.074Z,1736366045.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810896 target range: 136.600006 and range: 136.60 m. 2025-01-08T19:54:05.200Z,1736366045.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:05.201Z,1736366045.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486187 2025-01-08T19:54:05.394Z,1736366045.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:05.403Z,1736366045.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T19:54:05.406Z,1736366045.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 137.389450 m, bearing: 176.270739 deg, approach rate: 0.143235 m/s, LOS rate: -0.271248 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.695967 deg. 2025-01-08T19:54:05.407Z,1736366045.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811802 target range: 136.600006 and range: 136.60 m. 2025-01-08T19:54:05.452Z,1736366045.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:05.453Z,1736366045.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738241 2025-01-08T19:54:05.704Z,1736366045.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:05.704Z,1736366045.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989713 2025-01-08T19:54:05.780Z,1736366045.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:05.788Z,1736366045.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T19:54:05.791Z,1736366045.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 137.442551 m, bearing: 176.170692 deg, approach rate: 0.137680 m/s, LOS rate: -0.259302 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.675166 deg. 2025-01-08T19:54:05.792Z,1736366045.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811440 target range: 136.600006 and range: 136.60 m. 2025-01-08T19:54:05.956Z,1736366045.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:05.957Z,1736366045.957 [DAT](INFO): DAT read: Rx Time:19:54:04.6579 2025-01-08T19:54:05.957Z,1736366045.957 [DAT](INFO): Rx dataTimestamp_ set to:1736366045.956722 2025-01-08T19:54:05.958Z,1736366045.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242896 2025-01-08T19:54:06.204Z,1736366046.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:06.208Z,1736366046.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:06.209Z,1736366046.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493875 2025-01-08T19:54:06.215Z,1736366046.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T19:54:06.218Z,1736366046.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 137.505783 m, bearing: 176.054739 deg, approach rate: 0.148226 m/s, LOS rate: -0.271686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.627491 deg. 2025-01-08T19:54:06.236Z,1736366046.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810607 target range: 136.600006 and range: 136.60 m. 2025-01-08T19:54:06.460Z,1736366046.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:06.469Z,1736366046.469 [DAT](INFO): DAT read: 19:54:04.6579 LVL= 24688, 20465, 13586, 27571, AGC= 63, IDX= 412, 0.28, 3.105, 2.238,-1.912,-2.947, PHS=-0.143,-1.052, 1.032, RAW= 184.2, 1.8, CAL= 184.3, -6.3, ROT= 325.7, 6.3 2025-01-08T19:54:06.471Z,1736366046.471 [DAT](INFO): got valid direction response: 19:54:04.6579 LVL= 24688, 20465, 13586, 27571, AGC= 63, IDX= 412, 0.28, 3.105, 2.238,-1.912,-2.947, PHS=-0.143,-1.052, 1.032, RAW= 184.2, 1.8, CAL= 184.3, -6.3, ROT= 325.7, 6.3 2025-01-08T19:54:06.483Z,1736366046.483 [DAT](INFO): DAT read: Bearing 325.7, 6.3 (Local) 2025-01-08T19:54:06.488Z,1736366046.488 [DAT](INFO): Local bearing/azimuth received: Bearing 325.7, 6.3 (Local) 2025-01-08T19:54:06.489Z,1736366046.489 [DAT](INFO): DAT read: Range 10 to 50 : 134.7 m (Round-trip 179.6 ms) speed 0.3 m/s 2025-01-08T19:54:06.490Z,1736366046.490 [DAT](INFO): DAT read: user:938> 2025-01-08T19:54:06.491Z,1736366046.491 [DAT](INFO): DAT read: Tx time:19:54:05.7725 2025-01-08T19:54:06.491Z,1736366046.491 [DAT](INFO): Ping request sent. 2025-01-08T19:54:06.497Z,1736366046.497 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:06.497Z,1736366046.497 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:54:06.498Z,1736366046.498 [DAT](INFO): direction in FSK: [-0.115243,-0.992843,-0.031333] 2025-01-08T19:54:06.499Z,1736366046.499 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:06.499Z,1736366046.499 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:06.502Z,1736366046.502 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:06.503Z,1736366046.503 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:06.611Z,1736366046.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:06.663Z,1736366046.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 134.699997 m, deltaT: 3.776664 s, deltaX: -1.900009 m, approachRate: -0.503092 m/s, rangeRepo size: 4 2025-01-08T19:54:06.670Z,1736366046.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 134.699997 m, bearing: 179.655539 deg, lat: 36.903454 deg, lon: -122.117719 deg, deltaT: 3.776664 s, deltaX: -1.900009 m, approachRate: -0.503092 m/s, posRepo size: 4 2025-01-08T19:54:06.685Z,1736366046.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T19:54:06.693Z,1736366046.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 134.652466 m, bearing: 178.726002 deg, approach rate: 0.000000 m/s, LOS rate: -0.271686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.611219 deg. 2025-01-08T19:54:06.700Z,1736366046.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810323 target range: 134.699997 and range: 134.70 m. 2025-01-08T19:54:06.712Z,1736366046.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:06.713Z,1736366046.713 [DAT](INFO): DAT read: TxSync time:19:54:05.7717 2025-01-08T19:54:06.964Z,1736366046.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:07.061Z,1736366047.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:07.068Z,1736366047.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:07.070Z,1736366047.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T19:54:07.073Z,1736366047.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 134.705460 m, bearing: 178.599379 deg, approach rate: 0.129591 m/s, LOS rate: -0.309523 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.595472 deg. 2025-01-08T19:54:07.074Z,1736366047.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810049 target range: 134.699997 and range: 134.70 m. 2025-01-08T19:54:07.216Z,1736366047.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:07.216Z,1736366047.216 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:07.216Z,1736366047.216 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:07.216Z,1736366047.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:07.434Z,1736366047.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:07.443Z,1736366047.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T19:54:07.446Z,1736366047.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 134.754379 m, bearing: 178.489639 deg, approach rate: 0.131406 m/s, LOS rate: -0.294669 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.646092 deg. 2025-01-08T19:54:07.448Z,1736366047.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810932 target range: 134.699997 and range: 134.70 m. 2025-01-08T19:54:07.468Z,1736366047.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:07.469Z,1736366047.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977521 2025-01-08T19:54:07.720Z,1736366047.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:07.721Z,1736366047.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230053 2025-01-08T19:54:07.800Z,1736366047.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:07.808Z,1736366047.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T19:54:07.817Z,1736366047.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 134.800720 m, bearing: 178.381918 deg, approach rate: 0.126757 m/s, LOS rate: -0.294550 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.652139 deg. 2025-01-08T19:54:07.818Z,1736366047.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811038 target range: 134.699997 and range: 134.70 m. 2025-01-08T19:54:07.972Z,1736366047.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:07.972Z,1736366047.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481314 2025-01-08T19:54:08.224Z,1736366048.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:08.224Z,1736366048.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733460 2025-01-08T19:54:08.234Z,1736366048.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:08.243Z,1736366048.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T19:54:08.246Z,1736366048.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 134.859451 m, bearing: 178.251326 deg, approach rate: 0.135115 m/s, LOS rate: -0.300307 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.583586 deg. 2025-01-08T19:54:08.248Z,1736366048.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809841 target range: 134.699997 and range: 134.70 m. 2025-01-08T19:54:08.476Z,1736366048.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:08.476Z,1736366048.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985423 2025-01-08T19:54:08.608Z,1736366048.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:08.640Z,1736366048.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T19:54:08.657Z,1736366048.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 134.910706 m, bearing: 178.139042 deg, approach rate: 0.129038 m/s, LOS rate: -0.282579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.638468 deg. 2025-01-08T19:54:08.664Z,1736366048.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810799 target range: 134.699997 and range: 134.70 m. 2025-01-08T19:54:08.729Z,1736366048.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:08.731Z,1736366048.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239519 2025-01-08T19:54:08.980Z,1736366048.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:08.982Z,1736366048.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490800 2025-01-08T19:54:09.073Z,1736366049.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:09.096Z,1736366049.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:09.104Z,1736366049.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T19:54:09.106Z,1736366049.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 134.974457 m, bearing: 177.999728 deg, approach rate: 0.138821 m/s, LOS rate: -0.303218 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.557450 deg. 2025-01-08T19:54:09.112Z,1736366049.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809385 target range: 134.699997 and range: 134.70 m. 2025-01-08T19:54:09.232Z,1736366049.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:09.233Z,1736366049.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741846 2025-01-08T19:54:09.448Z,1736366049.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:09.465Z,1736366049.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T19:54:09.472Z,1736366049.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 135.024384 m, bearing: 177.886586 deg, approach rate: 0.136361 m/s, LOS rate: -0.308902 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.635890 deg. 2025-01-08T19:54:09.473Z,1736366049.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810754 target range: 134.699997 and range: 134.70 m. 2025-01-08T19:54:09.484Z,1736366049.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:09.485Z,1736366049.485 [DAT](INFO): DAT read: Rx Time:19:54:08.3535 2025-01-08T19:54:09.485Z,1736366049.485 [DAT](INFO): Rx dataTimestamp_ set to:1736366049.484781 2025-01-08T19:54:09.486Z,1736366049.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994603 2025-01-08T19:54:09.736Z,1736366049.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:09.737Z,1736366049.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245630 2025-01-08T19:54:09.821Z,1736366049.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:09.829Z,1736366049.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T19:54:09.833Z,1736366049.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 135.074371 m, bearing: 177.774378 deg, approach rate: 0.137563 m/s, LOS rate: -0.308674 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.638693 deg. 2025-01-08T19:54:09.834Z,1736366049.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810803 target range: 134.699997 and range: 134.70 m. 2025-01-08T19:54:09.988Z,1736366049.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:09.988Z,1736366049.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497424 2025-01-08T19:54:10.240Z,1736366050.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:10.247Z,1736366050.247 [DAT](INFO): DAT read: 19:54:08.3535 LVL= 25568, 28337, 14306, 29171, AGC= 64, IDX= 414,-0.25,-0.378,-1.225, 0.905,-0.142, PHS=-0.148,-1.036, 1.044, RAW= 184.8, 1.6, CAL= 184.9, -6.4, ROT= 325.1, 6.4 2025-01-08T19:54:10.249Z,1736366050.249 [DAT](INFO): got valid direction response: 19:54:08.3535 LVL= 25568, 28337, 14306, 29171, AGC= 64, IDX= 414,-0.25,-0.378,-1.225, 0.905,-0.142, PHS=-0.148,-1.036, 1.044, RAW= 184.8, 1.6, CAL= 184.9, -6.4, ROT= 325.1, 6.4 2025-01-08T19:54:10.249Z,1736366050.249 [DAT](INFO): DAT read: Bearing 325.1, 6.4 (Local) 2025-01-08T19:54:10.250Z,1736366050.250 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, 6.4 (Local) 2025-01-08T19:54:10.251Z,1736366050.251 [DAT](INFO): DAT read: Range 10 to 50 : 132.5 m (Round-trip 176.7 ms) speed 1.0 m/s 2025-01-08T19:54:10.252Z,1736366050.252 [DAT](INFO): DAT read: user:939> 2025-01-08T19:54:10.253Z,1736366050.253 [DAT](INFO): DAT read: Tx time:19:54:09.4726 2025-01-08T19:54:10.253Z,1736366050.253 [DAT](INFO): Ping request sent. 2025-01-08T19:54:10.253Z,1736366050.253 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:10.254Z,1736366050.254 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:54:10.254Z,1736366050.254 [DAT](INFO): direction in FSK: [-0.109391,-0.993134,-0.041465] 2025-01-08T19:54:10.255Z,1736366050.255 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:10.255Z,1736366050.255 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:10.293Z,1736366050.293 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:10.294Z,1736366050.294 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:10.308Z,1736366050.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:10.344Z,1736366050.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.500000 m, deltaT: 3.780013 s, deltaX: -2.199997 m, approachRate: -0.582008 m/s, rangeRepo size: 4 2025-01-08T19:54:10.346Z,1736366050.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 132.500000 m, bearing: 179.009896 deg, lat: 36.903470 deg, lon: -122.117743 deg, deltaT: 3.780013 s, deltaX: -2.199997 m, approachRate: -0.582008 m/s, posRepo size: 4 2025-01-08T19:54:10.356Z,1736366050.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.50 m. 2025-01-08T19:54:10.359Z,1736366050.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.500000 m, nav range: 133.305618 m, bearing: 178.544615 deg, approach rate: 0.000000 m/s, LOS rate: -0.308674 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.502724 deg. 2025-01-08T19:54:10.368Z,1736366050.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808430 target range: 132.500000 and range: 132.50 m. 2025-01-08T19:54:10.492Z,1736366050.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:10.493Z,1736366050.493 [DAT](INFO): DAT read: TxSync time:19:54:09.4718 2025-01-08T19:54:10.656Z,1736366050.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:10.690Z,1736366050.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.50 m. 2025-01-08T19:54:10.697Z,1736366050.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.500000 m, nav range: 133.345459 m, bearing: 178.441276 deg, approach rate: 0.113619 m/s, LOS rate: -0.294615 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.665267 deg. 2025-01-08T19:54:10.698Z,1736366050.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811266 target range: 132.500000 and range: 132.50 m. 2025-01-08T19:54:10.744Z,1736366050.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:10.996Z,1736366050.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:11.057Z,1736366051.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:11.116Z,1736366051.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:11.118Z,1736366051.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.50 m. 2025-01-08T19:54:11.125Z,1736366051.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.500000 m, nav range: 133.391861 m, bearing: 178.320537 deg, approach rate: 0.108336 m/s, LOS rate: -0.281793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.613101 deg. 2025-01-08T19:54:11.126Z,1736366051.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810356 target range: 132.500000 and range: 132.50 m. 2025-01-08T19:54:11.248Z,1736366051.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:11.248Z,1736366051.248 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:11.248Z,1736366051.248 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:11.249Z,1736366051.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:11.470Z,1736366051.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:11.479Z,1736366051.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.50 m. 2025-01-08T19:54:11.483Z,1736366051.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.500000 m, nav range: 133.442261 m, bearing: 178.200260 deg, approach rate: 0.139709 m/s, LOS rate: -0.333284 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.614497 deg. 2025-01-08T19:54:11.484Z,1736366051.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810380 target range: 132.500000 and range: 132.50 m. 2025-01-08T19:54:11.502Z,1736366051.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:11.512Z,1736366051.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258440 2025-01-08T19:54:11.752Z,1736366051.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:11.752Z,1736366051.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499160 2025-01-08T19:54:11.854Z,1736366051.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:11.862Z,1736366051.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.50 m. 2025-01-08T19:54:11.866Z,1736366051.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.500000 m, nav range: 133.490128 m, bearing: 178.088586 deg, approach rate: 0.124719 m/s, LOS rate: -0.290866 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.640290 deg. 2025-01-08T19:54:11.868Z,1736366051.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810831 target range: 132.500000 and range: 132.50 m. 2025-01-08T19:54:12.004Z,1736366052.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:12.004Z,1736366052.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751132 2025-01-08T19:54:12.256Z,1736366052.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:12.256Z,1736366052.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003232 2025-01-08T19:54:12.277Z,1736366052.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:12.312Z,1736366052.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.50 m. 2025-01-08T19:54:12.316Z,1736366052.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.500000 m, nav range: 133.536148 m, bearing: 177.968688 deg, approach rate: 0.102713 m/s, LOS rate: -0.267508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.615620 deg. 2025-01-08T19:54:12.317Z,1736366052.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810400 target range: 132.500000 and range: 132.50 m. 2025-01-08T19:54:12.508Z,1736366052.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:12.508Z,1736366052.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255109 2025-01-08T19:54:12.653Z,1736366052.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:12.692Z,1736366052.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.50 m. 2025-01-08T19:54:12.695Z,1736366052.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.500000 m, nav range: 133.578232 m, bearing: 177.861983 deg, approach rate: 0.110270 m/s, LOS rate: -0.279504 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655178 deg. 2025-01-08T19:54:12.702Z,1736366052.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811090 target range: 132.500000 and range: 132.50 m. 2025-01-08T19:54:12.761Z,1736366052.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:12.762Z,1736366052.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508686 2025-01-08T19:54:13.012Z,1736366053.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:13.012Z,1736366053.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759174 2025-01-08T19:54:13.072Z,1736366053.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:13.128Z,1736366053.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.50 m. 2025-01-08T19:54:13.152Z,1736366053.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.500000 m, nav range: 133.626038 m, bearing: 177.743286 deg, approach rate: 0.111106 m/s, LOS rate: -0.275768 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.619227 deg. 2025-01-08T19:54:13.154Z,1736366053.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810463 target range: 132.500000 and range: 132.50 m. 2025-01-08T19:54:13.265Z,1736366053.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:13.265Z,1736366053.265 [DAT](INFO): DAT read: Rx Time:19:54:12.0505 2025-01-08T19:54:13.266Z,1736366053.266 [DAT](INFO): Rx dataTimestamp_ set to:1736366053.265639 2025-01-08T19:54:13.266Z,1736366053.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013220 2025-01-08T19:54:13.504Z,1736366053.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:13.516Z,1736366053.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:13.516Z,1736366053.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263160 2025-01-08T19:54:13.539Z,1736366053.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:13.541Z,1736366053.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.50 m. 2025-01-08T19:54:13.549Z,1736366053.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.500000 m, nav range: 133.676697 m, bearing: 177.622414 deg, approach rate: 0.120964 m/s, LOS rate: -0.288508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.612714 deg. 2025-01-08T19:54:13.550Z,1736366053.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810349 target range: 132.500000 and range: 132.50 m. 2025-01-08T19:54:13.768Z,1736366053.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:13.781Z,1736366053.781 [DAT](INFO): DAT read: 19:54:12.0505 LVL= 25504, 30881, 14882, 28579, AGC= 62, IDX= 416, 0.37, 2.348, 1.434,-2.651, 2.564, PHS=-0.129,-1.083, 1.064, RAW= 183.7, 1.6, CAL= 183.8, -6.4, ROT= 326.2, 6.4 2025-01-08T19:54:13.783Z,1736366053.783 [DAT](INFO): got valid direction response: 19:54:12.0505 LVL= 25504, 30881, 14882, 28579, AGC= 62, IDX= 416, 0.37, 2.348, 1.434,-2.651, 2.564, PHS=-0.129,-1.083, 1.064, RAW= 183.7, 1.6, CAL= 183.8, -6.4, ROT= 326.2, 6.4 2025-01-08T19:54:13.784Z,1736366053.784 [DAT](INFO): DAT read: Bearing 326.2, 6.4 (Local) 2025-01-08T19:54:13.784Z,1736366053.784 [DAT](INFO): Local bearing/azimuth received: Bearing 326.2, 6.4 (Local) 2025-01-08T19:54:13.786Z,1736366053.786 [DAT](INFO): DAT read: Range 10 to 50 : 130.3 m (Round-trip 173.8 ms) speed 0.8 m/s 2025-01-08T19:54:13.786Z,1736366053.786 [DAT](INFO): DAT read: user:940> 2025-01-08T19:54:13.798Z,1736366053.798 [DAT](INFO): DAT read: Tx time:19:54:13.1726 2025-01-08T19:54:13.800Z,1736366053.800 [DAT](INFO): Ping request sent. 2025-01-08T19:54:13.800Z,1736366053.800 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:13.801Z,1736366053.801 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:54:13.801Z,1736366053.801 [DAT](INFO): direction in FSK: [-0.112089,-0.993458,-0.021833] 2025-01-08T19:54:13.802Z,1736366053.802 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:13.802Z,1736366053.802 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:13.805Z,1736366053.805 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:13.805Z,1736366053.805 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:13.904Z,1736366053.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:13.938Z,1736366053.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.300003 m, deltaT: 3.527928 s, deltaX: -2.199997 m, approachRate: -0.623595 m/s, rangeRepo size: 4 2025-01-08T19:54:13.952Z,1736366053.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 130.300003 m, bearing: 179.188513 deg, lat: 36.903470 deg, lon: -122.117743 deg, deltaT: 3.527928 s, deltaX: -2.199997 m, approachRate: -0.623595 m/s, posRepo size: 4 2025-01-08T19:54:13.953Z,1736366053.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:13.961Z,1736366053.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 133.724091 m, bearing: 177.510712 deg, approach rate: 0.000000 m/s, LOS rate: -0.288508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.634278 deg. 2025-01-08T19:54:13.968Z,1736366053.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810726 target range: 130.300003 and range: 130.30 m. 2025-01-08T19:54:14.020Z,1736366054.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:14.021Z,1736366054.021 [DAT](INFO): DAT read: TxSync time:19:54:13.1718 2025-01-08T19:54:14.274Z,1736366054.274 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:14.318Z,1736366054.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:14.327Z,1736366054.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:14.331Z,1736366054.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 133.773773 m, bearing: 177.396965 deg, approach rate: 0.126903 m/s, LOS rate: -0.290434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.634075 deg. 2025-01-08T19:54:14.332Z,1736366054.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810722 target range: 130.300003 and range: 130.30 m. 2025-01-08T19:54:14.525Z,1736366054.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:14.696Z,1736366054.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:14.704Z,1736366054.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:14.707Z,1736366054.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 133.818939 m, bearing: 177.293178 deg, approach rate: 0.119554 m/s, LOS rate: -0.274630 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.663934 deg. 2025-01-08T19:54:14.708Z,1736366054.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811243 target range: 130.300003 and range: 130.30 m. 2025-01-08T19:54:14.776Z,1736366054.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:15.028Z,1736366055.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:15.088Z,1736366055.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:15.101Z,1736366055.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:15.103Z,1736366055.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 133.865921 m, bearing: 177.186053 deg, approach rate: 0.118616 m/s, LOS rate: -0.270364 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.653929 deg. 2025-01-08T19:54:15.105Z,1736366055.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811069 target range: 130.300003 and range: 130.30 m. 2025-01-08T19:54:15.280Z,1736366055.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:15.517Z,1736366055.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:15.526Z,1736366055.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:15.529Z,1736366055.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 133.917572 m, bearing: 177.069628 deg, approach rate: 0.121412 m/s, LOS rate: -0.273567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.626050 deg. 2025-01-08T19:54:15.531Z,1736366055.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810582 target range: 130.300003 and range: 130.30 m. 2025-01-08T19:54:15.532Z,1736366055.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:15.784Z,1736366055.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:15.885Z,1736366055.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:15.892Z,1736366055.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:15.894Z,1736366055.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:15.898Z,1736366055.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 133.962662 m, bearing: 176.970178 deg, approach rate: 0.122489 m/s, LOS rate: -0.270069 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.676942 deg. 2025-01-08T19:54:15.899Z,1736366055.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811471 target range: 130.300003 and range: 130.30 m. 2025-01-08T19:54:16.036Z,1736366056.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:16.036Z,1736366056.036 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:16.036Z,1736366056.036 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:16.036Z,1736366056.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:16.288Z,1736366056.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:16.288Z,1736366056.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488874 2025-01-08T19:54:16.325Z,1736366056.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:16.335Z,1736366056.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:16.338Z,1736366056.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.015381 m, bearing: 176.852471 deg, approach rate: 0.119677 m/s, LOS rate: -0.267101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.622209 deg. 2025-01-08T19:54:16.339Z,1736366056.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810515 target range: 130.300003 and range: 130.30 m. 2025-01-08T19:54:16.541Z,1736366056.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:16.542Z,1736366056.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742460 2025-01-08T19:54:16.700Z,1736366056.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:16.709Z,1736366056.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:16.712Z,1736366056.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.060608 m, bearing: 176.752433 deg, approach rate: 0.120850 m/s, LOS rate: -0.267219 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.675177 deg. 2025-01-08T19:54:16.713Z,1736366056.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811440 target range: 130.300003 and range: 130.30 m. 2025-01-08T19:54:16.792Z,1736366056.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:16.793Z,1736366056.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993075 2025-01-08T19:54:17.044Z,1736366057.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:17.044Z,1736366057.044 [DAT](INFO): DAT read: Rx Time:19:54:15.7477 2025-01-08T19:54:17.045Z,1736366057.045 [DAT](INFO): Rx dataTimestamp_ set to:1736366057.044611 2025-01-08T19:54:17.045Z,1736366057.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245895 2025-01-08T19:54:17.099Z,1736366057.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:17.127Z,1736366057.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:17.131Z,1736366057.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.109375 m, bearing: 176.645997 deg, approach rate: 0.117753 m/s, LOS rate: -0.256908 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655997 deg. 2025-01-08T19:54:17.138Z,1736366057.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811105 target range: 130.300003 and range: 130.30 m. 2025-01-08T19:54:17.296Z,1736366057.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:17.297Z,1736366057.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497890 2025-01-08T19:54:17.538Z,1736366057.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:17.548Z,1736366057.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:17.554Z,1736366057.554 [DAT](INFO): DAT read: 19:54:15.7477 LVL= 23248, 26865, 15954, 27027, AGC= 62, IDX= 419, 0.15,-0.666,-1.518, 0.660,-0.391, PHS=-0.187,-1.080, 1.048, RAW= 185.3, 2.4, CAL= 185.4, -5.8, ROT= 324.6, 5.8 2025-01-08T19:54:17.556Z,1736366057.556 [DAT](INFO): got valid direction response: 19:54:15.7477 LVL= 23248, 26865, 15954, 27027, AGC= 62, IDX= 419, 0.15,-0.666,-1.518, 0.660,-0.391, PHS=-0.187,-1.080, 1.048, RAW= 185.3, 2.4, CAL= 185.4, -5.8, ROT= 324.6, 5.8 2025-01-08T19:54:17.557Z,1736366057.557 [DAT](INFO): DAT read: Bearing 324.6, 5.8 (Local) 2025-01-08T19:54:17.557Z,1736366057.557 [DAT](INFO): Local bearing/azimuth received: Bearing 324.6, 5.8 (Local) 2025-01-08T19:54:17.559Z,1736366057.559 [DAT](INFO): DAT read: Range 10 to 50 : 128.1 m (Round-trip 170.9 ms) speed 0.4 m/s 2025-01-08T19:54:17.560Z,1736366057.560 [DAT](INFO): DAT read: user:941> 2025-01-08T19:54:17.560Z,1736366057.560 [DAT](INFO): DAT read: Tx time:19:54:16.8726 2025-01-08T19:54:17.561Z,1736366057.561 [DAT](INFO): Ping request sent. 2025-01-08T19:54:17.561Z,1736366057.561 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:17.561Z,1736366057.561 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:54:17.562Z,1736366057.562 [DAT](INFO): direction in FSK: [-0.124146,-0.990970,-0.050650] 2025-01-08T19:54:17.562Z,1736366057.562 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:17.562Z,1736366057.562 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:17.567Z,1736366057.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.100006 m, deltaT: 3.780197 s, deltaX: -2.199997 m, approachRate: -0.581979 m/s, rangeRepo size: 4 2025-01-08T19:54:17.570Z,1736366057.570 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:17.570Z,1736366057.570 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:17.577Z,1736366057.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:17.591Z,1736366057.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.160522 m, bearing: 176.532765 deg, approach rate: 0.115455 m/s, LOS rate: -0.255500 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.635625 deg. 2025-01-08T19:54:17.596Z,1736366057.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810749 target range: 130.300003 and range: 128.10 m. 2025-01-08T19:54:17.800Z,1736366057.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:17.801Z,1736366057.801 [DAT](INFO): DAT read: TxSync time:19:54:16.8718 2025-01-08T19:54:17.929Z,1736366057.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:17.960Z,1736366057.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:17.967Z,1736366057.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.206757 m, bearing: 176.431892 deg, approach rate: 0.117281 m/s, LOS rate: -0.255794 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.672674 deg. 2025-01-08T19:54:17.969Z,1736366057.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811396 target range: 130.300003 and range: 128.10 m. 2025-01-08T19:54:18.052Z,1736366058.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:18.304Z,1736366058.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:18.333Z,1736366058.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:18.368Z,1736366058.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:18.370Z,1736366058.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:18.377Z,1736366058.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.253098 m, bearing: 176.326918 deg, approach rate: 0.113005 m/s, LOS rate: -0.255895 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.660377 deg. 2025-01-08T19:54:18.379Z,1736366058.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811181 target range: 130.300003 and range: 128.10 m. 2025-01-08T19:54:18.556Z,1736366058.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:18.556Z,1736366058.556 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:18.556Z,1736366058.556 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:18.556Z,1736366058.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:18.733Z,1736366058.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:18.742Z,1736366058.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:18.765Z,1736366058.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.299438 m, bearing: 176.223044 deg, approach rate: 0.124769 m/s, LOS rate: -0.279574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.663677 deg. 2025-01-08T19:54:18.766Z,1736366058.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811239 target range: 130.300003 and range: 128.10 m. 2025-01-08T19:54:18.808Z,1736366058.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:18.810Z,1736366058.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248892 2025-01-08T19:54:19.060Z,1736366059.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:19.060Z,1736366059.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499707 2025-01-08T19:54:19.120Z,1736366059.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:19.184Z,1736366059.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:19.209Z,1736366059.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.344406 m, bearing: 176.122829 deg, approach rate: 0.106044 m/s, LOS rate: -0.236252 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674644 deg. 2025-01-08T19:54:19.218Z,1736366059.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811430 target range: 130.300003 and range: 128.10 m. 2025-01-08T19:54:19.313Z,1736366059.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:19.314Z,1736366059.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753078 2025-01-08T19:54:19.549Z,1736366059.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:19.565Z,1736366059.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:19.566Z,1736366059.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005355 2025-01-08T19:54:19.570Z,1736366059.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:19.577Z,1736366059.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.399979 m, bearing: 176.014790 deg, approach rate: 0.137599 m/s, LOS rate: -0.267395 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.651209 deg. 2025-01-08T19:54:19.578Z,1736366059.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811021 target range: 130.300003 and range: 128.10 m. 2025-01-08T19:54:19.817Z,1736366059.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:19.819Z,1736366059.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258601 2025-01-08T19:54:19.949Z,1736366059.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:19.957Z,1736366059.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:19.960Z,1736366059.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.452698 m, bearing: 175.914171 deg, approach rate: 0.135977 m/s, LOS rate: -0.259423 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.673451 deg. 2025-01-08T19:54:19.961Z,1736366059.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811409 target range: 130.300003 and range: 128.10 m. 2025-01-08T19:54:20.068Z,1736366060.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:20.068Z,1736366060.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507824 2025-01-08T19:54:20.320Z,1736366060.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:20.320Z,1736366060.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759619 2025-01-08T19:54:20.353Z,1736366060.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:20.381Z,1736366060.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:20.383Z,1736366060.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:20.390Z,1736366060.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.512039 m, bearing: 175.812485 deg, approach rate: 0.139417 m/s, LOS rate: -0.238798 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.670264 deg. 2025-01-08T19:54:20.391Z,1736366060.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811354 target range: 130.300003 and range: 128.10 m. 2025-01-08T19:54:20.572Z,1736366060.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:20.572Z,1736366060.572 [DAT](INFO): DAT read: Rx Time:19:54:19.4455 2025-01-08T19:54:20.573Z,1736366060.573 [DAT](INFO): Rx dataTimestamp_ set to:1736366060.572687 2025-01-08T19:54:20.573Z,1736366060.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012848 2025-01-08T19:54:20.733Z,1736366060.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:20.741Z,1736366060.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:20.744Z,1736366060.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.568619 m, bearing: 175.716905 deg, approach rate: 0.157975 m/s, LOS rate: -0.266754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.688572 deg. 2025-01-08T19:54:20.745Z,1736366060.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811673 target range: 130.300003 and range: 128.10 m. 2025-01-08T19:54:20.825Z,1736366060.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:20.826Z,1736366060.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265306 2025-01-08T19:54:21.076Z,1736366061.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:21.076Z,1736366061.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515694 2025-01-08T19:54:21.173Z,1736366061.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:21.234Z,1736366061.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.30 m. 2025-01-08T19:54:21.258Z,1736366061.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.300003 m, nav range: 134.634781 m, bearing: 175.606235 deg, approach rate: 0.136159 m/s, LOS rate: -0.227643 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.643343 deg. 2025-01-08T19:54:21.266Z,1736366061.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810884 target range: 130.300003 and range: 128.10 m. 2025-01-08T19:54:21.328Z,1736366061.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:21.337Z,1736366061.337 [DAT](INFO): DAT read: 19:54:19.4455 LVL= 29808, 29169, 12482, 32755, AGC= 63, IDX= 411, 0.30,-0.166,-1.052, 1.222, 0.126, PHS=-0.204,-1.131, 1.093, RAW= 185.5, 2.5, CAL= 185.5, -5.6, ROT= 324.5, 5.6 2025-01-08T19:54:21.339Z,1736366061.339 [DAT](INFO): got valid direction response: 19:54:19.4455 LVL= 29808, 29169, 12482, 32755, AGC= 63, IDX= 411, 0.30,-0.166,-1.052, 1.222, 0.126, PHS=-0.204,-1.131, 1.093, RAW= 185.5, 2.5, CAL= 185.5, -5.6, ROT= 324.5, 5.6 2025-01-08T19:54:21.341Z,1736366061.341 [DAT](INFO): DAT read: Bearing 324.5, 5.6 (Local) 2025-01-08T19:54:21.341Z,1736366061.341 [DAT](INFO): Local bearing/azimuth received: Bearing 324.5, 5.6 (Local) 2025-01-08T19:54:21.349Z,1736366061.349 [DAT](INFO): DAT read: Range 10 to 50 : 126.4 m (Round-trip 168.6 ms) speed 0.3 m/s 2025-01-08T19:54:21.350Z,1736366061.350 [DAT](INFO): DAT read: user:942> 2025-01-08T19:54:21.356Z,1736366061.356 [DAT](INFO): DAT read: Tx time:19:54:20.5727 2025-01-08T19:54:21.356Z,1736366061.356 [DAT](INFO): Ping request sent. 2025-01-08T19:54:21.356Z,1736366061.356 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:21.357Z,1736366061.357 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:54:21.358Z,1736366061.358 [DAT](INFO): direction in FSK: [-0.126388,-0.990511,-0.053983] 2025-01-08T19:54:21.364Z,1736366061.364 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:21.365Z,1736366061.365 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:21.379Z,1736366061.379 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:21.379Z,1736366061.379 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:21.581Z,1736366061.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:21.582Z,1736366061.582 [DAT](INFO): DAT read: TxSync time:19:54:20.5719 2025-01-08T19:54:21.630Z,1736366061.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:21.680Z,1736366061.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.400002 m, deltaT: 3.779948 s, deltaX: -1.700005 m, approachRate: -0.449743 m/s, rangeRepo size: 4 2025-01-08T19:54:21.683Z,1736366061.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.400002 m, bearing: 178.714969 deg, lat: 36.903516 deg, lon: -122.117788 deg, deltaT: 7.560145 s, deltaX: -3.900002 m, approachRate: -0.515863 m/s, posRepo size: 4 2025-01-08T19:54:21.688Z,1736366061.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.40 m. 2025-01-08T19:54:21.690Z,1736366061.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.400002 m, nav range: 129.338852 m, bearing: 177.078041 deg, approach rate: 0.000000 m/s, LOS rate: -0.227643 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.670041 deg. 2025-01-08T19:54:21.696Z,1736366061.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811350 target range: 126.400002 and range: 126.40 m. 2025-01-08T19:54:21.833Z,1736366061.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:21.983Z,1736366061.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:21.991Z,1736366061.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.40 m. 2025-01-08T19:54:21.994Z,1736366061.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.400002 m, nav range: 129.387558 m, bearing: 176.987086 deg, approach rate: 0.153616 m/s, LOS rate: -0.286760 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.702426 deg. 2025-01-08T19:54:21.995Z,1736366061.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811915 target range: 126.400002 and range: 126.40 m. 2025-01-08T19:54:22.084Z,1736366062.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:22.336Z,1736366062.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:22.424Z,1736366062.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:22.432Z,1736366062.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:22.434Z,1736366062.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.40 m. 2025-01-08T19:54:22.437Z,1736366062.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.400002 m, nav range: 129.452896 m, bearing: 176.872596 deg, approach rate: 0.147488 m/s, LOS rate: -0.258309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.631893 deg. 2025-01-08T19:54:22.438Z,1736366062.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810684 target range: 126.400002 and range: 126.40 m. 2025-01-08T19:54:22.588Z,1736366062.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:22.588Z,1736366062.588 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:22.588Z,1736366062.588 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:22.589Z,1736366062.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:22.800Z,1736366062.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:22.815Z,1736366062.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.40 m. 2025-01-08T19:54:22.818Z,1736366062.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.400002 m, nav range: 129.508759 m, bearing: 176.775053 deg, approach rate: 0.146672 m/s, LOS rate: -0.255996 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.682689 deg. 2025-01-08T19:54:22.819Z,1736366062.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811571 target range: 126.400002 and range: 126.40 m. 2025-01-08T19:54:22.857Z,1736366062.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:22.859Z,1736366062.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502268 2025-01-08T19:54:23.108Z,1736366063.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:23.108Z,1736366063.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752007 2025-01-08T19:54:23.195Z,1736366063.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:23.212Z,1736366063.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.40 m. 2025-01-08T19:54:23.216Z,1736366063.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.400002 m, nav range: 129.568161 m, bearing: 176.672871 deg, approach rate: 0.150183 m/s, LOS rate: -0.258222 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.668782 deg. 2025-01-08T19:54:23.217Z,1736366063.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811328 target range: 126.400002 and range: 126.40 m. 2025-01-08T19:54:23.360Z,1736366063.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:23.361Z,1736366063.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004973 2025-01-08T19:54:23.612Z,1736366063.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:23.613Z,1736366063.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256301 2025-01-08T19:54:23.638Z,1736366063.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:23.670Z,1736366063.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.40 m. 2025-01-08T19:54:23.683Z,1736366063.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.400002 m, nav range: 129.633850 m, bearing: 176.552296 deg, approach rate: 0.142924 m/s, LOS rate: -0.262208 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.613651 deg. 2025-01-08T19:54:23.685Z,1736366063.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810366 target range: 126.400002 and range: 126.40 m. 2025-01-08T19:54:23.865Z,1736366063.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:23.867Z,1736366063.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509991 2025-01-08T19:54:24.031Z,1736366064.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:24.039Z,1736366064.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.40 m. 2025-01-08T19:54:24.042Z,1736366064.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.400002 m, nav range: 129.692444 m, bearing: 176.445730 deg, approach rate: 0.158779 m/s, LOS rate: -0.288645 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655636 deg. 2025-01-08T19:54:24.043Z,1736366064.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811099 target range: 126.400002 and range: 126.40 m. 2025-01-08T19:54:24.118Z,1736366064.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:24.118Z,1736366064.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762017 2025-01-08T19:54:24.372Z,1736366064.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:24.372Z,1736366064.372 [DAT](INFO): DAT read: Rx Time:19:54:23.1432 2025-01-08T19:54:24.373Z,1736366064.373 [DAT](INFO): Rx dataTimestamp_ set to:1736366064.372680 2025-01-08T19:54:24.373Z,1736366064.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017160 2025-01-08T19:54:24.478Z,1736366064.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:24.485Z,1736366064.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:24.488Z,1736366064.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.40 m. 2025-01-08T19:54:24.490Z,1736366064.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.400002 m, nav range: 129.767410 m, bearing: 176.321485 deg, approach rate: 0.167129 m/s, LOS rate: -0.276829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.602674 deg. 2025-01-08T19:54:24.492Z,1736366064.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810174 target range: 126.400002 and range: 126.40 m. 2025-01-08T19:54:24.624Z,1736366064.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:24.624Z,1736366064.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268087 2025-01-08T19:54:24.876Z,1736366064.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:24.887Z,1736366064.887 [DAT](INFO): DAT read: 19:54:23.1432 LVL= 21344, 22417, 12914, 24451, AGC= 61, IDX= 420,-0.35, 3.120, 2.259,-1.720,-2.812, PHS=-0.264,-1.166, 1.089, RAW= 186.6, 3.5, CAL= 186.6, -4.8, ROT= 323.4, 4.8 2025-01-08T19:54:24.890Z,1736366064.890 [DAT](INFO): got valid direction response: 19:54:23.1432 LVL= 21344, 22417, 12914, 24451, AGC= 61, IDX= 420,-0.35, 3.120, 2.259,-1.720,-2.812, PHS=-0.264,-1.166, 1.089, RAW= 186.6, 3.5, CAL= 186.6, -4.8, ROT= 323.4, 4.8 2025-01-08T19:54:24.892Z,1736366064.892 [DAT](INFO): DAT read: Bearing 323.4, 4.8 (Local) 2025-01-08T19:54:24.892Z,1736366064.892 [DAT](INFO): Local bearing/azimuth received: Bearing 323.4, 4.8 (Local) 2025-01-08T19:54:24.894Z,1736366064.894 [DAT](INFO): DAT read: Range 10 to 50 : 124.8 m (Round-trip 166.4 ms) speed 0.4 m/s 2025-01-08T19:54:24.894Z,1736366064.894 [DAT](INFO): DAT read: user:943> 2025-01-08T19:54:24.895Z,1736366064.895 [DAT](INFO): DAT read: Tx time:19:54:24.2227 2025-01-08T19:54:24.896Z,1736366064.896 [DAT](INFO): Ping request sent. 2025-01-08T19:54:24.896Z,1736366064.896 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:24.896Z,1736366064.896 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:54:24.897Z,1736366064.897 [DAT](INFO): direction in FSK: [-0.142786,-0.986992,-0.073886] 2025-01-08T19:54:24.898Z,1736366064.898 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:24.899Z,1736366064.899 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:24.929Z,1736366064.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:24.945Z,1736366064.945 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:24.945Z,1736366064.945 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:24.999Z,1736366064.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.800003 m, deltaT: 3.547856 s, deltaX: -1.599998 m, approachRate: -0.450976 m/s, rangeRepo size: 4 2025-01-08T19:54:25.006Z,1736366065.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 124.800003 m, bearing: 178.007917 deg, lat: 36.903544 deg, lon: -122.117804 deg, deltaT: 3.547856 s, deltaX: -1.599998 m, approachRate: -0.450976 m/s, posRepo size: 4 2025-01-08T19:54:25.006Z,1736366065.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:25.022Z,1736366065.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 126.649864 m, bearing: 176.723737 deg, approach rate: 0.000000 m/s, LOS rate: -0.276829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.552589 deg. 2025-01-08T19:54:25.031Z,1736366065.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809300 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:25.128Z,1736366065.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:25.130Z,1736366065.130 [DAT](INFO): DAT read: TxSync time:19:54:24.2219 2025-01-08T19:54:25.381Z,1736366065.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:25.398Z,1736366065.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:25.408Z,1736366065.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:25.410Z,1736366065.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 126.726715 m, bearing: 176.585262 deg, approach rate: 0.186970 m/s, LOS rate: -0.336691 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.560020 deg. 2025-01-08T19:54:25.412Z,1736366065.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809430 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:25.634Z,1736366065.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:25.724Z,1736366065.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:25.741Z,1736366065.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:25.748Z,1736366065.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 126.779747 m, bearing: 176.489038 deg, approach rate: 0.158765 m/s, LOS rate: -0.287951 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.686638 deg. 2025-01-08T19:54:25.750Z,1736366065.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811639 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:25.884Z,1736366065.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:26.127Z,1736366066.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:26.136Z,1736366066.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:26.137Z,1736366066.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:26.156Z,1736366066.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 126.844902 m, bearing: 176.370300 deg, approach rate: 0.164519 m/s, LOS rate: -0.299663 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.619162 deg. 2025-01-08T19:54:26.158Z,1736366066.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810462 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:26.388Z,1736366066.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:26.561Z,1736366066.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:26.570Z,1736366066.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:26.573Z,1736366066.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:26.576Z,1736366066.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 126.910713 m, bearing: 176.239556 deg, approach rate: 0.151256 m/s, LOS rate: -0.300339 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.583163 deg. 2025-01-08T19:54:26.577Z,1736366066.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809834 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:26.640Z,1736366066.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:26.641Z,1736366066.641 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:26.641Z,1736366066.641 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:26.642Z,1736366066.642 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:26.892Z,1736366066.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:26.892Z,1736366066.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996612 2025-01-08T19:54:26.956Z,1736366066.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:26.981Z,1736366066.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:26.987Z,1736366066.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 126.971428 m, bearing: 176.120936 deg, approach rate: 0.148802 m/s, LOS rate: -0.290579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.619502 deg. 2025-01-08T19:54:26.989Z,1736366066.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810468 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:27.144Z,1736366067.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:27.144Z,1736366067.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248648 2025-01-08T19:54:27.396Z,1736366067.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:27.397Z,1736366067.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501597 2025-01-08T19:54:27.402Z,1736366067.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:27.440Z,1736366067.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:27.446Z,1736366067.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 127.039757 m, bearing: 175.982002 deg, approach rate: 0.148690 m/s, LOS rate: -0.302170 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.558618 deg. 2025-01-08T19:54:27.449Z,1736366067.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809405 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:27.648Z,1736366067.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:27.649Z,1736366067.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752932 2025-01-08T19:54:27.757Z,1736366067.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:27.766Z,1736366067.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:27.769Z,1736366067.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 127.094650 m, bearing: 175.871779 deg, approach rate: 0.168389 m/s, LOS rate: -0.337970 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.644663 deg. 2025-01-08T19:54:27.770Z,1736366067.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810907 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:27.900Z,1736366067.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:27.901Z,1736366067.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004980 2025-01-08T19:54:28.152Z,1736366068.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:28.153Z,1736366068.153 [DAT](INFO): DAT read: Rx Time:19:54:26.7903 2025-01-08T19:54:28.153Z,1736366068.153 [DAT](INFO): Rx dataTimestamp_ set to:1736366068.152767 2025-01-08T19:54:28.154Z,1736366068.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257874 2025-01-08T19:54:28.158Z,1736366068.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:28.195Z,1736366068.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:28.199Z,1736366068.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 127.157097 m, bearing: 175.747122 deg, approach rate: 0.155690 m/s, LOS rate: -0.310637 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.601407 deg. 2025-01-08T19:54:28.204Z,1736366068.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810152 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:28.404Z,1736366068.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:28.405Z,1736366068.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508860 2025-01-08T19:54:28.591Z,1736366068.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:28.598Z,1736366068.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:28.601Z,1736366068.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:28.603Z,1736366068.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 127.220917 m, bearing: 175.614142 deg, approach rate: 0.147254 m/s, LOS rate: -0.306676 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.576453 deg. 2025-01-08T19:54:28.605Z,1736366068.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809716 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:28.657Z,1736366068.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:28.676Z,1736366068.676 [DAT](INFO): DAT read: 19:54:26.7903 LVL= 26576, 24161, 12530, 29219, AGC= 60, IDX= 406, 0.02, 2.962, 2.078,-1.950,-3.005, PHS=-0.228,-1.153, 1.052, RAW= 185.3, = -4.9, ROT= 324.6, 4.9 2025-01-08T19:54:28.678Z,1736366068.678 [DAT](INFO): unknown deviceResponse_: 19:54:26.7903 LVL= 26576, 24161, 12530, 29219, AGC= 60, IDX= 406, 0.02, 2.962, 2.078,-1.950,-3.005, PHS=-0.228,-1.153, 1.052, RAW= 185.3, = -4.9, ROT= 324.6, 4.9 2025-01-08T19:54:28.686Z,1736366068.686 [DAT](INFO): DAT read: Bearing 324.6(Range 10 to 50 : 122.5 m (Round-trip 163.4 ms) speed 0.8 m/s 2025-01-08T19:54:28.686Z,1736366068.686 [DAT](INFO): unknown deviceResponse_: Bearing 324.6(Range 10 to 50 : 122.5 m (Round-trip 163.4 ms) speed 0.8 m/s 2025-01-08T19:54:28.695Z,1736366068.695 [DAT](INFO): DAT read: user:944> 2025-01-08T19:54:28.704Z,1736366068.704 [DAT](INFO): DAT read: Tx time:19:54:27.8727 2025-01-08T19:54:28.705Z,1736366068.705 [DAT](INFO): Ping request sent. 2025-01-08T19:54:28.705Z,1736366068.705 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:28.705Z,1736366068.705 [DAT](INFO): DAT read: TxSync time:19:54:27.8719 2025-01-08T19:54:28.706Z,1736366068.706 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:28.723Z,1736366068.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002014 2025-01-08T19:54:28.908Z,1736366068.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:28.908Z,1736366068.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.203738 2025-01-08T19:54:28.989Z,1736366068.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:28.997Z,1736366068.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:29.003Z,1736366069.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 127.280060 m, bearing: 175.491709 deg, approach rate: 0.149081 m/s, LOS rate: -0.308472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.608062 deg. 2025-01-08T19:54:29.005Z,1736366069.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810268 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:29.160Z,1736366069.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:29.161Z,1736366069.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.456375 2025-01-08T19:54:29.412Z,1736366069.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:29.412Z,1736366069.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.707712 2025-01-08T19:54:29.439Z,1736366069.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:29.477Z,1736366069.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:29.484Z,1736366069.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 127.346947 m, bearing: 175.356395 deg, approach rate: 0.139578 m/s, LOS rate: -0.282222 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.569465 deg. 2025-01-08T19:54:29.485Z,1736366069.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809595 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:29.664Z,1736366069.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:29.665Z,1736366069.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.960361 2025-01-08T19:54:29.773Z,1736366069.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:29.783Z,1736366069.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:29.786Z,1736366069.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 127.396698 m, bearing: 175.255961 deg, approach rate: 0.162409 m/s, LOS rate: -0.327729 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674007 deg. 2025-01-08T19:54:29.788Z,1736366069.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811419 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:29.918Z,1736366069.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:29.919Z,1736366069.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214760 2025-01-08T19:54:30.168Z,1736366070.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:30.168Z,1736366070.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463794 2025-01-08T19:54:30.176Z,1736366070.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:30.186Z,1736366070.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:30.189Z,1736366070.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 127.456909 m, bearing: 175.134962 deg, approach rate: 0.149411 m/s, LOS rate: -0.300112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.612365 deg. 2025-01-08T19:54:30.190Z,1736366070.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810343 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:30.420Z,1736366070.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:30.421Z,1736366070.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715878 2025-01-08T19:54:30.592Z,1736366070.592 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:54:30.606Z,1736366070.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:30.614Z,1736366070.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:30.640Z,1736366070.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:30.648Z,1736366070.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 127.516510 m, bearing: 175.006646 deg, approach rate: 0.131119 m/s, LOS rate: -0.282156 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.590427 deg. 2025-01-08T19:54:30.649Z,1736366070.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809960 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:30.672Z,1736366070.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:30.673Z,1736366070.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968545 2025-01-08T19:54:30.924Z,1736366070.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:30.925Z,1736366070.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220200 2025-01-08T19:54:30.986Z,1736366070.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:31.016Z,1736366071.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:31.023Z,1736366071.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 127.569534 m, bearing: 174.893660 deg, approach rate: 0.140983 m/s, LOS rate: -0.300288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.636373 deg. 2025-01-08T19:54:31.024Z,1736366071.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810762 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:31.176Z,1736366071.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:31.177Z,1736366071.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471815 2025-01-08T19:54:31.428Z,1736366071.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:31.428Z,1736366071.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723711 2025-01-08T19:54:31.479Z,1736366071.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:31.489Z,1736366071.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:31.494Z,1736366071.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 127.633148 m, bearing: 174.750073 deg, approach rate: 0.134661 m/s, LOS rate: -0.303800 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.544649 deg. 2025-01-08T19:54:31.498Z,1736366071.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809161 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:31.597Z,1736366071.597 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:54:31.681Z,1736366071.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:31.681Z,1736366071.681 [DAT](INFO): DAT read: Rx Time:19:54:30.4375 2025-01-08T19:54:31.682Z,1736366071.682 [DAT](INFO): Rx dataTimestamp_ set to:1736366071.681579 2025-01-08T19:54:31.683Z,1736366071.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978097 2025-01-08T19:54:31.800Z,1736366071.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:31.809Z,1736366071.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T19:54:31.812Z,1736366071.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 127.675049 m, bearing: 174.656556 deg, approach rate: 0.131017 m/s, LOS rate: -0.292319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.694730 deg. 2025-01-08T19:54:31.813Z,1736366071.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811781 target range: 124.800003 and range: 124.80 m. 2025-01-08T19:54:31.932Z,1736366071.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:31.933Z,1736366071.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227978 2025-01-08T19:54:32.184Z,1736366072.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:32.190Z,1736366072.190 [DAT](INFO): DAT read: 19:54:30.4375 LVL= 29600, 29425, 17298, 32755, AGC= 62, IDX= 408, 0.33, 1.821, 0.935,-3.043, 2.175, PHS=-0.266,-1.193, 1.062, RAW= 185.9, 4.1, CAL= 185.9, -4.4, ROT= 324.1, 4.4 2025-01-08T19:54:32.192Z,1736366072.192 [DAT](INFO): got valid direction response: 19:54:30.4375 LVL= 29600, 29425, 17298, 32755, AGC= 62, IDX= 408, 0.33, 1.821, 0.935,-3.043, 2.175, PHS=-0.266,-1.193, 1.062, RAW= 185.9, 4.1, CAL= 185.9, -4.4, ROT= 324.1, 4.4 2025-01-08T19:54:32.193Z,1736366072.193 [DAT](INFO): DAT read: Bearing 324.1, 4.4 (Local) 2025-01-08T19:54:32.193Z,1736366072.193 [DAT](INFO): Local bearing/azimuth received: Bearing 324.1, 4.4 (Local) 2025-01-08T19:54:32.195Z,1736366072.195 [DAT](INFO): DAT read: Range 10 to 50 : 120.3 m (Round-trip 160.5 ms) speed 0.4 m/s 2025-01-08T19:54:32.196Z,1736366072.196 [DAT](INFO): DAT read: user:945> 2025-01-08T19:54:32.197Z,1736366072.197 [DAT](INFO): DAT read: Tx time:19:54:31.5228 2025-01-08T19:54:32.197Z,1736366072.197 [DAT](INFO): Ping request sent. 2025-01-08T19:54:32.198Z,1736366072.198 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:32.198Z,1736366072.198 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:54:32.199Z,1736366072.199 [DAT](INFO): direction in FSK: [-0.154898,-0.985970,-0.062204] 2025-01-08T19:54:32.203Z,1736366072.203 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:32.204Z,1736366072.204 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:32.206Z,1736366072.206 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:32.207Z,1736366072.207 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:32.248Z,1736366072.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:32.276Z,1736366072.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.300003 m, deltaT: 7.307987 s, deltaX: -4.500000 m, approachRate: -0.615765 m/s, rangeRepo size: 4 2025-01-08T19:54:32.278Z,1736366072.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.300003 m, bearing: 176.738664 deg, lat: 36.903563 deg, lon: -122.117831 deg, deltaT: 7.307987 s, deltaX: -4.500000 m, approachRate: -0.615765 m/s, posRepo size: 4 2025-01-08T19:54:32.279Z,1736366072.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T19:54:32.293Z,1736366072.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 125.422035 m, bearing: 175.542853 deg, approach rate: 0.000000 m/s, LOS rate: -0.292319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.570049 deg. 2025-01-08T19:54:32.294Z,1736366072.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809605 target range: 120.300003 and range: 120.30 m. 2025-01-08T19:54:32.438Z,1736366072.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:32.441Z,1736366072.441 [DAT](INFO): DAT read: TxSync time:19:54:31.5220 2025-01-08T19:54:32.684Z,1736366072.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:32.688Z,1736366072.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:32.700Z,1736366072.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:32.702Z,1736366072.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T19:54:32.715Z,1736366072.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 125.477371 m, bearing: 175.418657 deg, approach rate: 0.128189 m/s, LOS rate: -0.287580 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.602768 deg. 2025-01-08T19:54:32.720Z,1736366072.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810176 target range: 120.300003 and range: 120.30 m. 2025-01-08T19:54:32.941Z,1736366072.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:32.942Z,1736366072.942 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:32.942Z,1736366072.942 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:32.942Z,1736366072.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:33.029Z,1736366073.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:33.047Z,1736366073.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T19:54:33.053Z,1736366073.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 125.523415 m, bearing: 175.315554 deg, approach rate: 0.133791 m/s, LOS rate: -0.299483 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.665995 deg. 2025-01-08T19:54:33.055Z,1736366073.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811279 target range: 120.300003 and range: 120.30 m. 2025-01-08T19:54:33.192Z,1736366073.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:33.193Z,1736366073.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995428 2025-01-08T19:54:33.445Z,1736366073.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:33.446Z,1736366073.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248339 2025-01-08T19:54:33.549Z,1736366073.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:33.574Z,1736366073.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T19:54:33.582Z,1736366073.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 125.592247 m, bearing: 175.168218 deg, approach rate: 0.130514 m/s, LOS rate: -0.279213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.533431 deg. 2025-01-08T19:54:33.583Z,1736366073.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808966 target range: 120.300003 and range: 120.30 m. 2025-01-08T19:54:33.696Z,1736366073.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:33.697Z,1736366073.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499106 2025-01-08T19:54:33.888Z,1736366073.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:33.922Z,1736366073.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T19:54:33.929Z,1736366073.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 125.637505 m, bearing: 175.072056 deg, approach rate: 0.129902 m/s, LOS rate: -0.275913 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.686807 deg. 2025-01-08T19:54:33.936Z,1736366073.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811643 target range: 120.300003 and range: 120.30 m. 2025-01-08T19:54:33.948Z,1736366073.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:33.949Z,1736366073.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751355 2025-01-08T19:54:34.200Z,1736366074.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:34.200Z,1736366074.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002859 2025-01-08T19:54:34.289Z,1736366074.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:34.300Z,1736366074.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T19:54:34.302Z,1736366074.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 125.691727 m, bearing: 174.958649 deg, approach rate: 0.143966 m/s, LOS rate: -0.300977 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.635118 deg. 2025-01-08T19:54:34.324Z,1736366074.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810740 target range: 120.300003 and range: 120.30 m. 2025-01-08T19:54:34.453Z,1736366074.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:34.456Z,1736366074.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257754 2025-01-08T19:54:34.704Z,1736366074.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:34.704Z,1736366074.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506862 2025-01-08T19:54:34.736Z,1736366074.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:34.743Z,1736366074.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:34.745Z,1736366074.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T19:54:34.749Z,1736366074.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 125.752945 m, bearing: 174.835912 deg, approach rate: 0.137281 m/s, LOS rate: -0.275102 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.607160 deg. 2025-01-08T19:54:34.750Z,1736366074.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810252 target range: 120.300003 and range: 120.30 m. 2025-01-08T19:54:34.956Z,1736366074.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:34.956Z,1736366074.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758793 2025-01-08T19:54:35.112Z,1736366075.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:35.120Z,1736366075.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T19:54:35.122Z,1736366075.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 125.805000 m, bearing: 174.732774 deg, approach rate: 0.138866 m/s, LOS rate: -0.275023 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.665905 deg. 2025-01-08T19:54:35.128Z,1736366075.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811278 target range: 120.300003 and range: 120.30 m. 2025-01-08T19:54:35.208Z,1736366075.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:35.208Z,1736366075.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010865 2025-01-08T19:54:35.461Z,1736366075.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:35.465Z,1736366075.465 [DAT](INFO): DAT read: Rx Time:19:54:34.0851 2025-01-08T19:54:35.466Z,1736366075.466 [DAT](INFO): Rx dataTimestamp_ set to:1736366075.465342 2025-01-08T19:54:35.469Z,1736366075.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270644 2025-01-08T19:54:35.556Z,1736366075.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:35.582Z,1736366075.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T19:54:35.589Z,1736366075.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 125.870033 m, bearing: 174.615471 deg, approach rate: 0.140762 m/s, LOS rate: -0.253769 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.623464 deg. 2025-01-08T19:54:35.590Z,1736366075.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810537 target range: 120.300003 and range: 120.30 m. 2025-01-08T19:54:35.712Z,1736366075.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:35.714Z,1736366075.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515767 2025-01-08T19:54:35.905Z,1736366075.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:35.938Z,1736366075.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T19:54:35.942Z,1736366075.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 125.921730 m, bearing: 174.523616 deg, approach rate: 0.145016 m/s, LOS rate: -0.257560 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.699737 deg. 2025-01-08T19:54:35.948Z,1736366075.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811868 target range: 120.300003 and range: 120.30 m. 2025-01-08T19:54:35.966Z,1736366075.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:35.973Z,1736366075.973 [DAT](INFO): DAT read: 19:54:34.0851 LVL= 26592, 28209, 12466, 31427, AGC= 60, IDX= 416, 0.35,-2.936, 2.460,-1.511,-2.607, PHS=-0.241,-1.169, 1.093, RAW= 185.9, 3.2, CAL= 186.0, -5.0, ROT= 324.0, 5.0 2025-01-08T19:54:35.974Z,1736366075.974 [DAT](INFO): got valid direction response: 19:54:34.0851 LVL= 26592, 28209, 12466, 31427, AGC= 60, IDX= 416, 0.35,-2.936, 2.460,-1.511,-2.607, PHS=-0.241,-1.169, 1.093, RAW= 185.9, 3.2, CAL= 186.0, -5.0, ROT= 324.0, 5.0 2025-01-08T19:54:35.975Z,1736366075.975 [DAT](INFO): DAT read: Bearing 324.0, 5.0 (Local) 2025-01-08T19:54:35.976Z,1736366075.976 [DAT](INFO): Local bearing/azimuth received: Bearing 324.0, 5.0 (Local) 2025-01-08T19:54:35.977Z,1736366075.977 [DAT](INFO): DAT read: Range 10 to 50 : 118.6 m (Round-trip 158.2 ms) speed 0.4 m/s 2025-01-08T19:54:35.978Z,1736366075.978 [DAT](INFO): DAT read: user:946> 2025-01-08T19:54:35.979Z,1736366075.979 [DAT](INFO): DAT read: Tx time:19:54:35.1728 2025-01-08T19:54:35.996Z,1736366075.996 [DAT](INFO): Ping request sent. 2025-01-08T19:54:35.996Z,1736366075.996 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:35.997Z,1736366075.997 [DAT](INFO): DAT read: TxSync time:19:54:35.1720 2025-01-08T19:54:35.998Z,1736366075.998 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:54:36.020Z,1736366076.020 [DAT](INFO): direction in FSK: [-0.139241,-0.988305,-0.062173] 2025-01-08T19:54:36.020Z,1736366076.020 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:36.020Z,1736366076.020 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:36.026Z,1736366076.026 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:36.026Z,1736366076.026 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:36.216Z,1736366076.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:36.324Z,1736366076.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:36.339Z,1736366076.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.599998 m, deltaT: 3.782217 s, deltaX: -1.700005 m, approachRate: -0.449473 m/s, rangeRepo size: 4 2025-01-08T19:54:36.341Z,1736366076.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.599998 m, bearing: 177.817517 deg, lat: 36.903585 deg, lon: -122.117837 deg, deltaT: 3.782217 s, deltaX: -1.700005 m, approachRate: -0.449473 m/s, posRepo size: 4 2025-01-08T19:54:36.342Z,1736366076.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:36.345Z,1736366076.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 123.501938 m, bearing: 174.562325 deg, approach rate: 0.000000 m/s, LOS rate: -0.257560 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.666250 deg. 2025-01-08T19:54:36.346Z,1736366076.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811284 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:36.469Z,1736366076.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:36.720Z,1736366076.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:36.754Z,1736366076.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:36.761Z,1736366076.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:36.764Z,1736366076.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:36.766Z,1736366076.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 123.566879 m, bearing: 174.449503 deg, approach rate: 0.152862 m/s, LOS rate: -0.265424 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.636904 deg. 2025-01-08T19:54:36.768Z,1736366076.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810771 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:36.972Z,1736366076.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:36.973Z,1736366076.973 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:36.973Z,1736366076.973 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:36.973Z,1736366076.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:37.128Z,1736366077.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:37.162Z,1736366077.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:37.166Z,1736366077.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 123.623749 m, bearing: 174.351470 deg, approach rate: 0.142340 m/s, LOS rate: -0.245256 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.681225 deg. 2025-01-08T19:54:37.176Z,1736366077.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811545 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:37.224Z,1736366077.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:37.225Z,1736366077.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228802 2025-01-08T19:54:37.477Z,1736366077.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:37.480Z,1736366077.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483650 2025-01-08T19:54:37.565Z,1736366077.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:37.574Z,1736366077.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:37.578Z,1736366077.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 123.696922 m, bearing: 174.237928 deg, approach rate: 0.177841 m/s, LOS rate: -0.275790 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.634766 deg. 2025-01-08T19:54:37.581Z,1736366077.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810734 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:37.728Z,1736366077.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:37.728Z,1736366077.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732523 2025-01-08T19:54:37.924Z,1736366077.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:37.933Z,1736366077.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:37.937Z,1736366077.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 123.757866 m, bearing: 174.144976 deg, approach rate: 0.169725 m/s, LOS rate: -0.258738 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.696471 deg. 2025-01-08T19:54:37.938Z,1736366077.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811811 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:37.981Z,1736366077.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:37.982Z,1736366077.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985782 2025-01-08T19:54:38.232Z,1736366078.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:38.232Z,1736366078.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236610 2025-01-08T19:54:38.326Z,1736366078.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:38.336Z,1736366078.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:38.338Z,1736366078.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 123.827110 m, bearing: 174.040814 deg, approach rate: 0.171890 m/s, LOS rate: -0.258423 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.662879 deg. 2025-01-08T19:54:38.340Z,1736366078.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811225 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:38.486Z,1736366078.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:38.489Z,1736366078.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492266 2025-01-08T19:54:38.736Z,1736366078.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:38.736Z,1736366078.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740696 2025-01-08T19:54:38.752Z,1736366078.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:54:38.752Z,1736366078.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:38.761Z,1736366078.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:38.766Z,1736366078.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 123.901001 m, bearing: 173.930813 deg, approach rate: 0.173634 m/s, LOS rate: -0.258335 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.645384 deg. 2025-01-08T19:54:38.767Z,1736366078.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810919 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:38.989Z,1736366078.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:38.990Z,1736366078.990 [DAT](INFO): DAT read: Rx Time:19:54:37.7723 2025-01-08T19:54:38.990Z,1736366078.990 [DAT](INFO): Rx dataTimestamp_ set to:1736366078.989981 2025-01-08T19:54:38.991Z,1736366078.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995003 2025-01-08T19:54:39.150Z,1736366079.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:54:39.150Z,1736366079.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:39.157Z,1736366079.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:39.160Z,1736366079.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:39.162Z,1736366079.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 123.970978 m, bearing: 173.828007 deg, approach rate: 0.175833 m/s, LOS rate: -0.258179 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.666945 deg. 2025-01-08T19:54:39.165Z,1736366079.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811296 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:39.240Z,1736366079.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:39.242Z,1736366079.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246300 2025-01-08T19:54:39.493Z,1736366079.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:39.549Z,1736366079.549 [DAT](INFO): DAT read: 19:54:37.7723 LVL= 27056, 29857, 19378, 24051, AGC= 66, IDX= 316, 0.00,-0.628,-0.855, 0.021,-1.389, PHS= 0.849, 0.581, 1.407, RAW= 191.5, -54.0, CAL= 187.3, -51.8, ROT= 322.7, 51.8 2025-01-08T19:54:39.550Z,1736366079.550 [DAT](INFO): got valid direction response: 19:54:37.7723 LVL= 27056, 29857, 19378, 24051, AGC= 66, IDX= 316, 0.00,-0.628,-0.855, 0.021,-1.389, PHS= 0.849, 0.581, 1.407, RAW= 191.5, -54.0, CAL= 187.3, -51.8, ROT= 322.7, 51.8 2025-01-08T19:54:39.550Z,1736366079.550 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:54:39.551Z,1736366079.551 [DAT](INFO): Received a bad header 2025-01-08T19:54:39.564Z,1736366079.564 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T19:54:39.565Z,1736366079.565 [DAT](INFO): direction in FSK: [0.798842,-0.600796,-0.029934] 2025-01-08T19:54:39.569Z,1736366079.569 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:39.569Z,1736366079.569 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:39.569Z,1736366079.569 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:39.659Z,1736366079.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:39.685Z,1736366079.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:39.692Z,1736366079.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 124.076538 m, bearing: 173.690192 deg, approach rate: 0.200708 m/s, LOS rate: -0.261811 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.562104 deg. 2025-01-08T19:54:39.694Z,1736366079.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809466 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:39.744Z,1736366079.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:39.744Z,1736366079.744 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:39.744Z,1736366079.744 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:39.744Z,1736366079.744 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:39.985Z,1736366079.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:39.993Z,1736366079.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:39.996Z,1736366079.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:39.997Z,1736366079.997 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:39.997Z,1736366079.997 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:39.997Z,1736366079.997 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:39.000Z,1736366080.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 124.144821 m, bearing: 173.601781 deg, approach rate: 0.221667 m/s, LOS rate: -0.286852 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.710100 deg. 2025-01-08T19:54:40.001Z,1736366080.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812049 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:40.249Z,1736366080.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:40.251Z,1736366080.251 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:40.251Z,1736366080.251 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:40.251Z,1736366080.251 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:40.391Z,1736366080.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:40.400Z,1736366080.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:40.403Z,1736366080.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 124.230202 m, bearing: 173.491991 deg, approach rate: 0.209921 m/s, LOS rate: -0.269749 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.646047 deg. 2025-01-08T19:54:40.404Z,1736366080.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810931 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:40.502Z,1736366080.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:40.503Z,1736366080.503 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:40.504Z,1736366080.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:40.504Z,1736366080.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:40.752Z,1736366080.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:40.752Z,1736366080.752 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:40.752Z,1736366080.752 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:40.752Z,1736366080.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:40.836Z,1736366080.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:40.844Z,1736366080.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:40.849Z,1736366080.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 124.331184 m, bearing: 173.364982 deg, approach rate: 0.227229 m/s, LOS rate: -0.285561 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.594475 deg. 2025-01-08T19:54:40.850Z,1736366080.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810031 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:41.004Z,1736366081.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:41.004Z,1736366081.004 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:41.004Z,1736366081.004 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:41.004Z,1736366081.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:41.212Z,1736366081.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:41.218Z,1736366081.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:41.221Z,1736366081.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:41.225Z,1736366081.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 124.416931 m, bearing: 173.257962 deg, approach rate: 0.227997 m/s, LOS rate: -0.284365 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.654352 deg. 2025-01-08T19:54:41.228Z,1736366081.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811076 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:41.256Z,1736366081.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:41.257Z,1736366081.257 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:41.257Z,1736366081.257 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:41.258Z,1736366081.258 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:41.509Z,1736366081.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:41.512Z,1736366081.512 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:41.512Z,1736366081.512 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:41.512Z,1736366081.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:41.660Z,1736366081.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:41.675Z,1736366081.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:41.681Z,1736366081.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 124.519463 m, bearing: 173.129067 deg, approach rate: 0.225877 m/s, LOS rate: -0.283722 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.588826 deg. 2025-01-08T19:54:41.682Z,1736366081.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809932 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:41.762Z,1736366081.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:41.764Z,1736366081.764 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:41.764Z,1736366081.764 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:41.765Z,1736366081.765 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:42.016Z,1736366082.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:42.016Z,1736366082.016 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:42.016Z,1736366082.016 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:42.017Z,1736366082.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:42.019Z,1736366082.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:42.027Z,1736366082.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:42.031Z,1736366082.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 124.602058 m, bearing: 173.025426 deg, approach rate: 0.234142 m/s, LOS rate: -0.293605 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.664474 deg. 2025-01-08T19:54:42.060Z,1736366082.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811253 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:42.268Z,1736366082.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:42.268Z,1736366082.268 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:42.268Z,1736366082.268 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:42.268Z,1736366082.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:42.422Z,1736366082.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:42.431Z,1736366082.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:42.434Z,1736366082.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 124.694618 m, bearing: 172.909385 deg, approach rate: 0.229178 m/s, LOS rate: -0.287103 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.627328 deg. 2025-01-08T19:54:42.435Z,1736366082.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810605 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:42.520Z,1736366082.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:42.521Z,1736366082.521 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:42.521Z,1736366082.521 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:42.522Z,1736366082.522 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:42.772Z,1736366082.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:42.772Z,1736366082.772 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:42.772Z,1736366082.772 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:42.772Z,1736366082.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:42.867Z,1736366082.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:42.897Z,1736366082.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:42.900Z,1736366082.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 124.794746 m, bearing: 172.777547 deg, approach rate: 0.215099 m/s, LOS rate: -0.282992 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.579996 deg. 2025-01-08T19:54:42.902Z,1736366082.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809778 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:43.024Z,1736366083.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:43.025Z,1736366083.025 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:43.025Z,1736366083.025 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:43.025Z,1736366083.025 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:43.227Z,1736366083.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:43.254Z,1736366083.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:43.256Z,1736366083.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:43.266Z,1736366083.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 124.875938 m, bearing: 172.670882 deg, approach rate: 0.225965 m/s, LOS rate: -0.296665 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655403 deg. 2025-01-08T19:54:43.276Z,1736366083.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:43.276Z,1736366083.276 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:43.277Z,1736366083.277 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:43.277Z,1736366083.277 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:43.288Z,1736366083.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811094 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:43.530Z,1736366083.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:43.532Z,1736366083.532 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:43.532Z,1736366083.532 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:43.533Z,1736366083.533 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:43.703Z,1736366083.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:43.712Z,1736366083.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:43.716Z,1736366083.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 124.977859 m, bearing: 172.529739 deg, approach rate: 0.223568 m/s, LOS rate: -0.309349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.552112 deg. 2025-01-08T19:54:43.717Z,1736366083.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809292 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:43.781Z,1736366083.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:43.782Z,1736366083.782 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:43.782Z,1736366083.782 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:43.782Z,1736366083.782 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:44.032Z,1736366084.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:44.033Z,1736366084.033 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:44.033Z,1736366084.033 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:44.033Z,1736366084.033 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:44.094Z,1736366084.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:44.110Z,1736366084.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:44.117Z,1736366084.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.061600 m, bearing: 172.414025 deg, approach rate: 0.210221 m/s, LOS rate: -0.290293 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628282 deg. 2025-01-08T19:54:44.118Z,1736366084.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810621 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:44.284Z,1736366084.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:44.284Z,1736366084.284 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:44.284Z,1736366084.284 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:44.284Z,1736366084.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:44.473Z,1736366084.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:44.499Z,1736366084.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:44.502Z,1736366084.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.142830 m, bearing: 172.301751 deg, approach rate: 0.217767 m/s, LOS rate: -0.300796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.638587 deg. 2025-01-08T19:54:44.508Z,1736366084.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810801 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:44.538Z,1736366084.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:44.541Z,1736366084.541 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:44.541Z,1736366084.541 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:44.541Z,1736366084.541 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:44.788Z,1736366084.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:44.788Z,1736366084.788 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:44.788Z,1736366084.788 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:44.788Z,1736366084.788 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:44.910Z,1736366084.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:44.924Z,1736366084.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:44.927Z,1736366084.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.227165 m, bearing: 172.170639 deg, approach rate: 0.191196 m/s, LOS rate: -0.297045 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.582120 deg. 2025-01-08T19:54:44.928Z,1736366084.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809815 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:45.040Z,1736366085.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:45.040Z,1736366085.040 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:45.040Z,1736366085.040 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:45.040Z,1736366085.040 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:45.280Z,1736366085.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:45.286Z,1736366085.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:45.288Z,1736366085.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:45.293Z,1736366085.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:45.294Z,1736366085.294 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:45.294Z,1736366085.294 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:45.294Z,1736366085.294 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:45.297Z,1736366085.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.298683 m, bearing: 172.059755 deg, approach rate: 0.196419 m/s, LOS rate: -0.304359 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.642730 deg. 2025-01-08T19:54:45.299Z,1736366085.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810873 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:45.544Z,1736366085.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:45.544Z,1736366085.544 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:45.544Z,1736366085.544 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:45.544Z,1736366085.544 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:45.734Z,1736366085.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:45.759Z,1736366085.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:45.771Z,1736366085.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.381218 m, bearing: 171.924481 deg, approach rate: 0.175427 m/s, LOS rate: -0.287334 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.569639 deg. 2025-01-08T19:54:45.773Z,1736366085.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809597 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:45.796Z,1736366085.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:45.797Z,1736366085.797 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:45.797Z,1736366085.797 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:45.797Z,1736366085.797 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:54:46.048Z,1736366086.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:46.049Z,1736366086.049 [DAT](INFO): Reached modem response timeout 2025-01-08T19:54:46.049Z,1736366086.049 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:54:46.049Z,1736366086.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:46.105Z,1736366086.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:46.118Z,1736366086.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:46.125Z,1736366086.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.449013 m, bearing: 171.813969 deg, approach rate: 0.188923 m/s, LOS rate: -0.307797 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.643833 deg. 2025-01-08T19:54:46.126Z,1736366086.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810893 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:46.300Z,1736366086.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:46.300Z,1736366086.300 [DAT](INFO): Reached modem response timeout 2025-01-08T19:54:46.300Z,1736366086.300 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:54:46.301Z,1736366086.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:46.500Z,1736366086.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:46.525Z,1736366086.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:46.532Z,1736366086.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.521622 m, bearing: 171.696485 deg, approach rate: 0.178379 m/s, LOS rate: -0.288456 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.622944 deg. 2025-01-08T19:54:46.533Z,1736366086.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810528 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:46.552Z,1736366086.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:46.552Z,1736366086.552 [DAT](INFO): Reached modem response timeout 2025-01-08T19:54:46.552Z,1736366086.552 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:54:46.553Z,1736366086.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:46.804Z,1736366086.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:46.805Z,1736366086.805 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:54:46.805Z,1736366086.805 [DAT](INFO): response not received 2025-01-08T19:54:46.805Z,1736366086.805 [DAT](INFO): DAT read: user:948> 2025-01-08T19:54:46.806Z,1736366086.806 [DAT](INFO): DAT read: Tx time:19:54:46.1229 2025-01-08T19:54:46.806Z,1736366086.806 [DAT](INFO): Ping request sent. 2025-01-08T19:54:46.806Z,1736366086.806 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:46.806Z,1736366086.806 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:46.807Z,1736366086.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734 2025-01-08T19:54:46.956Z,1736366086.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:46.966Z,1736366086.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:46.969Z,1736366086.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.604362 m, bearing: 171.561380 deg, approach rate: 0.187649 m/s, LOS rate: -0.306206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.570145 deg. 2025-01-08T19:54:46.970Z,1736366086.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809607 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:47.057Z,1736366087.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:47.058Z,1736366087.058 [DAT](INFO): DAT read: TxSync time:19:54:46.1221 2025-01-08T19:54:47.060Z,1736366087.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253231 2025-01-08T19:54:47.308Z,1736366087.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:47.308Z,1736366087.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502170 2025-01-08T19:54:47.310Z,1736366087.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:47.317Z,1736366087.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:47.319Z,1736366087.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:47.322Z,1736366087.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.668869 m, bearing: 171.456242 deg, approach rate: 0.182604 m/s, LOS rate: -0.297467 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.659941 deg. 2025-01-08T19:54:47.324Z,1736366087.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811173 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:47.560Z,1736366087.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:47.560Z,1736366087.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754050 2025-01-08T19:54:47.738Z,1736366087.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:47.747Z,1736366087.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:47.750Z,1736366087.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.740585 m, bearing: 171.329987 deg, approach rate: 0.167763 m/s, LOS rate: -0.295177 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.596641 deg. 2025-01-08T19:54:47.752Z,1736366087.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810069 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:47.812Z,1736366087.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:47.813Z,1736366087.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006383 2025-01-08T19:54:48.065Z,1736366088.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:48.065Z,1736366088.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259164 2025-01-08T19:54:48.132Z,1736366088.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:48.157Z,1736366088.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:48.164Z,1736366088.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.806671 m, bearing: 171.213783 deg, approach rate: 0.161139 m/s, LOS rate: -0.283192 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.626765 deg. 2025-01-08T19:54:48.165Z,1736366088.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810595 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:48.316Z,1736366088.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:48.318Z,1736366088.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511279 2025-01-08T19:54:48.539Z,1736366088.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:48.568Z,1736366088.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:48.569Z,1736366088.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762271 2025-01-08T19:54:48.570Z,1736366088.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:48.577Z,1736366088.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.875565 m, bearing: 171.093715 deg, approach rate: 0.166436 m/s, LOS rate: -0.289909 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.615183 deg. 2025-01-08T19:54:48.578Z,1736366088.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810392 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:48.820Z,1736366088.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:48.820Z,1736366088.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014094 2025-01-08T19:54:48.958Z,1736366088.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:48.967Z,1736366088.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:48.970Z,1736366088.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 125.952400 m, bearing: 170.971958 deg, approach rate: 0.193784 m/s, LOS rate: -0.306890 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.610145 deg. 2025-01-08T19:54:48.972Z,1736366088.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810305 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:49.073Z,1736366089.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:49.074Z,1736366089.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266995 2025-01-08T19:54:49.324Z,1736366089.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:49.324Z,1736366089.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518029 2025-01-08T19:54:49.336Z,1736366089.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:49.344Z,1736366089.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:49.346Z,1736366089.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:49.349Z,1736366089.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 126.023262 m, bearing: 170.862136 deg, approach rate: 0.186775 m/s, LOS rate: -0.289302 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.645910 deg. 2025-01-08T19:54:49.350Z,1736366089.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810929 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:49.576Z,1736366089.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:49.577Z,1736366089.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770633 2025-01-08T19:54:49.757Z,1736366089.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:49.766Z,1736366089.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:49.769Z,1736366089.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 126.105316 m, bearing: 170.741720 deg, approach rate: 0.195709 m/s, LOS rate: -0.287020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.614178 deg. 2025-01-08T19:54:49.770Z,1736366089.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810375 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:49.828Z,1736366089.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:49.829Z,1736366089.829 [DAT](INFO): DAT read: Rx Time:19:54:48.6754 2025-01-08T19:54:49.830Z,1736366089.830 [DAT](INFO): Rx dataTimestamp_ set to:1736366089.829711 2025-01-08T19:54:49.831Z,1736366089.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024583 2025-01-08T19:54:50.080Z,1736366090.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:50.081Z,1736366090.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274863 2025-01-08T19:54:50.149Z,1736366090.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:50.157Z,1736366090.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:50.168Z,1736366090.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 126.182335 m, bearing: 170.629574 deg, approach rate: 0.196713 m/s, LOS rate: -0.286256 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.638959 deg. 2025-01-08T19:54:50.169Z,1736366090.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810807 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:50.333Z,1736366090.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:50.335Z,1736366090.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528581 2025-01-08T19:54:50.539Z,1736366090.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:50.566Z,1736366090.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.60 m. 2025-01-08T19:54:50.573Z,1736366090.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.599998 m, nav range: 126.259377 m, bearing: 170.518276 deg, approach rate: 0.188977 m/s, LOS rate: -0.272838 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.641501 deg. 2025-01-08T19:54:50.575Z,1736366090.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810852 target range: 118.599998 and range: 118.60 m. 2025-01-08T19:54:50.584Z,1736366090.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:50.591Z,1736366090.591 [DAT](INFO): DAT read: 19:54:48.6754 LVL= 31200, 29153, 14114, 32755, AGC= 64, IDX= 476,-0.33,-2.092,-2.970,-0.703,-1.695, PHS=-0.309,-1.228, 0.989, RAW= 185.6, 5.7, CAL= 185.6, -3.1, ROT= 324.4, 3.1 2025-01-08T19:54:50.592Z,1736366090.592 [DAT](INFO): got valid direction response: 19:54:48.6754 LVL= 31200, 29153, 14114, 32755, AGC= 64, IDX= 476,-0.33,-2.092,-2.970,-0.703,-1.695, PHS=-0.309,-1.228, 0.989, RAW= 185.6, 5.7, CAL= 185.6, -3.1, ROT= 324.4, 3.1 2025-01-08T19:54:50.593Z,1736366090.593 [DAT](INFO): DAT read: Bearing 324.4, 3.1 (Local) 2025-01-08T19:54:50.593Z,1736366090.593 [DAT](INFO): Local bearing/azimuth received: Bearing 324.4, 3.1 (Local) 2025-01-08T19:54:50.595Z,1736366090.595 [DAT](INFO): DAT read: Range 10 to 50 : 111.3 m (Round-trip 148.4 ms) speed 0.5 m/s 2025-01-08T19:54:50.596Z,1736366090.596 [DAT](INFO): DAT read: user:949> 2025-01-08T19:54:50.597Z,1736366090.597 [DAT](INFO): DAT read: Tx time:19:54:49.7729 2025-01-08T19:54:50.598Z,1736366090.598 [DAT](INFO): Ping request sent. 2025-01-08T19:54:50.598Z,1736366090.598 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:50.598Z,1736366090.598 [DAT](INFO): DAT read: TxSync time:19:54:49.7721 2025-01-08T19:54:50.599Z,1736366090.599 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:54:50.604Z,1736366090.604 [DAT](INFO): direction in FSK: [-0.185872,-0.980726,-0.060226] 2025-01-08T19:54:50.604Z,1736366090.604 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:50.605Z,1736366090.605 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:50.616Z,1736366090.616 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:50.616Z,1736366090.616 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:50.840Z,1736366090.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:50.965Z,1736366090.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:50.980Z,1736366090.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.300003 m, deltaT: 14.617997 s, deltaX: -7.299995 m, approachRate: -0.499384 m/s, rangeRepo size: 4 2025-01-08T19:54:50.982Z,1736366090.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.300003 m, bearing: 174.510830 deg, lat: 36.903630 deg, lon: -122.117865 deg, deltaT: 14.617997 s, deltaX: -7.299995 m, approachRate: -0.499384 m/s, posRepo size: 4 2025-01-08T19:54:50.983Z,1736366090.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T19:54:50.986Z,1736366090.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 121.010452 m, bearing: 171.163806 deg, approach rate: 0.000000 m/s, LOS rate: -0.272838 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.636510 deg. 2025-01-08T19:54:50.988Z,1736366090.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810765 target range: 111.300003 and range: 111.30 m. 2025-01-08T19:54:51.092Z,1736366091.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:51.344Z,1736366091.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:51.375Z,1736366091.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:51.381Z,1736366091.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:51.384Z,1736366091.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T19:54:51.386Z,1736366091.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 121.091217 m, bearing: 171.043873 deg, approach rate: 0.199487 m/s, LOS rate: -0.296032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.615634 deg. 2025-01-08T19:54:51.388Z,1736366091.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810400 target range: 111.300003 and range: 111.30 m. 2025-01-08T19:54:51.598Z,1736366091.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:51.600Z,1736366091.600 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:51.601Z,1736366091.601 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:51.602Z,1736366091.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:51.784Z,1736366091.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:51.793Z,1736366091.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T19:54:51.796Z,1736366091.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 121.171738 m, bearing: 170.928325 deg, approach rate: 0.196740 m/s, LOS rate: -0.282135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628779 deg. 2025-01-08T19:54:51.798Z,1736366091.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810630 target range: 111.300003 and range: 111.30 m. 2025-01-08T19:54:51.848Z,1736366091.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:51.849Z,1736366091.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251260 2025-01-08T19:54:52.100Z,1736366092.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:52.100Z,1736366092.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502493 2025-01-08T19:54:52.166Z,1736366092.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:52.174Z,1736366092.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T19:54:52.177Z,1736366092.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 121.247185 m, bearing: 170.820907 deg, approach rate: 0.197776 m/s, LOS rate: -0.281409 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.653137 deg. 2025-01-08T19:54:52.178Z,1736366092.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811055 target range: 111.300003 and range: 111.30 m. 2025-01-08T19:54:52.353Z,1736366092.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:52.354Z,1736366092.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756092 2025-01-08T19:54:52.559Z,1736366092.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:52.568Z,1736366092.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T19:54:52.571Z,1736366092.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 121.325844 m, bearing: 170.710496 deg, approach rate: 0.199760 m/s, LOS rate: -0.280215 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.644172 deg. 2025-01-08T19:54:52.572Z,1736366092.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810898 target range: 111.300003 and range: 111.30 m. 2025-01-08T19:54:52.604Z,1736366092.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:52.604Z,1736366092.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006522 2025-01-08T19:54:52.856Z,1736366092.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:52.856Z,1736366092.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258466 2025-01-08T19:54:52.978Z,1736366092.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:53.012Z,1736366093.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T19:54:53.019Z,1736366093.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 121.414467 m, bearing: 170.599091 deg, approach rate: 0.201698 m/s, LOS rate: -0.253363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.641219 deg. 2025-01-08T19:54:53.021Z,1736366093.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810847 target range: 111.300003 and range: 111.30 m. 2025-01-08T19:54:53.108Z,1736366093.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:53.109Z,1736366093.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511004 2025-01-08T19:54:53.360Z,1736366093.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:53.360Z,1736366093.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762636 2025-01-08T19:54:53.375Z,1736366093.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:53.408Z,1736366093.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:53.410Z,1736366093.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T19:54:53.417Z,1736366093.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 121.499054 m, bearing: 170.493988 deg, approach rate: 0.210074 m/s, LOS rate: -0.260843 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.660102 deg. 2025-01-08T19:54:53.418Z,1736366093.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811176 target range: 111.300003 and range: 111.30 m. 2025-01-08T19:54:53.612Z,1736366093.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:53.612Z,1736366093.612 [DAT](INFO): DAT read: Rx Time:19:54:52.3235 2025-01-08T19:54:53.613Z,1736366093.613 [DAT](INFO): Rx dataTimestamp_ set to:1736366093.612612 2025-01-08T19:54:53.614Z,1736366093.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016348 2025-01-08T19:54:53.812Z,1736366093.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:53.821Z,1736366093.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T19:54:53.824Z,1736366093.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 121.592621 m, bearing: 170.380099 deg, approach rate: 0.227539 m/s, LOS rate: -0.276747 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.633785 deg. 2025-01-08T19:54:53.826Z,1736366093.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810717 target range: 111.300003 and range: 111.30 m. 2025-01-08T19:54:53.864Z,1736366093.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:53.865Z,1736366093.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267363 2025-01-08T19:54:54.116Z,1736366094.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:54.122Z,1736366094.122 [DAT](INFO): DAT read: 19:54:52.3235 LVL= 28656, 24497, 13602, 32755, AGC= 61, IDX= 423,-0.22,-0.372,-1.213, 1.085, 0.055, PHS=-0.339,-1.220, 1.028, RAW= 187.1, 5.5, CAL= 187.1, -3.2, ROT= 322.9, 3.2 2025-01-08T19:54:54.123Z,1736366094.123 [DAT](INFO): got valid direction response: 19:54:52.3235 LVL= 28656, 24497, 13602, 32755, AGC= 61, IDX= 423,-0.22,-0.372,-1.213, 1.085, 0.055, PHS=-0.339,-1.220, 1.028, RAW= 187.1, 5.5, CAL= 187.1, -3.2, ROT= 322.9, 3.2 2025-01-08T19:54:54.124Z,1736366094.124 [DAT](INFO): DAT read: Bearing 322.9, 3.2 (Local) 2025-01-08T19:54:54.125Z,1736366094.125 [DAT](INFO): Local bearing/azimuth received: Bearing 322.9, 3.2 (Local) 2025-01-08T19:54:54.126Z,1736366094.126 [DAT](INFO): DAT read: Range 10 to 50 : 109.7 m (Round-trip 146.3 ms) speed 0.3 m/s 2025-01-08T19:54:54.127Z,1736366094.127 [DAT](INFO): DAT read: user:950> 2025-01-08T19:54:54.132Z,1736366094.132 [DAT](INFO): DAT read: Tx time:19:54:53.4230 2025-01-08T19:54:54.132Z,1736366094.132 [DAT](INFO): Ping request sent. 2025-01-08T19:54:54.132Z,1736366094.132 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:54.133Z,1736366094.133 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:54:54.133Z,1736366094.133 [DAT](INFO): direction in FSK: [-0.178264,-0.980306,-0.084987] 2025-01-08T19:54:54.134Z,1736366094.134 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:54.134Z,1736366094.134 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:54.137Z,1736366094.137 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:54.137Z,1736366094.137 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:54.227Z,1736366094.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:54.262Z,1736366094.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.699997 m, deltaT: 3.531746 s, deltaX: -1.600006 m, approachRate: -0.453035 m/s, rangeRepo size: 4 2025-01-08T19:54:54.268Z,1736366094.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 109.699997 m, bearing: 175.469208 deg, lat: 36.903646 deg, lon: -122.117919 deg, deltaT: 3.531746 s, deltaX: -1.600006 m, approachRate: -0.453035 m/s, posRepo size: 4 2025-01-08T19:54:54.269Z,1736366094.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T19:54:54.276Z,1736366094.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 119.121559 m, bearing: 172.394889 deg, approach rate: 0.000000 m/s, LOS rate: -0.276747 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.610071 deg. 2025-01-08T19:54:54.277Z,1736366094.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810303 target range: 109.699997 and range: 109.70 m. 2025-01-08T19:54:54.374Z,1736366094.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:54.376Z,1736366094.376 [DAT](INFO): DAT read: TxSync time:19:54:53.4222 2025-01-08T19:54:54.600Z,1736366094.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:54.617Z,1736366094.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T19:54:54.624Z,1736366094.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:54.625Z,1736366094.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 119.195007 m, bearing: 172.294684 deg, approach rate: 0.206241 m/s, LOS rate: -0.281202 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674758 deg. 2025-01-08T19:54:54.627Z,1736366094.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811432 target range: 109.699997 and range: 109.70 m. 2025-01-08T19:54:54.876Z,1736366094.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:55.008Z,1736366095.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:55.018Z,1736366095.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T19:54:55.021Z,1736366095.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 119.276550 m, bearing: 172.188057 deg, approach rate: 0.203460 m/s, LOS rate: -0.265864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655529 deg. 2025-01-08T19:54:55.022Z,1736366095.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811097 target range: 109.699997 and range: 109.70 m. 2025-01-08T19:54:55.128Z,1736366095.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:55.380Z,1736366095.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:55.408Z,1736366095.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:55.414Z,1736366095.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:55.433Z,1736366095.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T19:54:55.441Z,1736366095.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 119.356689 m, bearing: 172.083927 deg, approach rate: 0.193449 m/s, LOS rate: -0.251192 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.663009 deg. 2025-01-08T19:54:55.442Z,1736366095.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811227 target range: 109.699997 and range: 109.70 m. 2025-01-08T19:54:55.632Z,1736366095.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:55.632Z,1736366095.632 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:55.632Z,1736366095.632 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:55.632Z,1736366095.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:54:55.825Z,1736366095.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:55.834Z,1736366095.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T19:54:55.837Z,1736366095.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 119.443291 m, bearing: 171.973977 deg, approach rate: 0.215560 m/s, LOS rate: -0.273478 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.645580 deg. 2025-01-08T19:54:55.838Z,1736366095.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810923 target range: 109.699997 and range: 109.70 m. 2025-01-08T19:54:55.884Z,1736366095.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:55.885Z,1736366095.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752357 2025-01-08T19:54:56.136Z,1736366096.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:56.136Z,1736366096.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004182 2025-01-08T19:54:56.206Z,1736366096.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:56.231Z,1736366096.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T19:54:56.234Z,1736366096.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 119.523460 m, bearing: 171.873566 deg, approach rate: 0.203890 m/s, LOS rate: -0.255198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674158 deg. 2025-01-08T19:54:56.235Z,1736366096.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811422 target range: 109.699997 and range: 109.70 m. 2025-01-08T19:54:56.388Z,1736366096.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:56.388Z,1736366096.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256076 2025-01-08T19:54:56.595Z,1736366096.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:56.604Z,1736366096.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T19:54:56.607Z,1736366096.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 119.606041 m, bearing: 171.771439 deg, approach rate: 0.218847 m/s, LOS rate: -0.270461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.669019 deg. 2025-01-08T19:54:56.609Z,1736366096.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811332 target range: 109.699997 and range: 109.70 m. 2025-01-08T19:54:56.643Z,1736366096.643 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:56.644Z,1736366096.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511542 2025-01-08T19:54:56.896Z,1736366096.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:56.897Z,1736366096.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764110 2025-01-08T19:54:57.049Z,1736366097.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:57.057Z,1736366097.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T19:54:57.060Z,1736366097.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 119.702995 m, bearing: 171.645988 deg, approach rate: 0.214115 m/s, LOS rate: -0.276822 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.599145 deg. 2025-01-08T19:54:57.061Z,1736366097.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810112 target range: 109.699997 and range: 109.70 m. 2025-01-08T19:54:57.152Z,1736366097.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:57.154Z,1736366097.154 [DAT](INFO): DAT read: Rx Time:19:54:55.9716 2025-01-08T19:54:57.156Z,1736366097.156 [DAT](INFO): Rx dataTimestamp_ set to:1736366097.154713 2025-01-08T19:54:57.156Z,1736366097.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024005 2025-01-08T19:54:57.400Z,1736366097.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:57.400Z,1736366097.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268117 2025-01-08T19:54:57.509Z,1736366097.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:57.516Z,1736366097.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:57.518Z,1736366097.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T19:54:57.529Z,1736366097.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 119.802780 m, bearing: 171.519037 deg, approach rate: 0.216783 m/s, LOS rate: -0.275570 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.594659 deg. 2025-01-08T19:54:57.533Z,1736366097.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810034 target range: 109.699997 and range: 109.70 m. 2025-01-08T19:54:57.653Z,1736366097.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:57.656Z,1736366097.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523263 2025-01-08T19:54:57.856Z,1736366097.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:57.886Z,1736366097.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T19:54:57.893Z,1736366097.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 119.880058 m, bearing: 171.418218 deg, approach rate: 0.209949 m/s, LOS rate: -0.273729 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.672927 deg. 2025-01-08T19:54:57.894Z,1736366097.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811400 target range: 109.699997 and range: 109.70 m. 2025-01-08T19:54:57.904Z,1736366097.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:57.911Z,1736366097.911 [DAT](INFO): DAT read: 19:54:55.9716 LVL= 28064, 27425, 14770, 32755, AGC= 61, IDX= 420, 0.00, 0.963, 0.142, 2.372, 1.389, PHS=-0.337,-1.200, 0.980, RAW= 186.9, 5.9, CAL= 186.9, -2.9, ROT= 323.1, 2.9 2025-01-08T19:54:57.912Z,1736366097.912 [DAT](INFO): got valid direction response: 19:54:55.9716 LVL= 28064, 27425, 14770, 32755, AGC= 61, IDX= 420, 0.00, 0.963, 0.142, 2.372, 1.389, PHS=-0.337,-1.200, 0.980, RAW= 186.9, 5.9, CAL= 186.9, -2.9, ROT= 323.1, 2.9 2025-01-08T19:54:57.914Z,1736366097.914 [DAT](INFO): DAT read: Bearing 323.1, 2.9 (Local) 2025-01-08T19:54:57.914Z,1736366097.914 [DAT](INFO): Local bearing/azimuth received: Bearing 323.1, 2.9 (Local) 2025-01-08T19:54:57.916Z,1736366097.916 [DAT](INFO): DAT read: Range 10 to 50 : 108.3 m (Round-trip 144.5 ms) speed 0.4 m/s 2025-01-08T19:54:57.917Z,1736366097.917 [DAT](INFO): DAT read: user:951> 2025-01-08T19:54:57.917Z,1736366097.917 [DAT](INFO): DAT read: Tx time:19:54:57.0730 2025-01-08T19:54:57.918Z,1736366097.918 [DAT](INFO): Ping request sent. 2025-01-08T19:54:57.918Z,1736366097.918 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:54:57.918Z,1736366097.918 [DAT](INFO): DAT read: TxSync time:19:54:57.0722 2025-01-08T19:54:57.919Z,1736366097.919 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:54:57.925Z,1736366097.925 [DAT](INFO): direction in FSK: [-0.186993,-0.979009,-0.081083] 2025-01-08T19:54:57.925Z,1736366097.925 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:57.925Z,1736366097.925 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:57.937Z,1736366097.937 [DAT](INFO): publishing transmit ping time 2025-01-08T19:54:57.937Z,1736366097.937 [DAT](INFO): publishing direction and range info 2025-01-08T19:54:58.157Z,1736366098.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:58.237Z,1736366098.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:58.252Z,1736366098.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.300003 m, deltaT: 3.788164 s, deltaX: -1.399994 m, approachRate: -0.369571 m/s, rangeRepo size: 4 2025-01-08T19:54:58.254Z,1736366098.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.300003 m, bearing: 175.736592 deg, lat: 36.903729 deg, lon: -122.117957 deg, deltaT: 3.788164 s, deltaX: -1.399994 m, approachRate: -0.369571 m/s, posRepo size: 4 2025-01-08T19:54:58.255Z,1736366098.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m. 2025-01-08T19:54:58.258Z,1736366098.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.300003 m, nav range: 110.353958 m, bearing: 172.312058 deg, approach rate: 0.000000 m/s, LOS rate: -0.273729 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.675213 deg. 2025-01-08T19:54:58.259Z,1736366098.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811440 target range: 108.300003 and range: 108.30 m. 2025-01-08T19:54:58.408Z,1736366098.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:58.660Z,1736366098.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:58.682Z,1736366098.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:58.704Z,1736366098.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m. 2025-01-08T19:54:58.706Z,1736366098.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.300003 m, nav range: 110.448471 m, bearing: 172.170829 deg, approach rate: 0.208712 m/s, LOS rate: -0.311608 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.551870 deg. 2025-01-08T19:54:58.716Z,1736366098.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809288 target range: 108.300003 and range: 108.30 m. 2025-01-08T19:54:58.912Z,1736366098.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:59.060Z,1736366099.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:59.070Z,1736366099.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m. 2025-01-08T19:54:59.073Z,1736366099.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.300003 m, nav range: 110.531540 m, bearing: 172.040642 deg, approach rate: 0.226838 m/s, LOS rate: -0.355237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.584926 deg. 2025-01-08T19:54:59.074Z,1736366099.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809865 target range: 108.300003 and range: 108.30 m. 2025-01-08T19:54:59.164Z,1736366099.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:59.395Z,1736366099.395 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:54:59.416Z,1736366099.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:59.470Z,1736366099.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:59.487Z,1736366099.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m. 2025-01-08T19:54:59.494Z,1736366099.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.300003 m, nav range: 110.621666 m, bearing: 171.899834 deg, approach rate: 0.216185 m/s, LOS rate: -0.337481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.553114 deg. 2025-01-08T19:54:59.500Z,1736366099.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809309 target range: 108.300003 and range: 108.30 m. 2025-01-08T19:54:59.668Z,1736366099.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:59.877Z,1736366099.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:54:59.902Z,1736366099.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:54:59.908Z,1736366099.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m. 2025-01-08T19:54:59.911Z,1736366099.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.300003 m, nav range: 110.713295 m, bearing: 171.752681 deg, approach rate: 0.217510 m/s, LOS rate: -0.349022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.534104 deg. 2025-01-08T19:54:59.918Z,1736366099.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808977 target range: 108.300003 and range: 108.30 m. 2025-01-08T19:54:59.920Z,1736366099.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:54:59.920Z,1736366099.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:54:59.920Z,1736366099.920 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:54:59.921Z,1736366099.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:00.172Z,1736366100.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:00.172Z,1736366100.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254547 2025-01-08T19:55:00.270Z,1736366100.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:00.278Z,1736366100.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m. 2025-01-08T19:55:00.282Z,1736366100.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.300003 m, nav range: 110.802635 m, bearing: 171.611133 deg, approach rate: 0.241344 m/s, LOS rate: -0.382070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.550893 deg. 2025-01-08T19:55:00.283Z,1736366100.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809270 target range: 108.300003 and range: 108.30 m. 2025-01-08T19:55:00.424Z,1736366100.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:00.424Z,1736366100.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506442 2025-01-08T19:55:00.676Z,1736366100.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:00.677Z,1736366100.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759519 2025-01-08T19:55:00.708Z,1736366100.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:00.725Z,1736366100.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m. 2025-01-08T19:55:00.732Z,1736366100.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.300003 m, nav range: 110.903008 m, bearing: 171.453376 deg, approach rate: 0.224867 m/s, LOS rate: -0.353108 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.502355 deg. 2025-01-08T19:55:00.733Z,1736366100.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808423 target range: 108.300003 and range: 108.30 m. 2025-01-08T19:55:00.928Z,1736366100.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:00.928Z,1736366100.928 [DAT](INFO): DAT read: Rx Time:19:54:59.6193 2025-01-08T19:55:00.929Z,1736366100.929 [DAT](INFO): Rx dataTimestamp_ set to:1736366100.928532 2025-01-08T19:55:00.929Z,1736366100.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011490 2025-01-08T19:55:01.104Z,1736366101.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:01.112Z,1736366101.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.30 m. 2025-01-08T19:55:01.132Z,1736366101.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.300003 m, nav range: 110.993073 m, bearing: 171.307942 deg, approach rate: 0.232396 m/s, LOS rate: -0.374961 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.539246 deg. 2025-01-08T19:55:01.134Z,1736366101.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809067 target range: 108.300003 and range: 108.30 m. 2025-01-08T19:55:01.180Z,1736366101.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:01.181Z,1736366101.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263602 2025-01-08T19:55:01.432Z,1736366101.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:01.438Z,1736366101.438 [DAT](INFO): DAT read: 19:54:59.6193 LVL= 27248, 25361, 14466, 30451, AGC= 62, IDX= 411, 0.28, 2.735, 1.960,-2.151,-3.113, PHS=-0.347,-1.163, 0.959, RAW= 187.6, 6.0, CAL= 187.6, -2.8, ROT= 322.4, 2.8 2025-01-08T19:55:01.443Z,1736366101.443 [DAT](INFO): got valid direction response: 19:54:59.6193 LVL= 27248, 25361, 14466, 30451, AGC= 62, IDX= 411, 0.28, 2.735, 1.960,-2.151,-3.113, PHS=-0.347,-1.163, 0.959, RAW= 187.6, 6.0, CAL= 187.6, -2.8, ROT= 322.4, 2.8 2025-01-08T19:55:01.444Z,1736366101.444 [DAT](INFO): DAT read: Bearing 322.4, 2.8 (Local) 2025-01-08T19:55:01.445Z,1736366101.445 [DAT](INFO): Local bearing/azimuth received: Bearing 322.4, 2.8 (Local) 2025-01-08T19:55:01.446Z,1736366101.446 [DAT](INFO): DAT read: Range 10 to 50 : 106.5 m (Round-trip 142.1 ms) speed 0.4 m/s 2025-01-08T19:55:01.447Z,1736366101.447 [DAT](INFO): DAT read: user:952> 2025-01-08T19:55:01.448Z,1736366101.448 [DAT](INFO): DAT read: Tx time:19:55:00.7230 2025-01-08T19:55:01.448Z,1736366101.448 [DAT](INFO): Ping request sent. 2025-01-08T19:55:01.448Z,1736366101.448 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:01.449Z,1736366101.449 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:01.449Z,1736366101.449 [DAT](INFO): direction in FSK: [-0.187249,-0.977840,-0.093631] 2025-01-08T19:55:01.450Z,1736366101.450 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:01.450Z,1736366101.450 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:01.453Z,1736366101.453 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:01.453Z,1736366101.453 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:01.574Z,1736366101.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:01.621Z,1736366101.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 106.500000 m, deltaT: 3.527915 s, deltaX: -1.800003 m, approachRate: -0.510217 m/s, rangeRepo size: 4 2025-01-08T19:55:01.628Z,1736366101.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 106.500000 m, bearing: 175.425723 deg, lat: 36.903750 deg, lon: -122.118002 deg, deltaT: 3.527915 s, deltaX: -1.800003 m, approachRate: -0.510217 m/s, posRepo size: 4 2025-01-08T19:55:01.628Z,1736366101.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.50 m. 2025-01-08T19:55:01.636Z,1736366101.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.500000 m, nav range: 108.235161 m, bearing: 173.014471 deg, approach rate: 0.000000 m/s, LOS rate: -0.374961 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.403426 deg. 2025-01-08T19:55:01.637Z,1736366101.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806696 target range: 106.500000 and range: 106.50 m. 2025-01-08T19:55:01.685Z,1736366101.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:01.686Z,1736366101.686 [DAT](INFO): DAT read: TxSync time:19:55:00.7222 2025-01-08T19:55:01.720Z,1736366101.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:55:01.936Z,1736366101.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:02.058Z,1736366102.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:02.073Z,1736366102.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:02.080Z,1736366102.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.50 m. 2025-01-08T19:55:02.087Z,1736366102.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.500000 m, nav range: 108.330574 m, bearing: 172.829569 deg, approach rate: 0.209738 m/s, LOS rate: -0.406093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.420988 deg. 2025-01-08T19:55:02.089Z,1736366102.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807003 target range: 106.500000 and range: 106.50 m. 2025-01-08T19:55:02.188Z,1736366102.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:02.189Z,1736366102.189 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:02.189Z,1736366102.189 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:02.190Z,1736366102.190 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:02.411Z,1736366102.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:02.420Z,1736366102.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.50 m. 2025-01-08T19:55:02.423Z,1736366102.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.500000 m, nav range: 108.400925 m, bearing: 172.694833 deg, approach rate: 0.203941 m/s, LOS rate: -0.390337 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.571246 deg. 2025-01-08T19:55:02.424Z,1736366102.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809626 target range: 106.500000 and range: 106.50 m. 2025-01-08T19:55:02.440Z,1736366102.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:02.440Z,1736366102.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992065 2025-01-08T19:55:02.692Z,1736366102.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:02.693Z,1736366102.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244279 2025-01-08T19:55:02.727Z,1736366102.727 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:55:02.821Z,1736366102.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:02.874Z,1736366102.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.50 m. 2025-01-08T19:55:02.900Z,1736366102.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.500000 m, nav range: 108.483063 m, bearing: 172.538697 deg, approach rate: 0.181644 m/s, LOS rate: -0.345024 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.507146 deg. 2025-01-08T19:55:02.901Z,1736366102.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808507 target range: 106.500000 and range: 106.50 m. 2025-01-08T19:55:02.944Z,1736366102.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:02.945Z,1736366102.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496702 2025-01-08T19:55:03.196Z,1736366103.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:03.197Z,1736366103.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747997 2025-01-08T19:55:03.243Z,1736366103.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:03.272Z,1736366103.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.50 m. 2025-01-08T19:55:03.274Z,1736366103.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.500000 m, nav range: 108.567352 m, bearing: 172.383055 deg, approach rate: 0.213516 m/s, LOS rate: -0.393954 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.508635 deg. 2025-01-08T19:55:03.280Z,1736366103.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808533 target range: 106.500000 and range: 106.50 m. 2025-01-08T19:55:03.448Z,1736366103.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:03.449Z,1736366103.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000640 2025-01-08T19:55:03.612Z,1736366103.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:03.621Z,1736366103.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.50 m. 2025-01-08T19:55:03.626Z,1736366103.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.500000 m, nav range: 108.641579 m, bearing: 172.246903 deg, approach rate: 0.210021 m/s, LOS rate: -0.384975 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.567016 deg. 2025-01-08T19:55:03.630Z,1736366103.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809552 target range: 106.500000 and range: 106.50 m. 2025-01-08T19:55:03.701Z,1736366103.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:03.702Z,1736366103.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253472 2025-01-08T19:55:03.952Z,1736366103.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:03.952Z,1736366103.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503998 2025-01-08T19:55:04.047Z,1736366104.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:04.076Z,1736366104.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.50 m. 2025-01-08T19:55:04.078Z,1736366104.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.500000 m, nav range: 108.728592 m, bearing: 172.091833 deg, approach rate: 0.200214 m/s, LOS rate: -0.356523 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.510360 deg. 2025-01-08T19:55:04.084Z,1736366104.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808563 target range: 106.500000 and range: 106.50 m. 2025-01-08T19:55:04.204Z,1736366104.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:04.204Z,1736366104.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756002 2025-01-08T19:55:04.417Z,1736366104.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:04.424Z,1736366104.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:04.426Z,1736366104.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.50 m. 2025-01-08T19:55:04.429Z,1736366104.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.500000 m, nav range: 108.803078 m, bearing: 171.959526 deg, approach rate: 0.201048 m/s, LOS rate: -0.356872 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.578543 deg. 2025-01-08T19:55:04.431Z,1736366104.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809753 target range: 106.500000 and range: 106.50 m. 2025-01-08T19:55:04.456Z,1736366104.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:04.457Z,1736366104.457 [DAT](INFO): DAT read: Rx Time:19:55:03.2663 2025-01-08T19:55:04.457Z,1736366104.457 [DAT](INFO): Rx dataTimestamp_ set to:1736366104.456792 2025-01-08T19:55:04.458Z,1736366104.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009248 2025-01-08T19:55:04.708Z,1736366104.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:04.708Z,1736366104.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260001 2025-01-08T19:55:04.823Z,1736366104.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:04.832Z,1736366104.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.50 m. 2025-01-08T19:55:04.835Z,1736366104.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.500000 m, nav range: 108.885033 m, bearing: 171.814944 deg, approach rate: 0.201731 m/s, LOS rate: -0.355617 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.541777 deg. 2025-01-08T19:55:04.836Z,1736366104.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809111 target range: 106.500000 and range: 106.50 m. 2025-01-08T19:55:04.961Z,1736366104.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:04.978Z,1736366104.978 [DAT](INFO): DAT read: 19:55:03.2663 LVL= 31392, 27361, 13634, 31603, AGC= 59, IDX= 412, 0.09,-3.065, 2.470,-1.668,-2.602, PHS=-0.375,-1.164, 0.931, RAW= 188.1, 6.7, CAL= 188.2, -2.2, ROT= 321.8, 2.2 2025-01-08T19:55:04.979Z,1736366104.979 [DAT](INFO): got valid direction response: 19:55:03.2663 LVL= 31392, 27361, 13634, 31603, AGC= 59, IDX= 412, 0.09,-3.065, 2.470,-1.668,-2.602, PHS=-0.375,-1.164, 0.931, RAW= 188.1, 6.7, CAL= 188.2, -2.2, ROT= 321.8, 2.2 2025-01-08T19:55:04.990Z,1736366104.990 [DAT](INFO): DAT read: Bearing 321.8, 2.2 (Local) 2025-01-08T19:55:04.990Z,1736366104.990 [DAT](INFO): Local bearing/azimuth received: Bearing 321.8, 2.2 (Local) 2025-01-08T19:55:05.005Z,1736366105.005 [DAT](INFO): DAT read: Range 10 to 50 : 104.2 m (Round-trip 139.0 ms) speed 0.4 m/s 2025-01-08T19:55:05.006Z,1736366105.006 [DAT](INFO): DAT read: user:953> 2025-01-08T19:55:05.021Z,1736366105.021 [DAT](INFO): DAT read: Tx time:19:55:04.3731 2025-01-08T19:55:05.022Z,1736366105.022 [DAT](INFO): Ping request sent. 2025-01-08T19:55:05.022Z,1736366105.022 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:05.023Z,1736366105.023 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:05.032Z,1736366105.032 [DAT](INFO): direction in FSK: [-0.199060,-0.974561,-0.102988] 2025-01-08T19:55:05.033Z,1736366105.033 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:05.033Z,1736366105.033 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:05.057Z,1736366105.057 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:05.057Z,1736366105.057 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:05.212Z,1736366105.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:05.213Z,1736366105.213 [DAT](INFO): DAT read: TxSync time:19:55:04.3723 2025-01-08T19:55:05.289Z,1736366105.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:05.329Z,1736366105.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.199997 m, deltaT: 3.530062 s, deltaX: -2.300003 m, approachRate: -0.651547 m/s, rangeRepo size: 4 2025-01-08T19:55:05.337Z,1736366105.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 104.199997 m, bearing: 174.227077 deg, lat: 36.903765 deg, lon: -122.118035 deg, deltaT: 3.530062 s, deltaX: -2.300003 m, approachRate: -0.651547 m/s, posRepo size: 4 2025-01-08T19:55:05.337Z,1736366105.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.20 m. 2025-01-08T19:55:05.344Z,1736366105.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.199997 m, nav range: 106.918343 m, bearing: 173.098101 deg, approach rate: 0.000000 m/s, LOS rate: -0.355617 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.445664 deg. 2025-01-08T19:55:05.345Z,1736366105.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807434 target range: 104.199997 and range: 104.20 m. 2025-01-08T19:55:05.465Z,1736366105.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:05.638Z,1736366105.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:05.660Z,1736366105.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.20 m. 2025-01-08T19:55:05.671Z,1736366105.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.199997 m, nav range: 106.980774 m, bearing: 172.981544 deg, approach rate: 0.196123 m/s, LOS rate: -0.365942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.625723 deg. 2025-01-08T19:55:05.673Z,1736366105.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810576 target range: 104.199997 and range: 104.20 m. 2025-01-08T19:55:05.716Z,1736366105.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:05.969Z,1736366105.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:06.057Z,1736366106.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:06.066Z,1736366106.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.20 m. 2025-01-08T19:55:06.069Z,1736366106.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.199997 m, nav range: 107.055237 m, bearing: 172.853259 deg, approach rate: 0.177777 m/s, LOS rate: -0.306060 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.590608 deg. 2025-01-08T19:55:06.070Z,1736366106.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809964 target range: 104.199997 and range: 104.20 m. 2025-01-08T19:55:06.220Z,1736366106.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:06.432Z,1736366106.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:06.439Z,1736366106.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:06.441Z,1736366106.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.20 m. 2025-01-08T19:55:06.444Z,1736366106.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.199997 m, nav range: 107.122528 m, bearing: 172.738359 deg, approach rate: 0.179200 m/s, LOS rate: -0.305793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.630706 deg. 2025-01-08T19:55:06.445Z,1736366106.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810663 target range: 104.199997 and range: 104.20 m. 2025-01-08T19:55:06.472Z,1736366106.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:06.472Z,1736366106.472 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:06.472Z,1736366106.472 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:06.473Z,1736366106.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:06.724Z,1736366106.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:06.724Z,1736366106.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702289 2025-01-08T19:55:06.839Z,1736366106.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:06.848Z,1736366106.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.20 m. 2025-01-08T19:55:06.851Z,1736366106.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.199997 m, nav range: 107.196083 m, bearing: 172.614151 deg, approach rate: 0.180690 m/s, LOS rate: -0.304912 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.602823 deg. 2025-01-08T19:55:06.852Z,1736366106.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810177 target range: 104.199997 and range: 104.20 m. 2025-01-08T19:55:06.977Z,1736366106.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:06.978Z,1736366106.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955295 2025-01-08T19:55:07.228Z,1736366107.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:07.228Z,1736366107.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206138 2025-01-08T19:55:07.274Z,1736366107.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:07.284Z,1736366107.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.20 m. 2025-01-08T19:55:07.286Z,1736366107.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.199997 m, nav range: 107.276062 m, bearing: 172.492327 deg, approach rate: 0.183882 m/s, LOS rate: -0.279881 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.609992 deg. 2025-01-08T19:55:07.288Z,1736366107.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810302 target range: 104.199997 and range: 104.20 m. 2025-01-08T19:55:07.480Z,1736366107.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:07.481Z,1736366107.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458972 2025-01-08T19:55:07.648Z,1736366107.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:07.688Z,1736366107.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.20 m. 2025-01-08T19:55:07.697Z,1736366107.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.199997 m, nav range: 107.345741 m, bearing: 172.387793 deg, approach rate: 0.181415 m/s, LOS rate: -0.271984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.661793 deg. 2025-01-08T19:55:07.704Z,1736366107.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811206 target range: 104.199997 and range: 104.20 m. 2025-01-08T19:55:07.732Z,1736366107.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:07.732Z,1736366107.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710343 2025-01-08T19:55:07.986Z,1736366107.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:07.986Z,1736366107.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964319 2025-01-08T19:55:08.077Z,1736366108.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:08.086Z,1736366108.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.20 m. 2025-01-08T19:55:08.109Z,1736366108.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.199997 m, nav range: 107.429688 m, bearing: 172.272959 deg, approach rate: 0.200499 m/s, LOS rate: -0.274058 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.630959 deg. 2025-01-08T19:55:08.110Z,1736366108.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810668 target range: 104.199997 and range: 104.20 m. 2025-01-08T19:55:08.240Z,1736366108.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:08.241Z,1736366108.241 [DAT](INFO): DAT read: Rx Time:19:55:06.9144 2025-01-08T19:55:08.241Z,1736366108.241 [DAT](INFO): Rx dataTimestamp_ set to:1736366108.240928 2025-01-08T19:55:08.242Z,1736366108.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219592 2025-01-08T19:55:08.466Z,1736366108.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:08.473Z,1736366108.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:08.476Z,1736366108.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.20 m. 2025-01-08T19:55:08.478Z,1736366108.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.199997 m, nav range: 107.506630 m, bearing: 172.168825 deg, approach rate: 0.197621 m/s, LOS rate: -0.267269 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.663011 deg. 2025-01-08T19:55:08.480Z,1736366108.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811227 target range: 104.199997 and range: 104.20 m. 2025-01-08T19:55:08.493Z,1736366108.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:08.493Z,1736366108.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471269 2025-01-08T19:55:08.744Z,1736366108.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:08.760Z,1736366108.760 [DAT](INFO): DAT read: 19:55:06.9144 LVL= 30784, 28657, 15410, 32355, AGC= 60, IDX= 425, 0.04,-0.134,-0.849, 1.295, 0.355, PHS=-0.401,-1.158, 0.936, RAW= 189.1, 6.8, CAL= 189.2, -2.0, ROT= 320.8, 2.0 2025-01-08T19:55:08.761Z,1736366108.761 [DAT](INFO): got valid direction response: 19:55:06.9144 LVL= 30784, 28657, 15410, 32355, AGC= 60, IDX= 425, 0.04,-0.134,-0.849, 1.295, 0.355, PHS=-0.401,-1.158, 0.936, RAW= 189.1, 6.8, CAL= 189.2, -2.0, ROT= 320.8, 2.0 2025-01-08T19:55:08.762Z,1736366108.762 [DAT](INFO): DAT read: Bearing 320.8, 2.0 (Local) 2025-01-08T19:55:08.763Z,1736366108.763 [DAT](INFO): Local bearing/azimuth received: Bearing 320.8, 2.0 (Local) 2025-01-08T19:55:08.770Z,1736366108.770 [DAT](INFO): DAT read: Range 10 to 50 : 102.9 m (Round-trip 137.2 ms) speed 0.2 m/s 2025-01-08T19:55:08.771Z,1736366108.771 [DAT](INFO): DAT read: user:954> 2025-01-08T19:55:08.776Z,1736366108.776 [DAT](INFO): DAT read: Tx time:19:55:08.0231 2025-01-08T19:55:08.776Z,1736366108.776 [DAT](INFO): Ping request sent. 2025-01-08T19:55:08.776Z,1736366108.776 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:08.776Z,1736366108.776 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:08.778Z,1736366108.778 [DAT](INFO): direction in FSK: [-0.200015,-0.972476,-0.119516] 2025-01-08T19:55:08.778Z,1736366108.778 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:08.779Z,1736366108.779 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:08.798Z,1736366108.798 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:08.798Z,1736366108.798 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:08.881Z,1736366108.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:08.913Z,1736366108.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.900002 m, deltaT: 3.782680 s, deltaX: -1.299995 m, approachRate: -0.343670 m/s, rangeRepo size: 4 2025-01-08T19:55:08.936Z,1736366108.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.900002 m, bearing: 174.655465 deg, lat: 36.903787 deg, lon: -122.118057 deg, deltaT: 3.782680 s, deltaX: -1.299995 m, approachRate: -0.343670 m/s, posRepo size: 4 2025-01-08T19:55:08.938Z,1736366108.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T19:55:08.981Z,1736366108.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.900002 m, nav range: 104.909256 m, bearing: 172.926211 deg, approach rate: 0.000000 m/s, LOS rate: -0.267269 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.624758 deg. 2025-01-08T19:55:08.988Z,1736366108.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810560 target range: 102.900002 and range: 102.90 m. 2025-01-08T19:55:08.998Z,1736366108.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:08.999Z,1736366108.999 [DAT](INFO): DAT read: TxSync time:19:55:08.0223 2025-01-08T19:55:09.248Z,1736366109.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:09.300Z,1736366109.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:09.309Z,1736366109.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T19:55:09.323Z,1736366109.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.900002 m, nav range: 104.990196 m, bearing: 172.810654 deg, approach rate: 0.204340 m/s, LOS rate: -0.291507 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628788 deg. 2025-01-08T19:55:09.325Z,1736366109.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810630 target range: 102.900002 and range: 102.90 m. 2025-01-08T19:55:09.500Z,1736366109.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:09.681Z,1736366109.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:09.690Z,1736366109.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T19:55:09.697Z,1736366109.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.900002 m, nav range: 105.063507 m, bearing: 172.705684 deg, approach rate: 0.192338 m/s, LOS rate: -0.275208 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.660499 deg. 2025-01-08T19:55:09.699Z,1736366109.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811183 target range: 102.900002 and range: 102.90 m. 2025-01-08T19:55:09.752Z,1736366109.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:10.004Z,1736366110.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:10.089Z,1736366110.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:10.099Z,1736366110.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T19:55:10.102Z,1736366110.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.900002 m, nav range: 105.146027 m, bearing: 172.589838 deg, approach rate: 0.201758 m/s, LOS rate: -0.283017 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.627926 deg. 2025-01-08T19:55:10.103Z,1736366110.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810615 target range: 102.900002 and range: 102.90 m. 2025-01-08T19:55:10.256Z,1736366110.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:10.472Z,1736366110.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:10.479Z,1736366110.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:10.482Z,1736366110.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T19:55:10.485Z,1736366110.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.900002 m, nav range: 105.223717 m, bearing: 172.481522 deg, approach rate: 0.202726 m/s, LOS rate: -0.282431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.650484 deg. 2025-01-08T19:55:10.486Z,1736366110.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811008 target range: 102.900002 and range: 102.90 m. 2025-01-08T19:55:10.508Z,1736366110.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:10.508Z,1736366110.508 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:10.508Z,1736366110.508 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:10.509Z,1736366110.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:10.760Z,1736366110.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:10.760Z,1736366110.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984012 2025-01-08T19:55:10.884Z,1736366110.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:10.892Z,1736366110.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T19:55:10.895Z,1736366110.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.900002 m, nav range: 105.308441 m, bearing: 172.365413 deg, approach rate: 0.206609 m/s, LOS rate: -0.282916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.627144 deg. 2025-01-08T19:55:10.896Z,1736366110.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810601 target range: 102.900002 and range: 102.90 m. 2025-01-08T19:55:11.016Z,1736366111.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:11.017Z,1736366111.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240559 2025-01-08T19:55:11.268Z,1736366111.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:11.269Z,1736366111.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492322 2025-01-08T19:55:11.322Z,1736366111.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:11.343Z,1736366111.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T19:55:11.346Z,1736366111.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.900002 m, nav range: 105.395294 m, bearing: 172.233132 deg, approach rate: 0.194259 m/s, LOS rate: -0.295621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.578677 deg. 2025-01-08T19:55:11.356Z,1736366111.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809755 target range: 102.900002 and range: 102.90 m. 2025-01-08T19:55:11.520Z,1736366111.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:11.520Z,1736366111.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744126 2025-01-08T19:55:11.701Z,1736366111.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:11.711Z,1736366111.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T19:55:11.714Z,1736366111.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.900002 m, nav range: 105.471092 m, bearing: 172.119177 deg, approach rate: 0.203639 m/s, LOS rate: -0.305930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.633573 deg. 2025-01-08T19:55:11.716Z,1736366111.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810713 target range: 102.900002 and range: 102.90 m. 2025-01-08T19:55:11.772Z,1736366111.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:11.773Z,1736366111.773 [DAT](INFO): DAT read: Rx Time:19:55:10.5632 2025-01-08T19:55:11.774Z,1736366111.774 [DAT](INFO): Rx dataTimestamp_ set to:1736366111.773740 2025-01-08T19:55:11.776Z,1736366111.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998618 2025-01-08T19:55:12.024Z,1736366112.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:12.024Z,1736366112.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248190 2025-01-08T19:55:12.124Z,1736366112.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:12.133Z,1736366112.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T19:55:12.136Z,1736366112.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.900002 m, nav range: 105.562378 m, bearing: 171.977736 deg, approach rate: 0.216412 m/s, LOS rate: -0.335026 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.551239 deg. 2025-01-08T19:55:12.137Z,1736366112.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809277 target range: 102.900002 and range: 102.90 m. 2025-01-08T19:55:12.276Z,1736366112.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:12.283Z,1736366112.283 [DAT](INFO): DAT read: 19:55:10.5632 LVL= 26192, 28625, 15602, 32755, AGC= 61, IDX= 427, 0.08,-2.251,-2.905,-0.833,-1.750, PHS=-0.413,-1.109, 0.914, RAW= 190.2, 6.9, CAL= 190.4, -1.9, ROT= 319.6, 1.9 2025-01-08T19:55:12.284Z,1736366112.284 [DAT](INFO): got valid direction response: 19:55:10.5632 LVL= 26192, 28625, 15602, 32755, AGC= 61, IDX= 427, 0.08,-2.251,-2.905,-0.833,-1.750, PHS=-0.413,-1.109, 0.914, RAW= 190.2, 6.9, CAL= 190.4, -1.9, ROT= 319.6, 1.9 2025-01-08T19:55:12.285Z,1736366112.285 [DAT](INFO): DAT read: Bearing 319.6, 1.9 (Local) 2025-01-08T19:55:12.286Z,1736366112.286 [DAT](INFO): Local bearing/azimuth received: Bearing 319.6, 1.9 (Local) 2025-01-08T19:55:12.287Z,1736366112.287 [DAT](INFO): DAT read: Range 10 to 50 : 101.9 m (Round-trip 135.9 ms) speed 0.4 m/s 2025-01-08T19:55:12.288Z,1736366112.288 [DAT](INFO): DAT read: user:955> 2025-01-08T19:55:12.289Z,1736366112.289 [DAT](INFO): DAT read: Tx time:19:55:11.6732 2025-01-08T19:55:12.289Z,1736366112.289 [DAT](INFO): Ping request sent. 2025-01-08T19:55:12.289Z,1736366112.289 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:12.289Z,1736366112.289 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:12.290Z,1736366112.290 [DAT](INFO): direction in FSK: [-0.198786,-0.970233,-0.138322] 2025-01-08T19:55:12.291Z,1736366112.291 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:12.291Z,1736366112.291 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:12.298Z,1736366112.298 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:12.298Z,1736366112.298 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:12.505Z,1736366112.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:12.520Z,1736366112.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 101.900002 m, deltaT: 3.531655 s, deltaX: -1.000000 m, approachRate: -0.283153 m/s, rangeRepo size: 4 2025-01-08T19:55:12.522Z,1736366112.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.900002 m, bearing: 175.045088 deg, lat: 36.903815 deg, lon: -122.118065 deg, deltaT: 3.531655 s, deltaX: -1.000000 m, approachRate: -0.283153 m/s, posRepo size: 4 2025-01-08T19:55:12.523Z,1736366112.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.90 m. 2025-01-08T19:55:12.526Z,1736366112.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.900002 m, nav range: 102.479179 m, bearing: 172.010332 deg, approach rate: 0.000000 m/s, LOS rate: -0.335026 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.586816 deg. 2025-01-08T19:55:12.528Z,1736366112.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:12.529Z,1736366112.529 [DAT](INFO): DAT read: TxSync time:19:55:11.6724 2025-01-08T19:55:12.529Z,1736366112.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809897 target range: 101.900002 and range: 101.90 m. 2025-01-08T19:55:12.782Z,1736366112.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:12.911Z,1736366112.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:12.919Z,1736366112.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:12.921Z,1736366112.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.90 m. 2025-01-08T19:55:12.924Z,1736366112.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.900002 m, nav range: 102.567101 m, bearing: 171.870968 deg, approach rate: 0.218987 m/s, LOS rate: -0.346820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.557460 deg. 2025-01-08T19:55:12.926Z,1736366112.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809385 target range: 101.900002 and range: 101.90 m. 2025-01-08T19:55:13.034Z,1736366113.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:13.036Z,1736366113.036 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:13.036Z,1736366113.036 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:13.037Z,1736366113.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:13.284Z,1736366113.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:13.284Z,1736366113.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995237 2025-01-08T19:55:13.359Z,1736366113.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:13.372Z,1736366113.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.90 m. 2025-01-08T19:55:13.379Z,1736366113.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.900002 m, nav range: 102.659805 m, bearing: 171.705825 deg, approach rate: 0.205413 m/s, LOS rate: -0.365589 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.480218 deg. 2025-01-08T19:55:13.381Z,1736366113.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808037 target range: 101.900002 and range: 101.90 m. 2025-01-08T19:55:13.536Z,1736366113.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:13.536Z,1736366113.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247122 2025-01-08T19:55:13.716Z,1736366113.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:13.724Z,1736366113.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.90 m. 2025-01-08T19:55:13.732Z,1736366113.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.900002 m, nav range: 102.735214 m, bearing: 171.571787 deg, approach rate: 0.214277 m/s, LOS rate: -0.380594 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.573375 deg. 2025-01-08T19:55:13.734Z,1736366113.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809663 target range: 101.900002 and range: 101.90 m. 2025-01-08T19:55:13.789Z,1736366113.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:13.790Z,1736366113.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500635 2025-01-08T19:55:14.041Z,1736366114.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:14.044Z,1736366114.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754255 2025-01-08T19:55:14.142Z,1736366114.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:14.169Z,1736366114.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.90 m. 2025-01-08T19:55:14.172Z,1736366114.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.900002 m, nav range: 102.825615 m, bearing: 171.401939 deg, approach rate: 0.203441 m/s, LOS rate: -0.381896 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.466105 deg. 2025-01-08T19:55:14.173Z,1736366114.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807790 target range: 101.900002 and range: 101.90 m. 2025-01-08T19:55:14.292Z,1736366114.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:14.292Z,1736366114.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003229 2025-01-08T19:55:14.511Z,1736366114.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:14.539Z,1736366114.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.90 m. 2025-01-08T19:55:14.542Z,1736366114.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.900002 m, nav range: 102.904770 m, bearing: 171.255545 deg, approach rate: 0.213697 m/s, LOS rate: -0.394919 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.536352 deg. 2025-01-08T19:55:14.544Z,1736366114.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:14.545Z,1736366114.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255373 2025-01-08T19:55:14.548Z,1736366114.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809017 target range: 101.900002 and range: 101.90 m. 2025-01-08T19:55:14.796Z,1736366114.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:14.796Z,1736366114.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507106 2025-01-08T19:55:14.921Z,1736366114.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:14.928Z,1736366114.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:14.930Z,1736366114.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.90 m. 2025-01-08T19:55:14.953Z,1736366114.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.900002 m, nav range: 102.993713 m, bearing: 171.092677 deg, approach rate: 0.227692 m/s, LOS rate: -0.416577 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.487016 deg. 2025-01-08T19:55:14.954Z,1736366114.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808156 target range: 101.900002 and range: 101.90 m. 2025-01-08T19:55:15.049Z,1736366115.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:15.053Z,1736366115.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762602 2025-01-08T19:55:15.300Z,1736366115.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:15.300Z,1736366115.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011151 2025-01-08T19:55:15.369Z,1736366115.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:15.378Z,1736366115.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.90 m. 2025-01-08T19:55:15.397Z,1736366115.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.900002 m, nav range: 103.090645 m, bearing: 170.911289 deg, approach rate: 0.216426 m/s, LOS rate: -0.404615 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.431554 deg. 2025-01-08T19:55:15.399Z,1736366115.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807188 target range: 101.900002 and range: 101.90 m. 2025-01-08T19:55:15.552Z,1736366115.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:15.552Z,1736366115.552 [DAT](INFO): DAT read: Rx Time:19:55:14.2109 2025-01-08T19:55:15.553Z,1736366115.553 [DAT](INFO): Rx dataTimestamp_ set to:1736366115.552590 2025-01-08T19:55:15.553Z,1736366115.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264147 2025-01-08T19:55:15.743Z,1736366115.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:15.752Z,1736366115.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.90 m. 2025-01-08T19:55:15.755Z,1736366115.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.900002 m, nav range: 103.171967 m, bearing: 170.759839 deg, approach rate: 0.217555 m/s, LOS rate: -0.404845 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.521205 deg. 2025-01-08T19:55:15.777Z,1736366115.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808752 target range: 101.900002 and range: 101.90 m. 2025-01-08T19:55:15.804Z,1736366115.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:15.805Z,1736366115.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515265 2025-01-08T19:55:16.057Z,1736366116.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:16.084Z,1736366116.084 [DAT](INFO): DAT read: 19:55:14.2109 LVL= 23984, 28401, 15346, 32755, AGC= 63, IDX= 419, 0.13, 1.862, 1.237,-2.964, 2.384, PHS=-0.435,-1.101, 0.932, RAW= 191.3, 6.8, CAL= 191.5, -2.0, ROT= 318.5, 2.0 2025-01-08T19:55:16.085Z,1736366116.085 [DAT](INFO): got valid direction response: 19:55:14.2109 LVL= 23984, 28401, 15346, 32755, AGC= 63, IDX= 419, 0.13, 1.862, 1.237,-2.964, 2.384, PHS=-0.435,-1.101, 0.932, RAW= 191.3, 6.8, CAL= 191.5, -2.0, ROT= 318.5, 2.0 2025-01-08T19:55:16.086Z,1736366116.086 [DAT](INFO): DAT read: Bearing 318.5, 2.0 (Local) 2025-01-08T19:55:16.086Z,1736366116.086 [DAT](INFO): Local bearing/azimuth received: Bearing 318.5, 2.0 (Local) 2025-01-08T19:55:16.092Z,1736366116.092 [DAT](INFO): DAT read: Range 10 to 50 : 100.1 m (Round-trip 133.5 ms) speed 0.5 m/s 2025-01-08T19:55:16.093Z,1736366116.093 [DAT](INFO): DAT read: user:956> 2025-01-08T19:55:16.093Z,1736366116.093 [DAT](INFO): DAT read: Tx time:19:55:15.3248 2025-01-08T19:55:16.094Z,1736366116.094 [DAT](INFO): Ping request sent. 2025-01-08T19:55:16.094Z,1736366116.094 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:16.094Z,1736366116.094 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:16.112Z,1736366116.112 [DAT](INFO): direction in FSK: [-0.194960,-0.968371,-0.155717] 2025-01-08T19:55:16.113Z,1736366116.113 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:16.114Z,1736366116.114 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:16.126Z,1736366116.126 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:16.127Z,1736366116.127 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:16.260Z,1736366116.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:16.286Z,1736366116.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 100.099998 m, deltaT: 3.781496 s, deltaX: -1.800003 m, approachRate: -0.476003 m/s, rangeRepo size: 4 2025-01-08T19:55:16.305Z,1736366116.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 100.099998 m, bearing: 174.598450 deg, lat: 36.903834 deg, lon: -122.118098 deg, deltaT: 3.781496 s, deltaX: -1.800003 m, approachRate: -0.476003 m/s, posRepo size: 4 2025-01-08T19:55:16.306Z,1736366116.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.10 m. 2025-01-08T19:55:16.308Z,1736366116.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:16.309Z,1736366116.309 [DAT](INFO): DAT read: TxSync time:19:55:15.3240 2025-01-08T19:55:16.313Z,1736366116.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.099998 m, nav range: 100.779861 m, bearing: 171.996709 deg, approach rate: 0.000000 m/s, LOS rate: -0.404845 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.326078 deg. 2025-01-08T19:55:16.315Z,1736366116.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805346 target range: 100.099998 and range: 100.10 m. 2025-01-08T19:55:16.561Z,1736366116.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:16.623Z,1736366116.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:16.634Z,1736366116.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.10 m. 2025-01-08T19:55:16.637Z,1736366116.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.099998 m, nav range: 100.851868 m, bearing: 171.842290 deg, approach rate: 0.206993 m/s, LOS rate: -0.443582 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.512273 deg. 2025-01-08T19:55:16.638Z,1736366116.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808596 target range: 100.099998 and range: 100.10 m. 2025-01-08T19:55:16.812Z,1736366116.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:17.032Z,1736366117.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:17.050Z,1736366117.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:17.058Z,1736366117.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.10 m. 2025-01-08T19:55:17.066Z,1736366117.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:17.072Z,1736366117.072 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:17.073Z,1736366117.073 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:17.074Z,1736366117.074 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:17.108Z,1736366117.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.099998 m, nav range: 100.933350 m, bearing: 171.669051 deg, approach rate: 0.192547 m/s, LOS rate: -0.409044 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.455904 deg. 2025-01-08T19:55:17.110Z,1736366117.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807612 target range: 100.099998 and range: 100.10 m. 2025-01-08T19:55:17.316Z,1736366117.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:17.317Z,1736366117.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223211 2025-01-08T19:55:17.456Z,1736366117.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:17.474Z,1736366117.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.10 m. 2025-01-08T19:55:17.481Z,1736366117.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.099998 m, nav range: 101.022148 m, bearing: 171.488616 deg, approach rate: 0.213117 m/s, LOS rate: -0.432665 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.434373 deg. 2025-01-08T19:55:17.482Z,1736366117.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807237 target range: 100.099998 and range: 100.10 m. 2025-01-08T19:55:17.568Z,1736366117.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:17.569Z,1736366117.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474780 2025-01-08T19:55:17.820Z,1736366117.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:17.821Z,1736366117.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726936 2025-01-08T19:55:17.854Z,1736366117.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:17.872Z,1736366117.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.10 m. 2025-01-08T19:55:17.874Z,1736366117.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.099998 m, nav range: 101.106949 m, bearing: 171.319123 deg, approach rate: 0.213122 m/s, LOS rate: -0.425614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.467149 deg. 2025-01-08T19:55:17.876Z,1736366117.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807809 target range: 100.099998 and range: 100.10 m. 2025-01-08T19:55:18.074Z,1736366118.074 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:18.077Z,1736366118.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982397 2025-01-08T19:55:18.275Z,1736366118.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:18.285Z,1736366118.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.10 m. 2025-01-08T19:55:18.288Z,1736366118.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.099998 m, nav range: 101.193756 m, bearing: 171.150389 deg, approach rate: 0.210068 m/s, LOS rate: -0.407974 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.469433 deg. 2025-01-08T19:55:18.289Z,1736366118.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807848 target range: 100.099998 and range: 100.10 m. 2025-01-08T19:55:18.324Z,1736366118.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:18.325Z,1736366118.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231204 2025-01-08T19:55:18.577Z,1736366118.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:18.580Z,1736366118.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485251 2025-01-08T19:55:18.674Z,1736366118.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:18.686Z,1736366118.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.10 m. 2025-01-08T19:55:18.689Z,1736366118.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.099998 m, nav range: 101.276405 m, bearing: 170.990844 deg, approach rate: 0.205779 m/s, LOS rate: -0.396908 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.496954 deg. 2025-01-08T19:55:18.690Z,1736366118.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808329 target range: 100.099998 and range: 100.10 m. 2025-01-08T19:55:18.828Z,1736366118.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:18.828Z,1736366118.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734578 2025-01-08T19:55:19.050Z,1736366119.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:19.058Z,1736366119.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:19.061Z,1736366119.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.10 m. 2025-01-08T19:55:19.064Z,1736366119.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.099998 m, nav range: 101.354996 m, bearing: 170.840592 deg, approach rate: 0.209913 m/s, LOS rate: -0.401007 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.524791 deg. 2025-01-08T19:55:19.068Z,1736366119.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808815 target range: 100.099998 and range: 100.10 m. 2025-01-08T19:55:19.081Z,1736366119.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:19.084Z,1736366119.084 [DAT](INFO): DAT read: Rx Time:19:55:17.8595 2025-01-08T19:55:19.085Z,1736366119.085 [DAT](INFO): Rx dataTimestamp_ set to:1736366119.084202 2025-01-08T19:55:19.087Z,1736366119.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992809 2025-01-08T19:55:19.332Z,1736366119.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:19.333Z,1736366119.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238942 2025-01-08T19:55:19.469Z,1736366119.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:19.477Z,1736366119.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.10 m. 2025-01-08T19:55:19.481Z,1736366119.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.099998 m, nav range: 101.444290 m, bearing: 170.681953 deg, approach rate: 0.214318 m/s, LOS rate: -0.380418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.499701 deg. 2025-01-08T19:55:19.482Z,1736366119.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808377 target range: 100.099998 and range: 100.10 m. 2025-01-08T19:55:19.584Z,1736366119.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:19.590Z,1736366119.590 [DAT](INFO): DAT read: 19:55:17.8595 LVL= 27712, 24305, 13042, 32755, AGC= 59, IDX= 405,-0.01, 1.172, 0.571, 2.696, 1.743, PHS=-0.484,-1.126, 0.950, RAW= 192.4, 7.2, CAL= 192.8, -1.6, ROT= 317.2, 1.6 2025-01-08T19:55:19.592Z,1736366119.592 [DAT](INFO): got valid direction response: 19:55:17.8595 LVL= 27712, 24305, 13042, 32755, AGC= 59, IDX= 405,-0.01, 1.172, 0.571, 2.696, 1.743, PHS=-0.484,-1.126, 0.950, RAW= 192.4, 7.2, CAL= 192.8, -1.6, ROT= 317.2, 1.6 2025-01-08T19:55:19.593Z,1736366119.593 [DAT](INFO): DAT read: Bearing 317.2, 1.6 (Local) 2025-01-08T19:55:19.594Z,1736366119.594 [DAT](INFO): Local bearing/azimuth received: Bearing 317.2, 1.6 (Local) 2025-01-08T19:55:19.601Z,1736366119.601 [DAT](INFO): DAT read: Range 10 to 50 : 97.8 m (Round-trip 130.5 ms) speed 0.4 m/s 2025-01-08T19:55:19.602Z,1736366119.602 [DAT](INFO): DAT read: user:957> 2025-01-08T19:55:19.603Z,1736366119.603 [DAT](INFO): DAT read: Tx time:19:55:18.9733 2025-01-08T19:55:19.603Z,1736366119.603 [DAT](INFO): Ping request sent. 2025-01-08T19:55:19.603Z,1736366119.603 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:19.604Z,1736366119.604 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:19.604Z,1736366119.604 [DAT](INFO): direction in FSK: [-0.200839,-0.963811,-0.175303] 2025-01-08T19:55:19.605Z,1736366119.605 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:19.605Z,1736366119.605 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:19.615Z,1736366119.615 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:19.616Z,1736366119.616 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:19.837Z,1736366119.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:19.838Z,1736366119.838 [DAT](INFO): DAT read: TxSync time:19:55:18.9725 2025-01-08T19:55:19.858Z,1736366119.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:19.902Z,1736366119.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.800003 m, deltaT: 3.526329 s, deltaX: -2.299995 m, approachRate: -0.652235 m/s, rangeRepo size: 4 2025-01-08T19:55:19.909Z,1736366119.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.800003 m, bearing: 173.798833 deg, lat: 36.903850 deg, lon: -122.118130 deg, deltaT: 3.526329 s, deltaX: -2.299995 m, approachRate: -0.652235 m/s, posRepo size: 4 2025-01-08T19:55:19.910Z,1736366119.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m. 2025-01-08T19:55:19.912Z,1736366119.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.800003 m, nav range: 99.344818 m, bearing: 171.987256 deg, approach rate: 0.000000 m/s, LOS rate: -0.380418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.499343 deg. 2025-01-08T19:55:19.914Z,1736366119.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808371 target range: 97.800003 and range: 97.80 m. 2025-01-08T19:55:20.089Z,1736366120.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:20.281Z,1736366120.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:20.289Z,1736366120.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m. 2025-01-08T19:55:20.292Z,1736366120.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.800003 m, nav range: 99.425934 m, bearing: 171.836381 deg, approach rate: 0.205304 m/s, LOS rate: -0.381552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.522941 deg. 2025-01-08T19:55:20.293Z,1736366120.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808783 target range: 97.800003 and range: 97.80 m. 2025-01-08T19:55:20.340Z,1736366120.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:20.592Z,1736366120.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:20.674Z,1736366120.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:20.704Z,1736366120.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m. 2025-01-08T19:55:20.707Z,1736366120.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.800003 m, nav range: 99.501816 m, bearing: 171.696070 deg, approach rate: 0.184999 m/s, LOS rate: -0.341814 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.554582 deg. 2025-01-08T19:55:20.716Z,1736366120.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809335 target range: 97.800003 and range: 97.80 m. 2025-01-08T19:55:20.844Z,1736366120.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:21.071Z,1736366121.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:21.081Z,1736366121.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:21.085Z,1736366121.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m. 2025-01-08T19:55:21.088Z,1736366121.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.800003 m, nav range: 99.576324 m, bearing: 171.558859 deg, approach rate: 0.193343 m/s, LOS rate: -0.355782 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.563869 deg. 2025-01-08T19:55:21.089Z,1736366121.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809497 target range: 97.800003 and range: 97.80 m. 2025-01-08T19:55:21.098Z,1736366121.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:21.100Z,1736366121.100 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:21.100Z,1736366121.100 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:21.101Z,1736366121.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:21.348Z,1736366121.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:21.349Z,1736366121.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746003 2025-01-08T19:55:21.492Z,1736366121.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:21.526Z,1736366121.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m. 2025-01-08T19:55:21.530Z,1736366121.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.800003 m, nav range: 99.655304 m, bearing: 171.421326 deg, approach rate: 0.178875 m/s, LOS rate: -0.311243 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.562920 deg. 2025-01-08T19:55:21.540Z,1736366121.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809480 target range: 97.800003 and range: 97.80 m. 2025-01-08T19:55:21.600Z,1736366121.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:21.601Z,1736366121.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997748 2025-01-08T19:55:21.852Z,1736366121.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:21.853Z,1736366121.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249736 2025-01-08T19:55:21.874Z,1736366121.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:21.882Z,1736366121.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m. 2025-01-08T19:55:21.885Z,1736366121.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.800003 m, nav range: 99.725891 m, bearing: 171.300573 deg, approach rate: 0.198526 m/s, LOS rate: -0.339376 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.613190 deg. 2025-01-08T19:55:21.886Z,1736366121.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810358 target range: 97.800003 and range: 97.80 m. 2025-01-08T19:55:22.106Z,1736366122.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:22.108Z,1736366122.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504716 2025-01-08T19:55:22.298Z,1736366122.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:22.306Z,1736366122.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m. 2025-01-08T19:55:22.309Z,1736366122.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.800003 m, nav range: 99.801933 m, bearing: 171.172547 deg, approach rate: 0.179330 m/s, LOS rate: -0.301692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.591408 deg. 2025-01-08T19:55:22.310Z,1736366122.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809978 target range: 97.800003 and range: 97.80 m. 2025-01-08T19:55:22.356Z,1736366122.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:22.357Z,1736366122.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754364 2025-01-08T19:55:22.608Z,1736366122.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:22.608Z,1736366122.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005503 2025-01-08T19:55:22.701Z,1736366122.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:22.710Z,1736366122.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m. 2025-01-08T19:55:22.713Z,1736366122.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.800003 m, nav range: 99.875328 m, bearing: 171.051064 deg, approach rate: 0.181814 m/s, LOS rate: -0.300717 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.611011 deg. 2025-01-08T19:55:22.715Z,1736366122.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810319 target range: 97.800003 and range: 97.80 m. 2025-01-08T19:55:22.860Z,1736366122.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:22.861Z,1736366122.861 [DAT](INFO): DAT read: Rx Time:19:55:21.5059 2025-01-08T19:55:22.861Z,1736366122.861 [DAT](INFO): Rx dataTimestamp_ set to:1736366122.860693 2025-01-08T19:55:22.861Z,1736366122.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258588 2025-01-08T19:55:23.093Z,1736366123.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:23.109Z,1736366123.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:23.114Z,1736366123.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:23.115Z,1736366123.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511293 2025-01-08T19:55:23.120Z,1736366123.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m. 2025-01-08T19:55:23.123Z,1736366123.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.800003 m, nav range: 99.947350 m, bearing: 170.933319 deg, approach rate: 0.175819 m/s, LOS rate: -0.287231 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.622212 deg. 2025-01-08T19:55:23.124Z,1736366123.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810515 target range: 97.800003 and range: 97.80 m. 2025-01-08T19:55:23.365Z,1736366123.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:23.371Z,1736366123.371 [DAT](INFO): DAT read: 19:55:21.5059 LVL= 28912, 29041, 15090, 32755, AGC= 57, IDX= 416, 0.03, 1.624, 1.111,-3.120, 2.231, PHS=-0.519,-1.073, 0.929, RAW= 194.5, 7.5, CAL= 195.0, -1.2, ROT= 315.0, 1.2 2025-01-08T19:55:23.372Z,1736366123.372 [DAT](INFO): got valid direction response: 19:55:21.5059 LVL= 28912, 29041, 15090, 32755, AGC= 57, IDX= 416, 0.03, 1.624, 1.111,-3.120, 2.231, PHS=-0.519,-1.073, 0.929, RAW= 194.5, 7.5, CAL= 195.0, -1.2, ROT= 315.0, 1.2 2025-01-08T19:55:23.373Z,1736366123.373 [DAT](INFO): DAT read: Bearing 315.0, 1.2 (Local) 2025-01-08T19:55:23.374Z,1736366123.374 [DAT](INFO): Local bearing/azimuth received: Bearing 315.0, 1.2 (Local) 2025-01-08T19:55:23.375Z,1736366123.375 [DAT](INFO): DAT read: Range 10 to 50 : 96.3 m (Round-trip 128.5 ms) speed 0.0 m/s 2025-01-08T19:55:23.376Z,1736366123.376 [DAT](INFO): DAT read: user:958> 2025-01-08T19:55:23.377Z,1736366123.377 [DAT](INFO): DAT read: Tx time:19:55:22.6233 2025-01-08T19:55:23.377Z,1736366123.377 [DAT](INFO): Ping request sent. 2025-01-08T19:55:23.377Z,1736366123.377 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:23.377Z,1736366123.377 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:23.378Z,1736366123.378 [DAT](INFO): direction in FSK: [-0.201251,-0.957009,-0.208880] 2025-01-08T19:55:23.378Z,1736366123.378 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:23.379Z,1736366123.379 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:23.383Z,1736366123.383 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:23.384Z,1736366123.384 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:23.594Z,1736366123.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:23.616Z,1736366123.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:23.617Z,1736366123.617 [DAT](INFO): DAT read: TxSync time:19:55:22.6225 2025-01-08T19:55:23.638Z,1736366123.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 96.300003 m, deltaT: 3.780696 s, deltaX: -1.500000 m, approachRate: -0.396752 m/s, rangeRepo size: 4 2025-01-08T19:55:23.645Z,1736366123.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 96.300003 m, bearing: 173.995007 deg, lat: 36.903874 deg, lon: -122.118154 deg, deltaT: 3.780696 s, deltaX: -1.500000 m, approachRate: -0.396752 m/s, posRepo size: 4 2025-01-08T19:55:23.646Z,1736366123.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m. 2025-01-08T19:55:23.660Z,1736366123.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.300003 m, nav range: 97.103348 m, bearing: 171.803540 deg, approach rate: 0.000000 m/s, LOS rate: -0.287231 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.528702 deg. 2025-01-08T19:55:23.662Z,1736366123.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808883 target range: 96.300003 and range: 96.30 m. 2025-01-08T19:55:23.869Z,1736366123.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:23.944Z,1736366123.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:23.952Z,1736366123.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m. 2025-01-08T19:55:23.956Z,1736366123.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.300003 m, nav range: 97.160187 m, bearing: 171.701144 deg, approach rate: 0.180578 m/s, LOS rate: -0.325124 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.668180 deg. 2025-01-08T19:55:23.958Z,1736366123.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811317 target range: 96.300003 and range: 96.30 m. 2025-01-08T19:55:24.120Z,1736366124.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:24.369Z,1736366124.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:24.372Z,1736366124.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:24.378Z,1736366124.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m. 2025-01-08T19:55:24.382Z,1736366124.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.300003 m, nav range: 97.235451 m, bearing: 171.576237 deg, approach rate: 0.176715 m/s, LOS rate: -0.293045 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.600763 deg. 2025-01-08T19:55:24.386Z,1736366124.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810141 target range: 96.300003 and range: 96.30 m. 2025-01-08T19:55:24.624Z,1736366124.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:24.749Z,1736366124.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:24.758Z,1736366124.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m. 2025-01-08T19:55:24.777Z,1736366124.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.300003 m, nav range: 97.303421 m, bearing: 171.464471 deg, approach rate: 0.179153 m/s, LOS rate: -0.294384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.640125 deg. 2025-01-08T19:55:24.779Z,1736366124.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810828 target range: 96.300003 and range: 96.30 m. 2025-01-08T19:55:24.876Z,1736366124.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:25.128Z,1736366125.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:25.172Z,1736366125.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:25.237Z,1736366125.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:25.243Z,1736366125.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m. 2025-01-08T19:55:25.246Z,1736366125.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.300003 m, nav range: 97.379745 m, bearing: 171.340876 deg, approach rate: 0.158529 m/s, LOS rate: -0.256511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.604698 deg. 2025-01-08T19:55:25.252Z,1736366125.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810209 target range: 96.300003 and range: 96.30 m. 2025-01-08T19:55:25.382Z,1736366125.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:25.383Z,1736366125.383 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:25.383Z,1736366125.383 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:25.383Z,1736366125.383 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:25.593Z,1736366125.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:25.625Z,1736366125.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m. 2025-01-08T19:55:25.629Z,1736366125.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.300003 m, nav range: 97.458229 m, bearing: 171.212293 deg, approach rate: 0.203298 m/s, LOS rate: -0.332802 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.589756 deg. 2025-01-08T19:55:25.630Z,1736366125.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809948 target range: 96.300003 and range: 96.30 m. 2025-01-08T19:55:25.632Z,1736366125.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:25.633Z,1736366125.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255571 2025-01-08T19:55:25.885Z,1736366125.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:25.886Z,1736366125.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509129 2025-01-08T19:55:25.962Z,1736366125.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:25.987Z,1736366125.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m. 2025-01-08T19:55:26.005Z,1736366126.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.300003 m, nav range: 97.528343 m, bearing: 171.100140 deg, approach rate: 0.195705 m/s, LOS rate: -0.312818 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.638976 deg. 2025-01-08T19:55:26.006Z,1736366126.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810808 target range: 96.300003 and range: 96.30 m. 2025-01-08T19:55:26.136Z,1736366126.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:26.136Z,1736366126.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759369 2025-01-08T19:55:26.388Z,1736366126.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:26.389Z,1736366126.389 [DAT](INFO): DAT read: Rx Time:19:55:25.1546 2025-01-08T19:55:26.389Z,1736366126.389 [DAT](INFO): Rx dataTimestamp_ set to:1736366126.388824 2025-01-08T19:55:26.390Z,1736366126.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012617 2025-01-08T19:55:26.393Z,1736366126.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:26.403Z,1736366126.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m. 2025-01-08T19:55:26.406Z,1736366126.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.300003 m, nav range: 97.614662 m, bearing: 170.958234 deg, approach rate: 0.205881 m/s, LOS rate: -0.338164 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.549852 deg. 2025-01-08T19:55:26.408Z,1736366126.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809252 target range: 96.300003 and range: 96.30 m. 2025-01-08T19:55:26.640Z,1736366126.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:26.640Z,1736366126.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263315 2025-01-08T19:55:26.775Z,1736366126.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:26.785Z,1736366126.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.30 m. 2025-01-08T19:55:26.788Z,1736366126.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.300003 m, nav range: 97.691635 m, bearing: 170.832964 deg, approach rate: 0.201364 m/s, LOS rate: -0.327452 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.599680 deg. 2025-01-08T19:55:26.789Z,1736366126.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810122 target range: 96.300003 and range: 96.30 m. 2025-01-08T19:55:26.893Z,1736366126.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:26.928Z,1736366126.928 [DAT](INFO): DAT read: 19:55:25.1546 LVL= 25424, 22257, 11666, 29091, AGC= 57, IDX= 434, 0.11,-0.084,-0.555, 1.469, 0.525, PHS=-0.521,-1.033, 0.942, RAW= 195.5, 7.0, CAL= 196.1, -1.6, ROT= 313.9, 1.6 2025-01-08T19:55:26.929Z,1736366126.929 [DAT](INFO): got valid direction response: 19:55:25.1546 LVL= 25424, 22257, 11666, 29091, AGC= 57, IDX= 434, 0.11,-0.084,-0.555, 1.469, 0.525, PHS=-0.521,-1.033, 0.942, RAW= 195.5, 7.0, CAL= 196.1, -1.6, ROT= 313.9, 1.6 2025-01-08T19:55:26.930Z,1736366126.930 [DAT](INFO): DAT read: Bearing 313.9, 1.6 (Local) 2025-01-08T19:55:26.930Z,1736366126.930 [DAT](INFO): Local bearing/azimuth received: Bearing 313.9, 1.6 (Local) 2025-01-08T19:55:26.932Z,1736366126.932 [DAT](INFO): DAT read: Range 10 to 50 : 95.4 m (Round-trip 127.2 ms) speed 0.3 m/s33 2025-01-08T19:55:26.933Z,1736366126.933 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:26.934Z,1736366126.934 [DAT](INFO): direction in FSK: [-0.189848,-0.955410,-0.226160] 2025-01-08T19:55:26.935Z,1736366126.935 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:26.966Z,1736366126.966 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:26.966Z,1736366126.966 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:26.966Z,1736366126.966 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:27.144Z,1736366127.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:27.144Z,1736366127.144 [DAT](INFO): DAT read: TxSync time:19:55:26.2725 2025-01-08T19:55:27.145Z,1736366127.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768176 2025-01-08T19:55:27.244Z,1736366127.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:27.285Z,1736366127.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.400002 m, deltaT: 3.529014 s, deltaX: -0.900002 m, approachRate: -0.255029 m/s, rangeRepo size: 4 2025-01-08T19:55:27.291Z,1736366127.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.400002 m, bearing: 175.394576 deg, lat: 36.903905 deg, lon: -122.118173 deg, deltaT: 3.529014 s, deltaX: -0.900002 m, approachRate: -0.255029 m/s, posRepo size: 4 2025-01-08T19:55:27.292Z,1736366127.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m. 2025-01-08T19:55:27.295Z,1736366127.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.400002 m, nav range: 94.134171 m, bearing: 171.334605 deg, approach rate: 0.000000 m/s, LOS rate: -0.327452 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.484688 deg. 2025-01-08T19:55:27.300Z,1736366127.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808115 target range: 95.400002 and range: 95.40 m. 2025-01-08T19:55:27.397Z,1736366127.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:27.398Z,1736366127.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021019 2025-01-08T19:55:27.595Z,1736366127.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:27.648Z,1736366127.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:27.649Z,1736366127.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271658 2025-01-08T19:55:27.656Z,1736366127.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:27.665Z,1736366127.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m. 2025-01-08T19:55:27.672Z,1736366127.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.400002 m, nav range: 94.206528 m, bearing: 171.205580 deg, approach rate: 0.192947 m/s, LOS rate: -0.343793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.588415 deg. 2025-01-08T19:55:27.674Z,1736366127.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809925 target range: 95.400002 and range: 95.40 m. 2025-01-08T19:55:27.900Z,1736366127.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:27.900Z,1736366127.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523467 2025-01-08T19:55:27.978Z,1736366127.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:27.986Z,1736366127.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m. 2025-01-08T19:55:27.989Z,1736366127.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.400002 m, nav range: 94.285416 m, bearing: 171.065303 deg, approach rate: 0.241165 m/s, LOS rate: -0.428475 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.554716 deg. 2025-01-08T19:55:27.992Z,1736366127.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809337 target range: 95.400002 and range: 95.40 m. 2025-01-08T19:55:28.152Z,1736366128.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:28.152Z,1736366128.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775427 2025-01-08T19:55:28.404Z,1736366128.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:28.405Z,1736366128.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027626 2025-01-08T19:55:28.412Z,1736366128.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:28.421Z,1736366128.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m. 2025-01-08T19:55:28.424Z,1736366128.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.400002 m, nav range: 94.378532 m, bearing: 170.895632 deg, approach rate: 0.214114 m/s, LOS rate: -0.389758 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.466689 deg. 2025-01-08T19:55:28.425Z,1736366128.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807801 target range: 95.400002 and range: 95.40 m. 2025-01-08T19:55:28.658Z,1736366128.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:28.659Z,1736366128.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281828 2025-01-08T19:55:28.786Z,1736366128.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:28.795Z,1736366128.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m. 2025-01-08T19:55:28.798Z,1736366128.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.400002 m, nav range: 94.459908 m, bearing: 170.749445 deg, approach rate: 0.217871 m/s, LOS rate: -0.391059 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.537011 deg. 2025-01-08T19:55:28.800Z,1736366128.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809028 target range: 95.400002 and range: 95.40 m. 2025-01-08T19:55:28.908Z,1736366128.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:28.908Z,1736366128.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531446 2025-01-08T19:55:29.160Z,1736366129.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:29.160Z,1736366129.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783351 2025-01-08T19:55:29.203Z,1736366129.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:29.213Z,1736366129.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m. 2025-01-08T19:55:29.222Z,1736366129.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.400002 m, nav range: 94.550880 m, bearing: 170.587193 deg, approach rate: 0.218380 m/s, LOS rate: -0.389110 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.488912 deg. 2025-01-08T19:55:29.242Z,1736366129.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808188 target range: 95.400002 and range: 95.40 m. 2025-01-08T19:55:29.412Z,1736366129.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:29.413Z,1736366129.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035513 2025-01-08T19:55:29.610Z,1736366129.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:29.643Z,1736366129.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m. 2025-01-08T19:55:29.665Z,1736366129.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:29.666Z,1736366129.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288223 2025-01-08T19:55:29.668Z,1736366129.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.400002 m, nav range: 94.645714 m, bearing: 170.416355 deg, approach rate: 0.221710 m/s, LOS rate: -0.398999 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.463200 deg. 2025-01-08T19:55:29.670Z,1736366129.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807740 target range: 95.400002 and range: 95.40 m. 2025-01-08T19:55:29.918Z,1736366129.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:29.919Z,1736366129.919 [DAT](INFO): DAT read: Rx Time:19:55:28.8030 2025-01-08T19:55:29.920Z,1736366129.920 [DAT](INFO): Rx dataTimestamp_ set to:1736366129.919321 2025-01-08T19:55:29.920Z,1736366129.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543138 2025-01-08T19:55:29.997Z,1736366129.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:30.008Z,1736366130.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:30.010Z,1736366130.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m. 2025-01-08T19:55:30.013Z,1736366130.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.400002 m, nav range: 94.736237 m, bearing: 170.254178 deg, approach rate: 0.244234 m/s, LOS rate: -0.437141 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.489134 deg. 2025-01-08T19:55:30.014Z,1736366130.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808192 target range: 95.400002 and range: 95.40 m. 2025-01-08T19:55:30.168Z,1736366130.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:30.168Z,1736366130.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791477 2025-01-08T19:55:30.420Z,1736366130.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:30.421Z,1736366130.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043567 2025-01-08T19:55:30.427Z,1736366130.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:30.436Z,1736366130.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m. 2025-01-08T19:55:30.439Z,1736366130.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.400002 m, nav range: 94.834564 m, bearing: 170.070330 deg, approach rate: 0.230517 m/s, LOS rate: -0.430562 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.424232 deg. 2025-01-08T19:55:30.440Z,1736366130.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807060 target range: 95.400002 and range: 95.40 m. 2025-01-08T19:55:30.672Z,1736366130.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:30.682Z,1736366130.682 [DAT](INFO): DAT read: 19:55:28.8030 LVL= 21152, 22161, 11362, 28515, AGC= 58, IDX= 416, 0.21,-1.451,-1.860, 0.146,-0.804, PHS=-0.559,-1.009, 0.947, RAW= 197.3, 7.1, CAL= 198.0, -1.4, ROT= 312.0, 1.4 2025-01-08T19:55:30.684Z,1736366130.684 [DAT](INFO): got valid direction response: 19:55:28.8030 LVL= 21152, 22161, 11362, 28515, AGC= 58, IDX= 416, 0.21,-1.451,-1.860, 0.146,-0.804, PHS=-0.559,-1.009, 0.947, RAW= 197.3, 7.1, CAL= 198.0, -1.4, ROT= 312.0, 1.4 2025-01-08T19:55:30.685Z,1736366130.685 [DAT](INFO): DAT read: Bearing 312.0, 1.4 (Local) 2025-01-08T19:55:30.686Z,1736366130.686 [DAT](INFO): Local bearing/azimuth received: Bearing 312.0, 1.4 (Local) 2025-01-08T19:55:30.687Z,1736366130.687 [DAT](INFO): DAT read: Range 10 to 50 : 94.0 m (Round-trip 125.4 ms) speed 0.4 m/s 2025-01-08T19:55:30.688Z,1736366130.688 [DAT](INFO): DAT read: user:960> 2025-01-08T19:55:30.689Z,1736366130.689 [DAT](INFO): DAT read: Tx time:19:55:29.9234 2025-01-08T19:55:30.689Z,1736366130.689 [DAT](INFO): Ping request sent. 2025-01-08T19:55:30.689Z,1736366130.689 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:30.689Z,1736366130.689 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:30.690Z,1736366130.690 [DAT](INFO): direction in FSK: [-0.188318,-0.948435,-0.254965] 2025-01-08T19:55:30.690Z,1736366130.690 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:30.691Z,1736366130.691 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:30.711Z,1736366130.711 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:30.711Z,1736366130.711 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:30.849Z,1736366130.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:30.882Z,1736366130.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.000000 m, deltaT: 3.778417 s, deltaX: -1.400002 m, approachRate: -0.370526 m/s, rangeRepo size: 4 2025-01-08T19:55:30.889Z,1736366130.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.000000 m, bearing: 174.940323 deg, lat: 36.903930 deg, lon: -122.118204 deg, deltaT: 3.778417 s, deltaX: -1.400002 m, approachRate: -0.370526 m/s, posRepo size: 4 2025-01-08T19:55:30.890Z,1736366130.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.00 m. 2025-01-08T19:55:30.898Z,1736366130.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.000000 m, nav range: 91.638588 m, bearing: 171.262540 deg, approach rate: 0.000000 m/s, LOS rate: -0.430562 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.399624 deg. 2025-01-08T19:55:30.906Z,1736366130.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806630 target range: 94.000000 and range: 94.00 m. 2025-01-08T19:55:30.924Z,1736366130.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:30.925Z,1736366130.925 [DAT](INFO): DAT read: TxSync time:19:55:29.9226 2025-01-08T19:55:31.176Z,1736366131.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:31.217Z,1736366131.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:31.225Z,1736366131.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.00 m. 2025-01-08T19:55:31.233Z,1736366131.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.000000 m, nav range: 91.716621 m, bearing: 171.099609 deg, approach rate: 0.227211 m/s, LOS rate: -0.474005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.486822 deg. 2025-01-08T19:55:31.234Z,1736366131.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808152 target range: 94.000000 and range: 94.00 m. 2025-01-08T19:55:31.432Z,1736366131.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:31.632Z,1736366131.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:31.683Z,1736366131.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.00 m. 2025-01-08T19:55:31.684Z,1736366131.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:31.702Z,1736366131.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.000000 m, nav range: 91.810135 m, bearing: 170.914219 deg, approach rate: 0.204556 m/s, LOS rate: -0.405117 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.419602 deg. 2025-01-08T19:55:31.703Z,1736366131.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806979 target range: 94.000000 and range: 94.00 m. 2025-01-08T19:55:31.936Z,1736366131.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:32.024Z,1736366132.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:32.030Z,1736366132.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:32.035Z,1736366132.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.00 m. 2025-01-08T19:55:32.040Z,1736366132.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.000000 m, nav range: 91.898079 m, bearing: 170.740330 deg, approach rate: 0.250506 m/s, LOS rate: -0.494843 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.454035 deg. 2025-01-08T19:55:32.041Z,1736366132.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807580 target range: 94.000000 and range: 94.00 m. 2025-01-08T19:55:32.188Z,1736366132.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:32.188Z,1736366132.188 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:32.188Z,1736366132.188 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:32.189Z,1736366132.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:32.440Z,1736366132.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:32.441Z,1736366132.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751611 2025-01-08T19:55:32.457Z,1736366132.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:32.494Z,1736366132.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.00 m. 2025-01-08T19:55:32.501Z,1736366132.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.000000 m, nav range: 91.992874 m, bearing: 170.550680 deg, approach rate: 0.205944 m/s, LOS rate: -0.411593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.406841 deg. 2025-01-08T19:55:32.502Z,1736366132.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806756 target range: 94.000000 and range: 94.00 m. 2025-01-08T19:55:32.692Z,1736366132.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:32.692Z,1736366132.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003251 2025-01-08T19:55:32.838Z,1736366132.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:32.844Z,1736366132.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:55:32.849Z,1736366132.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.00 m. 2025-01-08T19:55:32.852Z,1736366132.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.000000 m, nav range: 92.074516 m, bearing: 170.389228 deg, approach rate: 0.229900 m/s, LOS rate: -0.454235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.491273 deg. 2025-01-08T19:55:32.853Z,1736366132.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808230 target range: 94.000000 and range: 94.00 m. 2025-01-08T19:55:32.944Z,1736366132.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:32.945Z,1736366132.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255611 2025-01-08T19:55:33.196Z,1736366133.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:33.196Z,1736366133.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507313 2025-01-08T19:55:33.240Z,1736366133.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:33.262Z,1736366133.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.00 m. 2025-01-08T19:55:33.304Z,1736366133.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.000000 m, nav range: 92.166588 m, bearing: 170.209328 deg, approach rate: 0.223716 m/s, LOS rate: -0.436685 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.436043 deg. 2025-01-08T19:55:33.314Z,1736366133.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807266 target range: 94.000000 and range: 94.00 m. 2025-01-08T19:55:33.448Z,1736366133.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:33.449Z,1736366133.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759655 2025-01-08T19:55:33.673Z,1736366133.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:33.686Z,1736366133.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.00 m. 2025-01-08T19:55:33.689Z,1736366133.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.000000 m, nav range: 92.256439 m, bearing: 170.026227 deg, approach rate: 0.211030 m/s, LOS rate: -0.429622 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.426437 deg. 2025-01-08T19:55:33.690Z,1736366133.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807098 target range: 94.000000 and range: 94.00 m. 2025-01-08T19:55:33.700Z,1736366133.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:33.701Z,1736366133.701 [DAT](INFO): DAT read: Rx Time:19:55:32.4504 2025-01-08T19:55:33.701Z,1736366133.701 [DAT](INFO): Rx dataTimestamp_ set to:1736366133.700692 2025-01-08T19:55:33.701Z,1736366133.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012455 2025-01-08T19:55:33.848Z,1736366133.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:55:33.952Z,1736366133.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:33.952Z,1736366133.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263385 2025-01-08T19:55:34.046Z,1736366134.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:34.053Z,1736366134.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:34.055Z,1736366134.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.00 m. 2025-01-08T19:55:34.058Z,1736366134.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.000000 m, nav range: 92.334335 m, bearing: 169.869104 deg, approach rate: 0.211392 m/s, LOS rate: -0.426037 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.504225 deg. 2025-01-08T19:55:34.059Z,1736366134.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808456 target range: 94.000000 and range: 94.00 m. 2025-01-08T19:55:34.204Z,1736366134.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:34.210Z,1736366134.210 [DAT](INFO): DAT read: 19:55:32.4504 LVL= 29792, 32753, 13906, 32755, AGC= 59, IDX= 423,-0.34,-2.093,-2.436,-0.469,-1.426, PHS=-0.579,-0.964, 0.954, RAW= 199.1, 6.8, CAL= 199.9, -1.5, ROT= 310.1, 1.5 2025-01-08T19:55:34.212Z,1736366134.212 [DAT](INFO): got valid direction response: 19:55:32.4504 LVL= 29792, 32753, 13906, 32755, AGC= 59, IDX= 423,-0.34,-2.093,-2.436,-0.469,-1.426, PHS=-0.579,-0.964, 0.954, RAW= 199.1, 6.8, CAL= 199.9, -1.5, ROT= 310.1, 1.5 2025-01-08T19:55:34.213Z,1736366134.213 [DAT](INFO): DAT read: Bearing 310.1, 1.5 (Local) 2025-01-08T19:55:34.213Z,1736366134.213 [DAT](INFO): Local bearing/azimuth received: Bearing 310.1, 1.5 (Local) 2025-01-08T19:55:34.217Z,1736366134.217 [DAT](INFO): DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.9 ms) speed 0.4 m/s 2025-01-08T19:55:34.218Z,1736366134.218 [DAT](INFO): DAT read: user:961> 2025-01-08T19:55:34.219Z,1736366134.219 [DAT](INFO): DAT read: Tx time:19:55:33.5734 2025-01-08T19:55:34.219Z,1736366134.219 [DAT](INFO): Ping request sent. 2025-01-08T19:55:34.219Z,1736366134.219 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:34.219Z,1736366134.219 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:34.220Z,1736366134.220 [DAT](INFO): direction in FSK: [-0.179458,-0.942215,-0.282888] 2025-01-08T19:55:34.221Z,1736366134.221 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:34.221Z,1736366134.221 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:34.224Z,1736366134.224 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:34.224Z,1736366134.224 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:34.456Z,1736366134.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:34.457Z,1736366134.457 [DAT](INFO): DAT read: TxSync time:19:55:33.5726 2025-01-08T19:55:34.505Z,1736366134.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:34.548Z,1736366134.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.531830 s, deltaX: -1.900002 m, approachRate: -0.537965 m/s, rangeRepo size: 4 2025-01-08T19:55:34.551Z,1736366134.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.099998 m, bearing: 175.024555 deg, lat: 36.903943 deg, lon: -122.118252 deg, deltaT: 3.531830 s, deltaX: -1.900002 m, approachRate: -0.537965 m/s, posRepo size: 4 2025-01-08T19:55:34.556Z,1736366134.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:55:34.558Z,1736366134.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 90.353172 m, bearing: 172.197116 deg, approach rate: 0.000000 m/s, LOS rate: -0.426037 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.351531 deg. 2025-01-08T19:55:34.572Z,1736366134.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805791 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:55:34.708Z,1736366134.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:34.841Z,1736366134.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:34.850Z,1736366134.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:55:34.854Z,1736366134.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 90.412407 m, bearing: 172.055170 deg, approach rate: 0.192639 m/s, LOS rate: -0.461323 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.549637 deg. 2025-01-08T19:55:34.891Z,1736366134.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809248 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:55:34.960Z,1736366134.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:35.212Z,1736366135.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:35.253Z,1736366135.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:35.262Z,1736366135.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:55:35.265Z,1736366135.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 90.485527 m, bearing: 171.881198 deg, approach rate: 0.177736 m/s, LOS rate: -0.422538 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.453707 deg. 2025-01-08T19:55:35.266Z,1736366135.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807574 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:55:35.464Z,1736366135.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:35.701Z,1736366135.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:35.709Z,1736366135.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:55:35.715Z,1736366135.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 90.553963 m, bearing: 171.704611 deg, approach rate: 0.152940 m/s, LOS rate: -0.394337 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.445842 deg. 2025-01-08T19:55:35.724Z,1736366135.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:35.732Z,1736366135.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807437 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:55:35.976Z,1736366135.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:36.062Z,1736366136.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:36.073Z,1736366136.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:36.075Z,1736366136.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:55:36.078Z,1736366136.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 90.610001 m, bearing: 171.562170 deg, approach rate: 0.153266 m/s, LOS rate: -0.389340 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.548136 deg. 2025-01-08T19:55:36.079Z,1736366136.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809222 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:55:36.230Z,1736366136.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:36.231Z,1736366136.231 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:36.231Z,1736366136.231 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:36.232Z,1736366136.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:36.480Z,1736366136.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:36.481Z,1736366136.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262227 2025-01-08T19:55:36.485Z,1736366136.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:36.493Z,1736366136.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:55:36.497Z,1736366136.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 90.678528 m, bearing: 171.401831 deg, approach rate: 0.163637 m/s, LOS rate: -0.382587 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.494544 deg. 2025-01-08T19:55:36.498Z,1736366136.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808287 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:55:36.732Z,1736366136.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:36.732Z,1736366136.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513350 2025-01-08T19:55:36.861Z,1736366136.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:36.886Z,1736366136.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:55:36.889Z,1736366136.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 90.740425 m, bearing: 171.259501 deg, approach rate: 0.157795 m/s, LOS rate: -0.362593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.548499 deg. 2025-01-08T19:55:36.890Z,1736366136.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809228 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:55:36.984Z,1736366136.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:36.985Z,1736366136.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765574 2025-01-08T19:55:37.236Z,1736366137.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:37.236Z,1736366137.236 [DAT](INFO): DAT read: Rx Time:19:55:36.0984 2025-01-08T19:55:37.237Z,1736366137.237 [DAT](INFO): Rx dataTimestamp_ set to:1736366137.236600 2025-01-08T19:55:37.237Z,1736366137.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018412 2025-01-08T19:55:37.264Z,1736366137.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:37.292Z,1736366137.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:55:37.295Z,1736366137.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 90.807838 m, bearing: 171.107532 deg, approach rate: 0.165864 m/s, LOS rate: -0.373627 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.519628 deg. 2025-01-08T19:55:37.300Z,1736366137.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808725 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:55:37.488Z,1736366137.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:37.488Z,1736366137.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269456 2025-01-08T19:55:37.709Z,1736366137.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:37.721Z,1736366137.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:55:37.724Z,1736366137.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 90.886528 m, bearing: 170.944463 deg, approach rate: 0.183681 m/s, LOS rate: -0.380312 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.486417 deg. 2025-01-08T19:55:37.725Z,1736366137.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808145 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:55:37.740Z,1736366137.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:37.740Z,1736366137.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521396 2025-01-08T19:55:37.992Z,1736366137.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:38.006Z,1736366138.006 [DAT](INFO): DAT read: 19:55:36.0984 LVL= 26336, 27185, 13362, 32211, AGC= 57, IDX= 417,-0.09,-2.815,-3.100,-1.133,-2.095, PHS=-0.632,-0.957, 0.960, RAW= 200.9, 7.1, CAL= 202.0, -1.0, ROT= 308.0, 1.0 2025-01-08T19:55:38.007Z,1736366138.007 [DAT](INFO): got valid direction response: 19:55:36.0984 LVL= 26336, 27185, 13362, 32211, AGC= 57, IDX= 417,-0.09,-2.815,-3.100,-1.133,-2.095, PHS=-0.632,-0.957, 0.960, RAW= 200.9, 7.1, CAL= 202.0, -1.0, ROT= 308.0, 1.0 2025-01-08T19:55:38.008Z,1736366138.008 [DAT](INFO): DAT read: Bearing 308.0, 1.0 (Local) 2025-01-08T19:55:38.009Z,1736366138.009 [DAT](INFO): Local bearing/azimuth received: Bearing 308.0, 1.0 (Local) 2025-01-08T19:55:38.010Z,1736366138.010 [DAT](INFO): DAT read: Range 10 to 50 : 90.6 m (Round-trip 120.8 ms) speed 0.3 m/s 2025-01-08T19:55:38.011Z,1736366138.011 [DAT](INFO): DAT read: user:962> 2025-01-08T19:55:38.012Z,1736366138.012 [DAT](INFO): DAT read: Tx time:19:55:37.2235 2025-01-08T19:55:38.012Z,1736366138.012 [DAT](INFO): Ping request sent. 2025-01-08T19:55:38.012Z,1736366138.012 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:38.014Z,1736366138.014 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:38.018Z,1736366138.018 [DAT](INFO): direction in FSK: [-0.182728,-0.932367,-0.311933] 2025-01-08T19:55:38.019Z,1736366138.019 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:38.020Z,1736366138.020 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:38.026Z,1736366138.026 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:38.027Z,1736366138.027 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:38.107Z,1736366138.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:38.131Z,1736366138.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.788391 s, deltaX: -1.500000 m, approachRate: -0.395946 m/s, rangeRepo size: 4 2025-01-08T19:55:38.163Z,1736366138.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.599998 m, bearing: 174.986759 deg, lat: 36.903968 deg, lon: -122.118274 deg, deltaT: 3.788391 s, deltaX: -1.500000 m, approachRate: -0.395946 m/s, posRepo size: 4 2025-01-08T19:55:38.166Z,1736366138.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T19:55:38.182Z,1736366138.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 87.949226 m, bearing: 171.787818 deg, approach rate: 0.000000 m/s, LOS rate: -0.380312 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.508152 deg. 2025-01-08T19:55:38.183Z,1736366138.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808525 target range: 90.599998 and range: 90.60 m. 2025-01-08T19:55:38.244Z,1736366138.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:38.245Z,1736366138.245 [DAT](INFO): DAT read: TxSync time:19:55:37.2227 2025-01-08T19:55:38.496Z,1736366138.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:38.572Z,1736366138.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:38.578Z,1736366138.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:38.585Z,1736366138.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T19:55:38.592Z,1736366138.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 88.028618 m, bearing: 171.616601 deg, approach rate: 0.174519 m/s, LOS rate: -0.376031 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.462015 deg. 2025-01-08T19:55:38.594Z,1736366138.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807719 target range: 90.599998 and range: 90.60 m. 2025-01-08T19:55:38.748Z,1736366138.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:38.748Z,1736366138.748 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:38.749Z,1736366138.749 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:38.749Z,1736366138.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:38.890Z,1736366138.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:38.922Z,1736366138.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T19:55:38.929Z,1736366138.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 88.083412 m, bearing: 171.499677 deg, approach rate: 0.162290 m/s, LOS rate: -0.346091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.624637 deg. 2025-01-08T19:55:38.936Z,1736366138.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810557 target range: 90.599998 and range: 90.60 m. 2025-01-08T19:55:39.001Z,1736366139.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:39.002Z,1736366139.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989316 2025-01-08T19:55:39.252Z,1736366139.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:39.252Z,1736366139.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240035 2025-01-08T19:55:39.311Z,1736366139.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:39.320Z,1736366139.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T19:55:39.323Z,1736366139.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 88.156700 m, bearing: 171.344709 deg, approach rate: 0.184292 m/s, LOS rate: -0.389363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.510678 deg. 2025-01-08T19:55:39.340Z,1736366139.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808568 target range: 90.599998 and range: 90.60 m. 2025-01-08T19:55:39.505Z,1736366139.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:39.506Z,1736366139.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493089 2025-01-08T19:55:39.756Z,1736366139.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:39.756Z,1736366139.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744036 2025-01-08T19:55:39.760Z,1736366139.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:39.773Z,1736366139.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T19:55:39.776Z,1736366139.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 88.244553 m, bearing: 171.179657 deg, approach rate: 0.193964 m/s, LOS rate: -0.364043 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.480539 deg. 2025-01-08T19:55:39.779Z,1736366139.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808043 target range: 90.599998 and range: 90.60 m. 2025-01-08T19:55:40.009Z,1736366140.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:40.011Z,1736366140.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998233 2025-01-08T19:55:40.227Z,1736366140.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:40.260Z,1736366140.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:40.260Z,1736366140.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248001 2025-01-08T19:55:40.261Z,1736366140.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T19:55:40.269Z,1736366140.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 88.338356 m, bearing: 171.008956 deg, approach rate: 0.192052 m/s, LOS rate: -0.349120 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.463642 deg. 2025-01-08T19:55:40.270Z,1736366140.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807747 target range: 90.599998 and range: 90.60 m. 2025-01-08T19:55:40.514Z,1736366140.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:40.516Z,1736366140.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503217 2025-01-08T19:55:40.649Z,1736366140.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:40.688Z,1736366140.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:40.690Z,1736366140.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T19:55:40.708Z,1736366140.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 88.428253 m, bearing: 170.853670 deg, approach rate: 0.209578 m/s, LOS rate: -0.361652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.509812 deg. 2025-01-08T19:55:40.709Z,1736366140.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808553 target range: 90.599998 and range: 90.60 m. 2025-01-08T19:55:40.764Z,1736366140.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:40.765Z,1736366140.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752757 2025-01-08T19:55:41.016Z,1736366141.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:41.016Z,1736366141.016 [DAT](INFO): DAT read: Rx Time:19:55:39.7468 2025-01-08T19:55:41.017Z,1736366141.017 [DAT](INFO): Rx dataTimestamp_ set to:1736366141.016551 2025-01-08T19:55:41.017Z,1736366141.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004934 2025-01-08T19:55:41.108Z,1736366141.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:41.116Z,1736366141.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T19:55:41.119Z,1736366141.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 88.526863 m, bearing: 170.685375 deg, approach rate: 0.231496 m/s, LOS rate: -0.394646 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.470880 deg. 2025-01-08T19:55:41.120Z,1736366141.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807874 target range: 90.599998 and range: 90.60 m. 2025-01-08T19:55:41.268Z,1736366141.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:41.269Z,1736366141.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256378 2025-01-08T19:55:41.520Z,1736366141.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:41.526Z,1736366141.526 [DAT](INFO): DAT read: 19:55:39.7468 LVL= 24560, 25233, 12194, 30963, AGC= 57, IDX= 433,-0.07,-0.355,-0.580, 1.392, 0.396, PHS=-0.663,-0.930, 0.993, RAW= 202.7, 6.7, CAL= 204.0, -1.1, ROT= 306.0, 1.1 2025-01-08T19:55:41.536Z,1736366141.536 [DAT](INFO): got valid direction response: 19:55:39.7468 LVL= 24560, 25233, 12194, 30963, AGC= 57, IDX= 433,-0.07,-0.355,-0.580, 1.392, 0.396, PHS=-0.663,-0.930, 0.993, RAW= 202.7, 6.7, CAL= 204.0, -1.1, ROT= 306.0, 1.1 2025-01-08T19:55:41.537Z,1736366141.537 [DAT](INFO): DAT read: Bearing 306.0, 1.1 (Local) 2025-01-08T19:55:41.537Z,1736366141.537 [DAT](INFO): Local bearing/azimuth received: Bearing 306.0, 1.1 (Local) 2025-01-08T19:55:41.538Z,1736366141.538 [DAT](INFO): DAT read: Range 10 to 50 : 89.4 m (Round-trip 119.2 ms) speed 0.3 m/s 2025-01-08T19:55:41.548Z,1736366141.548 [DAT](INFO): DAT read: user:963> 2025-01-08T19:55:41.549Z,1736366141.549 [DAT](INFO): DAT read: Tx time:19:55:40.8235 2025-01-08T19:55:41.549Z,1736366141.549 [DAT](INFO): Ping request sent. 2025-01-08T19:55:41.549Z,1736366141.549 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:41.550Z,1736366141.550 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:41.551Z,1736366141.551 [DAT](INFO): direction in FSK: [-0.171398,-0.924963,-0.339214] 2025-01-08T19:55:41.551Z,1736366141.551 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:41.568Z,1736366141.568 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:41.571Z,1736366141.571 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:41.571Z,1736366141.571 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:41.629Z,1736366141.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:41.690Z,1736366141.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.400002 m, deltaT: 3.527513 s, deltaX: -1.199997 m, approachRate: -0.340182 m/s, rangeRepo size: 4 2025-01-08T19:55:41.697Z,1736366141.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.400002 m, bearing: 176.005470 deg, lat: 36.903998 deg, lon: -122.118308 deg, deltaT: 3.527513 s, deltaX: -1.199997 m, approachRate: -0.340182 m/s, posRepo size: 4 2025-01-08T19:55:41.698Z,1736366141.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T19:55:41.709Z,1736366141.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 84.901283 m, bearing: 172.126415 deg, approach rate: 0.000000 m/s, LOS rate: -0.394646 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.296879 deg. 2025-01-08T19:55:41.710Z,1736366141.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804837 target range: 89.400002 and range: 89.40 m. 2025-01-08T19:55:41.773Z,1736366141.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:41.774Z,1736366141.774 [DAT](INFO): DAT read: TxSync time:19:55:40.8227 2025-01-08T19:55:41.993Z,1736366141.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:42.009Z,1736366142.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T19:55:42.017Z,1736366142.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 84.980209 m, bearing: 171.980058 deg, approach rate: 0.246559 m/s, LOS rate: -0.456781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.536534 deg. 2025-01-08T19:55:42.018Z,1736366142.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809020 target range: 89.400002 and range: 89.40 m. 2025-01-08T19:55:42.024Z,1736366142.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:42.276Z,1736366142.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:42.388Z,1736366142.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:42.399Z,1736366142.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T19:55:42.430Z,1736366142.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 85.065521 m, bearing: 171.821467 deg, approach rate: 0.220050 m/s, LOS rate: -0.408652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.499902 deg. 2025-01-08T19:55:42.444Z,1736366142.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808381 target range: 89.400002 and range: 89.40 m. 2025-01-08T19:55:42.528Z,1736366142.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:42.780Z,1736366142.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:42.823Z,1736366142.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:42.830Z,1736366142.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:42.833Z,1736366142.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T19:55:42.852Z,1736366142.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 85.159019 m, bearing: 171.645370 deg, approach rate: 0.214474 m/s, LOS rate: -0.403503 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.447491 deg. 2025-01-08T19:55:42.853Z,1736366142.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807466 target range: 89.400002 and range: 89.40 m. 2025-01-08T19:55:43.032Z,1736366143.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:43.032Z,1736366143.032 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:43.032Z,1736366143.032 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:43.033Z,1736366143.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:43.198Z,1736366143.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:43.226Z,1736366143.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T19:55:43.233Z,1736366143.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 85.239990 m, bearing: 171.494039 deg, approach rate: 0.206071 m/s, LOS rate: -0.384774 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.521633 deg. 2025-01-08T19:55:43.234Z,1736366143.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808760 target range: 89.400002 and range: 89.40 m. 2025-01-08T19:55:43.285Z,1736366143.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:43.286Z,1736366143.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736527 2025-01-08T19:55:43.536Z,1736366143.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:43.536Z,1736366143.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987006 2025-01-08T19:55:43.621Z,1736366143.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:43.630Z,1736366143.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T19:55:43.633Z,1736366143.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 85.334480 m, bearing: 171.320827 deg, approach rate: 0.234151 m/s, LOS rate: -0.428751 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.456142 deg. 2025-01-08T19:55:43.635Z,1736366143.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807617 target range: 89.400002 and range: 89.40 m. 2025-01-08T19:55:43.788Z,1736366143.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:43.789Z,1736366143.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239165 2025-01-08T19:55:44.000Z,1736366144.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:44.009Z,1736366144.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T19:55:44.028Z,1736366144.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 85.419945 m, bearing: 171.165959 deg, approach rate: 0.225262 m/s, LOS rate: -0.407782 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.511059 deg. 2025-01-08T19:55:44.029Z,1736366144.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808575 target range: 89.400002 and range: 89.40 m. 2025-01-08T19:55:44.040Z,1736366144.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:44.040Z,1736366144.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491035 2025-01-08T19:55:44.294Z,1736366144.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:44.296Z,1736366144.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745527 2025-01-08T19:55:44.404Z,1736366144.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:44.417Z,1736366144.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T19:55:44.420Z,1736366144.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 85.511765 m, bearing: 171.001233 deg, approach rate: 0.224918 m/s, LOS rate: -0.403073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.481552 deg. 2025-01-08T19:55:44.421Z,1736366144.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808060 target range: 89.400002 and range: 89.40 m. 2025-01-08T19:55:44.545Z,1736366144.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:44.546Z,1736366144.546 [DAT](INFO): DAT read: Rx Time:19:55:43.3454 2025-01-08T19:55:44.547Z,1736366144.547 [DAT](INFO): Rx dataTimestamp_ set to:1736366144.545881 2025-01-08T19:55:44.548Z,1736366144.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998659 2025-01-08T19:55:44.796Z,1736366144.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:44.797Z,1736366144.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246994 2025-01-08T19:55:44.825Z,1736366144.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:44.853Z,1736366144.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:44.855Z,1736366144.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T19:55:44.858Z,1736366144.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 85.603325 m, bearing: 170.829170 deg, approach rate: 0.209105 m/s, LOS rate: -0.392536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.459565 deg. 2025-01-08T19:55:44.864Z,1736366144.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807676 target range: 89.400002 and range: 89.40 m. 2025-01-08T19:55:45.049Z,1736366145.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:45.071Z,1736366145.071 [DAT](INFO): DAT read: 19:55:43.3454 LVL= 27712, 32753, 15954, 32755, AGC= 57, IDX= 434,-0.28, 2.837, 2.721,-1.709,-2.702, PHS=-0.657,-0.813, 0.990, RAW= 205.5, 5.6, CAL= 206.9, -1.7, ROT= 303.1, 1.7 2025-01-08T19:55:45.073Z,1736366145.073 [DAT](INFO): got valid direction response: 19:55:43.3454 LVL= 27712, 32753, 15954, 32755, AGC= 57, IDX= 434,-0.28, 2.837, 2.721,-1.709,-2.702, PHS=-0.657,-0.813, 0.990, RAW= 205.5, 5.6, CAL= 206.9, -1.7, ROT= 303.1, 1.7 2025-01-08T19:55:45.074Z,1736366145.074 [DAT](INFO): DAT read: Bearing 303.1, 1.7 (Local) 2025-01-08T19:55:45.074Z,1736366145.074 [DAT](INFO): Local bearing/azimuth received: Bearing 303.1, 1.7 (Local) 2025-01-08T19:55:45.076Z,1736366145.076 [DAT](INFO): DAT read: Range 10 to 50 : 88.2 m (Round-trip 117.7 ms) speed 0.3 m/s 2025-01-08T19:55:45.077Z,1736366145.077 [DAT](INFO): DAT read: user:964> 2025-01-08T19:55:45.077Z,1736366145.077 [DAT](INFO): DAT read: Tx time:19:55:44.4235 2025-01-08T19:55:45.078Z,1736366145.078 [DAT](INFO): Ping request sent. 2025-01-08T19:55:45.078Z,1736366145.078 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:45.078Z,1736366145.078 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:45.079Z,1736366145.079 [DAT](INFO): direction in FSK: [-0.145349,-0.912100,-0.383337] 2025-01-08T19:55:45.080Z,1736366145.080 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:45.080Z,1736366145.080 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:45.094Z,1736366145.094 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:45.094Z,1736366145.094 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:45.240Z,1736366145.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:45.269Z,1736366145.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.199997 m, deltaT: 3.529801 s, deltaX: -1.200005 m, approachRate: -0.339964 m/s, rangeRepo size: 4 2025-01-08T19:55:45.271Z,1736366145.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 88.199997 m, bearing: 177.208967 deg, lat: 36.904024 deg, lon: -122.118336 deg, deltaT: 3.529801 s, deltaX: -1.200005 m, approachRate: -0.339964 m/s, posRepo size: 4 2025-01-08T19:55:45.278Z,1736366145.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m. 2025-01-08T19:55:45.285Z,1736366145.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.199997 m, nav range: 82.448578 m, bearing: 172.013189 deg, approach rate: 0.000000 m/s, LOS rate: -0.392536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.494470 deg. 2025-01-08T19:55:45.286Z,1736366145.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808286 target range: 88.199997 and range: 88.20 m. 2025-01-08T19:55:45.300Z,1736366145.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:45.301Z,1736366145.301 [DAT](INFO): DAT read: TxSync time:19:55:44.4227 2025-01-08T19:55:45.552Z,1736366145.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:45.644Z,1736366145.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:45.674Z,1736366145.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m. 2025-01-08T19:55:45.688Z,1736366145.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.199997 m, nav range: 82.532219 m, bearing: 171.843158 deg, approach rate: 0.203811 m/s, LOS rate: -0.413900 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.465625 deg. 2025-01-08T19:55:45.689Z,1736366145.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807782 target range: 88.199997 and range: 88.20 m. 2025-01-08T19:55:45.804Z,1736366145.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:46.029Z,1736366146.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:46.042Z,1736366146.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m. 2025-01-08T19:55:46.049Z,1736366146.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.199997 m, nav range: 82.611839 m, bearing: 171.680784 deg, approach rate: 0.216231 m/s, LOS rate: -0.440546 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.488546 deg. 2025-01-08T19:55:46.050Z,1736366146.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808182 target range: 88.199997 and range: 88.20 m. 2025-01-08T19:55:46.056Z,1736366146.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:46.308Z,1736366146.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:46.519Z,1736366146.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:46.542Z,1736366146.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m. 2025-01-08T19:55:46.549Z,1736366146.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.199997 m, nav range: 82.713654 m, bearing: 171.475090 deg, approach rate: 0.203530 m/s, LOS rate: -0.410682 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.358888 deg. 2025-01-08T19:55:46.551Z,1736366146.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805919 target range: 88.199997 and range: 88.20 m. 2025-01-08T19:55:46.560Z,1736366146.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:46.812Z,1736366146.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:46.895Z,1736366146.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:46.903Z,1736366146.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:46.905Z,1736366146.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m. 2025-01-08T19:55:46.928Z,1736366146.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.199997 m, nav range: 82.785477 m, bearing: 171.316917 deg, approach rate: 0.197837 m/s, LOS rate: -0.435308 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.501093 deg. 2025-01-08T19:55:46.929Z,1736366146.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808401 target range: 88.199997 and range: 88.20 m. 2025-01-08T19:55:47.064Z,1736366147.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:47.065Z,1736366147.065 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:47.065Z,1736366147.065 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:47.065Z,1736366147.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:47.270Z,1736366147.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:47.284Z,1736366147.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m. 2025-01-08T19:55:47.290Z,1736366147.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.199997 m, nav range: 82.858238 m, bearing: 171.159800 deg, approach rate: 0.192869 m/s, LOS rate: -0.416105 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.504260 deg. 2025-01-08T19:55:47.291Z,1736366147.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808456 target range: 88.199997 and range: 88.20 m. 2025-01-08T19:55:47.316Z,1736366147.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:47.316Z,1736366147.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238826 2025-01-08T19:55:47.568Z,1736366147.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:47.568Z,1736366147.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490824 2025-01-08T19:55:47.707Z,1736366147.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:47.717Z,1736366147.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m. 2025-01-08T19:55:47.720Z,1736366147.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.199997 m, nav range: 82.941193 m, bearing: 170.978032 deg, approach rate: 0.190946 m/s, LOS rate: -0.417980 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.430444 deg. 2025-01-08T19:55:47.721Z,1736366147.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807168 target range: 88.199997 and range: 88.20 m. 2025-01-08T19:55:47.820Z,1736366147.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:47.821Z,1736366147.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743282 2025-01-08T19:55:48.073Z,1736366148.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:48.073Z,1736366148.073 [DAT](INFO): DAT read: Rx Time:19:55:46.9438 2025-01-08T19:55:48.074Z,1736366148.074 [DAT](INFO): Rx dataTimestamp_ set to:1736366148.073665 2025-01-08T19:55:48.074Z,1736366148.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996820 2025-01-08T19:55:48.105Z,1736366148.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:48.122Z,1736366148.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m. 2025-01-08T19:55:48.129Z,1736366148.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.199997 m, nav range: 83.023872 m, bearing: 170.799865 deg, approach rate: 0.203846 m/s, LOS rate: -0.438830 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.441234 deg. 2025-01-08T19:55:48.140Z,1736366148.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807356 target range: 88.199997 and range: 88.20 m. 2025-01-08T19:55:48.324Z,1736366148.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:48.324Z,1736366148.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246825 2025-01-08T19:55:48.475Z,1736366148.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:48.484Z,1736366148.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m. 2025-01-08T19:55:48.496Z,1736366148.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.199997 m, nav range: 83.098473 m, bearing: 170.640983 deg, approach rate: 0.206116 m/s, LOS rate: -0.438585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.498982 deg. 2025-01-08T19:55:48.564Z,1736366148.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808364 target range: 88.199997 and range: 88.20 m. 2025-01-08T19:55:48.576Z,1736366148.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:48.576Z,1736366148.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498765 2025-01-08T19:55:48.828Z,1736366148.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:48.835Z,1736366148.835 [DAT](INFO): DAT read: 19:55:46.9438 LVL= 25584, 28065, 13522, 31667, AGC= 56, IDX= 417, 0.19,-1.690,-1.824, 0.103,-0.918, PHS=-0.684,-0.859, 1.018, RAW= 205.2, 5.9, CAL= 206.6, -1.5, ROT= 303.4, 1.5 2025-01-08T19:55:48.836Z,1736366148.836 [DAT](INFO): got valid direction response: 19:55:46.9438 LVL= 25584, 28065, 13522, 31667, AGC= 56, IDX= 417, 0.19,-1.690,-1.824, 0.103,-0.918, PHS=-0.684,-0.859, 1.018, RAW= 205.2, 5.9, CAL= 206.6, -1.5, ROT= 303.4, 1.5 2025-01-08T19:55:48.837Z,1736366148.837 [DAT](INFO): DAT read: Bearing 303.4, 1.5 (Local) 2025-01-08T19:55:48.838Z,1736366148.838 [DAT](INFO): Local bearing/azimuth received: Bearing 303.4, 1.5 (Local) 2025-01-08T19:55:48.840Z,1736366148.840 [DAT](INFO): DAT read: Range 10 to 50 : 87.1 m (Round-trip 116.2 ms) speed 0.3 m/s 2025-01-08T19:55:48.840Z,1736366148.840 [DAT](INFO): DAT read: user:965> 2025-01-08T19:55:48.841Z,1736366148.841 [DAT](INFO): DAT read: Tx time:19:55:48.0235 2025-01-08T19:55:48.841Z,1736366148.841 [DAT](INFO): Ping request sent. 2025-01-08T19:55:48.842Z,1736366148.842 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:48.842Z,1736366148.842 [DAT](INFO): DAT read: TxSync time:19:55:48.0227 2025-01-08T19:55:48.843Z,1736366148.843 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:48.872Z,1736366148.872 [DAT](INFO): direction in FSK: [-0.151580,-0.913355,-0.377897] 2025-01-08T19:55:48.872Z,1736366148.872 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:48.873Z,1736366148.873 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:48.880Z,1736366148.880 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:48.881Z,1736366148.881 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:48.988Z,1736366148.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:55:48.988Z,1736366148.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:49.019Z,1736366149.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.099998 m, deltaT: 3.778103 s, deltaX: -1.099998 m, approachRate: -0.291151 m/s, rangeRepo size: 4 2025-01-08T19:55:49.025Z,1736366149.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.099998 m, bearing: 176.628573 deg, lat: 36.904045 deg, lon: -122.118377 deg, deltaT: 3.778103 s, deltaX: -1.099998 m, approachRate: -0.291151 m/s, posRepo size: 4 2025-01-08T19:55:49.026Z,1736366149.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m. 2025-01-08T19:55:49.033Z,1736366149.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.099998 m, nav range: 80.366531 m, bearing: 172.730623 deg, approach rate: 0.000000 m/s, LOS rate: -0.438585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.273170 deg. 2025-01-08T19:55:49.034Z,1736366149.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804423 target range: 87.099998 and range: 87.10 m. 2025-01-08T19:55:49.080Z,1736366149.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:49.331Z,1736366149.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T19:55:49.332Z,1736366149.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:49.334Z,1736366149.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:49.365Z,1736366149.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:49.371Z,1736366149.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m. 2025-01-08T19:55:49.374Z,1736366149.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.099998 m, nav range: 80.429382 m, bearing: 172.572855 deg, approach rate: 0.180019 m/s, LOS rate: -0.451526 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.502266 deg. 2025-01-08T19:55:49.379Z,1736366149.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808422 target range: 87.099998 and range: 87.10 m. 2025-01-08T19:55:49.585Z,1736366149.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:49.586Z,1736366149.586 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:49.586Z,1736366149.586 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:49.587Z,1736366149.587 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:49.764Z,1736366149.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:49.793Z,1736366149.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m. 2025-01-08T19:55:49.800Z,1736366149.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.099998 m, nav range: 80.507286 m, bearing: 172.373592 deg, approach rate: 0.183103 m/s, LOS rate: -0.467889 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.377997 deg. 2025-01-08T19:55:49.801Z,1736366149.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806253 target range: 87.099998 and range: 87.10 m. 2025-01-08T19:55:49.836Z,1736366149.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:49.837Z,1736366149.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994933 2025-01-08T19:55:50.088Z,1736366150.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:50.088Z,1736366150.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246756 2025-01-08T19:55:50.157Z,1736366150.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:50.186Z,1736366150.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m. 2025-01-08T19:55:50.200Z,1736366150.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.099998 m, nav range: 80.578857 m, bearing: 172.192591 deg, approach rate: 0.183174 m/s, LOS rate: -0.462828 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.432683 deg. 2025-01-08T19:55:50.201Z,1736366150.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807207 target range: 87.099998 and range: 87.10 m. 2025-01-08T19:55:50.340Z,1736366150.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:50.340Z,1736366150.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498785 2025-01-08T19:55:50.592Z,1736366150.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:50.593Z,1736366150.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750883 2025-01-08T19:55:50.636Z,1736366150.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:50.649Z,1736366150.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m. 2025-01-08T19:55:50.654Z,1736366150.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.099998 m, nav range: 80.668709 m, bearing: 171.967327 deg, approach rate: 0.193042 m/s, LOS rate: -0.483428 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.300182 deg. 2025-01-08T19:55:50.656Z,1736366150.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804894 target range: 87.099998 and range: 87.10 m. 2025-01-08T19:55:50.845Z,1736366150.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:50.846Z,1736366150.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004086 2025-01-08T19:55:50.956Z,1736366150.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:50.965Z,1736366150.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m. 2025-01-08T19:55:50.968Z,1736366150.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.099998 m, nav range: 80.729416 m, bearing: 171.817285 deg, approach rate: 0.191768 m/s, LOS rate: -0.473613 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.525408 deg. 2025-01-08T19:55:50.969Z,1736366150.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808825 target range: 87.099998 and range: 87.10 m. 2025-01-08T19:55:51.096Z,1736366151.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:51.097Z,1736366151.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254865 2025-01-08T19:55:51.348Z,1736366151.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:51.348Z,1736366151.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506751 2025-01-08T19:55:51.374Z,1736366151.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:51.381Z,1736366151.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:51.383Z,1736366151.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m. 2025-01-08T19:55:51.386Z,1736366151.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.099998 m, nav range: 80.809418 m, bearing: 171.621640 deg, approach rate: 0.191538 m/s, LOS rate: -0.467942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.388855 deg. 2025-01-08T19:55:51.387Z,1736366151.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806442 target range: 87.099998 and range: 87.10 m. 2025-01-08T19:55:51.601Z,1736366151.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:51.604Z,1736366151.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761225 2025-01-08T19:55:51.787Z,1736366151.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:51.812Z,1736366151.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m. 2025-01-08T19:55:51.816Z,1736366151.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.099998 m, nav range: 80.891335 m, bearing: 171.424488 deg, approach rate: 0.198633 m/s, LOS rate: -0.477571 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.384352 deg. 2025-01-08T19:55:51.817Z,1736366151.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806364 target range: 87.099998 and range: 87.10 m. 2025-01-08T19:55:51.852Z,1736366151.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:51.853Z,1736366151.853 [DAT](INFO): DAT read: Rx Time:19:55:50.5421 2025-01-08T19:55:51.854Z,1736366151.854 [DAT](INFO): Rx dataTimestamp_ set to:1736366151.853409 2025-01-08T19:55:51.855Z,1736366151.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012979 2025-01-08T19:55:52.104Z,1736366152.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:52.104Z,1736366152.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262750 2025-01-08T19:55:52.173Z,1736366152.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:52.182Z,1736366152.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.10 m. 2025-01-08T19:55:52.186Z,1736366152.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.099998 m, nav range: 80.966583 m, bearing: 171.245276 deg, approach rate: 0.194439 m/s, LOS rate: -0.462643 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.438067 deg. 2025-01-08T19:55:52.187Z,1736366152.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807301 target range: 87.099998 and range: 87.10 m. 2025-01-08T19:55:52.356Z,1736366152.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:52.362Z,1736366152.362 [DAT](INFO): DAT read: 19:55:50.5421 LVL= 25808, 28657, 13106, 30883, AGC= 55, IDX= 416,-0.43, 0.113, 0.051, 1.978, 0.944, PHS=-0.743,-0.846, 1.031, RAW= 207.2, 6.2, CAL= 209.1, -1.0, ROT= 300.9, 1.0 2025-01-08T19:55:52.364Z,1736366152.364 [DAT](INFO): got valid direction response: 19:55:50.5421 LVL= 25808, 28657, 13106, 30883, AGC= 55, IDX= 416,-0.43, 0.113, 0.051, 1.978, 0.944, PHS=-0.743,-0.846, 1.031, RAW= 207.2, 6.2, CAL= 209.1, -1.0, ROT= 300.9, 1.0 2025-01-08T19:55:52.365Z,1736366152.365 [DAT](INFO): DAT read: Bearing 300.9, 1.0 (Local) 2025-01-08T19:55:52.365Z,1736366152.365 [DAT](INFO): Local bearing/azimuth received: Bearing 300.9, 1.0 (Local) 2025-01-08T19:55:52.366Z,1736366152.366 [DAT](INFO): DAT read: Range 10 to 50 : 85.8 m (Round-trip 114.4 ms) speed 0.4 m/s 2025-01-08T19:55:52.367Z,1736366152.367 [DAT](INFO): DAT read: user:966> 2025-01-08T19:55:52.368Z,1736366152.368 [DAT](INFO): DAT read: Tx time:19:55:51.6236 2025-01-08T19:55:52.368Z,1736366152.368 [DAT](INFO): Ping request sent. 2025-01-08T19:55:52.368Z,1736366152.368 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:52.369Z,1736366152.369 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:52.370Z,1736366152.370 [DAT](INFO): direction in FSK: [-0.152215,-0.899747,-0.409007] 2025-01-08T19:55:52.370Z,1736366152.370 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:52.370Z,1736366152.370 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:52.381Z,1736366152.381 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:52.382Z,1736366152.382 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:52.609Z,1736366152.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:52.613Z,1736366152.613 [DAT](INFO): DAT read: TxSync time:19:55:51.6228 2025-01-08T19:55:52.693Z,1736366152.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:52.729Z,1736366152.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.800003 m, deltaT: 3.528110 s, deltaX: -1.299995 m, approachRate: -0.368468 m/s, rangeRepo size: 4 2025-01-08T19:55:52.738Z,1736366152.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.800003 m, bearing: 175.996256 deg, lat: 36.904074 deg, lon: -122.118423 deg, deltaT: 3.528110 s, deltaX: -1.299995 m, approachRate: -0.368468 m/s, posRepo size: 4 2025-01-08T19:55:52.738Z,1736366152.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T19:55:52.750Z,1736366152.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 77.293640 m, bearing: 173.596227 deg, approach rate: 0.000000 m/s, LOS rate: -0.462643 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.224623 deg. 2025-01-08T19:55:52.755Z,1736366152.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803576 target range: 85.800003 and range: 85.80 m. 2025-01-08T19:55:52.861Z,1736366152.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:53.033Z,1736366153.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:53.058Z,1736366153.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T19:55:53.065Z,1736366153.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 77.356537 m, bearing: 173.422336 deg, approach rate: 0.187855 m/s, LOS rate: -0.518943 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.453951 deg. 2025-01-08T19:55:53.066Z,1736366153.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807579 target range: 85.800003 and range: 85.80 m. 2025-01-08T19:55:53.112Z,1736366153.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:53.364Z,1736366153.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:53.443Z,1736366153.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:53.450Z,1736366153.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:53.452Z,1736366153.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T19:55:53.454Z,1736366153.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 77.432457 m, bearing: 173.212955 deg, approach rate: 0.192790 m/s, LOS rate: -0.531173 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.347688 deg. 2025-01-08T19:55:53.456Z,1736366153.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805724 target range: 85.800003 and range: 85.80 m. 2025-01-08T19:55:53.618Z,1736366153.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:53.622Z,1736366153.622 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:53.623Z,1736366153.623 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:53.624Z,1736366153.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:53.868Z,1736366153.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:53.869Z,1736366153.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500066 2025-01-08T19:55:53.898Z,1736366153.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:53.910Z,1736366153.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T19:55:53.917Z,1736366153.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 77.516541 m, bearing: 172.985394 deg, approach rate: 0.183347 m/s, LOS rate: -0.495666 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.293277 deg. 2025-01-08T19:55:53.919Z,1736366153.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804774 target range: 85.800003 and range: 85.80 m. 2025-01-08T19:55:54.120Z,1736366154.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:54.120Z,1736366154.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751884 2025-01-08T19:55:54.256Z,1736366154.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:54.266Z,1736366154.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T19:55:54.269Z,1736366154.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 77.583199 m, bearing: 172.806370 deg, approach rate: 0.187549 m/s, LOS rate: -0.503269 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.438592 deg. 2025-01-08T19:55:54.270Z,1736366154.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807310 target range: 85.800003 and range: 85.80 m. 2025-01-08T19:55:54.373Z,1736366154.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:54.375Z,1736366154.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005797 2025-01-08T19:55:54.626Z,1736366154.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:54.628Z,1736366154.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259542 2025-01-08T19:55:54.734Z,1736366154.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:54.769Z,1736366154.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T19:55:54.777Z,1736366154.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 77.667313 m, bearing: 172.577255 deg, approach rate: 0.167091 m/s, LOS rate: -0.454637 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.288622 deg. 2025-01-08T19:55:54.784Z,1736366154.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804693 target range: 85.800003 and range: 85.80 m. 2025-01-08T19:55:54.877Z,1736366154.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:54.877Z,1736366154.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508988 2025-01-08T19:55:55.069Z,1736366155.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:55.078Z,1736366155.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T19:55:55.081Z,1736366155.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 77.726944 m, bearing: 172.417120 deg, approach rate: 0.193345 m/s, LOS rate: -0.518813 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.495161 deg. 2025-01-08T19:55:55.083Z,1736366155.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808298 target range: 85.800003 and range: 85.80 m. 2025-01-08T19:55:55.128Z,1736366155.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:55.129Z,1736366155.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760972 2025-01-08T19:55:55.380Z,1736366155.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:55.382Z,1736366155.382 [DAT](INFO): DAT read: Rx Time:19:55:54.1402 2025-01-08T19:55:55.384Z,1736366155.384 [DAT](INFO): Rx dataTimestamp_ set to:1736366155.382258 2025-01-08T19:55:55.386Z,1736366155.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016867 2025-01-08T19:55:55.476Z,1736366155.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:55.482Z,1736366155.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:55.484Z,1736366155.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T19:55:55.487Z,1736366155.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 77.800026 m, bearing: 172.223106 deg, approach rate: 0.179687 m/s, LOS rate: -0.476572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.393715 deg. 2025-01-08T19:55:55.488Z,1736366155.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806527 target range: 85.800003 and range: 85.80 m. 2025-01-08T19:55:55.633Z,1736366155.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:55.636Z,1736366155.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266632 2025-01-08T19:55:55.884Z,1736366155.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:55.890Z,1736366155.890 [DAT](INFO): DAT read: 19:55:54.1402 LVL= 24672, 28801, 13154, 32755, AGC= 54, IDX= 428,-0.21, 1.779, 1.778,-2.599, 2.646, PHS=-0.779,-0.820, 1.035, RAW= 208.9, 6.2, CAL= 210.9, -0.6, ROT= 299.1, 0.6 2025-01-08T19:55:55.892Z,1736366155.892 [DAT](INFO): got valid direction response: 19:55:54.1402 LVL= 24672, 28801, 13154, 32755, AGC= 54, IDX= 428,-0.21, 1.779, 1.778,-2.599, 2.646, PHS=-0.779,-0.820, 1.035, RAW= 208.9, 6.2, CAL= 210.9, -0.6, ROT= 299.1, 0.6 2025-01-08T19:55:55.893Z,1736366155.893 [DAT](INFO): DAT read: Bearing 299.1, 0.6 (Local) 2025-01-08T19:55:55.894Z,1736366155.894 [DAT](INFO): Local bearing/azimuth received: Bearing 299.1, 0.6 (Local) 2025-01-08T19:55:55.895Z,1736366155.895 [DAT](INFO): DAT read: Range 10 to 50 : 84.3 m (Round-trip 112.5 ms) speed 0.3 m/s 2025-01-08T19:55:55.896Z,1736366155.896 [DAT](INFO): DAT read: user:967> 2025-01-08T19:55:55.898Z,1736366155.898 [DAT](INFO): DAT read: Tx time:19:55:55.2236 2025-01-08T19:55:55.898Z,1736366155.898 [DAT](INFO): Ping request sent. 2025-01-08T19:55:55.898Z,1736366155.898 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:55.898Z,1736366155.898 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:55.900Z,1736366155.900 [DAT](INFO): direction in FSK: [-0.149542,-0.888289,-0.434258] 2025-01-08T19:55:55.900Z,1736366155.900 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:55.900Z,1736366155.900 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:55.907Z,1736366155.907 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:55.908Z,1736366155.908 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:55.967Z,1736366155.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:56.046Z,1736366156.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.300003 m, deltaT: 3.528055 s, deltaX: -1.500000 m, approachRate: -0.425163 m/s, rangeRepo size: 4 2025-01-08T19:55:56.049Z,1736366156.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.300003 m, bearing: 175.517311 deg, lat: 36.904085 deg, lon: -122.118442 deg, deltaT: 3.528055 s, deltaX: -1.500000 m, approachRate: -0.425163 m/s, posRepo size: 4 2025-01-08T19:55:56.050Z,1736366156.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:55:56.057Z,1736366156.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 76.517082 m, bearing: 173.109536 deg, approach rate: 0.000000 m/s, LOS rate: -0.476572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.173802 deg. 2025-01-08T19:55:56.058Z,1736366156.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802689 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:55:56.141Z,1736366156.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:56.141Z,1736366156.141 [DAT](INFO): DAT read: TxSync time:19:55:55.2228 2025-01-08T19:55:56.335Z,1736366156.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:56.345Z,1736366156.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:55:56.348Z,1736366156.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 76.581085 m, bearing: 172.936627 deg, approach rate: 0.214787 m/s, LOS rate: -0.579780 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.456907 deg. 2025-01-08T19:55:56.349Z,1736366156.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807630 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:55:56.392Z,1736366156.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:56.645Z,1736366156.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:56.786Z,1736366156.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:56.795Z,1736366156.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:55:56.798Z,1736366156.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 76.654091 m, bearing: 172.739698 deg, approach rate: 0.161650 m/s, LOS rate: -0.435625 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.384987 deg. 2025-01-08T19:55:56.800Z,1736366156.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806375 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:55:56.896Z,1736366156.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:57.150Z,1736366157.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:57.152Z,1736366157.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:57.166Z,1736366157.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:55:57.173Z,1736366157.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 76.713882 m, bearing: 172.580363 deg, approach rate: 0.161006 m/s, LOS rate: -0.428721 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.497564 deg. 2025-01-08T19:55:57.174Z,1736366157.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808340 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:55:57.400Z,1736366157.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:57.552Z,1736366157.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:57.558Z,1736366157.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:57.560Z,1736366157.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:55:57.563Z,1736366157.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 76.779816 m, bearing: 172.406522 deg, approach rate: 0.167242 m/s, LOS rate: -0.440574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.454128 deg. 2025-01-08T19:55:57.576Z,1736366157.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807581 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:55:57.653Z,1736366157.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:57.655Z,1736366157.655 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:55:57.656Z,1736366157.656 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:55:57.657Z,1736366157.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:55:57.904Z,1736366157.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:57.904Z,1736366157.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006266 2025-01-08T19:55:57.996Z,1736366157.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:58.006Z,1736366158.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:55:58.009Z,1736366158.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 76.854294 m, bearing: 172.224555 deg, approach rate: 0.166896 m/s, LOS rate: -0.407370 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.429831 deg. 2025-01-08T19:55:58.010Z,1736366158.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807158 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:55:58.156Z,1736366158.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:58.156Z,1736366158.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258340 2025-01-08T19:55:58.362Z,1736366158.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:58.393Z,1736366158.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:55:58.402Z,1736366158.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 76.917053 m, bearing: 172.075139 deg, approach rate: 0.162216 m/s, LOS rate: -0.385884 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.527315 deg. 2025-01-08T19:55:58.408Z,1736366158.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:58.408Z,1736366158.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510353 2025-01-08T19:55:58.420Z,1736366158.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808859 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:55:58.662Z,1736366158.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:58.665Z,1736366158.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765930 2025-01-08T19:55:58.797Z,1736366158.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:58.806Z,1736366158.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:55:58.833Z,1736366158.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 76.993233 m, bearing: 171.904934 deg, approach rate: 0.184467 m/s, LOS rate: -0.411740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.465091 deg. 2025-01-08T19:55:58.834Z,1736366158.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807773 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:55:58.912Z,1736366158.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:58.914Z,1736366158.914 [DAT](INFO): DAT read: Rx Time:19:55:57.7387 2025-01-08T19:55:58.915Z,1736366158.915 [DAT](INFO): Rx dataTimestamp_ set to:1736366158.914653 2025-01-08T19:55:58.916Z,1736366158.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017933 2025-01-08T19:55:59.150Z,1736366159.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:59.164Z,1736366159.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:59.165Z,1736366159.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266815 2025-01-08T19:55:59.179Z,1736366159.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:55:59.186Z,1736366159.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 77.056190 m, bearing: 171.766616 deg, approach rate: 0.169006 m/s, LOS rate: -0.371000 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.560580 deg. 2025-01-08T19:55:59.187Z,1736366159.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809439 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:55:59.417Z,1736366159.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:59.420Z,1736366159.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520864 2025-01-08T19:55:59.554Z,1736366159.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:55:59.578Z,1736366159.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:55:59.585Z,1736366159.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:55:59.608Z,1736366159.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 77.128807 m, bearing: 171.609322 deg, approach rate: 0.178918 m/s, LOS rate: -0.387190 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.503758 deg. 2025-01-08T19:55:59.609Z,1736366159.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808448 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:55:59.670Z,1736366159.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:55:59.697Z,1736366159.697 [DAT](INFO): DAT read: 19:55:57.7387 LVL= 26464, 29857, 15746, 31459, AGC= 55, IDX= 429,-0.18,-0.494,-0.417, 1.501, 0.429, PHS=-0.835,-0.799, 1.069, RAW= 211.0, 6.1, CAL= 213.1, -0.2, ROT= 296.9, 0.2 2025-01-08T19:55:59.733Z,1736366159.733 [DAT](INFO): got valid direction response: 19:55:57.7387 LVL= 26464, 29857, 15746, 31459, AGC= 55, IDX= 429,-0.18,-0.494,-0.417, 1.501, 0.429, PHS=-0.835,-0.799, 1.069, RAW= 211.0, 6.1, CAL= 213.1, -0.2, ROT= 296.9, 0.2 2025-01-08T19:55:59.744Z,1736366159.744 [DAT](INFO): DAT read: Bearing 296.9, 0.2 (Local) 2025-01-08T19:55:59.745Z,1736366159.745 [DAT](INFO): Local bearing/azimuth received: Bearing 296.9, 0.2 (Local) 2025-01-08T19:55:59.764Z,1736366159.764 [DAT](INFO): DAT read: Range 10 to 50 : 83.2 m (Round-trip 111.0 ms) speed 0.0 m/s 2025-01-08T19:55:59.765Z,1736366159.765 [DAT](INFO): DAT read: user:968> 2025-01-08T19:55:59.766Z,1736366159.766 [DAT](INFO): DAT read: Tx time:19:55:58.8236 2025-01-08T19:55:59.768Z,1736366159.768 [DAT](INFO): Ping request sent. 2025-01-08T19:55:59.768Z,1736366159.768 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:55:59.769Z,1736366159.769 [DAT](INFO): DAT read: TxSync time:19:55:58.8228 2025-01-08T19:55:59.770Z,1736366159.770 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:55:59.780Z,1736366159.780 [DAT](INFO): direction in FSK: [-0.142459,-0.874059,-0.464464] 2025-01-08T19:55:59.780Z,1736366159.780 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:59.781Z,1736366159.781 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:59.788Z,1736366159.788 [DAT](INFO): publishing transmit ping time 2025-01-08T19:55:59.788Z,1736366159.788 [DAT](INFO): publishing direction and range info 2025-01-08T19:55:59.920Z,1736366159.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:00.013Z,1736366160.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:00.044Z,1736366160.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.199997 m, deltaT: 3.787374 s, deltaX: -1.100006 m, approachRate: -0.290440 m/s, rangeRepo size: 4 2025-01-08T19:56:00.046Z,1736366160.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.199997 m, bearing: 176.231813 deg, lat: 36.904111 deg, lon: -122.118463 deg, deltaT: 3.787374 s, deltaX: -1.100006 m, approachRate: -0.290440 m/s, posRepo size: 4 2025-01-08T19:56:00.051Z,1736366160.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-08T19:56:00.054Z,1736366160.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.199997 m, nav range: 74.080292 m, bearing: 172.527970 deg, approach rate: 0.000000 m/s, LOS rate: -0.387190 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.447809 deg. 2025-01-08T19:56:00.059Z,1736366160.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807471 target range: 83.199997 and range: 83.20 m. 2025-01-08T19:56:00.172Z,1736366160.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:00.377Z,1736366160.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:00.387Z,1736366160.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-08T19:56:00.390Z,1736366160.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.199997 m, nav range: 74.142899 m, bearing: 172.378892 deg, approach rate: 0.179959 m/s, LOS rate: -0.428150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.528342 deg. 2025-01-08T19:56:00.391Z,1736366160.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808877 target range: 83.199997 and range: 83.20 m. 2025-01-08T19:56:00.424Z,1736366160.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:00.682Z,1736366160.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:00.824Z,1736366160.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:00.842Z,1736366160.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-08T19:56:00.849Z,1736366160.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.199997 m, nav range: 74.224037 m, bearing: 172.190419 deg, approach rate: 0.178327 m/s, LOS rate: -0.413773 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.410405 deg. 2025-01-08T19:56:00.850Z,1736366160.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806818 target range: 83.199997 and range: 83.20 m. 2025-01-08T19:56:00.933Z,1736366160.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:01.168Z,1736366161.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:01.178Z,1736366161.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-08T19:56:01.182Z,1736366161.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.199997 m, nav range: 74.287163 m, bearing: 172.046028 deg, approach rate: 0.187585 m/s, LOS rate: -0.428709 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.542390 deg. 2025-01-08T19:56:01.184Z,1736366161.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:01.203Z,1736366161.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809122 target range: 83.199997 and range: 83.20 m. 2025-01-08T19:56:01.436Z,1736366161.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:01.576Z,1736366161.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:01.593Z,1736366161.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:01.599Z,1736366161.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-08T19:56:01.605Z,1736366161.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.199997 m, nav range: 74.363319 m, bearing: 171.874909 deg, approach rate: 0.181327 m/s, LOS rate: -0.407014 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.462369 deg. 2025-01-08T19:56:01.606Z,1736366161.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807725 target range: 83.199997 and range: 83.20 m. 2025-01-08T19:56:01.688Z,1736366161.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:01.689Z,1736366161.689 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:01.689Z,1736366161.689 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:01.689Z,1736366161.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:01.940Z,1736366161.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:01.940Z,1736366161.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.173452 2025-01-08T19:56:02.017Z,1736366162.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:02.026Z,1736366162.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-08T19:56:02.041Z,1736366162.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.199997 m, nav range: 74.455086 m, bearing: 171.681085 deg, approach rate: 0.214640 m/s, LOS rate: -0.452791 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.394451 deg. 2025-01-08T19:56:02.042Z,1736366162.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806540 target range: 83.199997 and range: 83.20 m. 2025-01-08T19:56:02.192Z,1736366162.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:02.193Z,1736366162.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.425607 2025-01-08T19:56:02.384Z,1736366162.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:02.400Z,1736366162.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-08T19:56:02.402Z,1736366162.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.199997 m, nav range: 74.532280 m, bearing: 171.520177 deg, approach rate: 0.206600 m/s, LOS rate: -0.430202 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.492974 deg. 2025-01-08T19:56:02.404Z,1736366162.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808259 target range: 83.199997 and range: 83.20 m. 2025-01-08T19:56:02.448Z,1736366162.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:02.449Z,1736366162.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682160 2025-01-08T19:56:02.702Z,1736366162.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:02.705Z,1736366162.705 [DAT](INFO): DAT read: Rx Time:19:56:01.3378 2025-01-08T19:56:02.706Z,1736366162.706 [DAT](INFO): Rx dataTimestamp_ set to:1736366162.705263 2025-01-08T19:56:02.709Z,1736366162.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.941228 2025-01-08T19:56:02.842Z,1736366162.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:02.862Z,1736366162.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-08T19:56:02.869Z,1736366162.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.199997 m, nav range: 74.630783 m, bearing: 171.306211 deg, approach rate: 0.212965 m/s, LOS rate: -0.461986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.334165 deg. 2025-01-08T19:56:02.870Z,1736366162.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805488 target range: 83.199997 and range: 83.20 m. 2025-01-08T19:56:02.952Z,1736366162.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:02.953Z,1736366162.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.185624 2025-01-08T19:56:03.192Z,1736366163.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:03.204Z,1736366163.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:03.210Z,1736366163.210 [DAT](INFO): DAT read: 19:56:01.3378 LVL= 25344, 30961, 14498, 32755, AGC= 52, IDX= 435,-0.31, 0.940, 1.067, 2.965, 1.901, PHS=-0.872,-0.787, 1.062, RAW= 212.2, 6.4, CAL= 214.6, 0.8, ROT= 295.4, -0.8 2025-01-08T19:56:03.224Z,1736366163.224 [DAT](INFO): got valid direction response: 19:56:01.3378 LVL= 25344, 30961, 14498, 32755, AGC= 52, IDX= 435,-0.31, 0.940, 1.067, 2.965, 1.901, PHS=-0.872,-0.787, 1.062, RAW= 212.2, 6.4, CAL= 214.6, 0.8, ROT= 295.4, -0.8 2025-01-08T19:56:03.225Z,1736366163.225 [DAT](INFO): DAT read: Bearing 295.4, -0.8 (Local) 2025-01-08T19:56:03.225Z,1736366163.225 [DAT](INFO): Local bearing/azimuth received: Bearing 295.4, -0.8 (Local) 2025-01-08T19:56:03.227Z,1736366163.227 [DAT](INFO): DAT read: Range 10 to 50 : 82.5 m (Round-trip 110.0 ms) speed 0.1 m/s 2025-01-08T19:56:03.228Z,1736366163.228 [DAT](INFO): DAT read: user:969> 2025-01-08T19:56:03.229Z,1736366163.229 [DAT](INFO): DAT read: Tx time:19:56:02.4237 2025-01-08T19:56:03.229Z,1736366163.229 [DAT](INFO): Ping request sent. 2025-01-08T19:56:03.229Z,1736366163.229 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:03.230Z,1736366163.230 [DAT](INFO): DAT read: TxSync time:19:56:02.4229 2025-01-08T19:56:03.230Z,1736366163.230 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:56:03.232Z,1736366163.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-08T19:56:03.240Z,1736366163.240 [DAT](INFO): direction in FSK: [-0.145651,-0.863392,-0.483052] 2025-01-08T19:56:03.240Z,1736366163.240 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:03.240Z,1736366163.240 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:03.245Z,1736366163.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.199997 m, nav range: 74.707062 m, bearing: 171.142674 deg, approach rate: 0.205817 m/s, LOS rate: -0.440806 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.485091 deg. 2025-01-08T19:56:03.246Z,1736366163.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808122 target range: 83.199997 and range: 83.20 m. 2025-01-08T19:56:03.252Z,1736366163.252 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:03.252Z,1736366163.252 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:03.458Z,1736366163.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:03.612Z,1736366163.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:03.630Z,1736366163.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.532577 s, deltaX: -0.699997 m, approachRate: -0.198155 m/s, rangeRepo size: 4 2025-01-08T19:56:03.635Z,1736366163.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 176.060570 deg, lat: 36.904139 deg, lon: -122.118483 deg, deltaT: 3.532577 s, deltaX: -0.699997 m, approachRate: -0.198155 m/s, posRepo size: 4 2025-01-08T19:56:03.653Z,1736366163.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T19:56:03.658Z,1736366163.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 71.463303 m, bearing: 171.998781 deg, approach rate: 0.000000 m/s, LOS rate: -0.440806 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.451840 deg. 2025-01-08T19:56:03.665Z,1736366163.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807541 target range: 82.500000 and range: 82.50 m. 2025-01-08T19:56:03.713Z,1736366163.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:03.964Z,1736366163.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:03.968Z,1736366163.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:56:04.090Z,1736366164.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:04.102Z,1736366164.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:04.108Z,1736366164.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T19:56:04.111Z,1736366164.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 71.566994 m, bearing: 171.737937 deg, approach rate: 0.216141 m/s, LOS rate: -0.542931 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.193840 deg. 2025-01-08T19:56:04.116Z,1736366164.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803039 target range: 82.500000 and range: 82.50 m. 2025-01-08T19:56:04.216Z,1736366164.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:04.216Z,1736366164.216 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:04.216Z,1736366164.216 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:04.217Z,1736366164.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:04.403Z,1736366164.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:04.413Z,1736366164.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T19:56:04.433Z,1736366164.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 71.634926 m, bearing: 171.567609 deg, approach rate: 0.222737 m/s, LOS rate: -0.557944 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.464702 deg. 2025-01-08T19:56:04.434Z,1736366164.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807766 target range: 82.500000 and range: 82.50 m. 2025-01-08T19:56:04.468Z,1736366164.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:04.469Z,1736366164.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239599 2025-01-08T19:56:04.720Z,1736366164.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:04.720Z,1736366164.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491400 2025-01-08T19:56:04.883Z,1736366164.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:04.892Z,1736366164.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T19:56:04.894Z,1736366164.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 71.740746 m, bearing: 171.301351 deg, approach rate: 0.221196 m/s, LOS rate: -0.555740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.177645 deg. 2025-01-08T19:56:04.896Z,1736366164.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802756 target range: 82.500000 and range: 82.50 m. 2025-01-08T19:56:04.972Z,1736366164.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:04.973Z,1736366164.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743548 2025-01-08T19:56:04.974Z,1736366164.974 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:56:05.215Z,1736366165.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:05.224Z,1736366165.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:05.224Z,1736366165.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995471 2025-01-08T19:56:05.228Z,1736366165.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T19:56:05.232Z,1736366165.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 71.814682 m, bearing: 171.117755 deg, approach rate: 0.219934 m/s, LOS rate: -0.545567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.424984 deg. 2025-01-08T19:56:05.233Z,1736366165.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807073 target range: 82.500000 and range: 82.50 m. 2025-01-08T19:56:05.476Z,1736366165.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:05.476Z,1736366165.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247386 2025-01-08T19:56:05.617Z,1736366165.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:05.642Z,1736366165.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T19:56:05.650Z,1736366165.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 71.905106 m, bearing: 170.895840 deg, approach rate: 0.218133 m/s, LOS rate: -0.534662 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.310310 deg. 2025-01-08T19:56:05.657Z,1736366165.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805071 target range: 82.500000 and range: 82.50 m. 2025-01-08T19:56:05.728Z,1736366165.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:05.729Z,1736366165.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499599 2025-01-08T19:56:05.980Z,1736366165.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:05.981Z,1736366165.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752168 2025-01-08T19:56:06.051Z,1736366166.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:06.059Z,1736366166.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T19:56:06.062Z,1736366166.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 72.004807 m, bearing: 170.655269 deg, approach rate: 0.239000 m/s, LOS rate: -0.575890 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.254512 deg. 2025-01-08T19:56:06.065Z,1736366166.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804098 target range: 82.500000 and range: 82.50 m. 2025-01-08T19:56:06.232Z,1736366166.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:06.233Z,1736366166.233 [DAT](INFO): DAT read: Rx Time:19:56:04.9365 2025-01-08T19:56:06.233Z,1736366166.233 [DAT](INFO): Rx dataTimestamp_ set to:1736366166.232785 2025-01-08T19:56:06.234Z,1736366166.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004632 2025-01-08T19:56:06.420Z,1736366166.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:06.448Z,1736366166.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:06.450Z,1736366166.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T19:56:06.453Z,1736366166.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 72.090302 m, bearing: 170.450849 deg, approach rate: 0.218548 m/s, LOS rate: -0.521932 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.362679 deg. 2025-01-08T19:56:06.454Z,1736366166.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805985 target range: 82.500000 and range: 82.50 m. 2025-01-08T19:56:06.484Z,1736366166.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:06.485Z,1736366166.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256100 2025-01-08T19:56:06.736Z,1736366166.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:06.746Z,1736366166.746 [DAT](INFO): DAT read: 19:56:04.9365 LVL= 27632, 31889, 14818, 31971, AGC= 59, IDX= 421,-0.33,-2.250,-2.075,-0.178,-1.269, PHS=-0.893,-0.760, 1.088, RAW= 213.5, 5.9, CAL= 215.8, 0.6, ROT= 294.2, -0.6 2025-01-08T19:56:06.749Z,1736366166.749 [DAT](INFO): got valid direction response: 19:56:04.9365 LVL= 27632, 31889, 14818, 31971, AGC= 59, IDX= 421,-0.33,-2.250,-2.075,-0.178,-1.269, PHS=-0.893,-0.760, 1.088, RAW= 213.5, 5.9, CAL= 215.8, 0.6, ROT= 294.2, -0.6 2025-01-08T19:56:06.750Z,1736366166.750 [DAT](INFO): DAT read: Bearing 294.2, -0.6 (Local) 2025-01-08T19:56:06.750Z,1736366166.750 [DAT](INFO): Local bearing/azimuth received: Bearing 294.2, -0.6 (Local) 2025-01-08T19:56:06.769Z,1736366166.769 [DAT](INFO): DAT read: Range 10 to 50 : 81.4 m (Round-trip 108.6 ms) speed 0.3 m/s 2025-01-08T19:56:06.794Z,1736366166.794 [DAT](INFO): DAT read: user:970> 2025-01-08T19:56:06.797Z,1736366166.797 [DAT](INFO): DAT read: Tx time:19:56:06.0237 2025-01-08T19:56:06.799Z,1736366166.799 [DAT](INFO): Ping request sent. 2025-01-08T19:56:06.799Z,1736366166.799 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:06.844Z,1736366166.844 [DAT](INFO): DAT read: TxSync time:19:56:06.0229 2025-01-08T19:56:06.844Z,1736366166.844 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:56:06.845Z,1736366166.845 [DAT](INFO): direction in FSK: [-0.135519,-0.855130,-0.500387] 2025-01-08T19:56:06.846Z,1736366166.846 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:06.846Z,1736366166.846 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:06.861Z,1736366166.861 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:06.862Z,1736366166.862 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:06.988Z,1736366166.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:07.025Z,1736366167.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:07.056Z,1736366167.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.400002 m, deltaT: 3.531882 s, deltaX: -1.099998 m, approachRate: -0.311448 m/s, rangeRepo size: 4 2025-01-08T19:56:07.058Z,1736366167.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.400002 m, bearing: 176.123438 deg, lat: 36.904165 deg, lon: -122.118521 deg, deltaT: 3.531882 s, deltaX: -1.099998 m, approachRate: -0.311448 m/s, posRepo size: 4 2025-01-08T19:56:07.059Z,1736366167.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T19:56:07.074Z,1736366167.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 68.852226 m, bearing: 172.467410 deg, approach rate: 0.000000 m/s, LOS rate: -0.521932 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.034830 deg. 2025-01-08T19:56:07.075Z,1736366167.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800263 target range: 81.400002 and range: 81.40 m. 2025-01-08T19:56:07.240Z,1736366167.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:07.357Z,1736366167.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:07.366Z,1736366167.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T19:56:07.369Z,1736366167.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 68.916847 m, bearing: 172.274018 deg, approach rate: 0.205005 m/s, LOS rate: -0.612945 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.395574 deg. 2025-01-08T19:56:07.371Z,1736366167.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806560 target range: 81.400002 and range: 81.40 m. 2025-01-08T19:56:07.492Z,1736366167.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:07.520Z,1736366167.520 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:56:07.744Z,1736366167.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:07.762Z,1736366167.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:07.849Z,1736366167.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T19:56:07.858Z,1736366167.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 68.996010 m, bearing: 172.038765 deg, approach rate: 0.166155 m/s, LOS rate: -0.493206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.270275 deg. 2025-01-08T19:56:07.863Z,1736366167.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804373 target range: 81.400002 and range: 81.40 m. 2025-01-08T19:56:07.996Z,1736366167.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:08.212Z,1736366168.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:08.232Z,1736366168.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T19:56:08.237Z,1736366168.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 69.077705 m, bearing: 171.792050 deg, approach rate: 0.210450 m/s, LOS rate: -0.634790 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.235963 deg. 2025-01-08T19:56:08.241Z,1736366168.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803774 target range: 81.400002 and range: 81.40 m. 2025-01-08T19:56:08.248Z,1736366168.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:08.500Z,1736366168.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:08.585Z,1736366168.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:08.592Z,1736366168.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:08.598Z,1736366168.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T19:56:08.601Z,1736366168.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 69.146217 m, bearing: 171.587998 deg, approach rate: 0.186359 m/s, LOS rate: -0.554490 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.363661 deg. 2025-01-08T19:56:08.602Z,1736366168.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806003 target range: 81.400002 and range: 81.40 m. 2025-01-08T19:56:08.753Z,1736366168.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:08.754Z,1736366168.754 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:08.754Z,1736366168.754 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:08.754Z,1736366168.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:09.001Z,1736366169.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:09.004Z,1736366169.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:09.004Z,1736366169.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206034 2025-01-08T19:56:09.029Z,1736366169.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T19:56:09.038Z,1736366169.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 69.217705 m, bearing: 171.371293 deg, approach rate: 0.165892 m/s, LOS rate: -0.502360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.325773 deg. 2025-01-08T19:56:09.039Z,1736366169.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805341 target range: 81.400002 and range: 81.40 m. 2025-01-08T19:56:09.256Z,1736366169.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:09.257Z,1736366169.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458688 2025-01-08T19:56:09.398Z,1736366169.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:09.407Z,1736366169.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T19:56:09.410Z,1736366169.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 69.287231 m, bearing: 171.164752 deg, approach rate: 0.184275 m/s, LOS rate: -0.546871 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.356210 deg. 2025-01-08T19:56:09.411Z,1736366169.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805872 target range: 81.400002 and range: 81.40 m. 2025-01-08T19:56:09.508Z,1736366169.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:09.509Z,1736366169.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710544 2025-01-08T19:56:09.761Z,1736366169.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:09.763Z,1736366169.763 [DAT](INFO): DAT read: Rx Time:19:56:08.5348 2025-01-08T19:56:09.768Z,1736366169.768 [DAT](INFO): Rx dataTimestamp_ set to:1736366169.762858 2025-01-08T19:56:09.769Z,1736366169.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970505 2025-01-08T19:56:09.894Z,1736366169.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:09.910Z,1736366169.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T19:56:09.917Z,1736366169.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 69.375755 m, bearing: 170.907888 deg, approach rate: 0.175774 m/s, LOS rate: -0.509379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.205627 deg. 2025-01-08T19:56:09.918Z,1736366169.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803244 target range: 81.400002 and range: 81.40 m. 2025-01-08T19:56:10.012Z,1736366170.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:10.014Z,1736366170.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214845 2025-01-08T19:56:10.264Z,1736366170.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:10.273Z,1736366170.273 [DAT](INFO): DAT read: 19:56:08.5348 LVL= 27568, 32753, 14386, 32755, AGC= 54, IDX= 420, 0.22, 2.826, 3.060,-1.307,-2.414, PHS=-0.955,-0.762, 1.104, RAW= 214.9, 6.3, CAL= 217.5, 1.8, ROT= 292.5, -1.8 2025-01-08T19:56:10.274Z,1736366170.274 [DAT](INFO): got valid direction response: 19:56:08.5348 LVL= 27568, 32753, 14386, 32755, AGC= 54, IDX= 420, 0.22, 2.826, 3.060,-1.307,-2.414, PHS=-0.955,-0.762, 1.104, RAW= 214.9, 6.3, CAL= 217.5, 1.8, ROT= 292.5, -1.8 2025-01-08T19:56:10.275Z,1736366170.275 [DAT](INFO): DAT read: Bearing 292.5, -1.8 (Local) 2025-01-08T19:56:10.275Z,1736366170.275 [DAT](INFO): Local bearing/azimuth received: Bearing 292.5, -1.8 (Local) 2025-01-08T19:56:10.277Z,1736366170.277 [DAT](INFO): DAT read: Range 10 to 50 : 80.2 m (Round-trip 107.0 ms) speed 0.2 m/s 2025-01-08T19:56:10.278Z,1736366170.278 [DAT](INFO): DAT read: user:971> 2025-01-08T19:56:10.278Z,1736366170.278 [DAT](INFO): DAT read: Tx time:19:56:09.6237 2025-01-08T19:56:10.279Z,1736366170.279 [DAT](INFO): Ping request sent. 2025-01-08T19:56:10.279Z,1736366170.279 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:10.279Z,1736366170.279 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:56:10.281Z,1736366170.281 [DAT](INFO): direction in FSK: [-0.138705,-0.842508,-0.520520] 2025-01-08T19:56:10.281Z,1736366170.281 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:10.281Z,1736366170.281 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:10.284Z,1736366170.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:10.289Z,1736366170.289 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:10.289Z,1736366170.289 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:10.330Z,1736366170.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.199997 m, deltaT: 3.528595 s, deltaX: -1.200005 m, approachRate: -0.340080 m/s, rangeRepo size: 4 2025-01-08T19:56:10.337Z,1736366170.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.199997 m, bearing: 175.667478 deg, lat: 36.904182 deg, lon: -122.118544 deg, deltaT: 3.528595 s, deltaX: -1.200005 m, approachRate: -0.340080 m/s, posRepo size: 4 2025-01-08T19:56:10.338Z,1736366170.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.20 m. 2025-01-08T19:56:10.349Z,1736366170.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.199997 m, nav range: 67.291306 m, bearing: 172.170236 deg, approach rate: 0.000000 m/s, LOS rate: -0.509379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.335192 deg. 2025-01-08T19:56:10.350Z,1736366170.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805506 target range: 80.199997 and range: 80.20 m. 2025-01-08T19:56:10.516Z,1736366170.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:10.517Z,1736366170.517 [DAT](INFO): DAT read: TxSync time:19:56:09.6229 2025-01-08T19:56:10.650Z,1736366170.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:10.681Z,1736366170.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:10.689Z,1736366170.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.20 m. 2025-01-08T19:56:10.700Z,1736366170.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.199997 m, nav range: 67.352310 m, bearing: 171.986101 deg, approach rate: 0.169742 m/s, LOS rate: -0.511880 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.423299 deg. 2025-01-08T19:56:10.701Z,1736366170.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807044 target range: 80.199997 and range: 80.20 m. 2025-01-08T19:56:10.771Z,1736366170.771 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:10.772Z,1736366170.772 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:10.772Z,1736366170.772 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:10.772Z,1736366170.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:11.024Z,1736366171.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:11.024Z,1736366171.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745763 2025-01-08T19:56:11.073Z,1736366171.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:11.082Z,1736366171.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.20 m. 2025-01-08T19:56:11.085Z,1736366171.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.199997 m, nav range: 67.422058 m, bearing: 171.786196 deg, approach rate: 0.177226 m/s, LOS rate: -0.507422 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.376115 deg. 2025-01-08T19:56:11.086Z,1736366171.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806220 target range: 80.199997 and range: 80.20 m. 2025-01-08T19:56:11.276Z,1736366171.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:11.276Z,1736366171.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997619 2025-01-08T19:56:11.444Z,1736366171.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:11.453Z,1736366171.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.20 m. 2025-01-08T19:56:11.456Z,1736366171.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.199997 m, nav range: 67.483925 m, bearing: 171.610984 deg, approach rate: 0.166769 m/s, LOS rate: -0.471870 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.450049 deg. 2025-01-08T19:56:11.457Z,1736366171.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807510 target range: 80.199997 and range: 80.20 m. 2025-01-08T19:56:11.528Z,1736366171.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:11.529Z,1736366171.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249909 2025-01-08T19:56:11.780Z,1736366171.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:11.780Z,1736366171.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501705 2025-01-08T19:56:11.852Z,1736366171.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:11.921Z,1736366171.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.20 m. 2025-01-08T19:56:11.928Z,1736366171.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.199997 m, nav range: 67.552841 m, bearing: 171.420007 deg, approach rate: 0.147382 m/s, LOS rate: -0.408000 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.402861 deg. 2025-01-08T19:56:11.929Z,1736366171.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806687 target range: 80.199997 and range: 80.20 m. 2025-01-08T19:56:12.036Z,1736366172.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:12.036Z,1736366172.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757503 2025-01-08T19:56:12.274Z,1736366172.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:12.283Z,1736366172.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.20 m. 2025-01-08T19:56:12.286Z,1736366172.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.199997 m, nav range: 67.629974 m, bearing: 171.225397 deg, approach rate: 0.212967 m/s, LOS rate: -0.536710 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.392043 deg. 2025-01-08T19:56:12.292Z,1736366172.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:12.293Z,1736366172.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014048 2025-01-08T19:56:12.307Z,1736366172.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806498 target range: 80.199997 and range: 80.20 m. 2025-01-08T19:56:12.545Z,1736366172.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:12.545Z,1736366172.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266757 2025-01-08T19:56:12.655Z,1736366172.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:12.669Z,1736366172.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.20 m. 2025-01-08T19:56:12.674Z,1736366172.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.199997 m, nav range: 67.700729 m, bearing: 171.050701 deg, approach rate: 0.183436 m/s, LOS rate: -0.452434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.451661 deg. 2025-01-08T19:56:12.676Z,1736366172.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807539 target range: 80.199997 and range: 80.20 m. 2025-01-08T19:56:12.797Z,1736366172.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:12.797Z,1736366172.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518535 2025-01-08T19:56:13.048Z,1736366173.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:13.049Z,1736366173.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770107 2025-01-08T19:56:13.100Z,1736366173.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:13.106Z,1736366173.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:13.113Z,1736366173.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.20 m. 2025-01-08T19:56:13.120Z,1736366173.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.199997 m, nav range: 67.786621 m, bearing: 170.855954 deg, approach rate: 0.193432 m/s, LOS rate: -0.438021 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.391708 deg. 2025-01-08T19:56:13.122Z,1736366173.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806492 target range: 80.199997 and range: 80.20 m. 2025-01-08T19:56:13.300Z,1736366173.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:13.301Z,1736366173.301 [DAT](INFO): DAT read: Rx Time:19:56:12.1335 2025-01-08T19:56:13.301Z,1736366173.301 [DAT](INFO): Rx dataTimestamp_ set to:1736366173.300823 2025-01-08T19:56:13.302Z,1736366173.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022924 2025-01-08T19:56:13.465Z,1736366173.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:13.474Z,1736366173.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.20 m. 2025-01-08T19:56:13.476Z,1736366173.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.199997 m, nav range: 67.867271 m, bearing: 170.676038 deg, approach rate: 0.223484 m/s, LOS rate: -0.497956 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.436099 deg. 2025-01-08T19:56:13.478Z,1736366173.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807267 target range: 80.199997 and range: 80.20 m. 2025-01-08T19:56:13.552Z,1736366173.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:13.552Z,1736366173.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273722 2025-01-08T19:56:13.805Z,1736366173.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:13.808Z,1736366173.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529139 2025-01-08T19:56:13.955Z,1736366173.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:13.973Z,1736366173.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.20 m. 2025-01-08T19:56:13.980Z,1736366173.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.199997 m, nav range: 67.969147 m, bearing: 170.452424 deg, approach rate: 0.203982 m/s, LOS rate: -0.447065 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.305381 deg. 2025-01-08T19:56:13.983Z,1736366173.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804986 target range: 80.199997 and range: 80.20 m. 2025-01-08T19:56:14.056Z,1736366174.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:14.073Z,1736366174.073 [DAT](INFO): DAT read: 19:56:12.1336 LVL= 22560, 27745, 14354, 29107, AGC= 56, IDX= 423, 0.38, 2.699, 2.980,-1.374,-2.514, PHS=-0.982,-0.742, 1.137, RAW= 215.9, 5.9, CAL= 218.6, 1.6, ROT= 291.4, -1.6 2025-01-08T19:56:14.074Z,1736366174.074 [DAT](INFO): got valid direction response: 19:56:12.1336 LVL= 22560, 27745, 14354, 29107, AGC= 56, IDX= 423, 0.38, 2.699, 2.980,-1.374,-2.514, PHS=-0.982,-0.742, 1.137, RAW= 215.9, 5.9, CAL= 218.6, 1.6, ROT= 291.4, -1.6 2025-01-08T19:56:14.076Z,1736366174.076 [DAT](INFO): DAT read: Bearing 291.4, -1.6 (Local) 2025-01-08T19:56:14.076Z,1736366174.076 [DAT](INFO): Local bearing/azimuth received: Bearing 291.4, -1.6 (Local) 2025-01-08T19:56:14.079Z,1736366174.079 [DAT](INFO): DAT read: Range 10 to 50 : 79.2 m (Round-trip 105.7 ms) speed 0.0 m/s 2025-01-08T19:56:14.082Z,1736366174.082 [DAT](INFO): DAT read: user:972> 2025-01-08T19:56:14.087Z,1736366174.087 [DAT](INFO): DAT read: Tx time:19:56:13.2238 2025-01-08T19:56:14.088Z,1736366174.088 [DAT](INFO): Ping request sent. 2025-01-08T19:56:14.088Z,1736366174.088 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:14.089Z,1736366174.089 [DAT](INFO): DAT read: TxSync time:19:56:13.2230 2025-01-08T19:56:14.089Z,1736366174.089 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:56:14.090Z,1736366174.090 [DAT](INFO): direction in FSK: [-0.129466,-0.834623,-0.535391] 2025-01-08T19:56:14.090Z,1736366174.090 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:14.090Z,1736366174.090 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:14.106Z,1736366174.106 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:14.107Z,1736366174.107 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:14.308Z,1736366174.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:14.355Z,1736366174.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:14.383Z,1736366174.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.791530 s, deltaX: -1.000000 m, approachRate: -0.263746 m/s, rangeRepo size: 4 2025-01-08T19:56:14.389Z,1736366174.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.199997 m, bearing: 176.827771 deg, lat: 36.904201 deg, lon: -122.118573 deg, deltaT: 3.791530 s, deltaX: -1.000000 m, approachRate: -0.263746 m/s, posRepo size: 4 2025-01-08T19:56:14.390Z,1736366174.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T19:56:14.398Z,1736366174.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 65.568634 m, bearing: 172.229339 deg, approach rate: 0.000000 m/s, LOS rate: -0.447065 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.426265 deg. 2025-01-08T19:56:14.399Z,1736366174.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807095 target range: 79.199997 and range: 79.20 m. 2025-01-08T19:56:14.560Z,1736366174.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:14.705Z,1736366174.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:14.713Z,1736366174.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T19:56:14.716Z,1736366174.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 65.643089 m, bearing: 172.055661 deg, approach rate: 0.225113 m/s, LOS rate: -0.524513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.454759 deg. 2025-01-08T19:56:14.717Z,1736366174.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807592 target range: 79.199997 and range: 79.20 m. 2025-01-08T19:56:14.812Z,1736366174.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:15.064Z,1736366175.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:15.137Z,1736366175.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:15.144Z,1736366175.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:15.146Z,1736366175.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T19:56:15.149Z,1736366175.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 65.740837 m, bearing: 171.835677 deg, approach rate: 0.225693 m/s, LOS rate: -0.507172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.316246 deg. 2025-01-08T19:56:15.151Z,1736366175.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805175 target range: 79.199997 and range: 79.20 m. 2025-01-08T19:56:15.316Z,1736366175.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:15.316Z,1736366175.316 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:15.316Z,1736366175.316 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:15.317Z,1736366175.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:15.500Z,1736366175.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:15.509Z,1736366175.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T19:56:15.512Z,1736366175.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 65.823456 m, bearing: 171.651456 deg, approach rate: 0.227802 m/s, LOS rate: -0.507308 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.423235 deg. 2025-01-08T19:56:15.513Z,1736366175.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807042 target range: 79.199997 and range: 79.20 m. 2025-01-08T19:56:15.569Z,1736366175.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:15.570Z,1736366175.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481764 2025-01-08T19:56:15.820Z,1736366175.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:15.820Z,1736366175.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732392 2025-01-08T19:56:15.917Z,1736366175.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:15.976Z,1736366175.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T19:56:15.990Z,1736366175.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 65.919090 m, bearing: 171.440946 deg, approach rate: 0.206743 m/s, LOS rate: -0.454420 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.344600 deg. 2025-01-08T19:56:15.996Z,1736366175.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805670 target range: 79.199997 and range: 79.20 m. 2025-01-08T19:56:16.072Z,1736366176.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:16.074Z,1736366176.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985593 2025-01-08T19:56:16.324Z,1736366176.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:16.324Z,1736366176.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236493 2025-01-08T19:56:16.335Z,1736366176.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:16.343Z,1736366176.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T19:56:16.346Z,1736366176.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 66.019997 m, bearing: 171.219527 deg, approach rate: 0.271428 m/s, LOS rate: -0.594684 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.311976 deg. 2025-01-08T19:56:16.348Z,1736366176.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805100 target range: 79.199997 and range: 79.20 m. 2025-01-08T19:56:16.576Z,1736366176.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:16.576Z,1736366176.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488515 2025-01-08T19:56:16.708Z,1736366176.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:16.716Z,1736366176.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T19:56:16.719Z,1736366176.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 66.111038 m, bearing: 171.022400 deg, approach rate: 0.243830 m/s, LOS rate: -0.527222 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.384642 deg. 2025-01-08T19:56:16.720Z,1736366176.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806369 target range: 79.199997 and range: 79.20 m. 2025-01-08T19:56:16.828Z,1736366176.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:16.829Z,1736366176.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740672 2025-01-08T19:56:17.080Z,1736366177.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:17.081Z,1736366177.081 [DAT](INFO): DAT read: Rx Time:19:56:15.7330 2025-01-08T19:56:17.081Z,1736366177.081 [DAT](INFO): Rx dataTimestamp_ set to:1736366177.081097 2025-01-08T19:56:17.082Z,1736366177.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993966 2025-01-08T19:56:17.152Z,1736366177.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:17.159Z,1736366177.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:17.173Z,1736366177.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T19:56:17.177Z,1736366177.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 66.229202 m, bearing: 170.779822 deg, approach rate: 0.258717 m/s, LOS rate: -0.530168 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.248794 deg. 2025-01-08T19:56:17.178Z,1736366177.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803998 target range: 79.199997 and range: 79.20 m. 2025-01-08T19:56:17.332Z,1736366177.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:17.333Z,1736366177.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244581 2025-01-08T19:56:17.515Z,1736366177.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:17.523Z,1736366177.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T19:56:17.526Z,1736366177.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 66.326645 m, bearing: 170.582444 deg, approach rate: 0.278466 m/s, LOS rate: -0.563226 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.383946 deg. 2025-01-08T19:56:17.528Z,1736366177.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806356 target range: 79.199997 and range: 79.20 m. 2025-01-08T19:56:17.584Z,1736366177.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:17.592Z,1736366177.592 [DAT](INFO): DAT read: 19:56:15.7330 LVL= 29840, 31809, 12786, 32755, AGC= 59, IDX= 432, 0.45,-0.264, 0.090, 2.013, 0.850, PHS=-1.026,-0.713, 1.160, RAW= 217.6, 5.7, CAL= 220.4, 2.0, ROT= 289.6, -2.0 2025-01-08T19:56:17.593Z,1736366177.593 [DAT](INFO): got valid direction response: 19:56:15.7330 LVL= 29840, 31809, 12786, 32755, AGC= 59, IDX= 432, 0.45,-0.264, 0.090, 2.013, 0.850, PHS=-1.026,-0.713, 1.160, RAW= 217.6, 5.7, CAL= 220.4, 2.0, ROT= 289.6, -2.0 2025-01-08T19:56:17.594Z,1736366177.594 [DAT](INFO): DAT read: Bearing 289.6, -2.0 (Local) 2025-01-08T19:56:17.594Z,1736366177.594 [DAT](INFO): Local bearing/azimuth received: Bearing 289.6, -2.0 (Local) 2025-01-08T19:56:17.596Z,1736366177.596 [DAT](INFO): DAT read: Range 10 to 50 : 78.7 m (Round-trip 105.0 ms) speed 0.1 m/s 2025-01-08T19:56:17.596Z,1736366177.596 [DAT](INFO): DAT read: user:973> 2025-01-08T19:56:17.598Z,1736366177.598 [DAT](INFO): DAT read: Tx time:19:56:16.8238 2025-01-08T19:56:17.598Z,1736366177.598 [DAT](INFO): Ping request sent. 2025-01-08T19:56:17.598Z,1736366177.598 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:17.598Z,1736366177.598 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:56:17.605Z,1736366177.605 [DAT](INFO): direction in FSK: [-0.122600,-0.820504,-0.558339] 2025-01-08T19:56:17.605Z,1736366177.605 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:17.606Z,1736366177.606 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:17.609Z,1736366177.609 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:17.610Z,1736366177.610 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:17.837Z,1736366177.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:17.839Z,1736366177.839 [DAT](INFO): DAT read: TxSync time:19:56:16.8230 2025-01-08T19:56:17.950Z,1736366177.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:18.018Z,1736366178.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.699997 m, deltaT: 3.529017 s, deltaX: -0.500000 m, approachRate: -0.141683 m/s, rangeRepo size: 4 2025-01-08T19:56:18.026Z,1736366178.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.699997 m, bearing: 177.006698 deg, lat: 36.904225 deg, lon: -122.118594 deg, deltaT: 3.529017 s, deltaX: -0.500000 m, approachRate: -0.141683 m/s, posRepo size: 4 2025-01-08T19:56:18.027Z,1736366178.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m. 2025-01-08T19:56:18.033Z,1736366178.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.699997 m, nav range: 63.448589 m, bearing: 171.576258 deg, approach rate: 0.000000 m/s, LOS rate: -0.563226 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.139643 deg. 2025-01-08T19:56:18.035Z,1736366178.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802093 target range: 78.699997 and range: 78.70 m. 2025-01-08T19:56:18.088Z,1736366178.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:18.340Z,1736366178.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:18.391Z,1736366178.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:18.422Z,1736366178.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m. 2025-01-08T19:56:18.429Z,1736366178.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.699997 m, nav range: 63.557003 m, bearing: 171.321583 deg, approach rate: 0.267920 m/s, LOS rate: -0.628295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.212513 deg. 2025-01-08T19:56:18.436Z,1736366178.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803364 target range: 78.699997 and range: 78.70 m. 2025-01-08T19:56:18.592Z,1736366178.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:18.753Z,1736366178.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:18.761Z,1736366178.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m. 2025-01-08T19:56:18.764Z,1736366178.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.699997 m, nav range: 63.647011 m, bearing: 171.112507 deg, approach rate: 0.265920 m/s, LOS rate: -0.616821 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.348872 deg. 2025-01-08T19:56:18.765Z,1736366178.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805745 target range: 78.699997 and range: 78.70 m. 2025-01-08T19:56:18.845Z,1736366178.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:19.096Z,1736366179.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:19.267Z,1736366179.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:19.274Z,1736366179.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:19.276Z,1736366179.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m. 2025-01-08T19:56:19.279Z,1736366179.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.699997 m, nav range: 63.766941 m, bearing: 170.811732 deg, approach rate: 0.232701 m/s, LOS rate: -0.582496 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.074635 deg. 2025-01-08T19:56:19.282Z,1736366179.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800958 target range: 78.699997 and range: 78.70 m. 2025-01-08T19:56:19.350Z,1736366179.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:19.350Z,1736366179.350 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:19.350Z,1736366179.350 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:19.351Z,1736366179.351 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:19.559Z,1736366179.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:19.569Z,1736366179.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m. 2025-01-08T19:56:19.572Z,1736366179.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.699997 m, nav range: 63.835903 m, bearing: 170.641016 deg, approach rate: 0.235461 m/s, LOS rate: -0.582253 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.463608 deg. 2025-01-08T19:56:19.573Z,1736366179.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807747 target range: 78.699997 and range: 78.70 m. 2025-01-08T19:56:19.604Z,1736366179.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:19.605Z,1736366179.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007081 2025-01-08T19:56:19.856Z,1736366179.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:19.857Z,1736366179.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258713 2025-01-08T19:56:20.031Z,1736366180.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:20.054Z,1736366180.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m. 2025-01-08T19:56:20.061Z,1736366180.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.699997 m, nav range: 63.948147 m, bearing: 170.366867 deg, approach rate: 0.231373 m/s, LOS rate: -0.564122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.154243 deg. 2025-01-08T19:56:20.062Z,1736366180.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802348 target range: 78.699997 and range: 78.70 m. 2025-01-08T19:56:20.108Z,1736366180.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:20.109Z,1736366180.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510500 2025-01-08T19:56:20.360Z,1736366180.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:20.360Z,1736366180.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762362 2025-01-08T19:56:20.412Z,1736366180.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:20.422Z,1736366180.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m. 2025-01-08T19:56:20.425Z,1736366180.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.699997 m, nav range: 64.034386 m, bearing: 170.142492 deg, approach rate: 0.234671 m/s, LOS rate: -0.609738 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.303001 deg. 2025-01-08T19:56:20.426Z,1736366180.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804944 target range: 78.699997 and range: 78.70 m. 2025-01-08T19:56:20.612Z,1736366180.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:20.612Z,1736366180.612 [DAT](INFO): DAT read: Rx Time:19:56:19.3321 2025-01-08T19:56:20.613Z,1736366180.613 [DAT](INFO): Rx dataTimestamp_ set to:1736366180.612617 2025-01-08T19:56:20.614Z,1736366180.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015829 2025-01-08T19:56:20.775Z,1736366180.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:20.783Z,1736366180.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.70 m. 2025-01-08T19:56:20.807Z,1736366180.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.699997 m, nav range: 64.117317 m, bearing: 169.929144 deg, approach rate: 0.229688 m/s, LOS rate: -0.590128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.335997 deg. 2025-01-08T19:56:20.809Z,1736366180.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805520 target range: 78.699997 and range: 78.70 m. 2025-01-08T19:56:20.865Z,1736366180.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:20.866Z,1736366180.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267756 2025-01-08T19:56:21.116Z,1736366181.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:21.122Z,1736366181.122 [DAT](INFO): DAT read: 19:56:19.3321 LVL= 17760, 23073, 13650, 28051, AGC= 55, IDX= 439, 0.04,-1.195,-0.805, 1.105,-0.103, PHS=-1.004,-0.655, 1.205, RAW= 218.5, 4.5, CAL= 220.6, 0.2, ROT= 289.4, -0.2 2025-01-08T19:56:21.123Z,1736366181.123 [DAT](INFO): got valid direction response: 19:56:19.3321 LVL= 17760, 23073, 13650, 28051, AGC= 55, IDX= 439, 0.04,-1.195,-0.805, 1.105,-0.103, PHS=-1.004,-0.655, 1.205, RAW= 218.5, 4.5, CAL= 220.6, 0.2, ROT= 289.4, -0.2 2025-01-08T19:56:21.124Z,1736366181.124 [DAT](INFO): DAT read: Bearing 289.4, -0.2 (Local) 2025-01-08T19:56:21.125Z,1736366181.125 [DAT](INFO): Local bearing/azimuth received: Bearing 289.4, -0.2 (Local) 2025-01-08T19:56:21.126Z,1736366181.126 [DAT](INFO): DAT read: Range 10 to 50 : 78.0 m (Round-trip 104.1 ms) speed 0.2 m/s 2025-01-08T19:56:21.127Z,1736366181.127 [DAT](INFO): DAT read: user:974> 2025-01-08T19:56:21.128Z,1736366181.128 [DAT](INFO): DAT read: Tx time:19:56:20.4238 2025-01-08T19:56:21.128Z,1736366181.128 [DAT](INFO): Ping request sent. 2025-01-08T19:56:21.128Z,1736366181.128 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:21.128Z,1736366181.128 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:56:21.129Z,1736366181.129 [DAT](INFO): direction in FSK: [-0.097900,-0.816096,-0.569565] 2025-01-08T19:56:21.129Z,1736366181.129 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:21.130Z,1736366181.130 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:21.134Z,1736366181.134 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:21.134Z,1736366181.134 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:21.233Z,1736366181.233 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768V 2025-01-08T19:56:21.249Z,1736366181.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:56:21.249Z,1736366181.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:21.290Z,1736366181.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.000000 m, deltaT: 3.531060 s, deltaX: -0.699997 m, approachRate: -0.198240 m/s, rangeRepo size: 4 2025-01-08T19:56:21.296Z,1736366181.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.000000 m, bearing: 178.426928 deg, lat: 36.904242 deg, lon: -122.118636 deg, deltaT: 3.531060 s, deltaX: -0.699997 m, approachRate: -0.198240 m/s, posRepo size: 4 2025-01-08T19:56:21.298Z,1736366181.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T19:56:21.306Z,1736366181.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 61.775864 m, bearing: 172.688198 deg, approach rate: 0.000000 m/s, LOS rate: -0.590128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.078796 deg. 2025-01-08T19:56:21.311Z,1736366181.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801031 target range: 78.000000 and range: 78.00 m. 2025-01-08T19:56:21.369Z,1736366181.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:21.370Z,1736366181.370 [DAT](INFO): DAT read: TxSync time:19:56:20.4230 2025-01-08T19:56:21.591Z,1736366181.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:56:21.591Z,1736366181.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:21.599Z,1736366181.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:21.601Z,1736366181.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T19:56:21.624Z,1736366181.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:21.624Z,1736366181.624 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:21.624Z,1736366181.624 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:21.625Z,1736366181.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:21.629Z,1736366181.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 61.843800 m, bearing: 172.477183 deg, approach rate: 0.217527 m/s, LOS rate: -0.674916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.342863 deg. 2025-01-08T19:56:21.630Z,1736366181.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805640 target range: 78.000000 and range: 78.00 m. 2025-01-08T19:56:21.877Z,1736366181.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:21.878Z,1736366181.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749113 2025-01-08T19:56:22.003Z,1736366182.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:56:22.004Z,1736366182.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:22.072Z,1736366182.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T19:56:22.074Z,1736366182.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 61.925594 m, bearing: 172.224528 deg, approach rate: 0.173853 m/s, LOS rate: -0.536302 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.218269 deg. 2025-01-08T19:56:22.080Z,1736366182.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803465 target range: 78.000000 and range: 78.00 m. 2025-01-08T19:56:22.129Z,1736366182.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:22.130Z,1736366182.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001376 2025-01-08T19:56:22.380Z,1736366182.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:22.381Z,1736366182.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253182 2025-01-08T19:56:22.450Z,1736366182.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:22.459Z,1736366182.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T19:56:22.482Z,1736366182.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 62.001568 m, bearing: 171.958211 deg, approach rate: 0.196505 m/s, LOS rate: -0.687981 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.177269 deg. 2025-01-08T19:56:22.484Z,1736366182.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802749 target range: 78.000000 and range: 78.00 m. 2025-01-08T19:56:22.632Z,1736366182.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:22.632Z,1736366182.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504366 2025-01-08T19:56:22.818Z,1736366182.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:22.826Z,1736366182.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T19:56:22.829Z,1736366182.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 62.064056 m, bearing: 171.742768 deg, approach rate: 0.169988 m/s, LOS rate: -0.585478 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.329539 deg. 2025-01-08T19:56:22.830Z,1736366182.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805407 target range: 78.000000 and range: 78.00 m. 2025-01-08T19:56:22.886Z,1736366182.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:22.888Z,1736366182.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759923 2025-01-08T19:56:23.136Z,1736366183.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:23.136Z,1736366183.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008307 2025-01-08T19:56:23.238Z,1736366183.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:23.248Z,1736366183.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T19:56:23.250Z,1736366183.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 62.136120 m, bearing: 171.501317 deg, approach rate: 0.171245 m/s, LOS rate: -0.573096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.251714 deg. 2025-01-08T19:56:23.252Z,1736366183.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804049 target range: 78.000000 and range: 78.00 m. 2025-01-08T19:56:23.256Z,1736366183.256 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T19:46:23.0Z 2025-01-08T19:56:23.256Z,1736366183.256 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T19:56:23.257Z,1736366183.257 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T19:56:23.257Z,1736366183.257 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T19:56:23.257Z,1736366183.257 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T19:56:23.257Z,1736366183.257 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T19:56:23.388Z,1736366183.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:23.389Z,1736366183.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260483 2025-01-08T19:56:23.625Z,1736366183.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:23.633Z,1736366183.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:23.634Z,1736366183.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T19:56:23.637Z,1736366183.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 62.203377 m, bearing: 171.281552 deg, approach rate: 0.173522 m/s, LOS rate: -0.566379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.316633 deg. 2025-01-08T19:56:23.638Z,1736366183.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805182 target range: 78.000000 and range: 78.00 m. 2025-01-08T19:56:23.640Z,1736366183.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:23.640Z,1736366183.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512377 2025-01-08T19:56:23.645Z,1736366183.645 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T19:56:23.645Z,1736366183.645 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T19:56:23.645Z,1736366183.645 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T19:56:23.646Z,1736366183.646 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T19:56:23.646Z,1736366183.646 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T19:56:23.892Z,1736366183.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:23.893Z,1736366183.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764958 2025-01-08T19:56:24.144Z,1736366184.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:24.144Z,1736366184.144 [DAT](INFO): DAT read: Rx Time:19:56:22.9310 2025-01-08T19:56:24.145Z,1736366184.145 [DAT](INFO): Rx dataTimestamp_ set to:1736366184.144634 2025-01-08T19:56:24.145Z,1736366184.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017325 2025-01-08T19:56:24.279Z,1736366184.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:24.290Z,1736366184.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T19:56:24.293Z,1736366184.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 62.318607 m, bearing: 170.917181 deg, approach rate: 0.175707 m/s, LOS rate: -0.554572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.884234 deg. 2025-01-08T19:56:24.294Z,1736366184.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797635 target range: 78.000000 and range: 78.00 m. 2025-01-08T19:56:24.396Z,1736366184.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:24.398Z,1736366184.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269039 2025-01-08T19:56:24.648Z,1736366184.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:24.658Z,1736366184.658 [DAT](INFO): DAT read: 19:56:22.9310 LVL= 19344, 23697, 11762, 24483, AGC= 55, IDX= 427, 0.00, 0.451, 0.895, 2.877, 1.608, PHS=-1.068,-0.665, 1.266, RAW= 219.3, 4.4, CAL= 221.5, 0.4, ROT= 288.5, -0.4 2025-01-08T19:56:24.664Z,1736366184.664 [DAT](INFO): got valid direction response: 19:56:22.9310 LVL= 19344, 23697, 11762, 24483, AGC= 55, IDX= 427, 0.00, 0.451, 0.895, 2.877, 1.608, PHS=-1.068,-0.665, 1.266, RAW= 219.3, 4.4, CAL= 221.5, 0.4, ROT= 288.5, -0.4 2025-01-08T19:56:24.665Z,1736366184.665 [DAT](INFO): DAT read: Bearing 288.5, -0.4 (Local) 2025-01-08T19:56:24.666Z,1736366184.666 [DAT](INFO): Local bearing/azimuth received: Bearing 288.5, -0.4 (Local) 2025-01-08T19:56:24.676Z,1736366184.676 [DAT](INFO): DAT read: Range 10 to 50 : 77.2 m (Round-trip 103.0 ms) speed 0.1 m/s 2025-01-08T19:56:24.677Z,1736366184.677 [DAT](INFO): DAT read: user:975> 2025-01-08T19:56:24.678Z,1736366184.678 [DAT](INFO): DAT read: Tx time:19:56:24.0239 2025-01-08T19:56:24.679Z,1736366184.679 [DAT](INFO): Ping request sent. 2025-01-08T19:56:24.688Z,1736366184.688 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:24.688Z,1736366184.688 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:56:24.689Z,1736366184.689 [DAT](INFO): direction in FSK: [-0.094442,-0.808487,-0.580886] 2025-01-08T19:56:24.689Z,1736366184.689 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:24.689Z,1736366184.689 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:24.701Z,1736366184.701 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:24.701Z,1736366184.701 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:24.721Z,1736366184.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:24.761Z,1736366184.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.199997 m, deltaT: 3.532374 s, deltaX: -0.800003 m, approachRate: -0.226477 m/s, rangeRepo size: 4 2025-01-08T19:56:24.785Z,1736366184.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 77.199997 m, bearing: 178.671122 deg, lat: 36.904262 deg, lon: -122.118664 deg, deltaT: 3.532374 s, deltaX: -0.800003 m, approachRate: -0.226477 m/s, posRepo size: 4 2025-01-08T19:56:24.786Z,1736366184.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T19:56:24.797Z,1736366184.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 59.874527 m, bearing: 172.743955 deg, approach rate: 0.000000 m/s, LOS rate: -0.554572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.193369 deg. 2025-01-08T19:56:24.799Z,1736366184.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803030 target range: 77.199997 and range: 77.20 m. 2025-01-08T19:56:24.901Z,1736366184.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:24.903Z,1736366184.903 [DAT](INFO): DAT read: TxSync time:19:56:24.0231 2025-01-08T19:56:25.153Z,1736366185.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:25.237Z,1736366185.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:25.254Z,1736366185.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T19:56:25.261Z,1736366185.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 59.957958 m, bearing: 172.445123 deg, approach rate: 0.168922 m/s, LOS rate: -0.604196 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.080015 deg. 2025-01-08T19:56:25.262Z,1736366185.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801052 target range: 77.199997 and range: 77.20 m. 2025-01-08T19:56:25.404Z,1736366185.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:25.507Z,1736366185.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:25.533Z,1736366185.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T19:56:25.540Z,1736366185.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 60.001987 m, bearing: 172.289196 deg, approach rate: 0.158127 m/s, LOS rate: -0.559586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.507760 deg. 2025-01-08T19:56:25.541Z,1736366185.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808517 target range: 77.199997 and range: 77.20 m. 2025-01-08T19:56:25.656Z,1736366185.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:25.908Z,1736366185.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:25.937Z,1736366185.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:25.956Z,1736366185.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:25.958Z,1736366185.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T19:56:25.972Z,1736366185.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 60.073212 m, bearing: 172.041333 deg, approach rate: 0.167420 m/s, LOS rate: -0.581936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.232521 deg. 2025-01-08T19:56:25.973Z,1736366185.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803714 target range: 77.199997 and range: 77.20 m. 2025-01-08T19:56:26.160Z,1736366186.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:26.160Z,1736366186.160 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:26.160Z,1736366186.160 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:26.161Z,1736366186.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:26.370Z,1736366186.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:26.378Z,1736366186.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T19:56:26.382Z,1736366186.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 60.156109 m, bearing: 171.796061 deg, approach rate: 0.197304 m/s, LOS rate: -0.582965 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.240428 deg. 2025-01-08T19:56:26.384Z,1736366186.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803852 target range: 77.199997 and range: 77.20 m. 2025-01-08T19:56:26.412Z,1736366186.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:26.412Z,1736366186.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733553 2025-01-08T19:56:26.665Z,1736366186.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:26.666Z,1736366186.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987260 2025-01-08T19:56:26.724Z,1736366186.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:26.734Z,1736366186.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T19:56:26.737Z,1736366186.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 60.225231 m, bearing: 171.595655 deg, approach rate: 0.194153 m/s, LOS rate: -0.562259 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.374682 deg. 2025-01-08T19:56:26.738Z,1736366186.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806195 target range: 77.199997 and range: 77.20 m. 2025-01-08T19:56:26.916Z,1736366186.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:26.916Z,1736366186.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237571 2025-01-08T19:56:27.168Z,1736366187.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:27.168Z,1736366187.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489479 2025-01-08T19:56:27.173Z,1736366187.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:27.183Z,1736366187.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T19:56:27.186Z,1736366187.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 60.319122 m, bearing: 171.342107 deg, approach rate: 0.209221 m/s, LOS rate: -0.564110 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.215772 deg. 2025-01-08T19:56:27.187Z,1736366187.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803421 target range: 77.199997 and range: 77.20 m. 2025-01-08T19:56:27.421Z,1736366187.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:27.422Z,1736366187.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742901 2025-01-08T19:56:27.524Z,1736366187.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:27.534Z,1736366187.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T19:56:27.537Z,1736366187.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 60.393692 m, bearing: 171.144423 deg, approach rate: 0.212658 m/s, LOS rate: -0.563057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.382892 deg. 2025-01-08T19:56:27.541Z,1736366187.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806338 target range: 77.199997 and range: 77.20 m. 2025-01-08T19:56:27.672Z,1736366187.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:27.673Z,1736366187.673 [DAT](INFO): DAT read: Rx Time:19:56:26.5302 2025-01-08T19:56:27.674Z,1736366187.674 [DAT](INFO): Rx dataTimestamp_ set to:1736366187.673438 2025-01-08T19:56:27.675Z,1736366187.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995773 2025-01-08T19:56:27.924Z,1736366187.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:27.924Z,1736366187.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245587 2025-01-08T19:56:27.927Z,1736366187.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:27.963Z,1736366187.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T19:56:27.976Z,1736366187.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 60.480427 m, bearing: 170.917955 deg, approach rate: 0.204162 m/s, LOS rate: -0.532311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.296788 deg. 2025-01-08T19:56:27.977Z,1736366187.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804835 target range: 77.199997 and range: 77.20 m. 2025-01-08T19:56:28.177Z,1736366188.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:28.179Z,1736366188.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499753 2025-01-08T19:56:28.358Z,1736366188.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:28.383Z,1736366188.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:28.387Z,1736366188.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T19:56:28.403Z,1736366188.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 60.585384 m, bearing: 170.677057 deg, approach rate: 0.244998 m/s, LOS rate: -0.561342 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.253787 deg. 2025-01-08T19:56:28.405Z,1736366188.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804085 target range: 77.199997 and range: 77.20 m. 2025-01-08T19:56:28.428Z,1736366188.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:28.436Z,1736366188.436 [DAT](INFO): DAT read: 19:56:26.5302 LVL= 17680, 20849, 11410, 20835, AGC= 54, IDX= 435,-0.13,-0.991,-0.485, 1.526, 0.196, PHS=-1.099,-0.634, 1.327, RAW= 220.4, 3.7, CAL= 222.4, -0.2, ROT= 287.6, 0.2 2025-01-08T19:56:28.437Z,1736366188.437 [DAT](INFO): got valid direction response: 19:56:26.5302 LVL= 17680, 20849, 11410, 20835, AGC= 54, IDX= 435,-0.13,-0.991,-0.485, 1.526, 0.196, PHS=-1.099,-0.634, 1.327, RAW= 220.4, 3.7, CAL= 222.4, -0.2, ROT= 287.6, 0.2 2025-01-08T19:56:28.438Z,1736366188.438 [DAT](INFO): DAT read: Bearing 287.6, 0.2 (Local) 2025-01-08T19:56:28.439Z,1736366188.439 [DAT](INFO): Local bearing/azimuth received: Bearing 287.6, 0.2 (Local) 2025-01-08T19:56:28.440Z,1736366188.440 [DAT](INFO): DAT read: Range 10 to 50 : 76.6 m (Round-trip 102.2 ms) speed 0.0 m/s 2025-01-08T19:56:28.441Z,1736366188.441 [DAT](INFO): DAT read: user:976> 2025-01-08T19:56:28.442Z,1736366188.442 [DAT](INFO): DAT read: Tx time:19:56:27.6239 2025-01-08T19:56:28.442Z,1736366188.442 [DAT](INFO): Ping request sent. 2025-01-08T19:56:28.442Z,1736366188.442 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:28.443Z,1736366188.443 [DAT](INFO): DAT read: TxSync time:19:56:27.6231 2025-01-08T19:56:28.444Z,1736366188.444 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:56:28.445Z,1736366188.445 [DAT](INFO): direction in FSK: [-0.079470,-0.799508,-0.595375] 2025-01-08T19:56:28.445Z,1736366188.445 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:28.445Z,1736366188.445 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:28.450Z,1736366188.450 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:28.450Z,1736366188.450 [DAT](INFO): publishing direction and range info 2025-01-08T19:56:28.681Z,1736366188.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:28.756Z,1736366188.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:28.790Z,1736366188.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.599998 m, deltaT: 3.779713 s, deltaX: -0.599998 m, approachRate: -0.158742 m/s, rangeRepo size: 4 2025-01-08T19:56:28.796Z,1736366188.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.599998 m, bearing: 180.041113 deg, lat: 36.904276 deg, lon: -122.118706 deg, deltaT: 3.779713 s, deltaX: -0.599998 m, approachRate: -0.158742 m/s, posRepo size: 4 2025-01-08T19:56:28.798Z,1736366188.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:28.805Z,1736366188.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 58.636360 m, bearing: 173.803847 deg, approach rate: 0.000000 m/s, LOS rate: -0.561342 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.307836 deg. 2025-01-08T19:56:28.806Z,1736366188.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805028 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:56:28.932Z,1736366188.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:29.184Z,1736366189.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:29.205Z,1736366189.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:29.213Z,1736366189.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:29.217Z,1736366189.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 58.735088 m, bearing: 173.537816 deg, approach rate: 0.229814 m/s, LOS rate: -0.618211 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.178488 deg. 2025-01-08T19:56:29.218Z,1736366189.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802771 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:56:29.436Z,1736366189.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:29.548Z,1736366189.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:29.557Z,1736366189.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:29.559Z,1736366189.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 58.810242 m, bearing: 173.337383 deg, approach rate: 0.218608 m/s, LOS rate: -0.582277 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.374680 deg. 2025-01-08T19:56:29.561Z,1736366189.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806195 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:56:29.688Z,1736366189.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:29.940Z,1736366189.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:29.950Z,1736366189.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:29.958Z,1736366189.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:29.973Z,1736366189.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 58.899628 m, bearing: 173.102039 deg, approach rate: 0.222449 m/s, LOS rate: -0.584795 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.270265 deg. 2025-01-08T19:56:29.974Z,1736366189.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804372 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:56:30.192Z,1736366190.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:30.366Z,1736366190.366 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +38.90, + +4.73, 7.88, 0.00 2025-01-08T19:56:30.374Z,1736366190.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:56:30.374Z,1736366190.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:30.401Z,1736366190.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:30.406Z,1736366190.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:30.417Z,1736366190.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 58.994610 m, bearing: 172.855764 deg, approach rate: 0.213464 m/s, LOS rate: -0.552589 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.237593 deg. 2025-01-08T19:56:30.418Z,1736366190.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803802 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:56:30.444Z,1736366190.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:30.444Z,1736366190.444 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:30.445Z,1736366190.445 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:30.445Z,1736366190.445 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:30.698Z,1736366190.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:30.701Z,1736366190.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258127 2025-01-08T19:56:30.753Z,1736366190.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:56:30.754Z,1736366190.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:30.762Z,1736366190.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:30.796Z,1736366190.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 59.080875 m, bearing: 172.635661 deg, approach rate: 0.240573 m/s, LOS rate: -0.612913 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.315873 deg. 2025-01-08T19:56:30.799Z,1736366190.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805169 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:56:30.948Z,1736366190.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:30.948Z,1736366190.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505973 2025-01-08T19:56:31.200Z,1736366191.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:31.200Z,1736366191.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758186 2025-01-08T19:56:31.220Z,1736366191.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:31.228Z,1736366191.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:31.232Z,1736366191.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 59.184772 m, bearing: 172.369403 deg, approach rate: 0.222832 m/s, LOS rate: -0.570049 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.177869 deg. 2025-01-08T19:56:31.233Z,1736366191.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802760 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:56:31.452Z,1736366191.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:31.453Z,1736366191.453 [DAT](INFO): DAT read: Rx Time:19:56:30.1298 2025-01-08T19:56:31.453Z,1736366191.453 [DAT](INFO): Rx dataTimestamp_ set to:1736366191.452760 2025-01-08T19:56:31.454Z,1736366191.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011258 2025-01-08T19:56:31.566Z,1736366191.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:31.575Z,1736366191.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:31.578Z,1736366191.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 59.262901 m, bearing: 172.172511 deg, approach rate: 0.225412 m/s, LOS rate: -0.567310 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.385311 deg. 2025-01-08T19:56:31.579Z,1736366191.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806380 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:56:31.704Z,1736366191.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:31.705Z,1736366191.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262262 2025-01-08T19:56:31.956Z,1736366191.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:31.957Z,1736366191.957 [DAT](INFO): DAT read: Range 10 to 50 : 76.3 m (Round-trip 101.8 ms) speed 0.0 m/s 2025-01-08T19:56:31.958Z,1736366191.958 [DAT](INFO): DAT read: user:977> 2025-01-08T19:56:31.959Z,1736366191.959 [DAT](INFO): DAT read: Tx time:19:56:31.2239 2025-01-08T19:56:31.959Z,1736366191.959 [DAT](INFO): Ping request sent. 2025-01-08T19:56:31.959Z,1736366191.959 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:31.959Z,1736366191.959 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:56:31.960Z,1736366191.960 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:31.960Z,1736366191.960 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:31.989Z,1736366191.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:32.029Z,1736366192.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.300003 m, deltaT: 3.527621 s, deltaX: -0.299995 m, approachRate: -0.085042 m/s, rangeRepo size: 4 2025-01-08T19:56:32.029Z,1736366192.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:32.041Z,1736366192.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 59.359329 m, bearing: 171.932819 deg, approach rate: 0.212695 m/s, LOS rate: -0.527839 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.257318 deg. 2025-01-08T19:56:32.042Z,1736366192.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804146 target range: 76.599998 and range: 76.30 m. 2025-01-08T19:56:32.210Z,1736366192.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:32.213Z,1736366192.213 [DAT](INFO): DAT read: TxSync time:19:56:31.2231 2025-01-08T19:56:32.399Z,1736366192.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:32.406Z,1736366192.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:32.409Z,1736366192.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:32.432Z,1736366192.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 59.453865 m, bearing: 171.702793 deg, approach rate: 0.248433 m/s, LOS rate: -0.603528 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.286241 deg. 2025-01-08T19:56:32.433Z,1736366192.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804651 target range: 76.599998 and range: 76.30 m. 2025-01-08T19:56:32.460Z,1736366192.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:32.460Z,1736366192.460 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:32.460Z,1736366192.460 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:32.461Z,1736366192.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:32.712Z,1736366192.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:32.712Z,1736366192.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753111 2025-01-08T19:56:32.790Z,1736366192.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:32.800Z,1736366192.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:32.802Z,1736366192.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 59.544567 m, bearing: 171.483513 deg, approach rate: 0.232216 m/s, LOS rate: -0.560546 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.318380 deg. 2025-01-08T19:56:32.804Z,1736366192.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805212 target range: 76.599998 and range: 76.30 m. 2025-01-08T19:56:32.965Z,1736366192.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:32.966Z,1736366192.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006302 2025-01-08T19:56:33.217Z,1736366193.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:33.217Z,1736366193.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258224 2025-01-08T19:56:33.244Z,1736366193.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:33.282Z,1736366193.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:33.290Z,1736366193.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 59.644344 m, bearing: 171.228426 deg, approach rate: 0.206793 m/s, LOS rate: -0.527793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.211254 deg. 2025-01-08T19:56:33.300Z,1736366193.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803342 target range: 76.599998 and range: 76.30 m. 2025-01-08T19:56:33.468Z,1736366193.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:33.468Z,1736366193.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509263 2025-01-08T19:56:33.621Z,1736366193.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:33.630Z,1736366193.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:33.633Z,1736366193.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 59.728344 m, bearing: 171.017284 deg, approach rate: 0.241504 m/s, LOS rate: -0.606191 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.342678 deg. 2025-01-08T19:56:33.634Z,1736366193.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805636 target range: 76.599998 and range: 76.30 m. 2025-01-08T19:56:33.721Z,1736366193.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:33.722Z,1736366193.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762564 2025-01-08T19:56:33.972Z,1736366193.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:33.972Z,1736366193.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013122 2025-01-08T19:56:34.034Z,1736366194.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:34.042Z,1736366194.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:34.045Z,1736366194.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 59.821655 m, bearing: 170.786910 deg, approach rate: 0.226128 m/s, LOS rate: -0.557409 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.285179 deg. 2025-01-08T19:56:34.046Z,1736366194.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804633 target range: 76.599998 and range: 76.30 m. 2025-01-08T19:56:34.225Z,1736366194.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:34.228Z,1736366194.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268094 2025-01-08T19:56:34.442Z,1736366194.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:34.470Z,1736366194.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:34.476Z,1736366194.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:34.477Z,1736366194.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517308 2025-01-08T19:56:34.478Z,1736366194.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:34.485Z,1736366194.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 59.909267 m, bearing: 170.553908 deg, approach rate: 0.201099 m/s, LOS rate: -0.534034 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.277238 deg. 2025-01-08T19:56:34.486Z,1736366194.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804494 target range: 76.599998 and range: 76.30 m. 2025-01-08T19:56:34.729Z,1736366194.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:34.729Z,1736366194.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770187 2025-01-08T19:56:34.834Z,1736366194.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:34.842Z,1736366194.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:34.845Z,1736366194.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 59.994125 m, bearing: 170.331185 deg, approach rate: 0.232991 m/s, LOS rate: -0.610653 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.307996 deg. 2025-01-08T19:56:34.846Z,1736366194.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805031 target range: 76.599998 and range: 76.30 m. 2025-01-08T19:56:34.980Z,1736366194.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:34.982Z,1736366194.982 [DAT](INFO): DAT read: Rx Time:19:56:33.7296 2025-01-08T19:56:34.982Z,1736366194.982 [DAT](INFO): Rx dataTimestamp_ set to:1736366194.981805 2025-01-08T19:56:34.983Z,1736366194.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023410 2025-01-08T19:56:35.092Z,1736366195.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:56:35.234Z,1736366195.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:35.236Z,1736366195.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276243 2025-01-08T19:56:35.327Z,1736366195.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:35.336Z,1736366195.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:35.339Z,1736366195.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 60.102707 m, bearing: 170.037733 deg, approach rate: 0.219819 m/s, LOS rate: -0.593007 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.096493 deg. 2025-01-08T19:56:35.340Z,1736366195.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801340 target range: 76.599998 and range: 76.30 m. 2025-01-08T19:56:35.484Z,1736366195.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:35.485Z,1736366195.485 [DAT](INFO): DAT read: Range 10 to 50 : 76.1 m (Round-trip 101.5 ms) speed 0.0 m/s 2025-01-08T19:56:35.486Z,1736366195.486 [DAT](INFO): DAT read: user:978> 2025-01-08T19:56:35.487Z,1736366195.487 [DAT](INFO): DAT read: Tx time:19:56:34.8240 2025-01-08T19:56:35.487Z,1736366195.487 [DAT](INFO): Ping request sent. 2025-01-08T19:56:35.487Z,1736366195.487 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:35.488Z,1736366195.488 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:56:35.488Z,1736366195.488 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:35.488Z,1736366195.488 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:35.684Z,1736366195.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:35.700Z,1736366195.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.099998 m, deltaT: 3.528037 s, deltaX: -0.200005 m, approachRate: -0.056690 m/s, rangeRepo size: 4 2025-01-08T19:56:35.701Z,1736366195.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:35.712Z,1736366195.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 60.180195 m, bearing: 169.831562 deg, approach rate: 0.218025 m/s, LOS rate: -0.579347 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.357495 deg. 2025-01-08T19:56:35.713Z,1736366195.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805895 target range: 76.599998 and range: 76.10 m. 2025-01-08T19:56:35.736Z,1736366195.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:35.737Z,1736366195.737 [DAT](INFO): DAT read: TxSync time:19:56:34.8232 2025-01-08T19:56:35.988Z,1736366195.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:36.041Z,1736366196.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:36.049Z,1736366196.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:36.052Z,1736366196.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 60.262455 m, bearing: 169.614979 deg, approach rate: 0.230110 m/s, LOS rate: -0.605027 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.326356 deg. 2025-01-08T19:56:36.054Z,1736366196.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805351 target range: 76.599998 and range: 76.10 m. 2025-01-08T19:56:36.096Z,1736366196.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:56:36.241Z,1736366196.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:36.492Z,1736366196.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:36.501Z,1736366196.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:36.528Z,1736366196.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:36.534Z,1736366196.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:36.545Z,1736366196.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 60.365856 m, bearing: 169.334240 deg, approach rate: 0.214882 m/s, LOS rate: -0.582415 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.134473 deg. 2025-01-08T19:56:36.546Z,1736366196.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802002 target range: 76.599998 and range: 76.10 m. 2025-01-08T19:56:36.746Z,1736366196.746 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:36.748Z,1736366196.748 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:36.748Z,1736366196.748 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:36.748Z,1736366196.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:36.852Z,1736366196.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:36.860Z,1736366196.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:36.863Z,1736366196.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 60.444416 m, bearing: 169.120983 deg, approach rate: 0.237992 m/s, LOS rate: -0.645205 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.336277 deg. 2025-01-08T19:56:36.865Z,1736366196.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805524 target range: 76.599998 and range: 76.10 m. 2025-01-08T19:56:36.996Z,1736366196.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:36.996Z,1736366196.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509077 2025-01-08T19:56:37.249Z,1736366197.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:37.252Z,1736366197.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764095 2025-01-08T19:56:37.332Z,1736366197.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:37.340Z,1736366197.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:37.343Z,1736366197.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 60.551727 m, bearing: 168.822205 deg, approach rate: 0.223668 m/s, LOS rate: -0.621633 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.080518 deg. 2025-01-08T19:56:37.344Z,1736366197.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801061 target range: 76.599998 and range: 76.10 m. 2025-01-08T19:56:37.500Z,1736366197.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:37.500Z,1736366197.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013084 2025-01-08T19:56:37.669Z,1736366197.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:37.683Z,1736366197.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:37.686Z,1736366197.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 60.628021 m, bearing: 168.613117 deg, approach rate: 0.222836 m/s, LOS rate: -0.609924 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.348740 deg. 2025-01-08T19:56:37.688Z,1736366197.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805742 target range: 76.599998 and range: 76.10 m. 2025-01-08T19:56:37.753Z,1736366197.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:37.754Z,1736366197.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266121 2025-01-08T19:56:38.004Z,1736366198.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:38.004Z,1736366198.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516974 2025-01-08T19:56:38.070Z,1736366198.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:38.078Z,1736366198.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:38.081Z,1736366198.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 60.720085 m, bearing: 168.364766 deg, approach rate: 0.232700 m/s, LOS rate: -0.626778 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.231306 deg. 2025-01-08T19:56:38.082Z,1736366198.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803692 target range: 76.599998 and range: 76.10 m. 2025-01-08T19:56:38.257Z,1736366198.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:38.259Z,1736366198.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771493 2025-01-08T19:56:38.508Z,1736366198.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:38.509Z,1736366198.509 [DAT](INFO): DAT read: Rx Time:19:56:37.3289 2025-01-08T19:56:38.509Z,1736366198.509 [DAT](INFO): Rx dataTimestamp_ set to:1736366198.508785 2025-01-08T19:56:38.510Z,1736366198.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022254 2025-01-08T19:56:38.516Z,1736366198.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:38.524Z,1736366198.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:38.527Z,1736366198.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 60.826347 m, bearing: 168.078278 deg, approach rate: 0.238194 m/s, LOS rate: -0.641058 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.117293 deg. 2025-01-08T19:56:38.528Z,1736366198.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801702 target range: 76.599998 and range: 76.10 m. 2025-01-08T19:56:38.760Z,1736366198.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:38.760Z,1736366198.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272983 2025-01-08T19:56:38.866Z,1736366198.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:38.873Z,1736366198.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:38.875Z,1736366198.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:38.878Z,1736366198.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 60.910679 m, bearing: 167.853777 deg, approach rate: 0.240579 m/s, LOS rate: -0.639562 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.302649 deg. 2025-01-08T19:56:38.879Z,1736366198.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804938 target range: 76.599998 and range: 76.10 m. 2025-01-08T19:56:39.012Z,1736366199.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:39.014Z,1736366199.014 [DAT](INFO): DAT read: Range 10 to 50 : 75.5 m (Round-trip 100.7 ms) speed 0.0 m/s 2025-01-08T19:56:39.015Z,1736366199.015 [DAT](INFO): DAT read: user:979> 2025-01-08T19:56:39.015Z,1736366199.015 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:56:39.017Z,1736366199.017 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:39.018Z,1736366199.018 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:39.019Z,1736366199.019 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:39.265Z,1736366199.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:39.269Z,1736366199.269 [DAT](INFO): DAT read: Tx time:19:56:3.440 TxSync time:19:56:38.4232 2025-01-08T19:56:39.270Z,1736366199.270 [DAT](INFO): Ping request sent. 2025-01-08T19:56:39.270Z,1736366199.270 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:39.272Z,1736366199.272 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:39.274Z,1736366199.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003070 2025-01-08T19:56:39.373Z,1736366199.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:39.388Z,1736366199.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.500000 m, deltaT: 3.528134 s, deltaX: -0.599998 m, approachRate: -0.170061 m/s, rangeRepo size: 4 2025-01-08T19:56:39.389Z,1736366199.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:39.392Z,1736366199.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 61.033531 m, bearing: 167.533459 deg, approach rate: 0.239808 m/s, LOS rate: -0.624000 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.016260 deg. 2025-01-08T19:56:39.393Z,1736366199.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.799939 target range: 76.599998 and range: 75.50 m. 2025-01-08T19:56:39.516Z,1736366199.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:39.517Z,1736366199.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246481 2025-01-08T19:56:39.684Z,1736366199.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:39.709Z,1736366199.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:39.716Z,1736366199.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 61.109432 m, bearing: 167.337675 deg, approach rate: 0.236034 m/s, LOS rate: -0.608083 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.388587 deg. 2025-01-08T19:56:39.717Z,1736366199.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806437 target range: 76.599998 and range: 75.50 m. 2025-01-08T19:56:39.768Z,1736366199.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:39.769Z,1736366199.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498777 2025-01-08T19:56:40.020Z,1736366200.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:40.020Z,1736366200.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750296 2025-01-08T19:56:40.079Z,1736366200.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:40.105Z,1736366200.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:40.113Z,1736366200.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 61.206314 m, bearing: 167.089243 deg, approach rate: 0.244272 m/s, LOS rate: -0.625389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.231113 deg. 2025-01-08T19:56:40.114Z,1736366200.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803689 target range: 76.599998 and range: 75.50 m. 2025-01-08T19:56:40.274Z,1736366200.274 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:40.277Z,1736366200.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006244 2025-01-08T19:56:40.516Z,1736366200.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:40.524Z,1736366200.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:40.525Z,1736366200.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254475 2025-01-08T19:56:40.527Z,1736366200.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:40.529Z,1736366200.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 61.321281 m, bearing: 166.822611 deg, approach rate: 0.272844 m/s, LOS rate: -0.631589 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.176846 deg. 2025-01-08T19:56:40.532Z,1736366200.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802742 target range: 76.599998 and range: 75.50 m. 2025-01-08T19:56:40.776Z,1736366200.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:40.777Z,1736366200.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506471 2025-01-08T19:56:40.888Z,1736366200.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:40.911Z,1736366200.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:40.914Z,1736366200.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:40.926Z,1736366200.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 61.420246 m, bearing: 166.596499 deg, approach rate: 0.255657 m/s, LOS rate: -0.583176 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.297976 deg. 2025-01-08T19:56:40.932Z,1736366200.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804856 target range: 76.599998 and range: 75.50 m. 2025-01-08T19:56:41.028Z,1736366201.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:41.029Z,1736366201.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758631 2025-01-08T19:56:41.282Z,1736366201.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:41.285Z,1736366201.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013891 2025-01-08T19:56:41.396Z,1736366201.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:41.405Z,1736366201.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:41.408Z,1736366201.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 61.555435 m, bearing: 166.304634 deg, approach rate: 0.275330 m/s, LOS rate: -0.593111 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.101589 deg. 2025-01-08T19:56:41.409Z,1736366201.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801428 target range: 76.599998 and range: 75.50 m. 2025-01-08T19:56:41.532Z,1736366201.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:41.532Z,1736366201.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262353 2025-01-08T19:56:41.708Z,1736366201.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:41.717Z,1736366201.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:41.720Z,1736366201.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 61.639595 m, bearing: 166.125587 deg, approach rate: 0.269487 m/s, LOS rate: -0.572541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.438796 deg. 2025-01-08T19:56:41.721Z,1736366201.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807314 target range: 76.599998 and range: 75.50 m. 2025-01-08T19:56:41.784Z,1736366201.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:41.785Z,1736366201.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514602 2025-01-08T19:56:42.036Z,1736366202.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:42.036Z,1736366202.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766377 2025-01-08T19:56:42.113Z,1736366202.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:42.125Z,1736366202.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:42.128Z,1736366202.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 61.749786 m, bearing: 165.893969 deg, approach rate: 0.269824 m/s, LOS rate: -0.566148 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.281606 deg. 2025-01-08T19:56:42.129Z,1736366202.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804570 target range: 76.599998 and range: 75.50 m. 2025-01-08T19:56:42.288Z,1736366202.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:42.289Z,1736366202.289 [DAT](INFO): DAT read: Rx Time:19:56:40.9281 2025-01-08T19:56:42.289Z,1736366202.289 [DAT](INFO): Rx dataTimestamp_ set to:1736366202.288710 2025-01-08T19:56:42.290Z,1736366202.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019460 2025-01-08T19:56:42.527Z,1736366202.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:42.542Z,1736366202.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:42.543Z,1736366202.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272842 2025-01-08T19:56:42.566Z,1736366202.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:42.573Z,1736366202.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 61.860382 m, bearing: 165.672915 deg, approach rate: 0.251274 m/s, LOS rate: -0.501335 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.313244 deg. 2025-01-08T19:56:42.574Z,1736366202.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805122 target range: 76.599998 and range: 75.50 m. 2025-01-08T19:56:42.794Z,1736366202.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:42.796Z,1736366202.796 [DAT](INFO): DAT read: Range 10 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.0 m/s 2025-01-08T19:56:42.798Z,1736366202.798 [DAT](INFO): DAT read: user:980> 2025-01-08T19:56:42.799Z,1736366202.799 [DAT](INFO): DAT read: Tx time:19:56:42.0240 2025-01-08T19:56:42.799Z,1736366202.799 [DAT](INFO): Ping request sent. 2025-01-08T19:56:42.799Z,1736366202.799 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:42.801Z,1736366202.801 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:56:42.801Z,1736366202.801 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:42.802Z,1736366202.802 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:42.921Z,1736366202.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:42.928Z,1736366202.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:42.948Z,1736366202.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 3.782778 s, deltaX: -0.500000 m, approachRate: -0.132178 m/s, rangeRepo size: 4 2025-01-08T19:56:42.949Z,1736366202.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:42.956Z,1736366202.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 61.966549 m, bearing: 165.463814 deg, approach rate: 0.291322 m/s, LOS rate: -0.572790 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.348984 deg. 2025-01-08T19:56:42.957Z,1736366202.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805747 target range: 76.599998 and range: 75.00 m. 2025-01-08T19:56:43.044Z,1736366203.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:43.045Z,1736366203.045 [DAT](INFO): DAT read: TxSync time:19:56:42.0232 2025-01-08T19:56:43.045Z,1736366203.045 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:43.045Z,1736366203.045 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:43.046Z,1736366203.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:43.297Z,1736366203.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:43.299Z,1736366203.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499758 2025-01-08T19:56:43.431Z,1736366203.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:43.460Z,1736366203.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:43.462Z,1736366203.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 62.100124 m, bearing: 165.215457 deg, approach rate: 0.254233 m/s, LOS rate: -0.471679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.231761 deg. 2025-01-08T19:56:43.468Z,1736366203.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803700 target range: 76.599998 and range: 75.00 m. 2025-01-08T19:56:43.548Z,1736366203.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:43.549Z,1736366203.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750018 2025-01-08T19:56:43.800Z,1736366203.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:43.800Z,1736366203.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001402 2025-01-08T19:56:43.881Z,1736366203.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:43.906Z,1736366203.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:43.909Z,1736366203.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 62.219345 m, bearing: 164.996673 deg, approach rate: 0.264800 m/s, LOS rate: -0.485005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.320124 deg. 2025-01-08T19:56:43.910Z,1736366203.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805243 target range: 76.599998 and range: 75.00 m. 2025-01-08T19:56:44.052Z,1736366204.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:44.053Z,1736366204.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253614 2025-01-08T19:56:44.304Z,1736366204.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:44.304Z,1736366204.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505581 2025-01-08T19:56:44.403Z,1736366204.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:44.418Z,1736366204.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:44.424Z,1736366204.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 62.358303 m, bearing: 164.746520 deg, approach rate: 0.274643 m/s, LOS rate: -0.493311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.226445 deg. 2025-01-08T19:56:44.426Z,1736366204.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803607 target range: 76.599998 and range: 75.00 m. 2025-01-08T19:56:44.556Z,1736366204.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:44.556Z,1736366204.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757388 2025-01-08T19:56:44.743Z,1736366204.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:44.769Z,1736366204.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:44.775Z,1736366204.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 62.451672 m, bearing: 164.588808 deg, approach rate: 0.261558 m/s, LOS rate: -0.441144 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.502770 deg. 2025-01-08T19:56:44.781Z,1736366204.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808431 target range: 76.599998 and range: 75.00 m. 2025-01-08T19:56:44.808Z,1736366204.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:44.809Z,1736366204.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009635 2025-01-08T19:56:45.060Z,1736366205.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:45.060Z,1736366205.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261458 2025-01-08T19:56:45.129Z,1736366205.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:45.137Z,1736366205.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:45.140Z,1736366205.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:45.142Z,1736366205.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 62.558090 m, bearing: 164.412118 deg, approach rate: 0.287014 m/s, LOS rate: -0.475727 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.446035 deg. 2025-01-08T19:56:45.144Z,1736366205.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807440 target range: 76.599998 and range: 75.00 m. 2025-01-08T19:56:45.313Z,1736366205.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:45.314Z,1736366205.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514981 2025-01-08T19:56:45.558Z,1736366205.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:45.565Z,1736366205.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:45.565Z,1736366205.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766566 2025-01-08T19:56:45.569Z,1736366205.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:45.595Z,1736366205.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 62.675564 m, bearing: 164.223211 deg, approach rate: 0.273219 m/s, LOS rate: -0.438535 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.409545 deg. 2025-01-08T19:56:45.600Z,1736366205.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806803 target range: 76.599998 and range: 75.00 m. 2025-01-08T19:56:45.816Z,1736366205.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:45.816Z,1736366205.816 [DAT](INFO): DAT read: Rx Time:19:56:44.5280 2025-01-08T19:56:45.817Z,1736366205.817 [DAT](INFO): Rx dataTimestamp_ set to:1736366205.816674 2025-01-08T19:56:45.817Z,1736366205.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018582 2025-01-08T19:56:45.940Z,1736366205.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:45.949Z,1736366205.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:45.976Z,1736366205.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 62.781342 m, bearing: 164.055859 deg, approach rate: 0.278491 m/s, LOS rate: -0.439861 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.473990 deg. 2025-01-08T19:56:45.977Z,1736366205.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807928 target range: 76.599998 and range: 75.00 m. 2025-01-08T19:56:46.068Z,1736366206.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:46.069Z,1736366206.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270090 2025-01-08T19:56:46.320Z,1736366206.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:46.321Z,1736366206.321 [DAT](INFO): DAT read: Range 10 to 50 : 74.9 m (Round-trip 99.9 ms) speed 0.0 m/s 2025-01-08T19:56:46.322Z,1736366206.322 [DAT](INFO): DAT read: user:981> 2025-01-08T19:56:46.323Z,1736366206.323 [DAT](INFO): DAT read: Tx time:19:56:45.6241 2025-01-08T19:56:46.328Z,1736366206.328 [DAT](INFO): Ping request sent. 2025-01-08T19:56:46.328Z,1736366206.328 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:46.329Z,1736366206.329 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:56:46.329Z,1736366206.329 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:46.329Z,1736366206.329 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:46.449Z,1736366206.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:46.462Z,1736366206.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.900002 m, deltaT: 3.525227 s, deltaX: -0.099998 m, approachRate: -0.028367 m/s, rangeRepo size: 4 2025-01-08T19:56:46.463Z,1736366206.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:46.470Z,1736366206.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 62.923946 m, bearing: 163.833919 deg, approach rate: 0.278250 m/s, LOS rate: -0.432066 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.310907 deg. 2025-01-08T19:56:46.476Z,1736366206.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805082 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:56:46.573Z,1736366206.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:46.576Z,1736366206.576 [DAT](INFO): DAT read: TxSync time:19:56:45.6233 2025-01-08T19:56:46.790Z,1736366206.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:46.800Z,1736366206.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:46.802Z,1736366206.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 63.017010 m, bearing: 163.681083 deg, approach rate: 0.275479 m/s, LOS rate: -0.451744 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.517367 deg. 2025-01-08T19:56:46.804Z,1736366206.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808685 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:56:46.824Z,1736366206.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:47.076Z,1736366207.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:47.181Z,1736366207.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:47.188Z,1736366207.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:47.190Z,1736366207.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:47.193Z,1736366207.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 63.124237 m, bearing: 163.506441 deg, approach rate: 0.274813 m/s, LOS rate: -0.446828 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.452167 deg. 2025-01-08T19:56:47.194Z,1736366207.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807547 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:56:47.329Z,1736366207.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:47.330Z,1736366207.330 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:47.330Z,1736366207.330 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:47.330Z,1736366207.330 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:47.580Z,1736366207.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:47.581Z,1736366207.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253177 2025-01-08T19:56:47.585Z,1736366207.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:47.593Z,1736366207.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:47.596Z,1736366207.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 63.239750 m, bearing: 163.314930 deg, approach rate: 0.286113 m/s, LOS rate: -0.473485 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.401723 deg. 2025-01-08T19:56:47.598Z,1736366207.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806667 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:56:47.832Z,1736366207.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:47.833Z,1736366207.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504486 2025-01-08T19:56:47.972Z,1736366207.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:47.980Z,1736366207.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:47.984Z,1736366207.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 63.351082 m, bearing: 163.132342 deg, approach rate: 0.287949 m/s, LOS rate: -0.471414 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.428403 deg. 2025-01-08T19:56:47.985Z,1736366207.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807133 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:56:48.084Z,1736366208.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:48.085Z,1736366208.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756546 2025-01-08T19:56:48.337Z,1736366208.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:48.339Z,1736366208.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010450 2025-01-08T19:56:48.412Z,1736366208.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:48.476Z,1736366208.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:48.478Z,1736366208.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 63.473938 m, bearing: 162.933944 deg, approach rate: 0.250016 m/s, LOS rate: -0.402964 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.381166 deg. 2025-01-08T19:56:48.484Z,1736366208.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806308 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:56:48.589Z,1736366208.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:48.590Z,1736366208.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261471 2025-01-08T19:56:48.802Z,1736366208.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:48.810Z,1736366208.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:48.813Z,1736366208.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 63.594559 m, bearing: 162.726778 deg, approach rate: 0.356114 m/s, LOS rate: -0.610462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.354895 deg. 2025-01-08T19:56:48.815Z,1736366208.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805850 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:56:48.840Z,1736366208.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:48.841Z,1736366208.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512914 2025-01-08T19:56:49.092Z,1736366209.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:49.092Z,1736366209.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764422 2025-01-08T19:56:49.282Z,1736366209.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:49.289Z,1736366209.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:49.291Z,1736366209.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:49.294Z,1736366209.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 63.738132 m, bearing: 162.483688 deg, approach rate: 0.298669 m/s, LOS rate: -0.504547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.247601 deg. 2025-01-08T19:56:49.295Z,1736366209.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803977 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:56:49.345Z,1736366209.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:49.346Z,1736366209.346 [DAT](INFO): DAT read: Rx Time:19:56:48.1280 2025-01-08T19:56:49.347Z,1736366209.347 [DAT](INFO): Rx dataTimestamp_ set to:1736366209.346309 2025-01-08T19:56:49.347Z,1736366209.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019185 2025-01-08T19:56:49.596Z,1736366209.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:49.596Z,1736366209.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268382 2025-01-08T19:56:49.636Z,1736366209.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:49.687Z,1736366209.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:49.690Z,1736366209.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 63.848110 m, bearing: 162.292620 deg, approach rate: 0.280338 m/s, LOS rate: -0.486201 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.402990 deg. 2025-01-08T19:56:49.695Z,1736366209.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806689 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:56:49.848Z,1736366209.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:49.850Z,1736366209.850 [DAT](INFO): DAT read: Range 10 to 50 : 74.8 m (Round-trip 99.8 ms) speed 0.0 m/s 2025-01-08T19:56:49.851Z,1736366209.851 [DAT](INFO): DAT read: user:982> 2025-01-08T19:56:49.852Z,1736366209.852 [DAT](INFO): DAT read: Tx time:19:56:49.2241 2025-01-08T19:56:49.852Z,1736366209.852 [DAT](INFO): Ping request sent. 2025-01-08T19:56:49.852Z,1736366209.852 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:49.853Z,1736366209.853 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:56:49.853Z,1736366209.853 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:49.853Z,1736366209.853 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:50.008Z,1736366210.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:50.023Z,1736366210.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.800003 m, deltaT: 3.528460 s, deltaX: -0.099998 m, approachRate: -0.028341 m/s, rangeRepo size: 4 2025-01-08T19:56:50.024Z,1736366210.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:50.026Z,1736366210.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 63.964687 m, bearing: 162.092338 deg, approach rate: 0.344282 m/s, LOS rate: -0.590405 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.375459 deg. 2025-01-08T19:56:50.028Z,1736366210.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806209 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:56:50.101Z,1736366210.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:50.102Z,1736366210.102 [DAT](INFO): DAT read: TxSync time:19:56:49.2233 2025-01-08T19:56:50.352Z,1736366210.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:50.410Z,1736366210.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:50.442Z,1736366210.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:50.467Z,1736366210.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 64.090958 m, bearing: 161.877146 deg, approach rate: 0.300991 m/s, LOS rate: -0.511944 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.330909 deg. 2025-01-08T19:56:50.484Z,1736366210.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805431 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:56:50.604Z,1736366210.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:50.849Z,1736366210.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:50.856Z,1736366210.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:50.875Z,1736366210.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:50.878Z,1736366210.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 64.233940 m, bearing: 161.624504 deg, approach rate: 0.342061 m/s, LOS rate: -0.603055 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.218995 deg. 2025-01-08T19:56:50.884Z,1736366210.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803478 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:56:51.109Z,1736366211.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:51.211Z,1736366211.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:51.220Z,1736366211.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:51.249Z,1736366211.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 64.350731 m, bearing: 161.416777 deg, approach rate: 0.323552 m/s, LOS rate: -0.574433 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.353163 deg. 2025-01-08T19:56:51.250Z,1736366211.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805820 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:56:51.360Z,1736366211.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:51.612Z,1736366211.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:51.712Z,1736366211.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:51.724Z,1736366211.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:51.726Z,1736366211.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:51.733Z,1736366211.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 64.520851 m, bearing: 161.121502 deg, approach rate: 0.336155 m/s, LOS rate: -0.581916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.091773 deg. 2025-01-08T19:56:51.734Z,1736366211.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801257 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:56:51.864Z,1736366211.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:51.865Z,1736366211.865 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:51.865Z,1736366211.865 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:51.865Z,1736366211.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:52.117Z,1736366212.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:52.118Z,1736366212.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265604 2025-01-08T19:56:52.182Z,1736366212.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:52.191Z,1736366212.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:52.193Z,1736366212.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 64.681816 m, bearing: 160.846195 deg, approach rate: 0.346699 m/s, LOS rate: -0.591501 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.151379 deg. 2025-01-08T19:56:52.195Z,1736366212.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802298 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:56:52.369Z,1736366212.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:52.370Z,1736366212.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518079 2025-01-08T19:56:52.606Z,1736366212.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:52.620Z,1736366212.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:52.621Z,1736366212.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768744 2025-01-08T19:56:52.639Z,1736366212.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:52.646Z,1736366212.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 64.828468 m, bearing: 160.588859 deg, approach rate: 0.327338 m/s, LOS rate: -0.573089 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.204975 deg. 2025-01-08T19:56:52.653Z,1736366212.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803233 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:56:52.872Z,1736366212.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:52.873Z,1736366212.873 [DAT](INFO): DAT read: Rx Time:19:56:51.7277 2025-01-08T19:56:52.873Z,1736366212.873 [DAT](INFO): Rx dataTimestamp_ set to:1736366212.872783 2025-01-08T19:56:52.874Z,1736366212.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021366 2025-01-08T19:56:53.065Z,1736366213.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:53.074Z,1736366213.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:53.077Z,1736366213.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 64.987679 m, bearing: 160.312148 deg, approach rate: 0.365921 m/s, LOS rate: -0.634418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.147150 deg. 2025-01-08T19:56:53.078Z,1736366213.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802224 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:56:53.125Z,1736366213.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:53.126Z,1736366213.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273391 2025-01-08T19:56:53.379Z,1736366213.379 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:53.381Z,1736366213.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528379 2025-01-08T19:56:53.517Z,1736366213.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:53.541Z,1736366213.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:53.549Z,1736366213.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 65.146294 m, bearing: 160.039538 deg, approach rate: 0.339269 m/s, LOS rate: -0.581677 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.159405 deg. 2025-01-08T19:56:53.550Z,1736366213.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802438 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:56:53.629Z,1736366213.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:53.632Z,1736366213.632 [DAT](INFO): DAT read: Range 10 to 50 : 74.6 m (Round-trip 99.5 ms) speed 0.0 m/s 2025-01-08T19:56:53.633Z,1736366213.633 [DAT](INFO): DAT read: user:983> 2025-01-08T19:56:53.634Z,1736366213.634 [DAT](INFO): DAT read: Tx time:19:56:52.8241 2025-01-08T19:56:53.635Z,1736366213.635 [DAT](INFO): Ping request sent. 2025-01-08T19:56:53.635Z,1736366213.635 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:53.636Z,1736366213.636 [DAT](INFO): DAT read: TxSync time:19:56:52.8233 2025-01-08T19:56:53.637Z,1736366213.637 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:56:53.637Z,1736366213.637 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:53.638Z,1736366213.638 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:53.880Z,1736366213.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:53.894Z,1736366213.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:53.902Z,1736366213.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:53.905Z,1736366213.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.599998 m, deltaT: 3.780413 s, deltaX: -0.200005 m, approachRate: -0.052905 m/s, rangeRepo size: 4 2025-01-08T19:56:53.906Z,1736366213.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:53.909Z,1736366213.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 65.280510 m, bearing: 159.817760 deg, approach rate: 0.369563 m/s, LOS rate: -0.609407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.311250 deg. 2025-01-08T19:56:53.910Z,1736366213.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805088 target range: 76.599998 and range: 74.60 m. 2025-01-08T19:56:54.134Z,1736366214.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:54.134Z,1736366214.134 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:54.134Z,1736366214.134 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:54.135Z,1736366214.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:54.273Z,1736366214.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:54.282Z,1736366214.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:54.285Z,1736366214.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 65.414856 m, bearing: 159.595727 deg, approach rate: 0.355345 m/s, LOS rate: -0.586069 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.310488 deg. 2025-01-08T19:56:54.287Z,1736366214.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805075 target range: 76.599998 and range: 74.60 m. 2025-01-08T19:56:54.386Z,1736366214.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:54.388Z,1736366214.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753205 2025-01-08T19:56:54.636Z,1736366214.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:54.637Z,1736366214.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001792 2025-01-08T19:56:54.724Z,1736366214.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:54.736Z,1736366214.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:54.739Z,1736366214.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 65.571503 m, bearing: 159.348070 deg, approach rate: 0.345281 m/s, LOS rate: -0.544580 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.234035 deg. 2025-01-08T19:56:54.740Z,1736366214.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803740 target range: 76.599998 and range: 74.60 m. 2025-01-08T19:56:54.888Z,1736366214.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:54.888Z,1736366214.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253716 2025-01-08T19:56:55.080Z,1736366215.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:55.109Z,1736366215.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:55.112Z,1736366215.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 65.695427 m, bearing: 159.153304 deg, approach rate: 0.332451 m/s, LOS rate: -0.521511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.392011 deg. 2025-01-08T19:56:55.113Z,1736366215.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806497 target range: 76.599998 and range: 74.60 m. 2025-01-08T19:56:55.140Z,1736366215.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:55.140Z,1736366215.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505560 2025-01-08T19:56:55.344Z,1736366215.344 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:56:55.392Z,1736366215.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:55.392Z,1736366215.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757741 2025-01-08T19:56:55.540Z,1736366215.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:55.559Z,1736366215.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:55.573Z,1736366215.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 65.850746 m, bearing: 158.911884 deg, approach rate: 0.345185 m/s, LOS rate: -0.535270 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.252676 deg. 2025-01-08T19:56:55.574Z,1736366215.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804066 target range: 76.599998 and range: 74.60 m. 2025-01-08T19:56:55.644Z,1736366215.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:55.645Z,1736366215.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010146 2025-01-08T19:56:55.896Z,1736366215.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:55.896Z,1736366215.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261720 2025-01-08T19:56:55.935Z,1736366215.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:55.942Z,1736366215.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:55.944Z,1736366215.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:55.946Z,1736366215.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 65.991562 m, bearing: 158.704142 deg, approach rate: 0.366018 m/s, LOS rate: -0.538822 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.353318 deg. 2025-01-08T19:56:55.948Z,1736366215.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805822 target range: 76.599998 and range: 74.60 m. 2025-01-08T19:56:56.150Z,1736366216.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:56.151Z,1736366216.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516631 2025-01-08T19:56:56.305Z,1736366216.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:56.313Z,1736366216.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:56.317Z,1736366216.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 66.119156 m, bearing: 158.518216 deg, approach rate: 0.345184 m/s, LOS rate: -0.502021 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.418501 deg. 2025-01-08T19:56:56.318Z,1736366216.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806960 target range: 76.599998 and range: 74.60 m. 2025-01-08T19:56:56.401Z,1736366216.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:56.402Z,1736366216.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767082 2025-01-08T19:56:56.652Z,1736366216.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:56.653Z,1736366216.653 [DAT](INFO): DAT read: Rx Time:19:56:55.3275 2025-01-08T19:56:56.654Z,1736366216.654 [DAT](INFO): Rx dataTimestamp_ set to:1736366216.653550 2025-01-08T19:56:56.655Z,1736366216.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020051 2025-01-08T19:56:56.767Z,1736366216.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:56.776Z,1736366216.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:56.779Z,1736366216.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 66.273262 m, bearing: 158.306691 deg, approach rate: 0.333345 m/s, LOS rate: -0.456481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.342116 deg. 2025-01-08T19:56:56.780Z,1736366216.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805626 target range: 76.599998 and range: 74.60 m. 2025-01-08T19:56:56.904Z,1736366216.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:56.904Z,1736366216.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269732 2025-01-08T19:56:57.108Z,1736366217.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:57.121Z,1736366217.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:57.124Z,1736366217.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 66.387695 m, bearing: 158.151654 deg, approach rate: 0.330991 m/s, LOS rate: -0.447661 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.510889 deg. 2025-01-08T19:56:57.125Z,1736366217.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808572 target range: 76.599998 and range: 74.60 m. 2025-01-08T19:56:57.156Z,1736366217.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:57.158Z,1736366217.158 [DAT](INFO): DAT read: Range 10 to 50 : 74.4 m (Round-trip 99.3 ms) speed 0.0 m/s 2025-01-08T19:56:57.158Z,1736366217.158 [DAT](INFO): DAT read: user:984> 2025-01-08T19:56:57.159Z,1736366217.159 [DAT](INFO): DAT read: Tx time:19:56:56.4241 2025-01-08T19:56:57.160Z,1736366217.160 [DAT](INFO): Ping request sent. 2025-01-08T19:56:57.160Z,1736366217.160 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:56:57.160Z,1736366217.160 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:56:57.160Z,1736366217.160 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:57.161Z,1736366217.161 [DAT](INFO): publishing transmit ping time 2025-01-08T19:56:57.408Z,1736366217.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:57.409Z,1736366217.409 [DAT](INFO): DAT read: TxSync time:19:56:56.4233 2025-01-08T19:56:57.555Z,1736366217.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:57.596Z,1736366217.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.400002 m, deltaT: 3.527191 s, deltaX: -0.199997 m, approachRate: -0.056701 m/s, rangeRepo size: 4 2025-01-08T19:56:57.596Z,1736366217.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:57.604Z,1736366217.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 66.538551 m, bearing: 157.949693 deg, approach rate: 0.321209 m/s, LOS rate: -0.429050 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.370699 deg. 2025-01-08T19:56:57.605Z,1736366217.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806125 target range: 76.599998 and range: 74.40 m. 2025-01-08T19:56:57.661Z,1736366217.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:57.912Z,1736366217.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:57.968Z,1736366217.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:57.974Z,1736366217.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:56:57.977Z,1736366217.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:57.980Z,1736366217.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 66.670326 m, bearing: 157.778268 deg, approach rate: 0.341576 m/s, LOS rate: -0.443473 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.461944 deg. 2025-01-08T19:56:57.982Z,1736366217.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807718 target range: 76.599998 and range: 74.40 m. 2025-01-08T19:56:58.164Z,1736366218.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:58.165Z,1736366218.165 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:56:58.165Z,1736366218.165 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:56:58.165Z,1736366218.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:56:58.320Z,1736366218.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:58.355Z,1736366218.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:58.358Z,1736366218.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 66.782898 m, bearing: 157.632821 deg, approach rate: 0.300710 m/s, LOS rate: -0.387873 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.539591 deg. 2025-01-08T19:56:58.359Z,1736366218.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809073 target range: 76.599998 and range: 74.40 m. 2025-01-08T19:56:58.416Z,1736366218.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:58.417Z,1736366218.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257680 2025-01-08T19:56:58.668Z,1736366218.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:58.669Z,1736366218.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509510 2025-01-08T19:56:58.741Z,1736366218.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:58.750Z,1736366218.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:58.753Z,1736366218.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 66.917702 m, bearing: 157.460013 deg, approach rate: 0.338100 m/s, LOS rate: -0.432546 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.457819 deg. 2025-01-08T19:56:58.754Z,1736366218.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807646 target range: 76.599998 and range: 74.40 m. 2025-01-08T19:56:58.920Z,1736366218.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:58.920Z,1736366218.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760826 2025-01-08T19:56:59.140Z,1736366219.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:59.148Z,1736366219.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:59.151Z,1736366219.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 67.047455 m, bearing: 157.297538 deg, approach rate: 0.325512 m/s, LOS rate: -0.406811 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.488719 deg. 2025-01-08T19:56:59.152Z,1736366219.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808185 target range: 76.599998 and range: 74.40 m. 2025-01-08T19:56:59.172Z,1736366219.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:59.173Z,1736366219.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012861 2025-01-08T19:56:59.424Z,1736366219.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:59.424Z,1736366219.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264706 2025-01-08T19:56:59.572Z,1736366219.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:59.621Z,1736366219.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:56:59.628Z,1736366219.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 67.183723 m, bearing: 157.129431 deg, approach rate: 0.288463 m/s, LOS rate: -0.355139 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.471902 deg. 2025-01-08T19:56:59.629Z,1736366219.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807892 target range: 76.599998 and range: 74.40 m. 2025-01-08T19:56:59.676Z,1736366219.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:59.677Z,1736366219.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517687 2025-01-08T19:56:59.928Z,1736366219.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:56:59.928Z,1736366219.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768787 2025-01-08T19:56:59.991Z,1736366219.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:56:59.991Z,1736366219.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:56:59.999Z,1736366219.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:00.001Z,1736366220.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:00.004Z,1736366220.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 67.327919 m, bearing: 156.953701 deg, approach rate: 0.379260 m/s, LOS rate: -0.461210 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.449143 deg. 2025-01-08T19:57:00.005Z,1736366220.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807495 target range: 76.599998 and range: 74.40 m. 2025-01-08T19:57:00.180Z,1736366220.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:00.181Z,1736366220.181 [DAT](INFO): DAT read: Rx Time:19:56:58.9276 2025-01-08T19:57:00.182Z,1736366220.182 [DAT](INFO): Rx dataTimestamp_ set to:1736366220.181373 2025-01-08T19:57:00.182Z,1736366220.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022526 2025-01-08T19:57:00.351Z,1736366220.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:57:00.351Z,1736366220.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:00.359Z,1736366220.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:00.362Z,1736366220.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 67.447662 m, bearing: 156.809488 deg, approach rate: 0.334102 m/s, LOS rate: -0.401661 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.543324 deg. 2025-01-08T19:57:00.364Z,1736366220.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809138 target range: 76.599998 and range: 74.40 m. 2025-01-08T19:57:00.433Z,1736366220.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:00.434Z,1736366220.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273659 2025-01-08T19:57:00.684Z,1736366220.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:00.685Z,1736366220.685 [DAT](INFO): DAT read: Range 10 to 50 : 74.5 m (Round-trip 99.4 ms) speed 0.0 m/s 2025-01-08T19:57:00.686Z,1736366220.686 [DAT](INFO): DAT read: user:985> 2025-01-08T19:57:00.687Z,1736366220.687 [DAT](INFO): DAT read: Tx time:19:57:00.0241 2025-01-08T19:57:00.687Z,1736366220.687 [DAT](INFO): Ping request sent. 2025-01-08T19:57:00.687Z,1736366220.687 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:00.688Z,1736366220.688 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:00.688Z,1736366220.688 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:00.688Z,1736366220.688 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:00.809Z,1736366220.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:00.840Z,1736366220.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.500000 m, deltaT: 3.527933 s, deltaX: 0.099998 m, approachRate: 0.028345 m/s, rangeRepo size: 4 2025-01-08T19:57:00.840Z,1736366220.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:00.843Z,1736366220.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 67.600014 m, bearing: 156.633312 deg, approach rate: 0.329525 m/s, LOS rate: -0.380198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.447864 deg. 2025-01-08T19:57:00.849Z,1736366220.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807472 target range: 76.599998 and range: 74.50 m. 2025-01-08T19:57:00.936Z,1736366220.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:00.937Z,1736366220.937 [DAT](INFO): DAT read: TxSync time:19:57:00.0233 2025-01-08T19:57:01.166Z,1736366221.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:01.175Z,1736366221.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:01.178Z,1736366221.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 67.715141 m, bearing: 156.500708 deg, approach rate: 0.325931 m/s, LOS rate: -0.374767 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.578060 deg. 2025-01-08T19:57:01.179Z,1736366221.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809744 target range: 76.599998 and range: 74.50 m. 2025-01-08T19:57:01.188Z,1736366221.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:01.440Z,1736366221.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:01.628Z,1736366221.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:01.653Z,1736366221.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:01.662Z,1736366221.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 67.872887 m, bearing: 156.320421 deg, approach rate: 0.329944 m/s, LOS rate: -0.376217 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.435597 deg. 2025-01-08T19:57:01.668Z,1736366221.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807258 target range: 76.599998 and range: 74.50 m. 2025-01-08T19:57:01.692Z,1736366221.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:01.944Z,1736366221.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:01.998Z,1736366221.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:02.005Z,1736366222.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:02.008Z,1736366222.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:02.010Z,1736366222.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 67.997734 m, bearing: 156.177482 deg, approach rate: 0.352323 m/s, LOS rate: -0.402636 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.547167 deg. 2025-01-08T19:57:02.012Z,1736366222.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809206 target range: 76.599998 and range: 74.50 m. 2025-01-08T19:57:02.196Z,1736366222.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:02.196Z,1736366222.196 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:02.196Z,1736366222.196 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:02.197Z,1736366222.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:02.394Z,1736366222.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:02.448Z,1736366222.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:02.449Z,1736366222.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761779 2025-01-08T19:57:02.462Z,1736366222.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:02.501Z,1736366222.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 68.132118 m, bearing: 156.024825 deg, approach rate: 0.295435 m/s, LOS rate: -0.334944 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.518130 deg. 2025-01-08T19:57:02.502Z,1736366222.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808699 target range: 76.599998 and range: 74.50 m. 2025-01-08T19:57:02.700Z,1736366222.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:02.700Z,1736366222.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012875 2025-01-08T19:57:02.814Z,1736366222.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:02.823Z,1736366222.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:02.826Z,1736366222.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 68.280495 m, bearing: 155.853385 deg, approach rate: 0.411598 m/s, LOS rate: -0.474543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.461998 deg. 2025-01-08T19:57:02.827Z,1736366222.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807719 target range: 76.599998 and range: 74.50 m. 2025-01-08T19:57:02.952Z,1736366222.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:02.953Z,1736366222.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265217 2025-01-08T19:57:03.204Z,1736366223.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:03.205Z,1736366223.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517103 2025-01-08T19:57:03.206Z,1736366223.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:03.216Z,1736366223.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:03.218Z,1736366223.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 68.419754 m, bearing: 155.693756 deg, approach rate: 0.354171 m/s, LOS rate: -0.405150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.497286 deg. 2025-01-08T19:57:03.220Z,1736366223.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808335 target range: 76.599998 and range: 74.50 m. 2025-01-08T19:57:03.458Z,1736366223.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:03.463Z,1736366223.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775109 2025-01-08T19:57:03.708Z,1736366223.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:03.709Z,1736366223.709 [DAT](INFO): DAT read: Rx Time:19:57:02.5279 2025-01-08T19:57:03.709Z,1736366223.709 [DAT](INFO): Rx dataTimestamp_ set to:1736366223.708752 2025-01-08T19:57:03.710Z,1736366223.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022148 2025-01-08T19:57:03.710Z,1736366223.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:57:03.711Z,1736366223.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:03.720Z,1736366223.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:03.723Z,1736366223.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 68.598206 m, bearing: 155.490387 deg, approach rate: 0.353983 m/s, LOS rate: -0.402360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.366692 deg. 2025-01-08T19:57:03.724Z,1736366223.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806056 target range: 76.599998 and range: 74.50 m. 2025-01-08T19:57:03.960Z,1736366223.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:03.961Z,1736366223.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273828 2025-01-08T19:57:04.022Z,1736366224.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:57:04.022Z,1736366224.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:04.042Z,1736366224.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:04.049Z,1736366224.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:04.053Z,1736366224.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 68.710365 m, bearing: 155.363361 deg, approach rate: 0.341607 m/s, LOS rate: -0.386253 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.594737 deg. 2025-01-08T19:57:04.055Z,1736366224.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810036 target range: 76.599998 and range: 74.50 m. 2025-01-08T19:57:04.212Z,1736366224.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:04.213Z,1736366224.213 [DAT](INFO): DAT read: Range 10 to 50 : 74.7 m (Round-trip 99.6 ms) speed 0.1 m/s 2025-01-08T19:57:04.215Z,1736366224.215 [DAT](INFO): DAT read: user:986> 2025-01-08T19:57:04.215Z,1736366224.215 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:04.216Z,1736366224.216 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:04.216Z,1736366224.216 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:04.216Z,1736366224.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:04.416Z,1736366224.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:57:04.416Z,1736366224.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:04.430Z,1736366224.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.699997 m, deltaT: 3.527862 s, deltaX: 0.199997 m, approachRate: 0.056691 m/s, rangeRepo size: 4 2025-01-08T19:57:04.431Z,1736366224.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:04.434Z,1736366224.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 68.851196 m, bearing: 155.204330 deg, approach rate: 0.369937 m/s, LOS rate: -0.416891 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.499080 deg. 2025-01-08T19:57:04.435Z,1736366224.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808366 target range: 76.599998 and range: 74.70 m. 2025-01-08T19:57:04.464Z,1736366224.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:04.465Z,1736366224.465 [DAT](INFO): DAT read: T ie1:57:03.6242 2025-01-08T19:57:04.466Z,1736366224.466 [DAT](INFO): unknown deviceResponse_: T ie1:57:03.6242 2025-01-08T19:57:04.468Z,1736366224.468 [DAT](INFO): DAT read: TxSync time:19:57:03.6234 2025-01-08T19:57:04.469Z,1736366224.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781247 2025-01-08T19:57:04.716Z,1736366224.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:04.716Z,1736366224.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029068 2025-01-08T19:57:04.833Z,1736366224.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T19:57:04.833Z,1736366224.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:04.842Z,1736366224.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:04.846Z,1736366224.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 69.000572 m, bearing: 155.037009 deg, approach rate: 0.362108 m/s, LOS rate: -0.404730 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.474324 deg. 2025-01-08T19:57:04.848Z,1736366224.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807934 target range: 76.599998 and range: 74.70 m. 2025-01-08T19:57:04.968Z,1736366224.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:04.969Z,1736366224.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281149 2025-01-08T19:57:05.220Z,1736366225.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:05.220Z,1736366225.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533059 2025-01-08T19:57:05.222Z,1736366225.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T19:57:05.222Z,1736366225.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:05.232Z,1736366225.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:05.235Z,1736366225.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 69.139420 m, bearing: 154.881001 deg, approach rate: 0.357076 m/s, LOS rate: -0.400403 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.508113 deg. 2025-01-08T19:57:05.236Z,1736366225.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808524 target range: 76.599998 and range: 74.70 m. 2025-01-08T19:57:05.472Z,1736366225.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:05.472Z,1736366225.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785043 2025-01-08T19:57:05.639Z,1736366225.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T19:57:05.640Z,1736366225.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:05.699Z,1736366225.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:05.713Z,1736366225.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 69.287560 m, bearing: 154.714652 deg, approach rate: 0.317611 m/s, LOS rate: -0.355888 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.477221 deg. 2025-01-08T19:57:05.715Z,1736366225.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807984 target range: 76.599998 and range: 74.70 m. 2025-01-08T19:57:05.724Z,1736366225.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:05.724Z,1736366225.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037052 2025-01-08T19:57:05.976Z,1736366225.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:05.977Z,1736366225.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289167 2025-01-08T19:57:06.088Z,1736366226.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:06.095Z,1736366226.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:06.097Z,1736366226.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:06.101Z,1736366226.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 69.462929 m, bearing: 154.496314 deg, approach rate: 0.438414 m/s, LOS rate: -0.544454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.321857 deg. 2025-01-08T19:57:06.102Z,1736366226.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805273 target range: 76.599998 and range: 74.70 m. 2025-01-08T19:57:06.228Z,1736366226.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:06.229Z,1736366226.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541141 2025-01-08T19:57:06.237Z,1736366226.237 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:57:06.433Z,1736366226.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:06.441Z,1736366226.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:06.444Z,1736366226.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 69.597389 m, bearing: 154.330259 deg, approach rate: 0.390605 m/s, LOS rate: -0.481457 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.477995 deg. 2025-01-08T19:57:06.445Z,1736366226.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807998 target range: 76.599998 and range: 74.70 m. 2025-01-08T19:57:06.480Z,1736366226.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:06.481Z,1736366226.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793908 2025-01-08T19:57:06.733Z,1736366226.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:06.736Z,1736366226.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047423 2025-01-08T19:57:06.877Z,1736366226.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:06.911Z,1736366226.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:06.915Z,1736366226.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 69.768677 m, bearing: 154.117823 deg, approach rate: 0.367186 m/s, LOS rate: -0.454276 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.339471 deg. 2025-01-08T19:57:06.916Z,1736366226.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805580 target range: 76.599998 and range: 74.70 m. 2025-01-08T19:57:06.986Z,1736366226.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:06.987Z,1736366226.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299482 2025-01-08T19:57:07.236Z,1736366227.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:07.236Z,1736366227.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549025 2025-01-08T19:57:07.240Z,1736366227.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:57:07.246Z,1736366227.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:07.255Z,1736366227.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:07.257Z,1736366227.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 69.912254 m, bearing: 153.941448 deg, approach rate: 0.413722 m/s, LOS rate: -0.507183 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.447165 deg. 2025-01-08T19:57:07.259Z,1736366227.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807460 target range: 76.599998 and range: 74.70 m. 2025-01-08T19:57:07.488Z,1736366227.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:07.489Z,1736366227.489 [DAT](INFO): DAT read: Rx Time:19:57:06.1281 2025-01-08T19:57:07.490Z,1736366227.490 [DAT](INFO): Rx dataTimestamp_ set to:1736366227.489373 2025-01-08T19:57:07.491Z,1736366227.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803065 2025-01-08T19:57:07.654Z,1736366227.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:07.674Z,1736366227.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:07.686Z,1736366227.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 70.070885 m, bearing: 153.748048 deg, approach rate: 0.379790 m/s, LOS rate: -0.461985 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.396322 deg. 2025-01-08T19:57:07.707Z,1736366227.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806572 target range: 76.599998 and range: 74.70 m. 2025-01-08T19:57:07.740Z,1736366227.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:07.741Z,1736366227.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053190 2025-01-08T19:57:07.992Z,1736366227.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:07.993Z,1736366227.993 [DAT](INFO): DAT read: Range 10 to 50 : 74.8 m (Round-trip 99.8 ms) speed 0.0 m/s 2025-01-08T19:57:07.994Z,1736366227.994 [DAT](INFO): DAT read: user:987> 2025-01-08T19:57:07.995Z,1736366227.995 [DAT](INFO): DAT read: Tx time:19:57:07.2242 2025-01-08T19:57:07.995Z,1736366227.995 [DAT](INFO): Ping request sent. 2025-01-08T19:57:07.995Z,1736366227.995 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:07.996Z,1736366227.996 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:07.996Z,1736366227.996 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:07.996Z,1736366227.996 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:08.145Z,1736366228.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:08.156Z,1736366228.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:08.159Z,1736366228.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.800003 m, deltaT: 3.779980 s, deltaX: 0.100006 m, approachRate: 0.026457 m/s, rangeRepo size: 4 2025-01-08T19:57:08.165Z,1736366228.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:08.169Z,1736366228.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 70.264740 m, bearing: 153.510216 deg, approach rate: 0.398973 m/s, LOS rate: -0.488129 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.263698 deg. 2025-01-08T19:57:08.170Z,1736366228.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804258 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:57:08.244Z,1736366228.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:08.245Z,1736366228.245 [DAT](INFO): DAT read: TxSync time:19:57:07.2234 2025-01-08T19:57:08.245Z,1736366228.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:08.245Z,1736366228.245 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:08.246Z,1736366228.246 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:08.477Z,1736366228.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:08.486Z,1736366228.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:08.489Z,1736366228.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 70.396248 m, bearing: 153.349964 deg, approach rate: 0.400614 m/s, LOS rate: -0.487264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.495341 deg. 2025-01-08T19:57:08.490Z,1736366228.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808301 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:57:08.496Z,1736366228.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:08.497Z,1736366228.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501237 2025-01-08T19:57:08.750Z,1736366228.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:08.752Z,1736366228.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756196 2025-01-08T19:57:08.942Z,1736366228.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:08.951Z,1736366228.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:08.954Z,1736366228.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 70.575546 m, bearing: 153.132340 deg, approach rate: 0.386143 m/s, LOS rate: -0.467490 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.324003 deg. 2025-01-08T19:57:08.955Z,1736366228.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805310 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:57:08.000Z,1736366229.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:09.000Z,1736366229.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004970 2025-01-08T19:57:09.252Z,1736366229.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:09.253Z,1736366229.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257229 2025-01-08T19:57:09.311Z,1736366229.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:09.321Z,1736366229.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:09.324Z,1736366229.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 70.717667 m, bearing: 152.959922 deg, approach rate: 0.384191 m/s, LOS rate: -0.465157 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.458987 deg. 2025-01-08T19:57:09.325Z,1736366229.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807666 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:57:09.504Z,1736366229.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:09.504Z,1736366229.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509110 2025-01-08T19:57:09.766Z,1736366229.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:09.767Z,1736366229.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772177 2025-01-08T19:57:09.779Z,1736366229.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:09.797Z,1736366229.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:09.812Z,1736366229.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 70.899162 m, bearing: 152.742340 deg, approach rate: 0.381338 m/s, LOS rate: -0.455987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.324142 deg. 2025-01-08T19:57:09.813Z,1736366229.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805313 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:57:10.016Z,1736366230.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:10.016Z,1736366230.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021200 2025-01-08T19:57:10.140Z,1736366230.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:10.150Z,1736366230.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:10.153Z,1736366230.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 71.045097 m, bearing: 152.578000 deg, approach rate: 0.412946 m/s, LOS rate: -0.464071 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.483190 deg. 2025-01-08T19:57:10.154Z,1736366230.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808089 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:57:10.269Z,1736366230.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:10.269Z,1736366230.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274108 2025-01-08T19:57:10.517Z,1736366230.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:10.520Z,1736366230.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:10.520Z,1736366230.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525169 2025-01-08T19:57:10.525Z,1736366230.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:10.527Z,1736366230.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:10.530Z,1736366230.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 71.197884 m, bearing: 152.407585 deg, approach rate: 0.405128 m/s, LOS rate: -0.450902 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.465053 deg. 2025-01-08T19:57:10.532Z,1736366230.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807772 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:57:10.773Z,1736366230.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:10.775Z,1736366230.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779508 2025-01-08T19:57:10.944Z,1736366230.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:10.953Z,1736366230.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:10.959Z,1736366230.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 71.363747 m, bearing: 152.223671 deg, approach rate: 0.389119 m/s, LOS rate: -0.430463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.424745 deg. 2025-01-08T19:57:10.962Z,1736366230.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807069 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:57:11.025Z,1736366231.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:11.026Z,1736366231.026 [DAT](INFO): DAT read: Rx Time:19:57:09.7282 2025-01-08T19:57:11.026Z,1736366231.026 [DAT](INFO): Rx dataTimestamp_ set to:1736366231.025853 2025-01-08T19:57:11.028Z,1736366231.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031782 2025-01-08T19:57:11.276Z,1736366231.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:11.276Z,1736366231.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281066 2025-01-08T19:57:11.346Z,1736366231.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:11.378Z,1736366231.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:11.390Z,1736366231.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 71.520248 m, bearing: 152.051655 deg, approach rate: 0.370748 m/s, LOS rate: -0.406609 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.460282 deg. 2025-01-08T19:57:11.394Z,1736366231.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807689 target range: 76.599998 and range: 74.80 m. 2025-01-08T19:57:11.528Z,1736366231.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:11.531Z,1736366231.531 [DAT](INFO): DAT read: Range 10 to 50 : 74.9 m (Round-trip 99.9 ms) speed 0.0 m/s 2025-01-08T19:57:11.532Z,1736366231.532 [DAT](INFO): DAT read: user:988> 2025-01-08T19:57:11.534Z,1736366231.534 [DAT](INFO): DAT read: Tx time:19:57:10.8242 2025-01-08T19:57:11.534Z,1736366231.534 [DAT](INFO): Ping request sent. 2025-01-08T19:57:11.534Z,1736366231.534 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:11.535Z,1736366231.535 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:11.535Z,1736366231.535 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:11.536Z,1736366231.536 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:11.782Z,1736366231.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:11.785Z,1736366231.785 [DAT](INFO): DAT read: TxSync time:19:57:10.8234 2025-01-08T19:57:11.796Z,1736366231.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:11.823Z,1736366231.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.900002 m, deltaT: 3.536831 s, deltaX: 0.099998 m, approachRate: 0.028273 m/s, rangeRepo size: 4 2025-01-08T19:57:11.824Z,1736366231.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:11.827Z,1736366231.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 71.689735 m, bearing: 151.867308 deg, approach rate: 0.387079 m/s, LOS rate: -0.420020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.423473 deg. 2025-01-08T19:57:11.835Z,1736366231.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807046 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:57:12.032Z,1736366232.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:12.173Z,1736366232.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:12.182Z,1736366232.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:12.185Z,1736366232.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 71.846054 m, bearing: 151.701065 deg, approach rate: 0.423876 m/s, LOS rate: -0.449807 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.477554 deg. 2025-01-08T19:57:12.186Z,1736366232.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807991 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:57:12.284Z,1736366232.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:12.539Z,1736366232.539 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:12.558Z,1736366232.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:12.566Z,1736366232.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:12.568Z,1736366232.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:12.571Z,1736366232.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 71.999214 m, bearing: 151.538683 deg, approach rate: 0.396800 m/s, LOS rate: -0.419795 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.489092 deg. 2025-01-08T19:57:12.572Z,1736366232.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808192 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:57:12.790Z,1736366232.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:12.792Z,1736366232.792 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:12.793Z,1736366232.793 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:12.794Z,1736366232.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:12.972Z,1736366232.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:12.982Z,1736366232.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:12.985Z,1736366232.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 72.159393 m, bearing: 151.371089 deg, approach rate: 0.387656 m/s, LOS rate: -0.404701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.473533 deg. 2025-01-08T19:57:12.986Z,1736366232.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807920 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:57:13.040Z,1736366233.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:13.041Z,1736366233.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507215 2025-01-08T19:57:13.292Z,1736366233.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:13.292Z,1736366233.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758268 2025-01-08T19:57:13.352Z,1736366233.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:13.381Z,1736366233.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:13.384Z,1736366233.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 72.307205 m, bearing: 151.219027 deg, approach rate: 0.370532 m/s, LOS rate: -0.380407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.519943 deg. 2025-01-08T19:57:13.385Z,1736366233.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808730 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:57:13.544Z,1736366233.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:13.545Z,1736366233.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010613 2025-01-08T19:57:13.798Z,1736366233.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:13.800Z,1736366233.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265620 2025-01-08T19:57:13.815Z,1736366233.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:13.850Z,1736366233.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:13.857Z,1736366233.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 72.489105 m, bearing: 151.034571 deg, approach rate: 0.387507 m/s, LOS rate: -0.391964 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.423227 deg. 2025-01-08T19:57:13.858Z,1736366233.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807042 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:57:14.048Z,1736366234.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:14.049Z,1736366234.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514789 2025-01-08T19:57:14.174Z,1736366234.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:14.184Z,1736366234.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:14.186Z,1736366234.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 72.629761 m, bearing: 150.894848 deg, approach rate: 0.421599 m/s, LOS rate: -0.417994 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.556836 deg. 2025-01-08T19:57:14.188Z,1736366234.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809374 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:57:14.301Z,1736366234.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:14.302Z,1736366234.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767188 2025-01-08T19:57:14.552Z,1736366234.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:14.553Z,1736366234.553 [DAT](INFO): DAT read: Rx Time:19:57:13.3288 2025-01-08T19:57:14.553Z,1736366234.553 [DAT](INFO): Rx dataTimestamp_ set to:1736366234.552776 2025-01-08T19:57:14.554Z,1736366234.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019506 2025-01-08T19:57:14.558Z,1736366234.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:14.568Z,1736366234.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:14.570Z,1736366234.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 72.780479 m, bearing: 150.746593 deg, approach rate: 0.392498 m/s, LOS rate: -0.385282 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.531352 deg. 2025-01-08T19:57:14.572Z,1736366234.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808929 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:57:14.806Z,1736366234.806 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:14.808Z,1736366234.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273565 2025-01-08T19:57:14.999Z,1736366234.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:15.006Z,1736366235.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:15.008Z,1736366235.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:15.011Z,1736366235.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 72.950699 m, bearing: 150.582240 deg, approach rate: 0.386162 m/s, LOS rate: -0.371982 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.483292 deg. 2025-01-08T19:57:15.012Z,1736366235.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808091 target range: 76.599998 and range: 74.90 m. 2025-01-08T19:57:15.058Z,1736366235.058 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:15.060Z,1736366235.060 [DAT](INFO): DAT read: Range 10 to 50 : 75.2 m (Round-trip 100.3 ms) speed -0.1 m/s 2025-01-08T19:57:15.061Z,1736366235.061 [DAT](INFO): DAT read: user:989> 2025-01-08T19:57:15.062Z,1736366235.062 [DAT](INFO): DAT read: Tx time:19:57:14.4243 2025-01-08T19:57:15.062Z,1736366235.062 [DAT](INFO): Ping request sent. 2025-01-08T19:57:15.062Z,1736366235.062 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:15.062Z,1736366235.062 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:15.062Z,1736366235.062 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:15.063Z,1736366235.063 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:15.312Z,1736366235.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:15.313Z,1736366235.313 [DAT](INFO): DAT read: TxSync time:19:57:14.4235 2025-01-08T19:57:15.388Z,1736366235.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:15.406Z,1736366235.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.199997 m, deltaT: 3.530011 s, deltaX: 0.299995 m, approachRate: 0.084984 m/s, rangeRepo size: 4 2025-01-08T19:57:15.406Z,1736366235.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:15.414Z,1736366235.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 73.101265 m, bearing: 150.438032 deg, approach rate: 0.379218 m/s, LOS rate: -0.362455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.543463 deg. 2025-01-08T19:57:15.436Z,1736366235.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809141 target range: 76.599998 and range: 75.20 m. 2025-01-08T19:57:15.565Z,1736366235.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:15.776Z,1736366235.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:15.818Z,1736366235.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:15.845Z,1736366235.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:15.858Z,1736366235.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 73.251488 m, bearing: 150.294320 deg, approach rate: 0.345907 m/s, LOS rate: -0.330237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.544942 deg. 2025-01-08T19:57:15.864Z,1736366235.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809166 target range: 76.599998 and range: 75.20 m. 2025-01-08T19:57:16.068Z,1736366236.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:16.196Z,1736366236.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:16.206Z,1736366236.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:16.225Z,1736366236.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 73.407181 m, bearing: 150.146304 deg, approach rate: 0.425015 m/s, LOS rate: -0.403199 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.532092 deg. 2025-01-08T19:57:16.226Z,1736366236.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808942 target range: 76.599998 and range: 75.20 m. 2025-01-08T19:57:16.320Z,1736366236.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:16.572Z,1736366236.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:16.591Z,1736366236.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:16.601Z,1736366236.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:16.604Z,1736366236.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 73.554642 m, bearing: 150.007462 deg, approach rate: 0.372764 m/s, LOS rate: -0.350272 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.559504 deg. 2025-01-08T19:57:16.605Z,1736366236.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809421 target range: 76.599998 and range: 75.20 m. 2025-01-08T19:57:16.826Z,1736366236.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:17.003Z,1736366237.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:17.010Z,1736366237.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:17.012Z,1736366237.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:17.016Z,1736366237.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 73.710831 m, bearing: 149.865049 deg, approach rate: 0.379867 m/s, LOS rate: -0.345629 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.548861 deg. 2025-01-08T19:57:17.017Z,1736366237.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809235 target range: 76.599998 and range: 75.20 m. 2025-01-08T19:57:17.077Z,1736366237.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:17.078Z,1736366237.078 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:17.078Z,1736366237.078 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:17.078Z,1736366237.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:17.328Z,1736366237.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:17.328Z,1736366237.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266225 2025-01-08T19:57:17.389Z,1736366237.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:17.398Z,1736366237.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:17.401Z,1736366237.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 73.857544 m, bearing: 149.732426 deg, approach rate: 0.381416 m/s, LOS rate: -0.344100 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.578115 deg. 2025-01-08T19:57:17.402Z,1736366237.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809745 target range: 76.599998 and range: 75.20 m. 2025-01-08T19:57:17.580Z,1736366237.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:17.581Z,1736366237.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519046 2025-01-08T19:57:17.812Z,1736366237.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:17.833Z,1736366237.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:17.836Z,1736366237.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772978 2025-01-08T19:57:17.846Z,1736366237.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:17.882Z,1736366237.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 74.019058 m, bearing: 149.587838 deg, approach rate: 0.363487 m/s, LOS rate: -0.324685 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.542376 deg. 2025-01-08T19:57:17.889Z,1736366237.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809122 target range: 76.599998 and range: 75.20 m. 2025-01-08T19:57:18.084Z,1736366238.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:18.085Z,1736366238.085 [DAT](INFO): DAT read: Rx Time:19:57:16.9292 2025-01-08T19:57:18.085Z,1736366238.085 [DAT](INFO): Rx dataTimestamp_ set to:1736366238.084686 2025-01-08T19:57:18.085Z,1736366238.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023386 2025-01-08T19:57:18.222Z,1736366238.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:18.252Z,1736366238.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:18.255Z,1736366238.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 74.176079 m, bearing: 149.449669 deg, approach rate: 0.402632 m/s, LOS rate: -0.353542 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.561566 deg. 2025-01-08T19:57:18.261Z,1736366238.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809457 target range: 76.599998 and range: 75.20 m. 2025-01-08T19:57:18.337Z,1736366238.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:18.338Z,1736366238.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275805 2025-01-08T19:57:18.589Z,1736366238.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:18.592Z,1736366238.592 [DAT](INFO): DAT read: Range 10 to 50 : 75.6 m (Round-trip 100.8 ms) speed -0.1 m/s 2025-01-08T19:57:18.593Z,1736366238.593 [DAT](INFO): DAT read: user:990> 2025-01-08T19:57:18.594Z,1736366238.594 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:18.594Z,1736366238.594 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:18.594Z,1736366238.594 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:18.595Z,1736366238.595 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:18.709Z,1736366238.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:18.726Z,1736366238.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.599998 m, deltaT: 3.531155 s, deltaX: 0.400002 m, approachRate: 0.113278 m/s, rangeRepo size: 4 2025-01-08T19:57:18.727Z,1736366238.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:18.733Z,1736366238.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 74.362854 m, bearing: 149.286986 deg, approach rate: 0.378231 m/s, LOS rate: -0.328614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.488377 deg. 2025-01-08T19:57:18.735Z,1736366238.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808179 target range: 76.599998 and range: 75.60 m. 2025-01-08T19:57:18.840Z,1736366238.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:18.841Z,1736366238.841 [DAT](INFO): DAT read: Tx time:19:57:18.0243 2025-01-08T19:57:18.841Z,1736366238.841 [DAT](INFO): Ping request sent. 2025-01-08T19:57:18.841Z,1736366238.841 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:18.842Z,1736366238.842 [DAT](INFO): DAT read: TxSync time:19:57:18.0235 2025-01-08T19:57:18.842Z,1736366238.842 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:18.843Z,1736366238.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001538 2025-01-08T19:57:19.044Z,1736366239.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:19.051Z,1736366239.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:19.053Z,1736366239.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:19.056Z,1736366239.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 74.494759 m, bearing: 149.173372 deg, approach rate: 0.402445 m/s, LOS rate: -0.346027 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.634951 deg. 2025-01-08T19:57:19.057Z,1736366239.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810738 target range: 76.599998 and range: 75.60 m. 2025-01-08T19:57:19.092Z,1736366239.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:19.094Z,1736366239.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252206 2025-01-08T19:57:19.344Z,1736366239.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:19.344Z,1736366239.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502952 2025-01-08T19:57:19.418Z,1736366239.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:19.426Z,1736366239.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:19.429Z,1736366239.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 74.642509 m, bearing: 149.046883 deg, approach rate: 0.395634 m/s, LOS rate: -0.338031 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.596476 deg. 2025-01-08T19:57:19.432Z,1736366239.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810066 target range: 76.599998 and range: 75.60 m. 2025-01-08T19:57:19.596Z,1736366239.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:19.596Z,1736366239.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755014 2025-01-08T19:57:19.811Z,1736366239.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:19.823Z,1736366239.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:19.826Z,1736366239.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 74.797684 m, bearing: 148.914555 deg, approach rate: 0.391679 m/s, LOS rate: -0.333317 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.579035 deg. 2025-01-08T19:57:19.827Z,1736366239.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809762 target range: 76.599998 and range: 75.60 m. 2025-01-08T19:57:19.850Z,1736366239.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:19.853Z,1736366239.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010818 2025-01-08T19:57:20.100Z,1736366240.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:20.100Z,1736366240.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259074 2025-01-08T19:57:20.234Z,1736366240.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:20.242Z,1736366240.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:20.246Z,1736366240.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 74.972580 m, bearing: 148.768677 deg, approach rate: 0.416614 m/s, LOS rate: -0.346680 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.538583 deg. 2025-01-08T19:57:20.247Z,1736366240.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809055 target range: 76.599998 and range: 75.60 m. 2025-01-08T19:57:20.352Z,1736366240.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:20.353Z,1736366240.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511368 2025-01-08T19:57:20.604Z,1736366240.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:20.604Z,1736366240.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763147 2025-01-08T19:57:20.629Z,1736366240.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:20.638Z,1736366240.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:20.641Z,1736366240.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 75.136230 m, bearing: 148.633844 deg, approach rate: 0.413569 m/s, LOS rate: -0.340002 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.571574 deg. 2025-01-08T19:57:20.642Z,1736366240.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809631 target range: 76.599998 and range: 75.60 m. 2025-01-08T19:57:20.856Z,1736366240.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:20.858Z,1736366240.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015733 2025-01-08T19:57:21.036Z,1736366241.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:21.044Z,1736366241.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:21.048Z,1736366241.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 75.314911 m, bearing: 148.487882 deg, approach rate: 0.439928 m/s, LOS rate: -0.358519 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.538349 deg. 2025-01-08T19:57:21.049Z,1736366241.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809052 target range: 76.599998 and range: 75.60 m. 2025-01-08T19:57:21.108Z,1736366241.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:21.110Z,1736366241.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268064 2025-01-08T19:57:21.360Z,1736366241.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:21.360Z,1736366241.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519036 2025-01-08T19:57:21.426Z,1736366241.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:21.433Z,1736366241.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:21.436Z,1736366241.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:21.438Z,1736366241.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 75.486664 m, bearing: 148.349168 deg, approach rate: 0.439127 m/s, LOS rate: -0.353849 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.559998 deg. 2025-01-08T19:57:21.440Z,1736366241.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809429 target range: 76.599998 and range: 75.60 m. 2025-01-08T19:57:21.613Z,1736366241.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:21.617Z,1736366241.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774694 2025-01-08T19:57:21.835Z,1736366241.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:21.864Z,1736366241.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:21.865Z,1736366241.865 [DAT](INFO): DAT read: Rx Time:19:57:20.5298 2025-01-08T19:57:21.865Z,1736366241.865 [DAT](INFO): Rx dataTimestamp_ set to:1736366241.865093 2025-01-08T19:57:21.866Z,1736366241.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024572 2025-01-08T19:57:21.891Z,1736366241.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:21.919Z,1736366241.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 75.667175 m, bearing: 148.204548 deg, approach rate: 0.397774 m/s, LOS rate: -0.317923 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.542371 deg. 2025-01-08T19:57:21.933Z,1736366241.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809122 target range: 76.599998 and range: 75.60 m. 2025-01-08T19:57:22.116Z,1736366242.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:22.117Z,1736366242.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275314 2025-01-08T19:57:22.291Z,1736366242.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:22.301Z,1736366242.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:22.304Z,1736366242.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 75.880936 m, bearing: 148.027865 deg, approach rate: 0.519203 m/s, LOS rate: -0.427934 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.446649 deg. 2025-01-08T19:57:22.305Z,1736366242.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807451 target range: 76.599998 and range: 75.60 m. 2025-01-08T19:57:22.368Z,1736366242.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:22.374Z,1736366242.374 [DAT](INFO): DAT read: Range 10 to 50 : 76.0 m (Round-trip 101.4 ms) speed -0.1 m/s 2025-01-08T19:57:22.376Z,1736366242.376 [DAT](INFO): DAT read: user:991> 2025-01-08T19:57:22.377Z,1736366242.377 [DAT](INFO): DAT read: Tx time:19:57:21.6243 2025-01-08T19:57:22.377Z,1736366242.377 [DAT](INFO): Ping request sent. 2025-01-08T19:57:22.378Z,1736366242.378 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:22.378Z,1736366242.378 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:22.378Z,1736366242.378 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:22.380Z,1736366242.380 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:22.620Z,1736366242.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:22.621Z,1736366242.621 [DAT](INFO): DAT read: TxSync time:19:57:21.6235 2025-01-08T19:57:22.712Z,1736366242.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:22.721Z,1736366242.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.000000 m, deltaT: 3.778855 s, deltaX: 0.400002 m, approachRate: 0.105853 m/s, rangeRepo size: 4 2025-01-08T19:57:22.722Z,1736366242.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:22.725Z,1736366242.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 76.078400 m, bearing: 147.865843 deg, approach rate: 0.470343 m/s, LOS rate: -0.384923 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.490392 deg. 2025-01-08T19:57:22.726Z,1736366242.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808214 target range: 76.599998 and range: 76.00 m. 2025-01-08T19:57:22.873Z,1736366242.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:23.101Z,1736366243.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:23.109Z,1736366243.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:23.112Z,1736366243.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 76.267677 m, bearing: 147.706142 deg, approach rate: 0.487604 m/s, LOS rate: -0.410389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.497285 deg. 2025-01-08T19:57:23.113Z,1736366243.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808335 target range: 76.599998 and range: 76.00 m. 2025-01-08T19:57:23.124Z,1736366243.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:23.376Z,1736366243.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:23.476Z,1736366243.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:23.494Z,1736366243.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:23.501Z,1736366243.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:23.507Z,1736366243.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 76.449905 m, bearing: 147.552827 deg, approach rate: 0.465329 m/s, LOS rate: -0.390563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.516350 deg. 2025-01-08T19:57:23.509Z,1736366243.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808668 target range: 76.599998 and range: 76.00 m. 2025-01-08T19:57:23.628Z,1736366243.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:23.628Z,1736366243.628 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:23.628Z,1736366243.628 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:23.629Z,1736366243.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:23.880Z,1736366243.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:23.880Z,1736366243.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502835 2025-01-08T19:57:23.938Z,1736366243.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:23.990Z,1736366243.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:23.998Z,1736366243.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 76.674011 m, bearing: 147.364645 deg, approach rate: 0.457805 m/s, LOS rate: -0.383296 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.412310 deg. 2025-01-08T19:57:24.003Z,1736366244.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806851 target range: 76.599998 and range: 76.00 m. 2025-01-08T19:57:24.133Z,1736366244.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:24.133Z,1736366244.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755878 2025-01-08T19:57:24.306Z,1736366244.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:24.316Z,1736366244.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:24.319Z,1736366244.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 76.864418 m, bearing: 147.206259 deg, approach rate: 0.583968 m/s, LOS rate: -0.484558 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.501217 deg. 2025-01-08T19:57:24.340Z,1736366244.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808403 target range: 76.599998 and range: 76.00 m. 2025-01-08T19:57:24.385Z,1736366244.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:24.386Z,1736366244.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008138 2025-01-08T19:57:24.636Z,1736366244.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:24.636Z,1736366244.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258740 2025-01-08T19:57:24.704Z,1736366244.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:24.712Z,1736366244.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:24.716Z,1736366244.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 77.069687 m, bearing: 147.036490 deg, approach rate: 0.518868 m/s, LOS rate: -0.427991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.467249 deg. 2025-01-08T19:57:24.717Z,1736366244.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807810 target range: 76.599998 and range: 76.00 m. 2025-01-08T19:57:24.889Z,1736366244.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:24.891Z,1736366244.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512920 2025-01-08T19:57:25.120Z,1736366245.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:25.133Z,1736366245.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:25.136Z,1736366245.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 77.282372 m, bearing: 146.856129 deg, approach rate: 0.504720 m/s, LOS rate: -0.426833 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.435612 deg. 2025-01-08T19:57:25.137Z,1736366245.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807258 target range: 76.599998 and range: 76.00 m. 2025-01-08T19:57:25.140Z,1736366245.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:25.141Z,1736366245.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762958 2025-01-08T19:57:25.392Z,1736366245.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:25.393Z,1736366245.393 [DAT](INFO): DAT read: Rx Time:19:57:24.1307 2025-01-08T19:57:25.393Z,1736366245.393 [DAT](INFO): Rx dataTimestamp_ set to:1736366245.392750 2025-01-08T19:57:25.394Z,1736366245.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015980 2025-01-08T19:57:25.510Z,1736366245.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:25.518Z,1736366245.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:25.521Z,1736366245.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:25.524Z,1736366245.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 77.481850 m, bearing: 146.687879 deg, approach rate: 0.514713 m/s, LOS rate: -0.433018 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.471749 deg. 2025-01-08T19:57:25.525Z,1736366245.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807889 target range: 76.599998 and range: 76.00 m. 2025-01-08T19:57:25.644Z,1736366245.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:25.645Z,1736366245.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266903 2025-01-08T19:57:25.896Z,1736366245.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:25.899Z,1736366245.899 [DAT](INFO): DAT read: Range 10 to 50 : 76.6 m (Round-trip 102.2 ms) speed -0.2 m/s 2025-01-08T19:57:25.901Z,1736366245.901 [DAT](INFO): DAT read: user:992> 2025-01-08T19:57:25.903Z,1736366245.903 [DAT](INFO): DAT read: Tx time:19:57:25.2244 2025-01-08T19:57:25.904Z,1736366245.904 [DAT](INFO): Ping request sent. 2025-01-08T19:57:25.904Z,1736366245.904 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:25.905Z,1736366245.905 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:25.906Z,1736366245.906 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:25.907Z,1736366245.907 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:25.968Z,1736366245.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:26.034Z,1736366246.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.599998 m, deltaT: 3.527308 s, deltaX: 0.599998 m, approachRate: 0.170101 m/s, rangeRepo size: 4 2025-01-08T19:57:26.035Z,1736366246.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:26.046Z,1736366246.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 77.713364 m, bearing: 146.493989 deg, approach rate: 0.453786 m/s, LOS rate: -0.378907 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.395271 deg. 2025-01-08T19:57:26.047Z,1736366246.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806554 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:57:26.149Z,1736366246.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:26.151Z,1736366246.151 [DAT](INFO): DAT read: TxSync time:19:57:25.2236 2025-01-08T19:57:26.400Z,1736366246.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:26.404Z,1736366246.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:26.413Z,1736366246.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:26.417Z,1736366246.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 77.942413 m, bearing: 146.312926 deg, approach rate: 0.599742 m/s, LOS rate: -0.472700 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.433610 deg. 2025-01-08T19:57:26.418Z,1736366246.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807223 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:57:26.652Z,1736366246.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:26.757Z,1736366246.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:26.785Z,1736366246.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:26.788Z,1736366246.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 78.125015 m, bearing: 146.168743 deg, approach rate: 0.490958 m/s, LOS rate: -0.386754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.543659 deg. 2025-01-08T19:57:26.789Z,1736366246.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809144 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:57:26.904Z,1736366246.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:27.156Z,1736366247.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:27.217Z,1736366247.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:27.238Z,1736366247.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:27.245Z,1736366247.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 78.328285 m, bearing: 145.987875 deg, approach rate: 0.448623 m/s, LOS rate: -0.398145 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.434007 deg. 2025-01-08T19:57:27.246Z,1736366247.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807230 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:57:27.408Z,1736366247.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:27.561Z,1736366247.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:27.588Z,1736366247.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:27.590Z,1736366247.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:27.593Z,1736366247.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 78.480675 m, bearing: 145.853542 deg, approach rate: 0.433066 m/s, LOS rate: -0.381012 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.572976 deg. 2025-01-08T19:57:27.594Z,1736366247.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809656 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:57:27.661Z,1736366247.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:27.661Z,1736366247.661 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:27.662Z,1736366247.662 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:27.662Z,1736366247.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:27.912Z,1736366247.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:27.913Z,1736366247.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008435 2025-01-08T19:57:28.039Z,1736366248.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:28.057Z,1736366248.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:28.072Z,1736366248.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 78.691216 m, bearing: 145.669703 deg, approach rate: 0.450542 m/s, LOS rate: -0.392347 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.425165 deg. 2025-01-08T19:57:28.074Z,1736366248.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807076 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:57:28.164Z,1736366248.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:28.166Z,1736366248.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261379 2025-01-08T19:57:28.405Z,1736366248.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:28.414Z,1736366248.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:28.416Z,1736366248.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:28.417Z,1736366248.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512746 2025-01-08T19:57:28.420Z,1736366248.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 78.842575 m, bearing: 145.540678 deg, approach rate: 0.424404 m/s, LOS rate: -0.361085 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.588860 deg. 2025-01-08T19:57:28.421Z,1736366248.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809933 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:57:28.668Z,1736366248.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:28.669Z,1736366248.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764964 2025-01-08T19:57:28.773Z,1736366248.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:28.783Z,1736366248.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:28.786Z,1736366248.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 78.993042 m, bearing: 145.413616 deg, approach rate: 0.407855 m/s, LOS rate: -0.343757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.594732 deg. 2025-01-08T19:57:28.787Z,1736366248.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810036 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:57:28.920Z,1736366248.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:28.921Z,1736366248.921 [DAT](INFO): DAT read: Rx Time:19:57:27.7314 2025-01-08T19:57:28.921Z,1736366248.921 [DAT](INFO): Rx dataTimestamp_ set to:1736366248.920694 2025-01-08T19:57:28.921Z,1736366248.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017331 2025-01-08T19:57:29.172Z,1736366249.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:29.172Z,1736366249.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268230 2025-01-08T19:57:29.210Z,1736366249.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:29.230Z,1736366249.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:29.245Z,1736366249.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 79.156029 m, bearing: 145.279477 deg, approach rate: 0.364341 m/s, LOS rate: -0.299236 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.573607 deg. 2025-01-08T19:57:29.246Z,1736366249.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809667 target range: 76.599998 and range: 76.60 m. 2025-01-08T19:57:29.424Z,1736366249.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:29.425Z,1736366249.425 [DAT](INFO): DAT read: Range 10 to 50 : 77.1 m (Round-trip 102.9 ms) speed -0.1 m/s 2025-01-08T19:57:29.426Z,1736366249.426 [DAT](INFO): DAT read: user:993> 2025-01-08T19:57:29.427Z,1736366249.427 [DAT](INFO): DAT read: Tx time:19:57:28.8244 2025-01-08T19:57:29.427Z,1736366249.427 [DAT](INFO): Ping request sent. 2025-01-08T19:57:29.427Z,1736366249.427 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:29.428Z,1736366249.428 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:29.428Z,1736366249.428 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:29.428Z,1736366249.428 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:29.580Z,1736366249.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:29.588Z,1736366249.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:29.591Z,1736366249.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.099998 m, deltaT: 3.527894 s, deltaX: 0.500000 m, approachRate: 0.141728 m/s, rangeRepo size: 4 2025-01-08T19:57:29.592Z,1736366249.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:29.594Z,1736366249.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 79.294884 m, bearing: 145.166478 deg, approach rate: 0.385436 m/s, LOS rate: -0.313116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.636787 deg. 2025-01-08T19:57:29.596Z,1736366249.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810770 target range: 76.599998 and range: 77.10 m. 2025-01-08T19:57:29.676Z,1736366249.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:29.678Z,1736366249.678 [DAT](INFO): DAT read: TxSync time:19:57:28.8236 2025-01-08T19:57:29.679Z,1736366249.679 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:29.684Z,1736366249.684 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:29.684Z,1736366249.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:29.928Z,1736366249.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:29.928Z,1736366249.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501077 2025-01-08T19:57:30.001Z,1736366250.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:30.072Z,1736366250.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:30.076Z,1736366250.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 79.452751 m, bearing: 145.038924 deg, approach rate: 0.329394 m/s, LOS rate: -0.265615 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.593292 deg. 2025-01-08T19:57:30.090Z,1736366250.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810010 target range: 76.599998 and range: 77.10 m. 2025-01-08T19:57:30.180Z,1736366250.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:30.181Z,1736366250.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753377 2025-01-08T19:57:30.420Z,1736366250.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:30.428Z,1736366250.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:30.432Z,1736366250.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:30.433Z,1736366250.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005849 2025-01-08T19:57:30.434Z,1736366250.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 79.599274 m, bearing: 144.927427 deg, approach rate: 0.408196 m/s, LOS rate: -0.310048 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.641315 deg. 2025-01-08T19:57:30.436Z,1736366250.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810849 target range: 76.599998 and range: 77.10 m. 2025-01-08T19:57:30.684Z,1736366250.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:30.684Z,1736366250.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257006 2025-01-08T19:57:30.822Z,1736366250.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:30.845Z,1736366250.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:30.849Z,1736366250.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 79.739983 m, bearing: 144.821314 deg, approach rate: 0.337930 m/s, LOS rate: -0.254394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.657413 deg. 2025-01-08T19:57:30.850Z,1736366250.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811130 target range: 76.599998 and range: 77.10 m. 2025-01-08T19:57:30.936Z,1736366250.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:30.938Z,1736366250.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510730 2025-01-08T19:57:31.188Z,1736366251.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:31.188Z,1736366251.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761118 2025-01-08T19:57:31.272Z,1736366251.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:31.281Z,1736366251.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:31.284Z,1736366251.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 79.897270 m, bearing: 144.704475 deg, approach rate: 0.361295 m/s, LOS rate: -0.267854 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.625365 deg. 2025-01-08T19:57:31.285Z,1736366251.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810570 target range: 76.599998 and range: 77.10 m. 2025-01-08T19:57:31.440Z,1736366251.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:31.441Z,1736366251.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013232 2025-01-08T19:57:31.693Z,1736366251.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:31.695Z,1736366251.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267224 2025-01-08T19:57:31.736Z,1736366251.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:31.747Z,1736366251.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:31.753Z,1736366251.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:31.760Z,1736366251.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 80.061348 m, bearing: 144.585438 deg, approach rate: 0.346832 m/s, LOS rate: -0.251110 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.618810 deg. 2025-01-08T19:57:31.762Z,1736366251.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810456 target range: 76.599998 and range: 77.10 m. 2025-01-08T19:57:31.944Z,1736366251.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:31.944Z,1736366251.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517060 2025-01-08T19:57:32.147Z,1736366252.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:32.183Z,1736366252.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:32.186Z,1736366252.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 80.216469 m, bearing: 144.481283 deg, approach rate: 0.364180 m/s, LOS rate: -0.244053 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.663329 deg. 2025-01-08T19:57:32.192Z,1736366252.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811233 target range: 76.599998 and range: 77.10 m. 2025-01-08T19:57:32.196Z,1736366252.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:32.196Z,1736366252.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769148 2025-01-08T19:57:32.448Z,1736366252.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:32.449Z,1736366252.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021555 2025-01-08T19:57:32.526Z,1736366252.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:32.541Z,1736366252.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:32.544Z,1736366252.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 80.360435 m, bearing: 144.385901 deg, approach rate: 0.398183 m/s, LOS rate: -0.263333 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.689558 deg. 2025-01-08T19:57:32.545Z,1736366252.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811690 target range: 76.599998 and range: 77.10 m. 2025-01-08T19:57:32.700Z,1736366252.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:32.701Z,1736366252.701 [DAT](INFO): DAT read: Rx Time:19:57:31.3324 2025-01-08T19:57:32.701Z,1736366252.701 [DAT](INFO): Rx dataTimestamp_ set to:1736366252.700730 2025-01-08T19:57:32.702Z,1736366252.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274226 2025-01-08T19:57:32.925Z,1736366252.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:32.936Z,1736366252.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:32.939Z,1736366252.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 80.512306 m, bearing: 144.286444 deg, approach rate: 0.383979 m/s, LOS rate: -0.250986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.677381 deg. 2025-01-08T19:57:32.940Z,1736366252.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811478 target range: 76.599998 and range: 77.10 m. 2025-01-08T19:57:32.952Z,1736366252.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:32.952Z,1736366252.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525185 2025-01-08T19:57:33.204Z,1736366253.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:33.205Z,1736366253.205 [DAT](INFO): DAT read: Range 10 to 50 : 77.9 m (Round-trip 103.9 ms) speed -0.1 m/s 2025-01-08T19:57:33.206Z,1736366253.206 [DAT](INFO): DAT read: user:994> 2025-01-08T19:57:33.207Z,1736366253.207 [DAT](INFO): DAT read: Tx time:19:57:32.4244 2025-01-08T19:57:33.207Z,1736366253.207 [DAT](INFO): Ping request sent. 2025-01-08T19:57:33.208Z,1736366253.208 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:33.208Z,1736366253.208 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:33.208Z,1736366253.208 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:33.209Z,1736366253.209 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:33.346Z,1736366253.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:33.356Z,1736366253.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.900002 m, deltaT: 3.780020 s, deltaX: 0.800003 m, approachRate: 0.211640 m/s, rangeRepo size: 4 2025-01-08T19:57:33.357Z,1736366253.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:33.360Z,1736366253.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 80.693092 m, bearing: 144.170634 deg, approach rate: 0.431217 m/s, LOS rate: -0.275614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628541 deg. 2025-01-08T19:57:33.361Z,1736366253.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810626 target range: 76.599998 and range: 77.90 m. 2025-01-08T19:57:33.461Z,1736366253.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:33.462Z,1736366253.462 [DAT](INFO): DAT read: TxSync time:19:57:32.4236 2025-01-08T19:57:33.712Z,1736366253.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:33.725Z,1736366253.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:33.734Z,1736366253.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:33.737Z,1736366253.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 80.855751 m, bearing: 144.066987 deg, approach rate: 0.429761 m/s, LOS rate: -0.273296 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.664874 deg. 2025-01-08T19:57:33.738Z,1736366253.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811260 target range: 76.599998 and range: 77.90 m. 2025-01-08T19:57:33.965Z,1736366253.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:34.186Z,1736366254.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:34.210Z,1736366254.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:34.216Z,1736366254.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:34.216Z,1736366254.216 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:34.216Z,1736366254.216 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:34.217Z,1736366254.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:34.220Z,1736366254.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:34.227Z,1736366254.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 81.083542 m, bearing: 143.927296 deg, approach rate: 0.468359 m/s, LOS rate: -0.286412 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.557298 deg. 2025-01-08T19:57:34.228Z,1736366254.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809382 target range: 76.599998 and range: 77.90 m. 2025-01-08T19:57:34.468Z,1736366254.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:34.468Z,1736366254.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260820 2025-01-08T19:57:34.532Z,1736366254.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:34.565Z,1736366254.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:34.568Z,1736366254.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 81.254326 m, bearing: 143.823041 deg, approach rate: 0.496867 m/s, LOS rate: -0.302674 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.663082 deg. 2025-01-08T19:57:34.569Z,1736366254.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811228 target range: 76.599998 and range: 77.90 m. 2025-01-08T19:57:34.720Z,1736366254.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:34.720Z,1736366254.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512763 2025-01-08T19:57:34.937Z,1736366254.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:34.946Z,1736366254.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:34.949Z,1736366254.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 81.454384 m, bearing: 143.701418 deg, approach rate: 0.524008 m/s, LOS rate: -0.317780 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.611222 deg. 2025-01-08T19:57:34.950Z,1736366254.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810323 target range: 76.599998 and range: 77.90 m. 2025-01-08T19:57:34.972Z,1736366254.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:34.972Z,1736366254.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764865 2025-01-08T19:57:35.224Z,1736366255.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:35.224Z,1736366255.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016810 2025-01-08T19:57:35.382Z,1736366255.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:35.394Z,1736366255.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:35.398Z,1736366255.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 81.697838 m, bearing: 143.550487 deg, approach rate: 0.542674 m/s, LOS rate: -0.335433 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.523751 deg. 2025-01-08T19:57:35.400Z,1736366255.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808796 target range: 76.599998 and range: 77.90 m. 2025-01-08T19:57:35.477Z,1736366255.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:35.478Z,1736366255.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270439 2025-01-08T19:57:35.728Z,1736366255.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:35.729Z,1736366255.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520907 2025-01-08T19:57:35.752Z,1736366255.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:35.760Z,1736366255.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:35.763Z,1736366255.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 81.900467 m, bearing: 143.425256 deg, approach rate: 0.554213 m/s, LOS rate: -0.341671 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.600430 deg. 2025-01-08T19:57:35.765Z,1736366255.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810135 target range: 76.599998 and range: 77.90 m. 2025-01-08T19:57:35.980Z,1736366255.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:35.981Z,1736366255.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772811 2025-01-08T19:57:36.232Z,1736366256.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:36.233Z,1736366256.233 [DAT](INFO): DAT read: Rx Time:19:57:34.9335 2025-01-08T19:57:36.233Z,1736366256.233 [DAT](INFO): Rx dataTimestamp_ set to:1736366256.233226 2025-01-08T19:57:36.234Z,1736366256.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026418 2025-01-08T19:57:36.242Z,1736366256.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:36.249Z,1736366256.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:36.251Z,1736366256.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:36.254Z,1736366256.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 82.183815 m, bearing: 143.243994 deg, approach rate: 0.577279 m/s, LOS rate: -0.368020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.433293 deg. 2025-01-08T19:57:36.255Z,1736366256.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807218 target range: 76.599998 and range: 77.90 m. 2025-01-08T19:57:36.484Z,1736366256.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:36.485Z,1736366256.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276962 2025-01-08T19:57:36.554Z,1736366256.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:36.562Z,1736366256.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:36.566Z,1736366256.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 82.364143 m, bearing: 143.128684 deg, approach rate: 0.579823 m/s, LOS rate: -0.369953 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.630018 deg. 2025-01-08T19:57:36.567Z,1736366256.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810651 target range: 76.599998 and range: 77.90 m. 2025-01-08T19:57:36.736Z,1736366256.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:36.737Z,1736366256.737 [DAT](INFO): DAT read: Range 10 to 50 : 78.6 m (Round-trip 104.9 ms) speed -0.2 m/s 2025-01-08T19:57:36.738Z,1736366256.738 [DAT](INFO): DAT read: user:995> 2025-01-08T19:57:36.739Z,1736366256.739 [DAT](INFO): DAT read: Tx time:19:57:36.0245 2025-01-08T19:57:36.739Z,1736366256.739 [DAT](INFO): Ping request sent. 2025-01-08T19:57:36.739Z,1736366256.739 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:36.740Z,1736366256.740 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:36.740Z,1736366256.740 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:36.740Z,1736366256.740 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:36.957Z,1736366256.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:36.988Z,1736366256.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:36.989Z,1736366256.989 [DAT](INFO): DAT read: TxSync time:19:57:36.0237 2025-01-08T19:57:36.991Z,1736366256.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.599998 m, deltaT: 3.532025 s, deltaX: 0.699997 m, approachRate: 0.198186 m/s, rangeRepo size: 4 2025-01-08T19:57:36.992Z,1736366256.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:36.994Z,1736366256.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 82.597099 m, bearing: 142.979859 deg, approach rate: 0.543816 m/s, LOS rate: -0.346438 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.529981 deg. 2025-01-08T19:57:36.996Z,1736366256.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808905 target range: 76.599998 and range: 78.60 m. 2025-01-08T19:57:37.245Z,1736366257.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:37.365Z,1736366257.365 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:57:37.469Z,1736366257.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:57:37.469Z,1736366257.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:37.478Z,1736366257.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:37.481Z,1736366257.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 82.890274 m, bearing: 142.790367 deg, approach rate: 0.601595 m/s, LOS rate: -0.387463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.408739 deg. 2025-01-08T19:57:37.483Z,1736366257.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806789 target range: 76.599998 and range: 78.60 m. 2025-01-08T19:57:37.496Z,1736366257.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:37.748Z,1736366257.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:37.857Z,1736366257.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T19:57:37.857Z,1736366257.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:37.885Z,1736366257.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:37.889Z,1736366257.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 83.113312 m, bearing: 142.647491 deg, approach rate: 0.547555 m/s, LOS rate: -0.349817 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.547717 deg. 2025-01-08T19:57:37.891Z,1736366257.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809215 target range: 76.599998 and range: 78.60 m. 2025-01-08T19:57:37.000Z,1736366258.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:38.252Z,1736366258.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:38.269Z,1736366258.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:38.276Z,1736366258.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:38.278Z,1736366258.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:38.301Z,1736366258.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 83.358879 m, bearing: 142.485341 deg, approach rate: 0.624890 m/s, LOS rate: -0.411403 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.490183 deg. 2025-01-08T19:57:38.302Z,1736366258.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808211 target range: 76.599998 and range: 78.60 m. 2025-01-08T19:57:38.368Z,1736366258.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:57:38.504Z,1736366258.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:38.504Z,1736366258.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:38.504Z,1736366258.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:38.505Z,1736366258.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:38.684Z,1736366258.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:38.692Z,1736366258.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:38.694Z,1736366258.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 83.605820 m, bearing: 142.323519 deg, approach rate: 0.596567 m/s, LOS rate: -0.389780 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.491167 deg. 2025-01-08T19:57:38.696Z,1736366258.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808228 target range: 76.599998 and range: 78.60 m. 2025-01-08T19:57:38.757Z,1736366258.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:38.758Z,1736366258.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018263 2025-01-08T19:57:39.008Z,1736366259.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:39.008Z,1736366259.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268874 2025-01-08T19:57:39.112Z,1736366259.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:39.210Z,1736366259.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:39.222Z,1736366259.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 83.862000 m, bearing: 142.156650 deg, approach rate: 0.497244 m/s, LOS rate: -0.322902 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.476123 deg. 2025-01-08T19:57:39.223Z,1736366259.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807965 target range: 76.599998 and range: 78.60 m. 2025-01-08T19:57:39.260Z,1736366259.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:39.260Z,1736366259.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521099 2025-01-08T19:57:39.512Z,1736366259.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:39.512Z,1736366259.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773042 2025-01-08T19:57:39.581Z,1736366259.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:39.621Z,1736366259.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:39.628Z,1736366259.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 84.120659 m, bearing: 141.983377 deg, approach rate: 0.625088 m/s, LOS rate: -0.417452 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.456979 deg. 2025-01-08T19:57:39.629Z,1736366259.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807631 target range: 76.599998 and range: 78.60 m. 2025-01-08T19:57:39.764Z,1736366259.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:39.765Z,1736366259.765 [DAT](INFO): DAT read: Rx Time:19:57:38.5344 2025-01-08T19:57:39.766Z,1736366259.766 [DAT](INFO): Rx dataTimestamp_ set to:1736366259.765580 2025-01-08T19:57:39.767Z,1736366259.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027424 2025-01-08T19:57:39.936Z,1736366259.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:39.945Z,1736366259.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.60 m. 2025-01-08T19:57:39.948Z,1736366259.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.599998 m, nav range: 84.317688 m, bearing: 141.852195 deg, approach rate: 0.608669 m/s, LOS rate: -0.404305 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.582566 deg. 2025-01-08T19:57:39.949Z,1736366259.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809823 target range: 76.599998 and range: 78.60 m. 2025-01-08T19:57:40.016Z,1736366260.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:40.018Z,1736366260.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278287 2025-01-08T19:57:40.268Z,1736366260.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:40.274Z,1736366260.274 [DAT](INFO): DAT read: 19:57:38.5344 LVL= 19760, 16241, 13874, 23475, AGC= 55, IDX= 440, 0.11, 1.791,-2.764,-1.847,-2.927, PHS=-1.478, 0.210, 1.077, RAW= 250.5, 1.7, CAL= 254.6, 2.7, ROT= 255.4, -2.7 2025-01-08T19:57:40.276Z,1736366260.276 [DAT](INFO): got valid direction response: 19:57:38.5344 LVL= 19760, 16241, 13874, 23475, AGC= 55, IDX= 440, 0.11, 1.791,-2.764,-1.847,-2.927, PHS=-1.478, 0.210, 1.077, RAW= 250.5, 1.7, CAL= 254.6, 2.7, ROT= 255.4, -2.7 2025-01-08T19:57:40.277Z,1736366260.277 [DAT](INFO): DAT read: Bearing 255.4, -2.7 (Local) 2025-01-08T19:57:40.277Z,1736366260.277 [DAT](INFO): Local bearing/azimuth received: Bearing 255.4, -2.7 (Local) 2025-01-08T19:57:40.278Z,1736366260.278 [DAT](INFO): DAT read: Range 10 to 50 : 79.3 m (Round-trip 105.8 ms) speed -0.2 m/s 2025-01-08T19:57:40.279Z,1736366260.279 [DAT](INFO): DAT read: user:996> 2025-01-08T19:57:40.280Z,1736366260.280 [DAT](INFO): DAT read: Tx time:19:57:39.6245 2025-01-08T19:57:40.280Z,1736366260.280 [DAT](INFO): Ping request sent. 2025-01-08T19:57:40.280Z,1736366260.280 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:40.281Z,1736366260.281 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:57:40.282Z,1736366260.282 [DAT](INFO): direction in FSK: [0.017901,-0.424210,-0.905387] 2025-01-08T19:57:40.282Z,1736366260.282 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:40.283Z,1736366260.283 [DAT](INFO): publishing direction and range info 2025-01-08T19:57:40.286Z,1736366260.286 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:40.286Z,1736366260.286 [DAT](INFO): publishing direction and range info 2025-01-08T19:57:40.438Z,1736366260.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:40.469Z,1736366260.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.300003 m, deltaT: 3.532101 s, deltaX: 0.700005 m, approachRate: 0.198184 m/s, rangeRepo size: 4 2025-01-08T19:57:40.476Z,1736366260.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.300003 m, bearing: 190.922836 deg, lat: 36.904293 deg, lon: -122.118735 deg, deltaT: 71.839836 s, deltaX: 2.700005 m, approachRate: 0.037584 m/s, posRepo size: 4 2025-01-08T19:57:40.476Z,1736366260.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:40.479Z,1736366260.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 81.537086 m, bearing: 142.264046 deg, approach rate: 0.000000 m/s, LOS rate: -0.404305 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.339707 deg. 2025-01-08T19:57:40.484Z,1736366260.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805584 target range: 79.300003 and range: 79.30 m. 2025-01-08T19:57:40.522Z,1736366260.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:40.523Z,1736366260.523 [DAT](INFO): DAT read: TxSync time:19:57:39.6237 2025-01-08T19:57:40.772Z,1736366260.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:40.773Z,1736366260.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:40.780Z,1736366260.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:40.783Z,1736366260.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:40.786Z,1736366260.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 81.705467 m, bearing: 142.145507 deg, approach rate: 0.536084 m/s, LOS rate: -0.376623 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.620306 deg. 2025-01-08T19:57:40.788Z,1736366260.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810482 target range: 79.300003 and range: 79.30 m. 2025-01-08T19:57:41.024Z,1736366261.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:41.024Z,1736366261.024 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:41.024Z,1736366261.024 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:41.025Z,1736366261.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:41.222Z,1736366261.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:41.256Z,1736366261.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:41.271Z,1736366261.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 81.930252 m, bearing: 141.987844 deg, approach rate: 0.474528 m/s, LOS rate: -0.331918 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.503506 deg. 2025-01-08T19:57:41.272Z,1736366261.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808443 target range: 79.300003 and range: 79.30 m. 2025-01-08T19:57:41.276Z,1736366261.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:41.276Z,1736366261.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996240 2025-01-08T19:57:41.528Z,1736366261.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:41.528Z,1736366261.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248101 2025-01-08T19:57:41.609Z,1736366261.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:41.619Z,1736366261.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:41.638Z,1736366261.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 82.101669 m, bearing: 141.864668 deg, approach rate: 0.473107 m/s, LOS rate: -0.339251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.606437 deg. 2025-01-08T19:57:41.643Z,1736366261.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810240 target range: 79.300003 and range: 79.30 m. 2025-01-08T19:57:41.780Z,1736366261.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:41.781Z,1736366261.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500474 2025-01-08T19:57:41.976Z,1736366261.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:41.985Z,1736366261.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:41.988Z,1736366261.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 82.264412 m, bearing: 141.749029 deg, approach rate: 0.444396 m/s, LOS rate: -0.315146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628961 deg. 2025-01-08T19:57:41.989Z,1736366261.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810633 target range: 79.300003 and range: 79.30 m. 2025-01-08T19:57:42.032Z,1736366262.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:42.033Z,1736366262.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752435 2025-01-08T19:57:42.285Z,1736366262.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:42.287Z,1736366262.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006240 2025-01-08T19:57:42.406Z,1736366262.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:42.415Z,1736366262.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:42.418Z,1736366262.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 82.429039 m, bearing: 141.633279 deg, approach rate: 0.383775 m/s, LOS rate: -0.269295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628634 deg. 2025-01-08T19:57:42.419Z,1736366262.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810627 target range: 79.300003 and range: 79.30 m. 2025-01-08T19:57:42.538Z,1736366262.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:42.540Z,1736366262.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260001 2025-01-08T19:57:42.788Z,1736366262.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:42.788Z,1736366262.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508227 2025-01-08T19:57:42.790Z,1736366262.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:42.797Z,1736366262.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:42.800Z,1736366262.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:42.802Z,1736366262.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 82.577034 m, bearing: 141.530543 deg, approach rate: 0.383986 m/s, LOS rate: -0.266080 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.667533 deg. 2025-01-08T19:57:42.804Z,1736366262.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811306 target range: 79.300003 and range: 79.30 m. 2025-01-08T19:57:43.040Z,1736366263.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:43.040Z,1736366263.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760157 2025-01-08T19:57:43.236Z,1736366263.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:43.281Z,1736366263.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:43.288Z,1736366263.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 82.747406 m, bearing: 141.413712 deg, approach rate: 0.353334 m/s, LOS rate: -0.241796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.625420 deg. 2025-01-08T19:57:43.289Z,1736366263.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810571 target range: 79.300003 and range: 79.30 m. 2025-01-08T19:57:43.293Z,1736366263.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:43.295Z,1736366263.295 [DAT](INFO): DAT read: Rx Time:19:57:42.1356 2025-01-08T19:57:43.297Z,1736366263.297 [DAT](INFO): Rx dataTimestamp_ set to:1736366263.296015 2025-01-08T19:57:43.298Z,1736366263.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017415 2025-01-08T19:57:43.544Z,1736366263.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:43.545Z,1736366263.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264996 2025-01-08T19:57:43.757Z,1736366263.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:43.766Z,1736366263.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:43.769Z,1736366263.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 82.929474 m, bearing: 141.290787 deg, approach rate: 0.375391 m/s, LOS rate: -0.252892 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.607228 deg. 2025-01-08T19:57:43.770Z,1736366263.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810254 target range: 79.300003 and range: 79.30 m. 2025-01-08T19:57:43.798Z,1736366263.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:43.802Z,1736366263.802 [DAT](INFO): DAT read: Range 10 to 50 : 80.2 m (Round-trip 107.0 ms) speed -0.3 m/s 2025-01-08T19:57:43.802Z,1736366263.802 [DAT](INFO): DAT read: user:997> 2025-01-08T19:57:43.803Z,1736366263.803 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:43.804Z,1736366263.804 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:43.804Z,1736366263.804 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:43.805Z,1736366263.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:44.048Z,1736366264.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:44.049Z,1736366264.049 [DAT](INFO): DAT read: Tx time:19:57:43.2245 2025-01-08T19:57:44.050Z,1736366264.050 [DAT](INFO): Ping request sent. 2025-01-08T19:57:44.050Z,1736366264.050 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:44.051Z,1736366264.051 [DAT](INFO): DAT read: TxSync time:19:57:43.2237 2025-01-08T19:57:44.052Z,1736366264.052 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:44.052Z,1736366264.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002374 2025-01-08T19:57:44.177Z,1736366264.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:44.202Z,1736366264.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.199997 m, deltaT: 3.530571 s, deltaX: 0.899994 m, approachRate: 0.254915 m/s, rangeRepo size: 4 2025-01-08T19:57:44.222Z,1736366264.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:44.245Z,1736366264.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 83.075668 m, bearing: 141.193780 deg, approach rate: 0.341009 m/s, LOS rate: -0.225878 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.684680 deg. 2025-01-08T19:57:44.265Z,1736366264.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811605 target range: 79.300003 and range: 80.20 m. 2025-01-08T19:57:44.300Z,1736366264.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:44.300Z,1736366264.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250477 2025-01-08T19:57:44.552Z,1736366264.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:44.552Z,1736366264.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502380 2025-01-08T19:57:44.705Z,1736366264.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:44.734Z,1736366264.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:44.742Z,1736366264.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 83.251945 m, bearing: 141.077941 deg, approach rate: 0.326979 m/s, LOS rate: -0.214417 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628409 deg. 2025-01-08T19:57:44.748Z,1736366264.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810623 target range: 79.300003 and range: 80.20 m. 2025-01-08T19:57:44.804Z,1736366264.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:44.805Z,1736366264.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754544 2025-01-08T19:57:45.056Z,1736366265.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:45.056Z,1736366265.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006465 2025-01-08T19:57:45.088Z,1736366265.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:45.095Z,1736366265.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:45.098Z,1736366265.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:45.121Z,1736366265.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 83.380249 m, bearing: 140.994565 deg, approach rate: 0.353271 m/s, LOS rate: -0.229213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.725447 deg. 2025-01-08T19:57:45.123Z,1736366265.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812317 target range: 79.300003 and range: 80.20 m. 2025-01-08T19:57:45.308Z,1736366265.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:45.308Z,1736366265.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258448 2025-01-08T19:57:45.560Z,1736366265.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:45.561Z,1736366265.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510559 2025-01-08T19:57:45.573Z,1736366265.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:45.582Z,1736366265.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:45.585Z,1736366265.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 83.552376 m, bearing: 140.887868 deg, approach rate: 0.355098 m/s, LOS rate: -0.219664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655757 deg. 2025-01-08T19:57:45.586Z,1736366265.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811100 target range: 79.300003 and range: 80.20 m. 2025-01-08T19:57:45.812Z,1736366265.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:45.813Z,1736366265.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762791 2025-01-08T19:57:45.905Z,1736366265.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:45.913Z,1736366265.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:45.917Z,1736366265.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 83.671303 m, bearing: 140.815698 deg, approach rate: 0.359186 m/s, LOS rate: -0.217659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.758986 deg. 2025-01-08T19:57:45.918Z,1736366265.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812902 target range: 79.300003 and range: 80.20 m. 2025-01-08T19:57:46.064Z,1736366266.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:46.065Z,1736366266.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015448 2025-01-08T19:57:46.317Z,1736366266.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:46.317Z,1736366266.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267313 2025-01-08T19:57:46.397Z,1736366266.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:46.426Z,1736366266.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:46.434Z,1736366266.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 83.875694 m, bearing: 140.698785 deg, approach rate: 0.398289 m/s, LOS rate: -0.227267 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.625308 deg. 2025-01-08T19:57:46.439Z,1736366266.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810569 target range: 79.300003 and range: 80.20 m. 2025-01-08T19:57:46.568Z,1736366266.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:46.569Z,1736366266.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518856 2025-01-08T19:57:46.757Z,1736366266.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:46.766Z,1736366266.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:46.769Z,1736366266.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 84.025703 m, bearing: 140.614042 deg, approach rate: 0.441684 m/s, LOS rate: -0.249072 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.721411 deg. 2025-01-08T19:57:46.771Z,1736366266.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812246 target range: 79.300003 and range: 80.20 m. 2025-01-08T19:57:46.820Z,1736366266.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:46.822Z,1736366266.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771310 2025-01-08T19:57:47.072Z,1736366267.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:47.072Z,1736366267.072 [DAT](INFO): DAT read: Rx Time:19:57:45.7371 2025-01-08T19:57:47.073Z,1736366267.073 [DAT](INFO): Rx dataTimestamp_ set to:1736366267.072664 2025-01-08T19:57:47.073Z,1736366267.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023493 2025-01-08T19:57:47.153Z,1736366267.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:47.160Z,1736366267.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:47.162Z,1736366267.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:47.165Z,1736366267.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 84.191299 m, bearing: 140.521103 deg, approach rate: 0.418637 m/s, LOS rate: -0.234493 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.696921 deg. 2025-01-08T19:57:47.166Z,1736366267.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811819 target range: 79.300003 and range: 80.20 m. 2025-01-08T19:57:47.326Z,1736366267.326 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:47.329Z,1736366267.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278102 2025-01-08T19:57:47.572Z,1736366267.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:47.576Z,1736366267.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:47.577Z,1736366267.577 [DAT](INFO): DAT read: Range 10 to 50 : 81.2 m (Round-trip 108.3 ms) speed -0.2 m/s 2025-01-08T19:57:47.578Z,1736366267.578 [DAT](INFO): DAT read: user:998> 2025-01-08T19:57:47.579Z,1736366267.579 [DAT](INFO): DAT read: Tx time:19:57:46.8246 2025-01-08T19:57:47.579Z,1736366267.579 [DAT](INFO): Ping request sent. 2025-01-08T19:57:47.579Z,1736366267.579 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:47.580Z,1736366267.580 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:47.580Z,1736366267.580 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:47.581Z,1736366267.581 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:47.605Z,1736366267.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.199997 m, deltaT: 3.777425 s, deltaX: 1.000000 m, approachRate: 0.264731 m/s, rangeRepo size: 4 2025-01-08T19:57:47.606Z,1736366267.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:47.613Z,1736366267.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 84.393066 m, bearing: 140.411444 deg, approach rate: 0.455923 m/s, LOS rate: -0.247199 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.647000 deg. 2025-01-08T19:57:47.615Z,1736366267.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810948 target range: 79.300003 and range: 81.20 m. 2025-01-08T19:57:47.828Z,1736366267.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:47.829Z,1736366267.829 [DAT](INFO): DAT read: TxSync time:19:57:46.8238 2025-01-08T19:57:47.943Z,1736366267.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:47.952Z,1736366267.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:47.955Z,1736366267.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 84.571831 m, bearing: 140.314766 deg, approach rate: 0.513577 m/s, LOS rate: -0.277160 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.685770 deg. 2025-01-08T19:57:47.956Z,1736366267.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811625 target range: 79.300003 and range: 81.20 m. 2025-01-08T19:57:48.080Z,1736366268.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:48.333Z,1736366268.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:48.401Z,1736366268.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:48.429Z,1736366268.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:48.440Z,1736366268.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 84.827171 m, bearing: 140.173943 deg, approach rate: 0.535439 m/s, LOS rate: -0.294411 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.553998 deg. 2025-01-08T19:57:48.441Z,1736366268.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809325 target range: 79.300003 and range: 81.20 m. 2025-01-08T19:57:48.584Z,1736366268.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:48.748Z,1736366268.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:48.757Z,1736366268.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:48.760Z,1736366268.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 85.020805 m, bearing: 140.067163 deg, approach rate: 0.591226 m/s, LOS rate: -0.325292 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655578 deg. 2025-01-08T19:57:48.761Z,1736366268.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811098 target range: 79.300003 and range: 81.20 m. 2025-01-08T19:57:48.836Z,1736366268.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:49.088Z,1736366269.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:49.206Z,1736366269.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:49.213Z,1736366269.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:49.217Z,1736366269.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:49.252Z,1736366269.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 85.275627 m, bearing: 139.926444 deg, approach rate: 0.553146 m/s, LOS rate: -0.304548 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.554300 deg. 2025-01-08T19:57:49.253Z,1736366269.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809330 target range: 79.300003 and range: 81.20 m. 2025-01-08T19:57:49.343Z,1736366269.343 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:49.345Z,1736366269.345 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:49.345Z,1736366269.345 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:49.346Z,1736366269.346 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:49.596Z,1736366269.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:49.597Z,1736366269.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016866 2025-01-08T19:57:49.704Z,1736366269.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:49.712Z,1736366269.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:49.715Z,1736366269.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 85.586945 m, bearing: 139.755629 deg, approach rate: 0.629434 m/s, LOS rate: -0.344104 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.464619 deg. 2025-01-08T19:57:49.717Z,1736366269.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807765 target range: 79.300003 and range: 81.20 m. 2025-01-08T19:57:49.848Z,1736366269.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:49.849Z,1736366269.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269575 2025-01-08T19:57:50.065Z,1736366270.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:50.074Z,1736366270.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:50.076Z,1736366270.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 85.813629 m, bearing: 139.632288 deg, approach rate: 0.626874 m/s, LOS rate: -0.340186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.606147 deg. 2025-01-08T19:57:50.078Z,1736366270.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810235 target range: 79.300003 and range: 81.20 m. 2025-01-08T19:57:50.100Z,1736366270.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:50.101Z,1736366270.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521066 2025-01-08T19:57:50.354Z,1736366270.354 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:50.357Z,1736366270.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776993 2025-01-08T19:57:50.490Z,1736366270.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:50.499Z,1736366270.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:50.502Z,1736366270.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 86.102028 m, bearing: 139.474704 deg, approach rate: 0.678220 m/s, LOS rate: -0.369344 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.504030 deg. 2025-01-08T19:57:50.503Z,1736366270.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808453 target range: 79.300003 and range: 81.20 m. 2025-01-08T19:57:50.606Z,1736366270.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:50.607Z,1736366270.607 [DAT](INFO): DAT read: Rx Time:19:57:49.3383 2025-01-08T19:57:50.608Z,1736366270.608 [DAT](INFO): Rx dataTimestamp_ set to:1736366270.607407 2025-01-08T19:57:50.608Z,1736366270.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028736 2025-01-08T19:57:50.860Z,1736366270.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:50.860Z,1736366270.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280887 2025-01-08T19:57:50.873Z,1736366270.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:50.892Z,1736366270.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:50.899Z,1736366270.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 86.362160 m, bearing: 139.332499 deg, approach rate: 0.662613 m/s, LOS rate: -0.361135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.549866 deg. 2025-01-08T19:57:50.901Z,1736366270.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809252 target range: 79.300003 and range: 81.20 m. 2025-01-08T19:57:51.112Z,1736366271.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:51.115Z,1736366271.115 [DAT](INFO): DAT read: Range 10 to 50 : 82.2 m (Round-trip 109.6 ms) speed 0.0 m/s 2025-01-08T19:57:51.116Z,1736366271.116 [DAT](INFO): DAT read: user:999> 2025-01-08T19:57:51.116Z,1736366271.116 [DAT](INFO): DAT read: Tx time:19:57:50.4246 2025-01-08T19:57:51.117Z,1736366271.117 [DAT](INFO): Ping request sent. 2025-01-08T19:57:51.117Z,1736366271.117 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:51.117Z,1736366271.117 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:51.117Z,1736366271.117 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:51.118Z,1736366271.118 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:51.288Z,1736366271.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:51.298Z,1736366271.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:51.305Z,1736366271.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.199997 m, deltaT: 3.536502 s, deltaX: 1.000000 m, approachRate: 0.282765 m/s, rangeRepo size: 4 2025-01-08T19:57:51.306Z,1736366271.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:51.321Z,1736366271.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 86.642914 m, bearing: 139.178865 deg, approach rate: 0.679299 m/s, LOS rate: -0.370522 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.515787 deg. 2025-01-08T19:57:51.333Z,1736366271.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808658 target range: 79.300003 and range: 82.20 m. 2025-01-08T19:57:51.366Z,1736366271.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:51.369Z,1736366271.369 [DAT](INFO): DAT read: TxSync time:19:57:50.4238 2025-01-08T19:57:51.372Z,1736366271.372 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:51.372Z,1736366271.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:51.373Z,1736366271.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:51.618Z,1736366271.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:51.618Z,1736366271.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501575 2025-01-08T19:57:51.727Z,1736366271.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:51.737Z,1736366271.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:51.740Z,1736366271.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 86.936790 m, bearing: 139.015812 deg, approach rate: 0.679895 m/s, LOS rate: -0.375954 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.487694 deg. 2025-01-08T19:57:51.741Z,1736366271.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808167 target range: 79.300003 and range: 82.20 m. 2025-01-08T19:57:51.868Z,1736366271.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:51.868Z,1736366271.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751461 2025-01-08T19:57:52.080Z,1736366272.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:52.090Z,1736366272.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:52.093Z,1736366272.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 87.172348 m, bearing: 138.885093 deg, approach rate: 0.667756 m/s, LOS rate: -0.369559 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.584096 deg. 2025-01-08T19:57:52.094Z,1736366272.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809850 target range: 79.300003 and range: 82.20 m. 2025-01-08T19:57:52.120Z,1736366272.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:52.121Z,1736366272.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003897 2025-01-08T19:57:52.374Z,1736366272.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:52.376Z,1736366272.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259115 2025-01-08T19:57:52.513Z,1736366272.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:52.522Z,1736366272.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:52.525Z,1736366272.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 87.454102 m, bearing: 138.728737 deg, approach rate: 0.652086 m/s, LOS rate: -0.360701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.507642 deg. 2025-01-08T19:57:52.526Z,1736366272.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808516 target range: 79.300003 and range: 82.20 m. 2025-01-08T19:57:52.624Z,1736366272.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:52.625Z,1736366272.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508444 2025-01-08T19:57:52.876Z,1736366272.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:52.876Z,1736366272.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759610 2025-01-08T19:57:52.886Z,1736366272.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:52.895Z,1736366272.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:52.901Z,1736366272.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 87.697495 m, bearing: 138.594429 deg, approach rate: 0.652770 m/s, LOS rate: -0.359208 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.573389 deg. 2025-01-08T19:57:52.902Z,1736366272.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809663 target range: 79.300003 and range: 82.20 m. 2025-01-08T19:57:53.128Z,1736366273.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:53.130Z,1736366273.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012338 2025-01-08T19:57:53.308Z,1736366273.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:53.318Z,1736366273.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:53.325Z,1736366273.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:53.331Z,1736366273.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 87.973305 m, bearing: 138.443191 deg, approach rate: 0.641477 m/s, LOS rate: -0.350645 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.522905 deg. 2025-01-08T19:57:53.333Z,1736366273.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808782 target range: 79.300003 and range: 82.20 m. 2025-01-08T19:57:53.381Z,1736366273.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:53.384Z,1736366273.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266036 2025-01-08T19:57:53.632Z,1736366273.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:53.633Z,1736366273.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516048 2025-01-08T19:57:53.744Z,1736366273.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:53.753Z,1736366273.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:53.756Z,1736366273.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 88.228867 m, bearing: 138.300201 deg, approach rate: 0.596125 m/s, LOS rate: -0.332574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.547466 deg. 2025-01-08T19:57:53.758Z,1736366273.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809210 target range: 79.300003 and range: 82.20 m. 2025-01-08T19:57:53.884Z,1736366273.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:53.885Z,1736366273.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767638 2025-01-08T19:57:54.109Z,1736366274.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:54.119Z,1736366274.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:54.122Z,1736366274.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 88.442749 m, bearing: 138.181711 deg, approach rate: 0.585192 m/s, LOS rate: -0.323410 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.620581 deg. 2025-01-08T19:57:54.123Z,1736366274.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810487 target range: 79.300003 and range: 82.20 m. 2025-01-08T19:57:54.136Z,1736366274.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:54.137Z,1736366274.137 [DAT](INFO): DAT read: Rx Time:19:57:52.9397 2025-01-08T19:57:54.137Z,1736366274.137 [DAT](INFO): Rx dataTimestamp_ set to:1736366274.136937 2025-01-08T19:57:54.138Z,1736366274.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020880 2025-01-08T19:57:54.389Z,1736366274.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:54.392Z,1736366274.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274784 2025-01-08T19:57:54.548Z,1736366274.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:54.576Z,1736366274.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:54.579Z,1736366274.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 88.660942 m, bearing: 138.062287 deg, approach rate: 0.477088 m/s, LOS rate: -0.260482 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.617803 deg. 2025-01-08T19:57:54.584Z,1736366274.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810438 target range: 79.300003 and range: 82.20 m. 2025-01-08T19:57:54.640Z,1736366274.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:54.642Z,1736366274.642 [DAT](INFO): DAT read: Range 10 to 50 : 83.2 m (Round-trip 111.0 ms) speed -0.3 m/s 2025-01-08T19:57:54.643Z,1736366274.643 [DAT](INFO): DAT read: user:1000> 2025-01-08T19:57:54.644Z,1736366274.644 [DAT](INFO): DAT read: Tx time:19:57:54.0246 2025-01-08T19:57:54.644Z,1736366274.644 [DAT](INFO): Ping request sent. 2025-01-08T19:57:54.644Z,1736366274.644 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:54.644Z,1736366274.644 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:57:54.645Z,1736366274.645 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:54.645Z,1736366274.645 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:54.892Z,1736366274.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:54.892Z,1736366274.892 [DAT](INFO): DAT read: TxSync time:19:57:54.0238 2025-01-08T19:57:54.934Z,1736366274.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:54.943Z,1736366274.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.199997 m, deltaT: 3.527900 s, deltaX: 1.000000 m, approachRate: 0.283455 m/s, rangeRepo size: 4 2025-01-08T19:57:54.944Z,1736366274.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:54.946Z,1736366274.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 88.854309 m, bearing: 137.957737 deg, approach rate: 0.528029 m/s, LOS rate: -0.284874 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.662223 deg. 2025-01-08T19:57:54.965Z,1736366274.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811213 target range: 79.300003 and range: 83.20 m. 2025-01-08T19:57:55.144Z,1736366275.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:55.312Z,1736366275.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:55.320Z,1736366275.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:55.322Z,1736366275.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:55.345Z,1736366275.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 89.043587 m, bearing: 137.855986 deg, approach rate: 0.498627 m/s, LOS rate: -0.267479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.670586 deg. 2025-01-08T19:57:55.346Z,1736366275.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811359 target range: 79.300003 and range: 83.20 m. 2025-01-08T19:57:55.398Z,1736366275.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:55.400Z,1736366275.400 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:55.401Z,1736366275.401 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:55.402Z,1736366275.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:57:55.648Z,1736366275.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:55.649Z,1736366275.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005116 2025-01-08T19:57:55.752Z,1736366275.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:55.761Z,1736366275.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:55.764Z,1736366275.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 89.234543 m, bearing: 137.755475 deg, approach rate: 0.435113 m/s, LOS rate: -0.228535 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674301 deg. 2025-01-08T19:57:55.766Z,1736366275.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811424 target range: 79.300003 and range: 83.20 m. 2025-01-08T19:57:55.900Z,1736366275.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:55.900Z,1736366275.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256326 2025-01-08T19:57:56.132Z,1736366276.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:56.140Z,1736366276.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:56.143Z,1736366276.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 89.399940 m, bearing: 137.669385 deg, approach rate: 0.435697 m/s, LOS rate: -0.226361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.717398 deg. 2025-01-08T19:57:56.144Z,1736366276.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812176 target range: 79.300003 and range: 83.20 m. 2025-01-08T19:57:56.152Z,1736366276.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:56.153Z,1736366276.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508615 2025-01-08T19:57:56.406Z,1736366276.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:56.419Z,1736366276.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774371 2025-01-08T19:57:56.581Z,1736366276.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:56.593Z,1736366276.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:56.596Z,1736366276.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 89.571220 m, bearing: 137.584182 deg, approach rate: 0.378209 m/s, LOS rate: -0.187780 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.720068 deg. 2025-01-08T19:57:56.598Z,1736366276.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812223 target range: 79.300003 and range: 83.20 m. 2025-01-08T19:57:56.657Z,1736366276.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:56.658Z,1736366276.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013716 2025-01-08T19:57:56.908Z,1736366276.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:56.908Z,1736366276.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264296 2025-01-08T19:57:56.999Z,1736366276.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:57.007Z,1736366277.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:57.010Z,1736366277.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 89.732628 m, bearing: 137.506142 deg, approach rate: 0.389991 m/s, LOS rate: -0.188220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.741489 deg. 2025-01-08T19:57:57.031Z,1736366277.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812597 target range: 79.300003 and range: 83.20 m. 2025-01-08T19:57:57.160Z,1736366277.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:57.160Z,1736366277.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516445 2025-01-08T19:57:57.410Z,1736366277.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:57.413Z,1736366277.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:57.414Z,1736366277.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770176 2025-01-08T19:57:57.462Z,1736366277.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:57.484Z,1736366277.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:57.500Z,1736366277.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 89.892151 m, bearing: 137.430371 deg, approach rate: 0.338362 m/s, LOS rate: -0.160433 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.748277 deg. 2025-01-08T19:57:57.501Z,1736366277.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812716 target range: 79.300003 and range: 83.20 m. 2025-01-08T19:57:57.665Z,1736366277.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:57.666Z,1736366277.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022137 2025-01-08T19:57:57.916Z,1736366277.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:57.917Z,1736366277.917 [DAT](INFO): DAT read: Rx Time:19:57:56.5412 2025-01-08T19:57:57.918Z,1736366277.918 [DAT](INFO): Rx dataTimestamp_ set to:1736366277.917258 2025-01-08T19:57:57.918Z,1736366277.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274055 2025-01-08T19:57:57.987Z,1736366277.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:58.000Z,1736366278.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:58.003Z,1736366278.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 90.092049 m, bearing: 137.332568 deg, approach rate: 0.383380 m/s, LOS rate: -0.187157 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.682434 deg. 2025-01-08T19:57:58.004Z,1736366278.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811566 target range: 79.300003 and range: 83.20 m. 2025-01-08T19:57:58.168Z,1736366278.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:58.168Z,1736366278.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524438 2025-01-08T19:57:58.340Z,1736366278.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:58.349Z,1736366278.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T19:57:58.352Z,1736366278.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 90.214821 m, bearing: 137.273418 deg, approach rate: 0.351524 m/s, LOS rate: -0.169130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797977 deg. 2025-01-08T19:57:58.354Z,1736366278.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813583 target range: 79.300003 and range: 83.20 m. 2025-01-08T19:57:58.422Z,1736366278.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:58.491Z,1736366278.491 [DAT](INFO): DAT read: 19:57:56.5412 LVL= 19344, 16769, 11554, 22643, AGC= 55, IDX= 443, 0.38,-1.044, 1.195, 1.281, 0.678, PHS=-1.634, 0.563, 0.600, RAW= 269.2, 4.3, CAL= 272.8, 5.7, ROT= 237.2, -5.7 2025-01-08T19:57:58.492Z,1736366278.492 [DAT](INFO): got valid direction response: 19:57:56.5412 LVL= 19344, 16769, 11554, 22643, AGC= 55, IDX= 443, 0.38,-1.044, 1.195, 1.281, 0.678, PHS=-1.634, 0.563, 0.600, RAW= 269.2, 4.3, CAL= 272.8, 5.7, ROT= 237.2, -5.7 2025-01-08T19:57:58.493Z,1736366278.493 [DAT](INFO): DAT read: Bearing 237.2, -5.7 (Local) 2025-01-08T19:57:58.494Z,1736366278.494 [DAT](INFO): Local bearing/azimuth received: Bearing 237.2, -5.7 (Local) 2025-01-08T19:57:58.510Z,1736366278.510 [DAT](INFO): DAT read: Range 10 to 50 : 84.3 m (Round-trip 112.5 ms) speed -0.3 m/s 2025-01-08T19:57:58.516Z,1736366278.516 [DAT](INFO): DAT read: user:1001> 2025-01-08T19:57:58.517Z,1736366278.517 [DAT](INFO): DAT read: Tx time:19:57:57.6246 2025-01-08T19:57:58.517Z,1736366278.517 [DAT](INFO): Ping request sent. 2025-01-08T19:57:58.517Z,1736366278.517 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:57:58.518Z,1736366278.518 [DAT](INFO): DAT read: TxSync time:19:57:57.6238 2025-01-08T19:57:58.518Z,1736366278.518 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:57:58.524Z,1736366278.524 [DAT](INFO): direction in FSK: [0.001682,-0.117310,-0.993094] 2025-01-08T19:57:58.524Z,1736366278.524 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:58.524Z,1736366278.524 [DAT](INFO): publishing direction and range info 2025-01-08T19:57:58.531Z,1736366278.531 [DAT](INFO): publishing transmit ping time 2025-01-08T19:57:58.535Z,1736366278.535 [DAT](INFO): publishing direction and range info 2025-01-08T19:57:58.672Z,1736366278.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:58.924Z,1736366278.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:58.961Z,1736366278.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:58.976Z,1736366278.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.300003 m, deltaT: 3.782297 s, deltaX: 1.100006 m, approachRate: 0.290830 m/s, rangeRepo size: 4 2025-01-08T19:57:58.978Z,1736366278.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.300003 m, bearing: 336.157986 deg, lat: 36.904309 deg, lon: -122.118778 deg, deltaT: 18.154695 s, deltaX: 5.000000 m, approachRate: 0.275411 m/s, posRepo size: 4 2025-01-08T19:57:58.979Z,1736366278.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:57:58.983Z,1736366278.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 86.476547 m, bearing: 138.191884 deg, approach rate: 0.000000 m/s, LOS rate: -0.169130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.657514 deg. 2025-01-08T19:57:58.985Z,1736366278.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811131 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:57:59.178Z,1736366279.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:59.279Z,1736366279.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:59.306Z,1736366279.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:57:59.313Z,1736366279.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 86.588959 m, bearing: 138.134564 deg, approach rate: 0.339630 m/s, LOS rate: -0.172957 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803451 deg. 2025-01-08T19:57:59.320Z,1736366279.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813678 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:57:59.430Z,1736366279.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:59.680Z,1736366279.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:59.721Z,1736366279.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:57:59.727Z,1736366279.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:57:59.729Z,1736366279.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:57:59.733Z,1736366279.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 86.767258 m, bearing: 138.042211 deg, approach rate: 0.421346 m/s, LOS rate: -0.217796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.698698 deg. 2025-01-08T19:57:59.734Z,1736366279.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811850 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:57:59.932Z,1736366279.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:57:59.933Z,1736366279.933 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:57:59.933Z,1736366279.933 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:57:59.933Z,1736366279.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:00.091Z,1736366280.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:00.101Z,1736366280.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:00.103Z,1736366280.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 86.917450 m, bearing: 137.965471 deg, approach rate: 0.404702 m/s, LOS rate: -0.206423 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.745366 deg. 2025-01-08T19:58:00.105Z,1736366280.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812665 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:58:00.184Z,1736366280.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:00.185Z,1736366280.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.667368 2025-01-08T19:58:00.436Z,1736366280.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:00.436Z,1736366280.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.919186 2025-01-08T19:58:00.563Z,1736366280.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:00.596Z,1736366280.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:00.604Z,1736366280.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 87.148895 m, bearing: 137.850412 deg, approach rate: 0.467194 m/s, LOS rate: -0.231639 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.630933 deg. 2025-01-08T19:58:00.605Z,1736366280.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810668 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:58:00.688Z,1736366280.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:00.689Z,1736366280.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.171893 2025-01-08T19:58:00.894Z,1736366280.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:00.904Z,1736366280.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:00.906Z,1736366280.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 87.311836 m, bearing: 137.769934 deg, approach rate: 0.529860 m/s, LOS rate: -0.261216 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.734203 deg. 2025-01-08T19:58:00.908Z,1736366280.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812469 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:58:00.940Z,1736366280.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:00.941Z,1736366280.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.423458 2025-01-08T19:58:01.192Z,1736366281.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:01.192Z,1736366281.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.675154 2025-01-08T19:58:01.302Z,1736366281.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:01.310Z,1736366281.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:01.313Z,1736366281.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 87.512337 m, bearing: 137.670963 deg, approach rate: 0.492918 m/s, LOS rate: -0.242757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.678957 deg. 2025-01-08T19:58:01.332Z,1736366281.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811505 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:58:01.444Z,1736366281.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:01.445Z,1736366281.445 [DAT](INFO): DAT read: Rx Time:19:58:00.1428 2025-01-08T19:58:01.445Z,1736366281.445 [DAT](INFO): Rx dataTimestamp_ set to:1736366281.444696 2025-01-08T19:58:01.445Z,1736366281.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.928270 2025-01-08T19:58:01.696Z,1736366281.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:01.696Z,1736366281.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.179121 2025-01-08T19:58:01.758Z,1736366281.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:01.766Z,1736366281.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:01.768Z,1736366281.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:01.771Z,1736366281.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 87.776360 m, bearing: 137.538452 deg, approach rate: 0.576274 m/s, LOS rate: -0.288357 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.578857 deg. 2025-01-08T19:58:01.772Z,1736366281.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809758 target range: 84.300003 and range: 84.30 m. 2025-01-08T19:58:01.948Z,1736366281.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:01.950Z,1736366281.950 [DAT](INFO): DAT read: Range 10 to 50 : 85.5 m (Round-trip 114.1 ms) speed -0.3 m/s 2025-01-08T19:58:01.951Z,1736366281.951 [DAT](INFO): DAT read: user:1002> 2025-01-08T19:58:01.952Z,1736366281.952 [DAT](INFO): DAT read: Tx time:19:58:01.2247 2025-01-08T19:58:01.952Z,1736366281.952 [DAT](INFO): Ping request sent. 2025-01-08T19:58:01.952Z,1736366281.952 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:01.952Z,1736366281.952 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:58:01.953Z,1736366281.953 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:01.953Z,1736366281.953 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:02.107Z,1736366282.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:02.117Z,1736366282.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.500000 m, deltaT: 3.525922 s, deltaX: 1.199997 m, approachRate: 0.340336 m/s, rangeRepo size: 4 2025-01-08T19:58:02.118Z,1736366282.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:02.121Z,1736366282.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 87.977097 m, bearing: 137.436931 deg, approach rate: 0.576668 m/s, LOS rate: -0.290979 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.671322 deg. 2025-01-08T19:58:02.122Z,1736366282.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811372 target range: 84.300003 and range: 85.50 m. 2025-01-08T19:58:02.200Z,1736366282.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:02.201Z,1736366282.201 [DAT](INFO): DAT read: TxSync time:19:58:01.2239 2025-01-08T19:58:02.452Z,1736366282.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:02.591Z,1736366282.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:02.599Z,1736366282.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:02.602Z,1736366282.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 88.291069 m, bearing: 137.277545 deg, approach rate: 0.651128 m/s, LOS rate: -0.329365 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.498740 deg. 2025-01-08T19:58:02.603Z,1736366282.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808360 target range: 84.300003 and range: 85.50 m. 2025-01-08T19:58:02.704Z,1736366282.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:02.956Z,1736366282.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:03.045Z,1736366283.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:03.054Z,1736366283.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:03.057Z,1736366283.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 88.585243 m, bearing: 137.127814 deg, approach rate: 0.646243 m/s, LOS rate: -0.327837 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.527495 deg. 2025-01-08T19:58:03.058Z,1736366283.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808862 target range: 84.300003 and range: 85.50 m. 2025-01-08T19:58:03.208Z,1736366283.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:03.460Z,1736366283.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:03.467Z,1736366283.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:03.479Z,1736366283.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:03.482Z,1736366283.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 88.845268 m, bearing: 136.994862 deg, approach rate: 0.617185 m/s, LOS rate: -0.314647 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.577503 deg. 2025-01-08T19:58:03.488Z,1736366283.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809735 target range: 84.300003 and range: 85.50 m. 2025-01-08T19:58:03.712Z,1736366283.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:03.882Z,1736366283.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:03.888Z,1736366283.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:03.890Z,1736366283.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:03.894Z,1736366283.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 89.144890 m, bearing: 136.838194 deg, approach rate: 0.721580 m/s, LOS rate: -0.376034 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.506775 deg. 2025-01-08T19:58:03.895Z,1736366283.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808500 target range: 84.300003 and range: 85.50 m. 2025-01-08T19:58:03.965Z,1736366283.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:03.966Z,1736366283.966 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:03.966Z,1736366283.966 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:03.966Z,1736366283.966 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:04.216Z,1736366284.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:04.216Z,1736366284.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264158 2025-01-08T19:58:04.266Z,1736366284.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:04.288Z,1736366284.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:04.291Z,1736366284.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 89.410629 m, bearing: 136.698970 deg, approach rate: 0.676063 m/s, LOS rate: -0.353146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.558762 deg. 2025-01-08T19:58:04.294Z,1736366284.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809408 target range: 84.300003 and range: 85.50 m. 2025-01-08T19:58:04.468Z,1736366284.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:04.468Z,1736366284.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516349 2025-01-08T19:58:04.713Z,1736366284.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:04.720Z,1736366284.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:04.720Z,1736366284.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768299 2025-01-08T19:58:04.724Z,1736366284.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:04.728Z,1736366284.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 89.719498 m, bearing: 136.538330 deg, approach rate: 0.700663 m/s, LOS rate: -0.363154 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.494938 deg. 2025-01-08T19:58:04.729Z,1736366284.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808294 target range: 84.300003 and range: 85.50 m. 2025-01-08T19:58:04.972Z,1736366284.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:04.972Z,1736366284.972 [DAT](INFO): DAT read: Rx Time:19:58:03.7446 2025-01-08T19:58:04.973Z,1736366284.973 [DAT](INFO): Rx dataTimestamp_ set to:1736366284.972608 2025-01-08T19:58:04.973Z,1736366284.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021273 2025-01-08T19:58:05.077Z,1736366285.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:05.102Z,1736366285.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m. 2025-01-08T19:58:05.105Z,1736366285.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.300003 m, nav range: 89.971008 m, bearing: 136.408604 deg, approach rate: 0.665689 m/s, LOS rate: -0.342392 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.587105 deg. 2025-01-08T19:58:05.106Z,1736366285.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809902 target range: 84.300003 and range: 85.50 m. 2025-01-08T19:58:05.224Z,1736366285.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:05.225Z,1736366285.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272355 2025-01-08T19:58:05.476Z,1736366285.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:05.484Z,1736366285.484 [DAT](INFO): DAT read: 19:58:03.7446 LVL= 24640, 18065, 15042, 28147, AGC= 64, IDX= 445, 0.44,-1.932, 0.270, 0.333,-0.267, PHS=-1.577, 0.585, 0.597, RAW= 269.7, 3.7, CAL= 273.0, 4.8, ROT= 237.0, -4.8 2025-01-08T19:58:05.485Z,1736366285.485 [DAT](INFO): got valid direction response: 19:58:03.7446 LVL= 24640, 18065, 15042, 28147, AGC= 64, IDX= 445, 0.44,-1.932, 0.270, 0.333,-0.267, PHS=-1.577, 0.585, 0.597, RAW= 269.7, 3.7, CAL= 273.0, 4.8, ROT= 237.0, -4.8 2025-01-08T19:58:05.486Z,1736366285.486 [DAT](INFO): DAT read: Bearing 237.0, -4.8 (Local) 2025-01-08T19:58:05.486Z,1736366285.486 [DAT](INFO): Local bearing/azimuth received: Bearing 237.0, -4.8 (Local) 2025-01-08T19:58:05.489Z,1736366285.489 [DAT](INFO): DAT read: Range 10 to 50 : 86.8 m (Round-trip 115.8 ms) speed -0.3 m/s 2025-01-08T19:58:05.490Z,1736366285.490 [DAT](INFO): DAT read: user:1003> 2025-01-08T19:58:05.490Z,1736366285.490 [DAT](INFO): DAT read: Tx time:19:58:04.8747 2025-01-08T19:58:05.491Z,1736366285.491 [DAT](INFO): Ping request sent. 2025-01-08T19:58:05.491Z,1736366285.491 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:05.491Z,1736366285.491 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:58:05.492Z,1736366285.492 [DAT](INFO): direction in FSK: [0.014266,-0.108482,-0.993996] 2025-01-08T19:58:05.492Z,1736366285.492 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:05.492Z,1736366285.492 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:05.496Z,1736366285.496 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:05.496Z,1736366285.496 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:05.570Z,1736366285.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:05.637Z,1736366285.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.800003 m, deltaT: 3.527289 s, deltaX: 1.300003 m, approachRate: 0.368556 m/s, rangeRepo size: 4 2025-01-08T19:58:05.639Z,1736366285.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.800003 m, bearing: 307.799403 deg, lat: 36.904667 deg, lon: -122.119346 deg, deltaT: 7.053211 s, deltaX: 2.500000 m, approachRate: 0.354448 m/s, posRepo size: 4 2025-01-08T19:58:05.648Z,1736366285.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:05.692Z,1736366285.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 28.130066 m, bearing: 154.820614 deg, approach rate: 0.000000 m/s, LOS rate: -0.342392 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.426871 deg. 2025-01-08T19:58:05.693Z,1736366285.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807106 target range: 86.800003 and range: 86.80 m. 2025-01-08T19:58:05.730Z,1736366285.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:05.732Z,1736366285.732 [DAT](INFO): DAT read: TxSync time:19:58:04.8739 2025-01-08T19:58:05.980Z,1736366285.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:06.035Z,1736366286.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:06.050Z,1736366286.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:06.056Z,1736366286.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:06.059Z,1736366286.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 28.353817 m, bearing: 154.099240 deg, approach rate: 0.532468 m/s, LOS rate: -1.703087 deg/s, cmd heading: 275.975187 deg, new cmd heading: 273.829202 deg. 2025-01-08T19:58:06.065Z,1736366286.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779221 target range: 86.800003 and range: 86.80 m. 2025-01-08T19:58:06.232Z,1736366286.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:06.233Z,1736366286.233 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:06.233Z,1736366286.233 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:06.233Z,1736366286.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:06.376Z,1736366286.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:06.385Z,1736366286.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:06.388Z,1736366286.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 28.511536 m, bearing: 153.605056 deg, approach rate: 0.479269 m/s, LOS rate: -1.493378 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.501181 deg. 2025-01-08T19:58:06.389Z,1736366286.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790949 target range: 86.800003 and range: 86.80 m. 2025-01-08T19:58:06.484Z,1736366286.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:06.485Z,1736366286.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993875 2025-01-08T19:58:06.736Z,1736366286.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:06.736Z,1736366286.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245651 2025-01-08T19:58:06.798Z,1736366286.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:06.807Z,1736366286.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:06.810Z,1736366286.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 28.690548 m, bearing: 153.058796 deg, approach rate: 0.424892 m/s, LOS rate: -1.288461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.347093 deg. 2025-01-08T19:58:06.811Z,1736366286.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788260 target range: 86.800003 and range: 86.80 m. 2025-01-08T19:58:06.988Z,1736366286.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:06.989Z,1736366286.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498226 2025-01-08T19:58:07.177Z,1736366287.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:07.202Z,1736366287.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:07.209Z,1736366287.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 28.853592 m, bearing: 152.575269 deg, approach rate: 0.412492 m/s, LOS rate: -1.216369 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.533123 deg. 2025-01-08T19:58:07.210Z,1736366287.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791507 target range: 86.800003 and range: 86.80 m. 2025-01-08T19:58:07.240Z,1736366287.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:07.240Z,1736366287.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749715 2025-01-08T19:58:07.492Z,1736366287.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:07.492Z,1736366287.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001653 2025-01-08T19:58:07.645Z,1736366287.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:07.661Z,1736366287.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:07.666Z,1736366287.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 29.059195 m, bearing: 151.986404 deg, approach rate: 0.448748 m/s, LOS rate: -1.276140 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.221670 deg. 2025-01-08T19:58:07.668Z,1736366287.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786071 target range: 86.800003 and range: 86.80 m. 2025-01-08T19:58:07.745Z,1736366287.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:07.746Z,1736366287.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254868 2025-01-08T19:58:07.996Z,1736366287.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:07.996Z,1736366287.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505735 2025-01-08T19:58:08.018Z,1736366288.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:08.027Z,1736366288.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:08.046Z,1736366288.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 29.200335 m, bearing: 151.594606 deg, approach rate: 0.384955 m/s, LOS rate: -1.063444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.805646 deg. 2025-01-08T19:58:08.047Z,1736366288.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796263 target range: 86.800003 and range: 86.80 m. 2025-01-08T19:58:08.249Z,1736366288.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:08.249Z,1736366288.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758732 2025-01-08T19:58:08.389Z,1736366288.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:08.396Z,1736366288.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:08.398Z,1736366288.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:08.401Z,1736366288.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 29.342758 m, bearing: 151.210416 deg, approach rate: 0.383765 m/s, LOS rate: -1.030180 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.828373 deg. 2025-01-08T19:58:08.402Z,1736366288.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796660 target range: 86.800003 and range: 86.80 m. 2025-01-08T19:58:08.496Z,1736366288.496 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:58:08.506Z,1736366288.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:08.506Z,1736366288.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015656 2025-01-08T19:58:08.756Z,1736366288.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:08.756Z,1736366288.756 [DAT](INFO): DAT read: Rx Time:19:58:07.3960 2025-01-08T19:58:08.757Z,1736366288.757 [DAT](INFO): Rx dataTimestamp_ set to:1736366288.756638 2025-01-08T19:58:08.757Z,1736366288.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266739 2025-01-08T19:58:08.840Z,1736366288.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:08.849Z,1736366288.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:08.852Z,1736366288.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 29.496244 m, bearing: 150.810389 deg, approach rate: 0.340027 m/s, LOS rate: -0.881586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.781532 deg. 2025-01-08T19:58:08.853Z,1736366288.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795843 target range: 86.800003 and range: 86.80 m. 2025-01-08T19:58:09.008Z,1736366289.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:09.008Z,1736366289.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517714 2025-01-08T19:58:09.221Z,1736366289.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:09.252Z,1736366289.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:09.254Z,1736366289.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 29.628279 m, bearing: 150.479496 deg, approach rate: 0.328244 m/s, LOS rate: -0.818947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.987036 deg. 2025-01-08T19:58:09.256Z,1736366289.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.799429 target range: 86.800003 and range: 86.80 m. 2025-01-08T19:58:09.260Z,1736366289.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:09.262Z,1736366289.262 [DAT](INFO): DAT read: Range 10 to 50 : 87.9 m (Round-trip 117.2 ms) speed -0.3 m/s 2025-01-08T19:58:09.262Z,1736366289.262 [DAT](INFO): DAT read: user:1004> 2025-01-08T19:58:09.263Z,1736366289.263 [DAT](INFO): DAT read: Tx time:19:58:08.4747 2025-01-08T19:58:09.263Z,1736366289.263 [DAT](INFO): Ping request sent. 2025-01-08T19:58:09.263Z,1736366289.263 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:09.265Z,1736366289.265 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:58:09.265Z,1736366289.265 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:09.265Z,1736366289.265 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:09.500Z,1736366289.500 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:58:09.513Z,1736366289.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:09.515Z,1736366289.515 [DAT](INFO): DAT read: TxSync time:19:58:08.4739 2025-01-08T19:58:09.673Z,1736366289.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:09.701Z,1736366289.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.900002 m, deltaT: 3.784075 s, deltaX: 1.099998 m, approachRate: 0.290691 m/s, rangeRepo size: 4 2025-01-08T19:58:09.702Z,1736366289.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:09.709Z,1736366289.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 29.787678 m, bearing: 150.090951 deg, approach rate: 0.354706 m/s, LOS rate: -0.859984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.815956 deg. 2025-01-08T19:58:09.710Z,1736366289.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796443 target range: 86.800003 and range: 87.90 m. 2025-01-08T19:58:09.765Z,1736366289.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:10.016Z,1736366290.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:10.036Z,1736366290.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:10.058Z,1736366290.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:10.084Z,1736366290.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 29.903521 m, bearing: 149.827605 deg, approach rate: 0.324478 m/s, LOS rate: -0.734776 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.188262 deg. 2025-01-08T19:58:10.085Z,1736366290.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802941 target range: 86.800003 and range: 87.90 m. 2025-01-08T19:58:10.268Z,1736366290.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:10.418Z,1736366290.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:10.427Z,1736366290.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:10.429Z,1736366290.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:10.433Z,1736366290.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 30.026760 m, bearing: 149.553293 deg, approach rate: 0.331995 m/s, LOS rate: -0.735932 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.155688 deg. 2025-01-08T19:58:10.434Z,1736366290.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802373 target range: 86.800003 and range: 87.90 m. 2025-01-08T19:58:10.520Z,1736366290.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:10.520Z,1736366290.520 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:10.520Z,1736366290.520 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:10.521Z,1736366290.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:10.772Z,1736366290.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:10.772Z,1736366290.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508874 2025-01-08T19:58:10.870Z,1736366290.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:10.878Z,1736366290.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:10.882Z,1736366290.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 30.164881 m, bearing: 149.248226 deg, approach rate: 0.307451 m/s, LOS rate: -0.675955 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.064257 deg. 2025-01-08T19:58:10.884Z,1736366290.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800777 target range: 86.800003 and range: 87.90 m. 2025-01-08T19:58:11.028Z,1736366291.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:11.029Z,1736366291.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765676 2025-01-08T19:58:11.254Z,1736366291.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:11.263Z,1736366291.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:11.267Z,1736366291.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 30.284090 m, bearing: 148.991741 deg, approach rate: 0.309968 m/s, LOS rate: -0.664284 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.208809 deg. 2025-01-08T19:58:11.268Z,1736366291.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803300 target range: 86.800003 and range: 87.90 m. 2025-01-08T19:58:11.276Z,1736366291.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:11.277Z,1736366291.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013010 2025-01-08T19:58:11.528Z,1736366291.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:11.528Z,1736366291.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264773 2025-01-08T19:58:11.745Z,1736366291.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:11.772Z,1736366291.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:11.775Z,1736366291.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 30.440029 m, bearing: 148.665872 deg, approach rate: 0.316613 m/s, LOS rate: -0.658239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.002686 deg. 2025-01-08T19:58:11.780Z,1736366291.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:11.781Z,1736366291.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517663 2025-01-08T19:58:11.782Z,1736366291.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.799702 target range: 86.800003 and range: 87.90 m. 2025-01-08T19:58:12.032Z,1736366292.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:12.033Z,1736366292.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769123 2025-01-08T19:58:12.146Z,1736366292.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:12.155Z,1736366292.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:12.158Z,1736366292.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 30.572254 m, bearing: 148.395988 deg, approach rate: 0.331232 m/s, LOS rate: -0.673150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.169091 deg. 2025-01-08T19:58:12.160Z,1736366292.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802607 target range: 86.800003 and range: 87.90 m. 2025-01-08T19:58:12.284Z,1736366292.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:12.284Z,1736366292.284 [DAT](INFO): DAT read: Rx Time:19:58:10.9978 2025-01-08T19:58:12.285Z,1736366292.285 [DAT](INFO): Rx dataTimestamp_ set to:1736366292.284564 2025-01-08T19:58:12.285Z,1736366292.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021845 2025-01-08T19:58:12.538Z,1736366292.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:12.538Z,1736366292.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274669 2025-01-08T19:58:12.577Z,1736366292.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:12.586Z,1736366292.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:12.588Z,1736366292.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:12.590Z,1736366292.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 30.713930 m, bearing: 148.112935 deg, approach rate: 0.326976 m/s, LOS rate: -0.650245 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.130010 deg. 2025-01-08T19:58:12.592Z,1736366292.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801925 target range: 86.800003 and range: 87.90 m. 2025-01-08T19:58:12.789Z,1736366292.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:12.793Z,1736366292.793 [DAT](INFO): DAT read: Range 10 to 50 : 89.2 m (Round-trip 119.0 ms) speed -0.4 m/s 2025-01-08T19:58:12.796Z,1736366292.796 [DAT](INFO): DAT read: user:1005> 2025-01-08T19:58:12.797Z,1736366292.797 [DAT](INFO): DAT read: Tx time:19:58:12.0747 2025-01-08T19:58:12.798Z,1736366292.798 [DAT](INFO): Ping request sent. 2025-01-08T19:58:12.798Z,1736366292.798 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:12.805Z,1736366292.805 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:58:12.806Z,1736366292.806 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:12.809Z,1736366292.809 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:12.989Z,1736366292.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:13.020Z,1736366293.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.199997 m, deltaT: 3.529411 s, deltaX: 1.299995 m, approachRate: 0.368332 m/s, rangeRepo size: 4 2025-01-08T19:58:13.020Z,1736366293.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:13.023Z,1736366293.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 30.863758 m, bearing: 147.817914 deg, approach rate: 0.352005 m/s, LOS rate: -0.689753 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.094493 deg. 2025-01-08T19:58:13.033Z,1736366293.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801305 target range: 86.800003 and range: 89.20 m. 2025-01-08T19:58:13.040Z,1736366293.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:13.041Z,1736366293.041 [DAT](INFO): DAT read: TxSync time:19:58:12.0739 2025-01-08T19:58:13.292Z,1736366293.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:13.391Z,1736366293.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:13.401Z,1736366293.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:13.405Z,1736366293.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 31.011101 m, bearing: 147.532098 deg, approach rate: 0.380055 m/s, LOS rate: -0.733724 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.121881 deg. 2025-01-08T19:58:13.406Z,1736366293.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801783 target range: 86.800003 and range: 89.20 m. 2025-01-08T19:58:13.544Z,1736366293.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:13.789Z,1736366293.789 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,5.0, +10.9, 0.0,1493.3, 0 2025-01-08T19:58:13.797Z,1736366293.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:13.813Z,1736366293.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:58:13.813Z,1736366293.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:13.823Z,1736366293.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:13.826Z,1736366293.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 31.166275 m, bearing: 147.235585 deg, approach rate: 0.367902 m/s, LOS rate: -0.699497 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.090152 deg. 2025-01-08T19:58:13.827Z,1736366293.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801229 target range: 86.800003 and range: 89.20 m. 2025-01-08T19:58:14.048Z,1736366294.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:14.141Z,1736366294.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:58:14.142Z,1736366294.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:14.151Z,1736366294.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:14.154Z,1736366294.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 31.286936 m, bearing: 147.004883 deg, approach rate: 0.368265 m/s, LOS rate: -0.701403 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.285783 deg. 2025-01-08T19:58:14.155Z,1736366294.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804643 target range: 86.800003 and range: 89.20 m. 2025-01-08T19:58:14.300Z,1736366294.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:14.539Z,1736366294.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.1 s old, using for 20.0 s. 2025-01-08T19:58:14.539Z,1736366294.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:14.550Z,1736366294.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:14.553Z,1736366294.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:14.561Z,1736366294.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 31.433460 m, bearing: 146.727997 deg, approach rate: 0.367552 m/s, LOS rate: -0.691320 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.148462 deg. 2025-01-08T19:58:14.563Z,1736366294.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802247 target range: 86.800003 and range: 89.20 m. 2025-01-08T19:58:14.804Z,1736366294.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:14.966Z,1736366294.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:14.991Z,1736366294.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:14.993Z,1736366294.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:15.000Z,1736366295.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 31.636938 m, bearing: 146.333262 deg, approach rate: 0.458353 m/s, LOS rate: -0.883451 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.798773 deg. 2025-01-08T19:58:15.001Z,1736366295.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796144 target range: 86.800003 and range: 89.20 m. 2025-01-08T19:58:15.057Z,1736366295.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:15.058Z,1736366295.058 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:15.058Z,1736366295.058 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:15.058Z,1736366295.058 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:15.308Z,1736366295.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:15.308Z,1736366295.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510168 2025-01-08T19:58:15.379Z,1736366295.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:15.400Z,1736366295.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:15.402Z,1736366295.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 31.833834 m, bearing: 145.956441 deg, approach rate: 0.489741 m/s, LOS rate: -0.931469 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.851867 deg. 2025-01-08T19:58:15.404Z,1736366295.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797070 target range: 86.800003 and range: 89.20 m. 2025-01-08T19:58:15.560Z,1736366295.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:15.560Z,1736366295.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762198 2025-01-08T19:58:15.812Z,1736366295.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:15.813Z,1736366295.813 [DAT](INFO): DAT read: Rx Time:19:58:14.6000 2025-01-08T19:58:15.813Z,1736366295.813 [DAT](INFO): Rx dataTimestamp_ set to:1736366295.812745 2025-01-08T19:58:15.814Z,1736366295.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015373 2025-01-08T19:58:15.822Z,1736366295.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:15.870Z,1736366295.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:15.883Z,1736366295.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 32.067924 m, bearing: 145.512213 deg, approach rate: 0.493009 m/s, LOS rate: -0.928730 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.652481 deg. 2025-01-08T19:58:15.888Z,1736366295.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793590 target range: 86.800003 and range: 89.20 m. 2025-01-08T19:58:16.064Z,1736366296.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:16.066Z,1736366296.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267761 2025-01-08T19:58:16.162Z,1736366296.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:16.172Z,1736366296.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.80 m. 2025-01-08T19:58:16.175Z,1736366296.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.800003 m, nav range: 32.247673 m, bearing: 145.172592 deg, approach rate: 0.594800 m/s, LOS rate: -1.117558 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.962114 deg. 2025-01-08T19:58:16.192Z,1736366296.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798994 target range: 86.800003 and range: 89.20 m. 2025-01-08T19:58:16.316Z,1736366296.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:16.329Z,1736366296.329 [DAT](INFO): DAT read: 19:58:14.6000 LVL= 23152, 20721, 14546, 29811, AGC= 57, IDX= 452, 0.18,-0.288, 2.043, 1.961, 1.439, PHS=-1.639, 0.651, 0.518, RAW= 273.0, 4.3, CAL= 276.5, 5.5, ROT= 233.5, -5.5 2025-01-08T19:58:16.330Z,1736366296.330 [DAT](INFO): got valid direction response: 19:58:14.6000 LVL= 23152, 20721, 14546, 29811, AGC= 57, IDX= 452, 0.18,-0.288, 2.043, 1.961, 1.439, PHS=-1.639, 0.651, 0.518, RAW= 273.0, 4.3, CAL= 276.5, 5.5, ROT= 233.5, -5.5 2025-01-08T19:58:16.338Z,1736366296.338 [DAT](INFO): DAT read: Bearing 233.5, -5.5 (Local) 2025-01-08T19:58:16.338Z,1736366296.338 [DAT](INFO): Local bearing/azimuth received: Bearing 233.5, -5.5 (Local) 2025-01-08T19:58:16.344Z,1736366296.344 [DAT](INFO): DAT read: Range 10 to 50 : 90.7 m (Round-trip 121.0 ms) speed -0.4 m/s 2025-01-08T19:58:16.345Z,1736366296.345 [DAT](INFO): DAT read: user:1006> 2025-01-08T19:58:16.345Z,1736366296.345 [DAT](INFO): DAT read: Tx time:19:58:15.7248 2025-01-08T19:58:16.346Z,1736366296.346 [DAT](INFO): Ping request sent. 2025-01-08T19:58:16.346Z,1736366296.346 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:16.346Z,1736366296.346 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:58:16.347Z,1736366296.347 [DAT](INFO): direction in FSK: [0.007962,-0.051685,-0.998632] 2025-01-08T19:58:16.360Z,1736366296.360 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:16.360Z,1736366296.360 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:16.371Z,1736366296.371 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:16.375Z,1736366296.375 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:16.568Z,1736366296.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:16.569Z,1736366296.569 [DAT](INFO): DAT read: TxSync time:19:58:15.7240 2025-01-08T19:58:16.606Z,1736366296.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:16.642Z,1736366296.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.699997 m, deltaT: 3.527906 s, deltaX: 1.500000 m, approachRate: 0.425181 m/s, rangeRepo size: 4 2025-01-08T19:58:16.649Z,1736366296.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.699997 m, bearing: 356.275397 deg, lat: 36.904910 deg, lon: -122.119438 deg, deltaT: 10.841392 s, deltaX: 3.899994 m, approachRate: 0.359732 m/s, posRepo size: 4 2025-01-08T19:58:16.650Z,1736366296.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T19:58:16.659Z,1736366296.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 10.574940 m, bearing: 87.325542 deg, approach rate: 0.000000 m/s, LOS rate: -1.117558 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.404360 deg. 2025-01-08T19:58:16.666Z,1736366296.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789259 target range: 90.699997 and range: 90.70 m. 2025-01-08T19:58:16.821Z,1736366296.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:17.072Z,1736366297.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:17.156Z,1736366297.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:17.163Z,1736366297.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:17.166Z,1736366297.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T19:58:17.169Z,1736366297.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 11.019620 m, bearing: 87.740021 deg, approach rate: 0.846737 m/s, LOS rate: 0.757375 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.168264 deg. 2025-01-08T19:58:17.170Z,1736366297.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.837499 target range: 90.699997 and range: 90.70 m. 2025-01-08T19:58:17.325Z,1736366297.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:17.326Z,1736366297.326 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:17.326Z,1736366297.326 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:17.326Z,1736366297.326 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:17.548Z,1736366297.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:17.572Z,1736366297.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T19:58:17.576Z,1736366297.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:17.577Z,1736366297.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230741 2025-01-08T19:58:17.579Z,1736366297.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 11.336020 m, bearing: 88.007930 deg, approach rate: 0.778644 m/s, LOS rate: 0.640905 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.756429 deg. 2025-01-08T19:58:17.581Z,1736366297.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830311 target range: 90.699997 and range: 90.70 m. 2025-01-08T19:58:17.829Z,1736366297.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:17.830Z,1736366297.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484181 2025-01-08T19:58:18.001Z,1736366298.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:18.009Z,1736366298.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T19:58:18.012Z,1736366298.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 11.711901 m, bearing: 88.319338 deg, approach rate: 0.860372 m/s, LOS rate: 0.689919 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.879349 deg. 2025-01-08T19:58:18.013Z,1736366298.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832456 target range: 90.699997 and range: 90.70 m. 2025-01-08T19:58:18.080Z,1736366298.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:18.081Z,1736366298.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735124 2025-01-08T19:58:18.332Z,1736366298.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:18.333Z,1736366298.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986826 2025-01-08T19:58:18.374Z,1736366298.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:18.394Z,1736366298.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T19:58:18.401Z,1736366298.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 12.022362 m, bearing: 88.548318 deg, approach rate: 0.806485 m/s, LOS rate: 0.579460 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.644356 deg. 2025-01-08T19:58:18.402Z,1736366298.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828355 target range: 90.699997 and range: 90.70 m. 2025-01-08T19:58:18.584Z,1736366298.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:18.584Z,1736366298.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238658 2025-01-08T19:58:18.827Z,1736366298.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:18.835Z,1736366298.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T19:58:18.844Z,1736366298.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:18.846Z,1736366298.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500123 2025-01-08T19:58:18.857Z,1736366298.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 12.388631 m, bearing: 88.811828 deg, approach rate: 0.831555 m/s, LOS rate: 0.580566 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.742295 deg. 2025-01-08T19:58:18.858Z,1736366298.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830064 target range: 90.699997 and range: 90.70 m. 2025-01-08T19:58:19.096Z,1736366299.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:19.096Z,1736366299.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750628 2025-01-08T19:58:19.214Z,1736366299.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:19.273Z,1736366299.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:19.276Z,1736366299.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T19:58:19.278Z,1736366299.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 12.702651 m, bearing: 89.021425 deg, approach rate: 0.712583 m/s, LOS rate: 0.463865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.588410 deg. 2025-01-08T19:58:19.320Z,1736366299.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827378 target range: 90.699997 and range: 90.70 m. 2025-01-08T19:58:19.351Z,1736366299.351 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:19.352Z,1736366299.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006502 2025-01-08T19:58:19.578Z,1736366299.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:19.587Z,1736366299.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T19:58:19.590Z,1736366299.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 12.998240 m, bearing: 89.207237 deg, approach rate: 0.947909 m/s, LOS rate: 0.582320 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.519929 deg. 2025-01-08T19:58:19.600Z,1736366299.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:19.600Z,1736366299.600 [DAT](INFO): DAT read: Rx Time:19:58:18.2518 2025-01-08T19:58:19.601Z,1736366299.601 [DAT](INFO): Rx dataTimestamp_ set to:1736366299.600623 2025-01-08T19:58:19.601Z,1736366299.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255660 2025-01-08T19:58:19.608Z,1736366299.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826183 target range: 90.699997 and range: 90.70 m. 2025-01-08T19:58:19.852Z,1736366299.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:19.852Z,1736366299.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506560 2025-01-08T19:58:20.011Z,1736366300.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:20.020Z,1736366300.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T19:58:20.023Z,1736366300.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 13.326618 m, bearing: 89.407847 deg, approach rate: 0.758750 m/s, LOS rate: 0.452105 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.562164 deg. 2025-01-08T19:58:20.040Z,1736366300.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826921 target range: 90.699997 and range: 90.70 m. 2025-01-08T19:58:20.104Z,1736366300.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:20.117Z,1736366300.117 [DAT](INFO): DAT read: 19:58:18.2518 LVL= 22768, 20641, 16114, 26307, AGC= 62, IDX= 439, 0.06,-2.358,-0.056,-0.193,-0.685, PHS=-1.585, 0.676, 0.489, RAW= 274.3, 3.9, CAL= 277.6, 5.0, ROT= 232.4, -5.0 2025-01-08T19:58:20.127Z,1736366300.127 [DAT](INFO): got valid direction response: 19:58:18.2518 LVL= 22768, 20641, 16114, 26307, AGC= 62, IDX= 439, 0.06,-2.358,-0.056,-0.193,-0.685, PHS=-1.585, 0.676, 0.489, RAW= 274.3, 3.9, CAL= 277.6, 5.0, ROT= 232.4, -5.0 2025-01-08T19:58:20.129Z,1736366300.129 [DAT](INFO): DAT read: Bearing 232.4, -5.0 (Local) 2025-01-08T19:58:20.129Z,1736366300.129 [DAT](INFO): Local bearing/azimuth received: Bearing 232.4, -5.0 (Local) 2025-01-08T19:58:20.136Z,1736366300.136 [DAT](INFO): DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.9 ms) speed -0.4 m/s 2025-01-08T19:58:20.137Z,1736366300.137 [DAT](INFO): DAT read: user:1007> 2025-01-08T19:58:20.138Z,1736366300.138 [DAT](INFO): DAT read: Tx time:19:58:19.3748 2025-01-08T19:58:20.144Z,1736366300.144 [DAT](INFO): Ping request sent. 2025-01-08T19:58:20.144Z,1736366300.144 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:20.144Z,1736366300.144 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:58:20.145Z,1736366300.145 [DAT](INFO): direction in FSK: [0.016781,-0.029250,-0.999431] 2025-01-08T19:58:20.145Z,1736366300.145 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:20.145Z,1736366300.145 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:20.150Z,1736366300.150 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:20.150Z,1736366300.150 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:20.356Z,1736366300.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:20.357Z,1736366300.357 [DAT](INFO): DAT read: TxSync time:19:58:19.3740 2025-01-08T19:58:20.418Z,1736366300.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:20.439Z,1736366300.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.787222 s, deltaX: 1.400002 m, approachRate: 0.369664 m/s, rangeRepo size: 4 2025-01-08T19:58:20.454Z,1736366300.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.099998 m, bearing: 349.406691 deg, lat: 36.904912 deg, lon: -122.119507 deg, deltaT: 3.787222 s, deltaX: 1.400002 m, approachRate: 0.369664 m/s, posRepo size: 4 2025-01-08T19:58:20.454Z,1736366300.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:58:20.461Z,1736366300.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 7.512769 m, bearing: 87.199500 deg, approach rate: 0.000000 m/s, LOS rate: 0.452105 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.542108 deg. 2025-01-08T19:58:20.463Z,1736366300.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826571 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:58:20.608Z,1736366300.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:20.860Z,1736366300.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:20.869Z,1736366300.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:20.881Z,1736366300.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:58:20.885Z,1736366300.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 7.818776 m, bearing: 87.618107 deg, approach rate: 0.691036 m/s, LOS rate: 0.908307 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.181667 deg. 2025-01-08T19:58:20.886Z,1736366300.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.837733 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:58:21.112Z,1736366301.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:21.216Z,1736366301.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:21.229Z,1736366301.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:58:21.233Z,1736366301.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 8.049024 m, bearing: 87.911764 deg, approach rate: 0.661355 m/s, LOS rate: 0.819359 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.830892 deg. 2025-01-08T19:58:21.234Z,1736366301.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831611 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:58:21.364Z,1736366301.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:21.609Z,1736366301.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:21.616Z,1736366301.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:21.622Z,1736366301.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:21.624Z,1736366301.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:58:21.627Z,1736366301.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 8.322110 m, bearing: 88.238685 deg, approach rate: 0.690648 m/s, LOS rate: 0.799663 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.923675 deg. 2025-01-08T19:58:21.629Z,1736366301.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833230 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:58:21.868Z,1736366301.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:21.869Z,1736366301.869 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:21.869Z,1736366301.869 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:21.870Z,1736366301.870 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:22.035Z,1736366302.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:22.043Z,1736366302.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:58:22.046Z,1736366302.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 8.576500 m, bearing: 88.522098 deg, approach rate: 0.607759 m/s, LOS rate: 0.657011 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.800145 deg. 2025-01-08T19:58:22.048Z,1736366302.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831074 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:58:22.121Z,1736366302.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:22.122Z,1736366302.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978305 2025-01-08T19:58:22.372Z,1736366302.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:22.372Z,1736366302.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228551 2025-01-08T19:58:22.434Z,1736366302.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:22.445Z,1736366302.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:58:22.452Z,1736366302.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 8.815006 m, bearing: 88.783760 deg, approach rate: 0.593920 m/s, LOS rate: 0.633948 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.738884 deg. 2025-01-08T19:58:22.455Z,1736366302.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830005 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:58:22.624Z,1736366302.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:22.625Z,1736366302.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480737 2025-01-08T19:58:22.876Z,1736366302.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:22.876Z,1736366302.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732638 2025-01-08T19:58:22.928Z,1736366302.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:22.938Z,1736366302.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:58:22.944Z,1736366302.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 9.083577 m, bearing: 89.047520 deg, approach rate: 0.544049 m/s, LOS rate: 0.518504 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.743023 deg. 2025-01-08T19:58:22.946Z,1736366302.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830077 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:58:23.128Z,1736366303.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:23.128Z,1736366303.128 [DAT](INFO): DAT read: Rx Time:19:58:21.9037 2025-01-08T19:58:23.129Z,1736366303.129 [DAT](INFO): Rx dataTimestamp_ set to:1736366303.128633 2025-01-08T19:58:23.129Z,1736366303.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985657 2025-01-08T19:58:23.242Z,1736366303.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:23.271Z,1736366303.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T19:58:23.274Z,1736366303.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 9.253827 m, bearing: 89.214147 deg, approach rate: 0.517754 m/s, LOS rate: 0.497413 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.465859 deg. 2025-01-08T19:58:23.283Z,1736366303.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825240 target range: 92.099998 and range: 92.10 m. 2025-01-08T19:58:23.380Z,1736366303.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:23.381Z,1736366303.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237002 2025-01-08T19:58:23.632Z,1736366303.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:23.639Z,1736366303.639 [DAT](INFO): DAT read: 19:58:21.9037 LVL= 20880, 23489, 14418, 30787, AGC= 56, IDX= 458, 0.00, 0.242, 2.575, 2.461, 1.971, PHS=-1.641, 0.652, 0.487, RAW= 273.7, 4.6, CAL= 277.4, 6.0, ROT= 232.6, -6.0 2025-01-08T19:58:23.640Z,1736366303.640 [DAT](INFO): got valid direction response: 19:58:21.9037 LVL= 20880, 23489, 14418, 30787, AGC= 56, IDX= 458, 0.00, 0.242, 2.575, 2.461, 1.971, PHS=-1.641, 0.652, 0.487, RAW= 273.7, 4.6, CAL= 277.4, 6.0, ROT= 232.6, -6.0 2025-01-08T19:58:23.641Z,1736366303.641 [DAT](INFO): DAT read: Bearing 232.6, -6.0 (Local) 2025-01-08T19:58:23.641Z,1736366303.641 [DAT](INFO): Local bearing/azimuth received: Bearing 232.6, -6.0 (Local) 2025-01-08T19:58:23.643Z,1736366303.643 [DAT](INFO): DAT read: Range 10 to 50 : 93.6 m (Round-trip 124.8 ms) speed -0.4 m/s 2025-01-08T19:58:23.644Z,1736366303.644 [DAT](INFO): DAT read: user:1008> 2025-01-08T19:58:23.645Z,1736366303.645 [DAT](INFO): DAT read: Tx time:19:58:23.0248 2025-01-08T19:58:23.645Z,1736366303.645 [DAT](INFO): Ping request sent. 2025-01-08T19:58:23.645Z,1736366303.645 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:23.645Z,1736366303.645 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:58:23.647Z,1736366303.647 [DAT](INFO): direction in FSK: [0.003008,-0.038559,-0.999252] 2025-01-08T19:58:23.648Z,1736366303.648 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:23.652Z,1736366303.652 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:23.685Z,1736366303.685 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:23.686Z,1736366303.686 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:23.749Z,1736366303.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:23.796Z,1736366303.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.599998 m, deltaT: 3.527774 s, deltaX: 1.500000 m, approachRate: 0.425197 m/s, rangeRepo size: 4 2025-01-08T19:58:23.798Z,1736366303.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.599998 m, bearing: 356.167319 deg, lat: 36.904964 deg, lon: -122.119561 deg, deltaT: 3.527774 s, deltaX: 1.500000 m, approachRate: 0.425197 m/s, posRepo size: 4 2025-01-08T19:58:23.798Z,1736366303.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T19:58:23.827Z,1736366303.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 7.509163 m, bearing: 38.464352 deg, approach rate: 0.000000 m/s, LOS rate: 0.497413 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.750109 deg. 2025-01-08T19:58:23.853Z,1736366303.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830201 target range: 93.599998 and range: 93.60 m. 2025-01-08T19:58:23.884Z,1736366303.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:23.885Z,1736366303.885 [DAT](INFO): DAT read: TxSync time:19:58:23.0240 2025-01-08T19:58:24.136Z,1736366304.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:24.201Z,1736366304.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:24.208Z,1736366304.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:24.210Z,1736366304.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T19:58:24.213Z,1736366304.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 7.623831 m, bearing: 39.992717 deg, approach rate: 0.270839 m/s, LOS rate: 3.555197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.481470 deg. 2025-01-08T19:58:24.215Z,1736366304.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895325 target range: 93.599998 and range: 93.60 m. 2025-01-08T19:58:24.388Z,1736366304.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:24.388Z,1736366304.388 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:24.388Z,1736366304.388 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:24.389Z,1736366304.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:24.572Z,1736366304.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:24.580Z,1736366304.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T19:58:24.584Z,1736366304.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 7.721769 m, bearing: 41.213000 deg, approach rate: 0.264390 m/s, LOS rate: 3.252186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 279.584546 deg. 2025-01-08T19:58:24.585Z,1736366304.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.879671 target range: 93.599998 and range: 93.60 m. 2025-01-08T19:58:24.641Z,1736366304.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:24.642Z,1736366304.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996726 2025-01-08T19:58:24.892Z,1736366304.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:24.892Z,1736366304.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247399 2025-01-08T19:58:25.010Z,1736366305.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:25.044Z,1736366305.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T19:58:25.046Z,1736366305.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 7.838378 m, bearing: 42.615943 deg, approach rate: 0.251485 m/s, LOS rate: 2.980363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.113778 deg. 2025-01-08T19:58:25.056Z,1736366305.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888908 target range: 93.599998 and range: 93.60 m. 2025-01-08T19:58:25.144Z,1736366305.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:25.144Z,1736366305.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499301 2025-01-08T19:58:25.396Z,1736366305.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:25.396Z,1736366305.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751449 2025-01-08T19:58:25.469Z,1736366305.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:25.477Z,1736366305.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T19:58:25.485Z,1736366305.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 7.964426 m, bearing: 44.041774 deg, approach rate: 0.290839 m/s, LOS rate: 3.237509 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.176999 deg. 2025-01-08T19:58:25.486Z,1736366305.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.890011 target range: 93.599998 and range: 93.60 m. 2025-01-08T19:58:25.648Z,1736366305.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:25.649Z,1736366305.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004337 2025-01-08T19:58:25.902Z,1736366305.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:25.906Z,1736366305.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260368 2025-01-08T19:58:26.005Z,1736366306.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:26.023Z,1736366306.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T19:58:26.026Z,1736366306.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 8.121197 m, bearing: 45.729755 deg, approach rate: 0.287208 m/s, LOS rate: 3.032295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.928282 deg. 2025-01-08T19:58:26.027Z,1736366306.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.903123 target range: 93.599998 and range: 93.60 m. 2025-01-08T19:58:26.152Z,1736366306.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:26.152Z,1736366306.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507403 2025-01-08T19:58:26.404Z,1736366306.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:26.405Z,1736366306.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759676 2025-01-08T19:58:26.537Z,1736366306.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:26.543Z,1736366306.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:26.545Z,1736366306.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T19:58:26.549Z,1736366306.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 8.281812 m, bearing: 47.346778 deg, approach rate: 0.307518 m/s, LOS rate: 3.035555 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.720662 deg. 2025-01-08T19:58:26.550Z,1736366306.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.899500 target range: 93.599998 and range: 93.60 m. 2025-01-08T19:58:26.656Z,1736366306.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:26.657Z,1736366306.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012064 2025-01-08T19:58:26.908Z,1736366306.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:26.909Z,1736366306.909 [DAT](INFO): DAT read: Rx Time:19:58:25.5558 2025-01-08T19:58:26.909Z,1736366306.909 [DAT](INFO): Rx dataTimestamp_ set to:1736366306.909141 2025-01-08T19:58:26.910Z,1736366306.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264927 2025-01-08T19:58:27.056Z,1736366307.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:27.074Z,1736366307.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T19:58:27.081Z,1736366307.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 8.464729 m, bearing: 48.997260 deg, approach rate: 0.346311 m/s, LOS rate: 3.056847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.807475 deg. 2025-01-08T19:58:27.082Z,1736366307.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.901015 target range: 93.599998 and range: 93.60 m. 2025-01-08T19:58:27.160Z,1736366307.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:27.161Z,1736366307.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516434 2025-01-08T19:58:27.387Z,1736366307.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:27.401Z,1736366307.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T19:58:27.404Z,1736366307.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 8.584493 m, bearing: 50.012250 deg, approach rate: 0.365732 m/s, LOS rate: 3.056163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.974775 deg. 2025-01-08T19:58:27.405Z,1736366307.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869029 target range: 93.599998 and range: 93.60 m. 2025-01-08T19:58:27.412Z,1736366307.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:27.423Z,1736366307.423 [DAT](INFO): DAT read: 19:58:25.5558 LVL= 24976, 20817, 15554, 28147, AGC= 62, IDX= 463,-0.03,-1.817, 0.552, 0.300,-0.074, PHS=-1.655, 0.673, 0.371, RAW= 276.8, 5.6, CAL= 280.9, 7.6, ROT= 229.1, -7.6 2025-01-08T19:58:27.424Z,1736366307.424 [DAT](INFO): got valid direction response: 19:58:25.5558 LVL= 24976, 20817, 15554, 28147, AGC= 62, IDX= 463,-0.03,-1.817, 0.552, 0.300,-0.074, PHS=-1.655, 0.673, 0.371, RAW= 276.8, 5.6, CAL= 280.9, 7.6, ROT= 229.1, -7.6 2025-01-08T19:58:27.425Z,1736366307.425 [DAT](INFO): DAT read: Bearing 229.1, -7.6 (Local) 2025-01-08T19:58:27.426Z,1736366307.426 [DAT](INFO): Local bearing/azimuth received: Bearing 229.1, -7.6 (Local) 2025-01-08T19:58:27.439Z,1736366307.439 [DAT](INFO): DAT read: Range 10 to 50 : 95.1 m (Round-trip 126.8 ms) speed -0.4 m/s 2025-01-08T19:58:27.440Z,1736366307.440 [DAT](INFO): DAT read: user:1009> 2025-01-08T19:58:27.441Z,1736366307.441 [DAT](INFO): DAT read: Tx time:19:58:26.6749 2025-01-08T19:58:27.441Z,1736366307.441 [DAT](INFO): Ping request sent. 2025-01-08T19:58:27.441Z,1736366307.441 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:27.442Z,1736366307.442 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:58:27.442Z,1736366307.442 [DAT](INFO): direction in FSK: [-0.012791,0.017727,-0.999761] 2025-01-08T19:58:27.443Z,1736366307.443 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:27.451Z,1736366307.451 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:27.477Z,1736366307.477 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:27.477Z,1736366307.477 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:27.665Z,1736366307.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:27.667Z,1736366307.667 [DAT](INFO): DAT read: TxSync time:19:58:26.6741 2025-01-08T19:58:27.789Z,1736366307.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:27.827Z,1736366307.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.099998 m, deltaT: 3.779669 s, deltaX: 1.500000 m, approachRate: 0.396860 m/s, rangeRepo size: 4 2025-01-08T19:58:27.834Z,1736366307.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.099998 m, bearing: 7.918392 deg, lat: 36.905001 deg, lon: -122.119613 deg, deltaT: 3.779669 s, deltaX: 1.500000 m, approachRate: 0.396860 m/s, posRepo size: 4 2025-01-08T19:58:27.834Z,1736366307.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m. 2025-01-08T19:58:27.841Z,1736366307.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.099998 m, nav range: 9.799709 m, bearing: 13.269091 deg, approach rate: 0.000000 m/s, LOS rate: 3.056163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 279.866543 deg. 2025-01-08T19:58:27.842Z,1736366307.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.884593 target range: 95.099998 and range: 95.10 m. 2025-01-08T19:58:27.918Z,1736366307.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:28.168Z,1736366308.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:28.253Z,1736366308.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:28.261Z,1736366308.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m. 2025-01-08T19:58:28.264Z,1736366308.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.099998 m, nav range: 9.824437 m, bearing: 15.035771 deg, approach rate: 0.056879 m/s, LOS rate: 4.052836 deg/s, cmd heading: 275.975187 deg, new cmd heading: 281.246129 deg. 2025-01-08T19:58:28.266Z,1736366308.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.908671 target range: 95.099998 and range: 95.10 m. 2025-01-08T19:58:28.420Z,1736366308.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:28.622Z,1736366308.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:28.629Z,1736366308.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:28.632Z,1736366308.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m. 2025-01-08T19:58:28.668Z,1736366308.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.099998 m, nav range: 9.852101 m, bearing: 16.434234 deg, approach rate: 0.074486 m/s, LOS rate: 3.754405 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.150970 deg. 2025-01-08T19:58:28.673Z,1736366308.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:28.673Z,1736366308.673 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:28.674Z,1736366308.674 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:28.674Z,1736366308.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:28.690Z,1736366308.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.889557 target range: 95.099998 and range: 95.10 m. 2025-01-08T19:58:28.925Z,1736366308.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:28.928Z,1736366308.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486036 2025-01-08T19:58:29.053Z,1736366309.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:29.061Z,1736366309.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m. 2025-01-08T19:58:29.064Z,1736366309.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.099998 m, nav range: 9.894584 m, bearing: 18.210452 deg, approach rate: 0.099057 m/s, LOS rate: 4.123181 deg/s, cmd heading: 275.975187 deg, new cmd heading: 281.265031 deg. 2025-01-08T19:58:29.065Z,1736366309.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909001 target range: 95.099998 and range: 95.10 m. 2025-01-08T19:58:29.176Z,1736366309.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:29.177Z,1736366309.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735174 2025-01-08T19:58:29.428Z,1736366309.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:29.429Z,1736366309.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987152 2025-01-08T19:58:29.445Z,1736366309.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:29.470Z,1736366309.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m. 2025-01-08T19:58:29.474Z,1736366309.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.099998 m, nav range: 9.941454 m, bearing: 19.812862 deg, approach rate: 0.114755 m/s, LOS rate: 3.904276 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.748057 deg. 2025-01-08T19:58:29.475Z,1736366309.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.899978 target range: 95.099998 and range: 95.10 m. 2025-01-08T19:58:29.680Z,1736366309.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:29.682Z,1736366309.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240145 2025-01-08T19:58:29.828Z,1736366309.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:29.837Z,1736366309.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m. 2025-01-08T19:58:29.840Z,1736366309.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.099998 m, nav range: 9.995340 m, bearing: 21.358955 deg, approach rate: 0.146591 m/s, LOS rate: 4.182777 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.577976 deg. 2025-01-08T19:58:29.841Z,1736366309.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.897009 target range: 95.099998 and range: 95.10 m. 2025-01-08T19:58:29.933Z,1736366309.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:29.942Z,1736366309.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500027 2025-01-08T19:58:30.184Z,1736366310.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:30.184Z,1736366310.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743048 2025-01-08T19:58:30.270Z,1736366310.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:30.278Z,1736366310.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m. 2025-01-08T19:58:30.282Z,1736366310.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.099998 m, nav range: 10.076078 m, bearing: 23.264102 deg, approach rate: 0.183063 m/s, LOS rate: 4.284275 deg/s, cmd heading: 275.975187 deg, new cmd heading: 281.625396 deg. 2025-01-08T19:58:30.284Z,1736366310.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.915290 target range: 95.099998 and range: 95.10 m. 2025-01-08T19:58:30.436Z,1736366310.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:30.437Z,1736366310.437 [DAT](INFO): DAT read: Rx Time:19:58:29.2079 2025-01-08T19:58:30.437Z,1736366310.437 [DAT](INFO): Rx dataTimestamp_ set to:1736366310.436809 2025-01-08T19:58:30.438Z,1736366310.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996244 2025-01-08T19:58:30.644Z,1736366310.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:30.656Z,1736366310.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:30.660Z,1736366310.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m. 2025-01-08T19:58:30.666Z,1736366310.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.099998 m, nav range: 10.153949 m, bearing: 24.850207 deg, approach rate: 0.204497 m/s, LOS rate: 4.132842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.685767 deg. 2025-01-08T19:58:30.669Z,1736366310.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898891 target range: 95.099998 and range: 95.10 m. 2025-01-08T19:58:30.688Z,1736366310.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:30.691Z,1736366310.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248729 2025-01-08T19:58:30.951Z,1736366310.951 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:30.984Z,1736366310.984 [DAT](INFO): DAT read: 19:58:29.2079 LVL= 30000, 26865, 17954, 32755, AGC= 63, IDX= 452, 0.07, 2.529,-1.395,-1.698,-2.103, PHS=-1.563, 0.756, 0.402, RAW= 278.1, 3.8, CAL= 281.3, 4.8, ROT= 228.7, -4.8 2025-01-08T19:58:30.985Z,1736366310.985 [DAT](INFO): got valid direction response: 19:58:29.2079 LVL= 30000, 26865, 17954, 32755, AGC= 63, IDX= 452, 0.07, 2.529,-1.395,-1.698,-2.103, PHS=-1.563, 0.756, 0.402, RAW= 278.1, 3.8, CAL= 281.3, 4.8, ROT= 228.7, -4.8 2025-01-08T19:58:30.986Z,1736366310.986 [DAT](INFO): DAT read: Bearing 228.7, -4.8 (Local) 2025-01-08T19:58:30.987Z,1736366310.987 [DAT](INFO): Local bearing/azimuth received: Bearing 228.7, -4.8 (Local) 2025-01-08T19:58:30.988Z,1736366310.988 [DAT](INFO): DAT read: Range 10 to 50 : 96.6 m (Round-trip 128.9 ms) speed -0.5 m/s 2025-01-08T19:58:30.989Z,1736366310.989 [DAT](INFO): DAT read: user:1010> 2025-01-08T19:58:30.990Z,1736366310.990 [DAT](INFO): DAT read: Tx time:19:58:30.3249 2025-01-08T19:58:30.990Z,1736366310.990 [DAT](INFO): Ping request sent. 2025-01-08T19:58:30.990Z,1736366310.990 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:30.990Z,1736366310.990 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:58:30.992Z,1736366310.992 [DAT](INFO): direction in FSK: [0.024509,0.038640,-0.998953] 2025-01-08T19:58:30.992Z,1736366310.992 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:30.992Z,1736366310.992 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:30.995Z,1736366310.995 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:30.995Z,1736366310.995 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:31.155Z,1736366311.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:31.197Z,1736366311.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 96.599998 m, deltaT: 3.539483 s, deltaX: 1.500000 m, approachRate: 0.423791 m/s, rangeRepo size: 4 2025-01-08T19:58:31.200Z,1736366311.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:31.201Z,1736366311.201 [DAT](INFO): DAT read: TxSync time:19:58:30.3241 2025-01-08T19:58:31.204Z,1736366311.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 96.599998 m, bearing: 355.295867 deg, lat: 36.905003 deg, lon: -122.119615 deg, deltaT: 3.539483 s, deltaX: 1.500000 m, approachRate: 0.423791 m/s, posRepo size: 4 2025-01-08T19:58:31.205Z,1736366311.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m. 2025-01-08T19:58:31.212Z,1736366311.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.599998 m, nav range: 10.436081 m, bearing: 25.478374 deg, approach rate: 0.000000 m/s, LOS rate: 4.132842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 282.607786 deg. 2025-01-08T19:58:31.213Z,1736366311.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932436 target range: 96.599998 and range: 96.60 m. 2025-01-08T19:58:31.452Z,1736366311.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:31.613Z,1736366311.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:31.622Z,1736366311.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m. 2025-01-08T19:58:31.642Z,1736366311.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.599998 m, nav range: 10.548402 m, bearing: 27.384933 deg, approach rate: 0.263615 m/s, LOS rate: 4.426199 deg/s, cmd heading: 275.975187 deg, new cmd heading: 281.614636 deg. 2025-01-08T19:58:31.647Z,1736366311.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.915102 target range: 96.599998 and range: 96.60 m. 2025-01-08T19:58:31.704Z,1736366311.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:31.958Z,1736366311.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:32.059Z,1736366312.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:32.072Z,1736366312.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m. 2025-01-08T19:58:32.075Z,1736366312.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.599998 m, nav range: 10.667109 m, bearing: 29.236516 deg, approach rate: 0.265310 m/s, LOS rate: 4.091534 deg/s, cmd heading: 275.975187 deg, new cmd heading: 281.450435 deg. 2025-01-08T19:58:32.094Z,1736366312.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.912237 target range: 96.599998 and range: 96.60 m. 2025-01-08T19:58:32.208Z,1736366312.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:32.468Z,1736366312.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:32.504Z,1736366312.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:32.522Z,1736366312.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m. 2025-01-08T19:58:32.528Z,1736366312.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.599998 m, nav range: 10.797348 m, bearing: 31.038423 deg, approach rate: 0.288340 m/s, LOS rate: 3.940514 deg/s, cmd heading: 275.975187 deg, new cmd heading: 281.299445 deg. 2025-01-08T19:58:32.530Z,1736366312.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909602 target range: 96.599998 and range: 96.60 m. 2025-01-08T19:58:32.720Z,1736366312.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:32.917Z,1736366312.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:32.923Z,1736366312.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:32.925Z,1736366312.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m. 2025-01-08T19:58:32.957Z,1736366312.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.599998 m, nav range: 10.927959 m, bearing: 32.667288 deg, approach rate: 0.323489 m/s, LOS rate: 3.985507 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.791353 deg. 2025-01-08T19:58:32.962Z,1736366312.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.900733 target range: 96.599998 and range: 96.60 m. 2025-01-08T19:58:32.973Z,1736366312.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:32.975Z,1736366312.975 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:32.976Z,1736366312.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:32.976Z,1736366312.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:33.224Z,1736366313.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:33.225Z,1736366313.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234384 2025-01-08T19:58:33.320Z,1736366313.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:33.329Z,1736366313.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m. 2025-01-08T19:58:33.332Z,1736366313.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.599998 m, nav range: 11.062251 m, bearing: 34.135754 deg, approach rate: 0.333097 m/s, LOS rate: 3.597768 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.318289 deg. 2025-01-08T19:58:33.333Z,1736366313.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.892477 target range: 96.599998 and range: 96.60 m. 2025-01-08T19:58:33.476Z,1736366313.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:33.477Z,1736366313.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486627 2025-01-08T19:58:33.712Z,1736366313.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:33.721Z,1736366313.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m. 2025-01-08T19:58:33.726Z,1736366313.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.599998 m, nav range: 11.199596 m, bearing: 35.528238 deg, approach rate: 0.349549 m/s, LOS rate: 3.500124 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.093894 deg. 2025-01-08T19:58:33.728Z,1736366313.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:33.731Z,1736366313.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739890 2025-01-08T19:58:33.735Z,1736366313.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888561 target range: 96.599998 and range: 96.60 m. 2025-01-08T19:58:33.981Z,1736366313.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:33.984Z,1736366313.984 [DAT](INFO): DAT read: Rx Time:19:58:32.8600 2025-01-08T19:58:33.986Z,1736366313.986 [DAT](INFO): Rx dataTimestamp_ set to:1736366313.984845 2025-01-08T19:58:33.988Z,1736366313.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996771 2025-01-08T19:58:34.134Z,1736366314.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:34.144Z,1736366314.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m. 2025-01-08T19:58:34.147Z,1736366314.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.599998 m, nav range: 11.345201 m, bearing: 36.907583 deg, approach rate: 0.344574 m/s, LOS rate: 3.222009 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.052823 deg. 2025-01-08T19:58:34.165Z,1736366314.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.887844 target range: 96.599998 and range: 96.60 m. 2025-01-08T19:58:34.233Z,1736366314.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:34.234Z,1736366314.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243242 2025-01-08T19:58:34.484Z,1736366314.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:34.484Z,1736366314.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494154 2025-01-08T19:58:34.580Z,1736366314.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:34.589Z,1736366314.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m. 2025-01-08T19:58:34.592Z,1736366314.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.599998 m, nav range: 11.505434 m, bearing: 38.324433 deg, approach rate: 0.360314 m/s, LOS rate: 3.141374 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.158663 deg. 2025-01-08T19:58:34.593Z,1736366314.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.889691 target range: 96.599998 and range: 96.60 m. 2025-01-08T19:58:34.736Z,1736366314.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:34.742Z,1736366314.742 [DAT](INFO): DAT read: 19:58:32.8600 LVL= 19488, 22977, 14226, 27763, AGC= 59, IDX= 441, 0.29, 1.087,-2.801, 3.102, 2.742, PHS=-1.566, 0.787, 0.357, RAW= 279.9, 3.9, CAL= 283.1, 5.1, ROT= 226.9, -5.1 2025-01-08T19:58:34.743Z,1736366314.743 [DAT](INFO): got valid direction response: 19:58:32.8600 LVL= 19488, 22977, 14226, 27763, AGC= 59, IDX= 441, 0.29, 1.087,-2.801, 3.102, 2.742, PHS=-1.566, 0.787, 0.357, RAW= 279.9, 3.9, CAL= 283.1, 5.1, ROT= 226.9, -5.1 2025-01-08T19:58:34.744Z,1736366314.744 [DAT](INFO): DAT read: Bearing 226.9, -5.1 (Local) 2025-01-08T19:58:34.745Z,1736366314.745 [DAT](INFO): Local bearing/azimuth received: Bearing 226.9, -5.1 (Local) 2025-01-08T19:58:34.746Z,1736366314.746 [DAT](INFO): DAT read: Range 10 to 50 : 98.2 m (Round-trip 131.0 ms) speed -0.4 m/s 2025-01-08T19:58:34.747Z,1736366314.747 [DAT](INFO): DAT read: user:1011> 2025-01-08T19:58:34.749Z,1736366314.749 [DAT](INFO): DAT read: Tx time:19:58:33.9749 2025-01-08T19:58:34.749Z,1736366314.749 [DAT](INFO): Ping request sent. 2025-01-08T19:58:34.749Z,1736366314.749 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:34.750Z,1736366314.750 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:58:34.751Z,1736366314.751 [DAT](INFO): direction in FSK: [0.023943,0.069406,-0.997301] 2025-01-08T19:58:34.751Z,1736366314.751 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:34.752Z,1736366314.752 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:34.755Z,1736366314.755 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:34.755Z,1736366314.755 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:34.954Z,1736366314.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:34.990Z,1736366314.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:34.993Z,1736366314.993 [DAT](INFO): DAT read: TxSync time:19:58:33.9741 2025-01-08T19:58:35.053Z,1736366315.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 98.199997 m, deltaT: 3.784482 s, deltaX: 1.599998 m, approachRate: 0.422779 m/s, rangeRepo size: 4 2025-01-08T19:58:35.060Z,1736366315.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 98.199997 m, bearing: 355.971024 deg, lat: 36.905049 deg, lon: -122.119622 deg, deltaT: 3.784482 s, deltaX: 1.599998 m, approachRate: 0.422779 m/s, posRepo size: 4 2025-01-08T19:58:35.061Z,1736366315.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:35.068Z,1736366315.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 15.597814 m, bearing: 25.803650 deg, approach rate: 0.000000 m/s, LOS rate: 3.141374 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.340784 deg. 2025-01-08T19:58:35.074Z,1736366315.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.892869 target range: 98.199997 and range: 98.20 m. 2025-01-08T19:58:35.240Z,1736366315.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:35.391Z,1736366315.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:35.400Z,1736366315.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:35.402Z,1736366315.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:35.404Z,1736366315.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 15.684852 m, bearing: 26.800423 deg, approach rate: 0.249589 m/s, LOS rate: 2.842331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.946097 deg. 2025-01-08T19:58:35.406Z,1736366315.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868528 target range: 98.199997 and range: 98.20 m. 2025-01-08T19:58:35.492Z,1736366315.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:35.493Z,1736366315.493 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:35.493Z,1736366315.493 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:35.493Z,1736366315.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:35.744Z,1736366315.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:35.744Z,1736366315.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994965 2025-01-08T19:58:35.759Z,1736366315.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:35.768Z,1736366315.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:35.792Z,1736366315.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 15.762606 m, bearing: 27.638178 deg, approach rate: 0.211912 m/s, LOS rate: 2.271891 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.474380 deg. 2025-01-08T19:58:35.793Z,1736366315.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860295 target range: 98.199997 and range: 98.20 m. 2025-01-08T19:58:35.998Z,1736366315.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:36.009Z,1736366316.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259150 2025-01-08T19:58:36.182Z,1736366316.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:36.212Z,1736366316.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:36.219Z,1736366316.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 15.851498 m, bearing: 28.504288 deg, approach rate: 0.202260 m/s, LOS rate: 1.959575 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.557096 deg. 2025-01-08T19:58:36.224Z,1736366316.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861739 target range: 98.199997 and range: 98.20 m. 2025-01-08T19:58:36.248Z,1736366316.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:36.249Z,1736366316.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499612 2025-01-08T19:58:36.500Z,1736366316.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:36.500Z,1736366316.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750974 2025-01-08T19:58:36.567Z,1736366316.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:36.576Z,1736366316.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:36.578Z,1736366316.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 15.934730 m, bearing: 29.282884 deg, approach rate: 0.226710 m/s, LOS rate: 2.109629 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.297432 deg. 2025-01-08T19:58:36.580Z,1736366316.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857206 target range: 98.199997 and range: 98.20 m. 2025-01-08T19:58:36.752Z,1736366316.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:36.753Z,1736366316.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003095 2025-01-08T19:58:36.970Z,1736366316.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:36.982Z,1736366316.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:36.985Z,1736366316.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 16.024076 m, bearing: 30.090084 deg, approach rate: 0.219683 m/s, LOS rate: 1.973583 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.381787 deg. 2025-01-08T19:58:36.986Z,1736366316.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858679 target range: 98.199997 and range: 98.20 m. 2025-01-08T19:58:37.008Z,1736366317.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:37.011Z,1736366317.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260999 2025-01-08T19:58:37.260Z,1736366317.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:37.260Z,1736366317.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510878 2025-01-08T19:58:37.418Z,1736366317.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:37.425Z,1736366317.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:37.427Z,1736366317.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:37.430Z,1736366317.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 16.119083 m, bearing: 30.912255 deg, approach rate: 0.213351 m/s, LOS rate: 1.835353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.425584 deg. 2025-01-08T19:58:37.436Z,1736366317.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.859443 target range: 98.199997 and range: 98.20 m. 2025-01-08T19:58:37.513Z,1736366317.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:37.515Z,1736366317.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764854 2025-01-08T19:58:37.764Z,1736366317.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:37.765Z,1736366317.765 [DAT](INFO): DAT read: Rx Time:19:58:36.5122 2025-01-08T19:58:37.766Z,1736366317.766 [DAT](INFO): Rx dataTimestamp_ set to:1736366317.765558 2025-01-08T19:58:37.766Z,1736366317.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016913 2025-01-08T19:58:37.809Z,1736366317.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:37.818Z,1736366317.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:37.834Z,1736366317.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 16.203409 m, bearing: 31.620343 deg, approach rate: 0.215468 m/s, LOS rate: 1.799834 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.087384 deg. 2025-01-08T19:58:37.835Z,1736366317.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853540 target range: 98.199997 and range: 98.20 m. 2025-01-08T19:58:38.017Z,1736366318.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:38.019Z,1736366318.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269025 2025-01-08T19:58:38.220Z,1736366318.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:38.245Z,1736366318.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:38.250Z,1736366318.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 16.284878 m, bearing: 32.355095 deg, approach rate: 0.191312 m/s, LOS rate: 1.716731 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.167285 deg. 2025-01-08T19:58:38.253Z,1736366318.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.854935 target range: 98.199997 and range: 98.20 m. 2025-01-08T19:58:38.269Z,1736366318.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:38.271Z,1736366318.271 [DAT](INFO): DAT read: Range 10 to 50 : 99.8 m (Round-trip 133.1 ms) speed -0.4 m/s 2025-01-08T19:58:38.272Z,1736366318.272 [DAT](INFO): DAT read: user:1012> 2025-01-08T19:58:38.273Z,1736366318.273 [DAT](INFO): DAT read: Tx time:19:58:37.6265 2025-01-08T19:58:38.273Z,1736366318.273 [DAT](INFO): Ping request sent. 2025-01-08T19:58:38.273Z,1736366318.273 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:38.273Z,1736366318.273 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:58:38.274Z,1736366318.274 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:38.274Z,1736366318.274 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:38.520Z,1736366318.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:38.521Z,1736366318.521 [DAT](INFO): DAT read: TxSync time:19:58:37.6257 2025-01-08T19:58:38.592Z,1736366318.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:38.602Z,1736366318.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.800003 m, deltaT: 3.533564 s, deltaX: 1.600006 m, approachRate: 0.452802 m/s, rangeRepo size: 4 2025-01-08T19:58:38.603Z,1736366318.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:38.605Z,1736366318.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 16.360231 m, bearing: 33.012577 deg, approach rate: 0.211099 m/s, LOS rate: 1.833379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.937737 deg. 2025-01-08T19:58:38.607Z,1736366318.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.850929 target range: 98.199997 and range: 99.80 m. 2025-01-08T19:58:38.772Z,1736366318.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:39.026Z,1736366319.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:39.159Z,1736366319.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:39.167Z,1736366319.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:39.170Z,1736366319.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 16.482882 m, bearing: 33.999591 deg, approach rate: 0.216841 m/s, LOS rate: 1.731933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.911476 deg. 2025-01-08T19:58:39.171Z,1736366319.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867924 target range: 98.199997 and range: 99.80 m. 2025-01-08T19:58:39.276Z,1736366319.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:39.484Z,1736366319.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:39.499Z,1736366319.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:39.501Z,1736366319.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:39.508Z,1736366319.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 16.555670 m, bearing: 34.560013 deg, approach rate: 0.217660 m/s, LOS rate: 1.668449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.648559 deg. 2025-01-08T19:58:39.509Z,1736366319.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845881 target range: 98.199997 and range: 99.80 m. 2025-01-08T19:58:39.528Z,1736366319.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:39.528Z,1736366319.528 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:39.528Z,1736366319.528 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:39.528Z,1736366319.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:39.649Z,1736366319.649 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:58:39.780Z,1736366319.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:39.781Z,1736366319.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507529 2025-01-08T19:58:39.933Z,1736366319.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:39.956Z,1736366319.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:39.959Z,1736366319.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 16.658054 m, bearing: 35.324794 deg, approach rate: 0.224938 m/s, LOS rate: 1.669844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.254158 deg. 2025-01-08T19:58:39.960Z,1736366319.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.856451 target range: 98.199997 and range: 99.80 m. 2025-01-08T19:58:40.034Z,1736366320.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:40.035Z,1736366320.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761551 2025-01-08T19:58:40.284Z,1736366320.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:40.285Z,1736366320.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011650 2025-01-08T19:58:40.407Z,1736366320.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:40.437Z,1736366320.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:40.451Z,1736366320.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 16.771000 m, bearing: 36.157490 deg, approach rate: 0.235236 m/s, LOS rate: 1.722548 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.454814 deg. 2025-01-08T19:58:40.456Z,1736366320.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.859953 target range: 98.199997 and range: 99.80 m. 2025-01-08T19:58:40.536Z,1736366320.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:40.537Z,1736366320.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264024 2025-01-08T19:58:40.652Z,1736366320.652 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:58:40.785Z,1736366320.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:40.788Z,1736366320.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:40.789Z,1736366320.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515325 2025-01-08T19:58:40.796Z,1736366320.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:40.800Z,1736366320.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 16.863354 m, bearing: 36.815273 deg, approach rate: 0.257533 m/s, LOS rate: 1.824178 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.936920 deg. 2025-01-08T19:58:40.801Z,1736366320.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.850914 target range: 98.199997 and range: 99.80 m. 2025-01-08T19:58:41.040Z,1736366321.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:41.040Z,1736366321.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767149 2025-01-08T19:58:41.230Z,1736366321.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:41.239Z,1736366321.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:41.270Z,1736366321.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 16.980574 m, bearing: 37.628109 deg, approach rate: 0.264372 m/s, LOS rate: 1.820513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.395339 deg. 2025-01-08T19:58:41.271Z,1736366321.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858915 target range: 98.199997 and range: 99.80 m. 2025-01-08T19:58:41.292Z,1736366321.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:41.293Z,1736366321.293 [DAT](INFO): DAT read: Rx Time:19:58:40.1660 2025-01-08T19:58:41.293Z,1736366321.293 [DAT](INFO): Rx dataTimestamp_ set to:1736366321.292755 2025-01-08T19:58:41.294Z,1736366321.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020357 2025-01-08T19:58:41.544Z,1736366321.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:41.545Z,1736366321.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271355 2025-01-08T19:58:41.611Z,1736366321.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:41.619Z,1736366321.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:41.640Z,1736366321.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:41.651Z,1736366321.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 17.083738 m, bearing: 38.315862 deg, approach rate: 0.256974 m/s, LOS rate: 1.702744 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.025062 deg. 2025-01-08T19:58:41.654Z,1736366321.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.852453 target range: 98.199997 and range: 99.80 m. 2025-01-08T19:58:41.796Z,1736366321.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:41.796Z,1736366321.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523145 2025-01-08T19:58:42.005Z,1736366322.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:42.013Z,1736366322.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-08T19:58:42.017Z,1736366322.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 17.192827 m, bearing: 39.017122 deg, approach rate: 0.292620 m/s, LOS rate: 1.869080 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.064639 deg. 2025-01-08T19:58:42.018Z,1736366322.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853144 target range: 98.199997 and range: 99.80 m. 2025-01-08T19:58:42.049Z,1736366322.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:42.055Z,1736366322.055 [DAT](INFO): DAT read: 19:58:40.1660 LVL= 23744, 22305, 13506, 26899, AGC= 63, IDX= 454,-0.26, 2.799,-1.016,-1.563,-1.791, PHS=-1.605, 0.822, 0.225, RAW= 283.7, 5.1, CAL= 287.1, 7.3, ROT= 222.9, -7.3 2025-01-08T19:58:42.057Z,1736366322.057 [DAT](INFO): got valid direction response: 19:58:40.1660 LVL= 23744, 22305, 13506, 26899, AGC= 63, IDX= 454,-0.26, 2.799,-1.016,-1.563,-1.791, PHS=-1.605, 0.822, 0.225, RAW= 283.7, 5.1, CAL= 287.1, 7.3, ROT= 222.9, -7.3 2025-01-08T19:58:42.057Z,1736366322.057 [DAT](INFO): DAT read: Bearing 222.9, -7.3 (Local) 2025-01-08T19:58:42.058Z,1736366322.058 [DAT](INFO): Local bearing/azimuth received: Bearing 222.9, -7.3 (Local) 2025-01-08T19:58:42.069Z,1736366322.069 [DAT](INFO): DAT read: Range 10 to 50 : 101.4 m (Round-trip 135.3 ms) speed 0.0 m/s 2025-01-08T19:58:42.070Z,1736366322.070 [DAT](INFO): DAT read: user:1013> 2025-01-08T19:58:42.072Z,1736366322.072 [DAT](INFO): DAT read: Tx time:19:58:41.2750 2025-01-08T19:58:42.072Z,1736366322.072 [DAT](INFO): Ping request sent. 2025-01-08T19:58:42.072Z,1736366322.072 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:42.073Z,1736366322.073 [DAT](INFO): DAT read: TxSync time:19:58:41.2742 2025-01-08T19:58:42.073Z,1736366322.073 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:58:42.074Z,1736366322.074 [DAT](INFO): direction in FSK: [0.004983,0.137156,-0.990537] 2025-01-08T19:58:42.074Z,1736366322.074 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:42.075Z,1736366322.075 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:42.093Z,1736366322.093 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:42.094Z,1736366322.094 [DAT](INFO): publishing direction and range info 2025-01-08T19:58:42.302Z,1736366322.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:42.423Z,1736366322.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:42.437Z,1736366322.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 101.400002 m, deltaT: 3.779272 s, deltaX: 1.599998 m, approachRate: 0.423362 m/s, rangeRepo size: 4 2025-01-08T19:58:42.440Z,1736366322.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.400002 m, bearing: 3.119425 deg, lat: 36.905065 deg, lon: -122.119680 deg, deltaT: 7.312836 s, deltaX: 3.200005 m, approachRate: 0.437587 m/s, posRepo size: 4 2025-01-08T19:58:42.440Z,1736366322.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:42.443Z,1736366322.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 16.221937 m, bearing: 21.235759 deg, approach rate: 0.000000 m/s, LOS rate: 1.869080 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.350084 deg. 2025-01-08T19:58:42.444Z,1736366322.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858125 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:42.552Z,1736366322.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:42.802Z,1736366322.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:42.804Z,1736366322.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:42.811Z,1736366322.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:42.815Z,1736366322.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 16.271469 m, bearing: 22.079351 deg, approach rate: 0.132267 m/s, LOS rate: 2.245733 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.496539 deg. 2025-01-08T19:58:42.816Z,1736366322.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860682 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:43.056Z,1736366323.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:43.238Z,1736366323.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:43.246Z,1736366323.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:43.249Z,1736366323.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 16.341860 m, bearing: 23.079025 deg, approach rate: 0.161802 m/s, LOS rate: 2.287864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.958439 deg. 2025-01-08T19:58:43.252Z,1736366323.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868743 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:43.310Z,1736366323.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:43.560Z,1736366323.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:43.608Z,1736366323.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:43.636Z,1736366323.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:43.638Z,1736366323.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:43.641Z,1736366323.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 16.405888 m, bearing: 23.919121 deg, approach rate: 0.163565 m/s, LOS rate: 2.137652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.483947 deg. 2025-01-08T19:58:43.642Z,1736366323.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860462 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:43.812Z,1736366323.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:43.812Z,1736366323.812 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:43.812Z,1736366323.812 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:43.813Z,1736366323.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:44.010Z,1736366324.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:44.020Z,1736366324.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:44.023Z,1736366324.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 16.479483 m, bearing: 24.824949 deg, approach rate: 0.192414 m/s, LOS rate: 2.357606 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.678412 deg. 2025-01-08T19:58:44.024Z,1736366324.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863856 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:44.064Z,1736366324.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:44.065Z,1736366324.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993204 2025-01-08T19:58:44.316Z,1736366324.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:44.317Z,1736366324.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245398 2025-01-08T19:58:44.450Z,1736366324.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:44.459Z,1736366324.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:44.470Z,1736366324.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 16.565884 m, bearing: 25.858595 deg, approach rate: 0.197042 m/s, LOS rate: 2.344858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 279.056810 deg. 2025-01-08T19:58:44.471Z,1736366324.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870460 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:44.568Z,1736366324.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:44.569Z,1736366324.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496696 2025-01-08T19:58:44.820Z,1736366324.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:44.820Z,1736366324.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748397 2025-01-08T19:58:44.825Z,1736366324.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:44.835Z,1736366324.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:44.838Z,1736366324.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 16.644035 m, bearing: 26.730406 deg, approach rate: 0.207775 m/s, LOS rate: 2.306832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.576453 deg. 2025-01-08T19:58:44.839Z,1736366324.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.862076 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:45.072Z,1736366325.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:45.073Z,1736366325.073 [DAT](INFO): DAT read: Rx Time:19:58:43.8166 2025-01-08T19:58:45.073Z,1736366325.073 [DAT](INFO): Rx dataTimestamp_ set to:1736366325.072712 2025-01-08T19:58:45.073Z,1736366325.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001470 2025-01-08T19:58:45.258Z,1736366325.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:45.274Z,1736366325.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:45.281Z,1736366325.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 16.749662 m, bearing: 27.736117 deg, approach rate: 0.240239 m/s, LOS rate: 2.272853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.970405 deg. 2025-01-08T19:58:45.282Z,1736366325.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868952 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:45.324Z,1736366325.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:45.325Z,1736366325.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252523 2025-01-08T19:58:45.576Z,1736366325.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:45.586Z,1736366325.586 [DAT](INFO): DAT read: 19:58:43.8166 LVL= 28864, 25201, 14962, 25395, AGC= 64, IDX= 461, 0.09, 1.160,-2.652, 3.060, 2.793, PHS=-1.545, 0.885, 0.264, RAW= 284.2, 3.7, CAL= 287.3, 4.9, ROT= 222.7, -4.9 2025-01-08T19:58:45.587Z,1736366325.587 [DAT](INFO): got valid direction response: 19:58:43.8166 LVL= 28864, 25201, 14962, 25395, AGC= 64, IDX= 461, 0.09, 1.160,-2.652, 3.060, 2.793, PHS=-1.545, 0.885, 0.264, RAW= 284.2, 3.7, CAL= 287.3, 4.9, ROT= 222.7, -4.9 2025-01-08T19:58:45.588Z,1736366325.588 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:58:45.588Z,1736366325.588 [DAT](INFO): Received a bad header 2025-01-08T19:58:45.599Z,1736366325.599 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T19:58:45.600Z,1736366325.600 [DAT](INFO): direction in FSK: [0.034508,0.146143,-0.988661] 2025-01-08T19:58:45.617Z,1736366325.617 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:45.617Z,1736366325.617 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:45.617Z,1736366325.617 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:45.684Z,1736366325.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:45.701Z,1736366325.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:45.703Z,1736366325.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:45.706Z,1736366325.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 16.858805 m, bearing: 28.715154 deg, approach rate: 0.254598 m/s, LOS rate: 2.268920 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.890624 deg. 2025-01-08T19:58:45.716Z,1736366325.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867559 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:45.828Z,1736366325.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:45.828Z,1736366325.828 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:45.828Z,1736366325.828 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:45.828Z,1736366325.828 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:46.037Z,1736366326.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:46.069Z,1736366326.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:46.076Z,1736366326.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 16.953360 m, bearing: 29.514829 deg, approach rate: 0.258101 m/s, LOS rate: 2.170585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.359378 deg. 2025-01-08T19:58:46.077Z,1736366326.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858288 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:46.080Z,1736366326.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:46.080Z,1736366326.080 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:46.081Z,1736366326.081 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:46.081Z,1736366326.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:46.332Z,1736366326.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:46.333Z,1736366326.333 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:46.333Z,1736366326.333 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:46.333Z,1736366326.333 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:46.515Z,1736366326.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:46.529Z,1736366326.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:46.537Z,1736366326.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 17.089844 m, bearing: 30.589334 deg, approach rate: 0.300745 m/s, LOS rate: 2.348643 deg/s, cmd heading: 275.975187 deg, new cmd heading: 279.169456 deg. 2025-01-08T19:58:46.538Z,1736366326.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872426 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:46.586Z,1736366326.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:46.587Z,1736366326.587 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:46.587Z,1736366326.587 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:46.587Z,1736366326.587 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:46.836Z,1736366326.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:46.836Z,1736366326.836 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:46.836Z,1736366326.836 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:46.837Z,1736366326.837 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:46.842Z,1736366326.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:46.850Z,1736366326.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:46.853Z,1736366326.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 17.188850 m, bearing: 31.328686 deg, approach rate: 0.302859 m/s, LOS rate: 2.248570 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.179319 deg. 2025-01-08T19:58:46.854Z,1736366326.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.855145 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:47.088Z,1736366327.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:47.088Z,1736366327.088 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:47.088Z,1736366327.088 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:47.088Z,1736366327.088 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:47.305Z,1736366327.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:47.313Z,1736366327.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:47.316Z,1736366327.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 17.334953 m, bearing: 32.339686 deg, approach rate: 0.315570 m/s, LOS rate: 2.165156 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.979709 deg. 2025-01-08T19:58:47.320Z,1736366327.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869114 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:47.340Z,1736366327.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:47.340Z,1736366327.340 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:47.341Z,1736366327.341 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:47.341Z,1736366327.341 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:47.592Z,1736366327.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:47.592Z,1736366327.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:47.592Z,1736366327.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:47.592Z,1736366327.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:47.672Z,1736366327.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:47.696Z,1736366327.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:47.707Z,1736366327.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 17.454807 m, bearing: 33.128780 deg, approach rate: 0.316771 m/s, LOS rate: 2.071167 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.324821 deg. 2025-01-08T19:58:47.708Z,1736366327.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857685 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:47.844Z,1736366327.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:47.844Z,1736366327.844 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:47.844Z,1736366327.844 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:47.844Z,1736366327.844 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:48.053Z,1736366328.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:48.082Z,1736366328.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:48.088Z,1736366328.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:48.091Z,1736366328.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 17.582766 m, bearing: 33.934501 deg, approach rate: 0.322677 m/s, LOS rate: 2.016965 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.373280 deg. 2025-01-08T19:58:48.096Z,1736366328.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:48.096Z,1736366328.096 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:48.096Z,1736366328.096 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:48.097Z,1736366328.097 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:48.099Z,1736366328.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858531 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:48.348Z,1736366328.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:48.348Z,1736366328.348 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:48.348Z,1736366328.348 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:48.348Z,1736366328.348 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:48.512Z,1736366328.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:48.526Z,1736366328.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:48.533Z,1736366328.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 17.738077 m, bearing: 34.862514 deg, approach rate: 0.354985 m/s, LOS rate: 2.102431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.732598 deg. 2025-01-08T19:58:48.534Z,1736366328.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.864801 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:48.601Z,1736366328.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:48.601Z,1736366328.601 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:48.601Z,1736366328.601 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:48.602Z,1736366328.602 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:48.852Z,1736366328.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:48.852Z,1736366328.852 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:48.852Z,1736366328.852 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:48.852Z,1736366328.852 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:48.894Z,1736366328.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:48.903Z,1736366328.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:48.906Z,1736366328.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 17.870829 m, bearing: 35.620447 deg, approach rate: 0.352023 m/s, LOS rate: 1.994859 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.230864 deg. 2025-01-08T19:58:48.907Z,1736366328.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.856045 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:49.104Z,1736366329.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:49.105Z,1736366329.105 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:49.105Z,1736366329.105 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:49.105Z,1736366329.105 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:49.341Z,1736366329.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:49.356Z,1736366329.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:49.357Z,1736366329.357 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:49.357Z,1736366329.357 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:49.357Z,1736366329.357 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:49.370Z,1736366329.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:49.384Z,1736366329.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 18.030264 m, bearing: 36.506571 deg, approach rate: 0.341229 m/s, LOS rate: 1.879664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.608089 deg. 2025-01-08T19:58:49.385Z,1736366329.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.862628 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:49.608Z,1736366329.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:49.608Z,1736366329.608 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:49.609Z,1736366329.609 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:49.609Z,1736366329.609 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:49.721Z,1736366329.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:49.729Z,1736366329.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:49.733Z,1736366329.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 18.168617 m, bearing: 37.244518 deg, approach rate: 0.385271 m/s, LOS rate: 2.039245 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.171033 deg. 2025-01-08T19:58:49.734Z,1736366329.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.855000 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:49.860Z,1736366329.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:49.860Z,1736366329.860 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:49.860Z,1736366329.860 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:49.861Z,1736366329.861 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:50.112Z,1736366330.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:50.112Z,1736366330.112 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:50.112Z,1736366330.112 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:50.112Z,1736366330.112 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:50.138Z,1736366330.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:50.157Z,1736366330.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:50.163Z,1736366330.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:50.167Z,1736366330.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 18.324362 m, bearing: 38.043890 deg, approach rate: 0.362078 m/s, LOS rate: 1.842540 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.351480 deg. 2025-01-08T19:58:50.173Z,1736366330.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858150 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:50.364Z,1736366330.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:50.365Z,1736366330.365 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:50.365Z,1736366330.365 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:50.365Z,1736366330.365 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:50.580Z,1736366330.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:50.603Z,1736366330.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:50.606Z,1736366330.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 18.483967 m, bearing: 38.847301 deg, approach rate: 0.359630 m/s, LOS rate: 1.794594 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.363147 deg. 2025-01-08T19:58:50.607Z,1736366330.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858354 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:50.616Z,1736366330.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:50.617Z,1736366330.617 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:50.617Z,1736366330.617 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:50.617Z,1736366330.617 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:50.868Z,1736366330.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:50.869Z,1736366330.869 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:50.869Z,1736366330.869 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:50.869Z,1736366330.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:50.955Z,1736366330.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:50.964Z,1736366330.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:50.970Z,1736366330.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 18.622196 m, bearing: 39.519688 deg, approach rate: 0.383790 m/s, LOS rate: 1.852966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.976515 deg. 2025-01-08T19:58:50.971Z,1736366330.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851605 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:51.120Z,1736366331.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:51.121Z,1736366331.121 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:51.121Z,1736366331.121 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:51.121Z,1736366331.121 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:51.372Z,1736366331.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:51.372Z,1736366331.372 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:51.372Z,1736366331.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:51.372Z,1736366331.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:51.429Z,1736366331.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:51.437Z,1736366331.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:51.441Z,1736366331.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 18.784201 m, bearing: 40.327113 deg, approach rate: 0.341586 m/s, LOS rate: 1.687716 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.375086 deg. 2025-01-08T19:58:51.452Z,1736366331.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858562 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:51.624Z,1736366331.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:51.624Z,1736366331.624 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:51.624Z,1736366331.624 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:51.624Z,1736366331.624 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:51.768Z,1736366331.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:51.785Z,1736366331.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:51.792Z,1736366331.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 18.901955 m, bearing: 40.895647 deg, approach rate: 0.340699 m/s, LOS rate: 1.634670 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.669642 deg. 2025-01-08T19:58:51.795Z,1736366331.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.846250 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:51.876Z,1736366331.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:51.877Z,1736366331.877 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:51.877Z,1736366331.877 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:51.877Z,1736366331.877 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:52.128Z,1736366332.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:52.128Z,1736366332.128 [DAT](INFO): Reached modem response timeout 2025-01-08T19:58:52.128Z,1736366332.128 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:58:52.129Z,1736366332.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:52.176Z,1736366332.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:52.184Z,1736366332.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:52.186Z,1736366332.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:52.201Z,1736366332.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 19.046532 m, bearing: 41.572074 deg, approach rate: 0.358919 m/s, LOS rate: 1.666478 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.988190 deg. 2025-01-08T19:58:52.202Z,1736366332.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851809 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:52.380Z,1736366332.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:52.380Z,1736366332.380 [DAT](INFO): Reached modem response timeout 2025-01-08T19:58:52.380Z,1736366332.380 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:58:52.380Z,1736366332.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:52.632Z,1736366332.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:52.632Z,1736366332.632 [DAT](INFO): Reached modem response timeout 2025-01-08T19:58:52.633Z,1736366332.633 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:58:52.633Z,1736366332.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:58:52.692Z,1736366332.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:52.709Z,1736366332.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:52.716Z,1736366332.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 19.218319 m, bearing: 42.403284 deg, approach rate: 0.328519 m/s, LOS rate: 1.575306 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.444909 deg. 2025-01-08T19:58:52.717Z,1736366332.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.859780 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:52.884Z,1736366332.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:52.885Z,1736366332.885 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:58:52.885Z,1736366332.885 [DAT](INFO): response not received 2025-01-08T19:58:52.885Z,1736366332.885 [DAT](INFO): DAT read: user:1015> 2025-01-08T19:58:52.886Z,1736366332.886 [DAT](INFO): DAT read: Tx time:19:58:52.2250 2025-01-08T19:58:52.886Z,1736366332.886 [DAT](INFO): Ping request sent. 2025-01-08T19:58:52.886Z,1736366332.886 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:58:52.886Z,1736366332.886 [DAT](INFO): publishing transmit ping time 2025-01-08T19:58:52.887Z,1736366332.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715 2025-01-08T19:58:53.027Z,1736366333.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:53.044Z,1736366333.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:53.047Z,1736366333.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 19.331718 m, bearing: 42.934587 deg, approach rate: 0.338182 m/s, LOS rate: 1.575145 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.559320 deg. 2025-01-08T19:58:53.049Z,1736366333.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.844324 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:53.136Z,1736366333.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:53.137Z,1736366333.137 [DAT](INFO): DAT read: TxSync time:19:58:52.2243 2025-01-08T19:58:53.138Z,1736366333.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251200 2025-01-08T19:58:53.388Z,1736366333.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:53.388Z,1736366333.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502148 2025-01-08T19:58:53.474Z,1736366333.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:53.504Z,1736366333.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:53.507Z,1736366333.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 19.473883 m, bearing: 43.601434 deg, approach rate: 0.309051 m/s, LOS rate: 1.439042 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.960283 deg. 2025-01-08T19:58:53.512Z,1736366333.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851322 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:53.640Z,1736366333.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:53.640Z,1736366333.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754095 2025-01-08T19:58:53.893Z,1736366333.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:53.894Z,1736366333.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007684 2025-01-08T19:58:53.901Z,1736366333.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:53.909Z,1736366333.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:53.912Z,1736366333.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 19.612289 m, bearing: 44.230054 deg, approach rate: 0.341588 m/s, LOS rate: 1.540456 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.847035 deg. 2025-01-08T19:58:53.913Z,1736366333.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.849346 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:54.144Z,1736366334.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:54.144Z,1736366334.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257990 2025-01-08T19:58:54.230Z,1736366334.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:54.238Z,1736366334.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:54.289Z,1736366334.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:54.324Z,1736366334.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 19.720835 m, bearing: 44.707592 deg, approach rate: 0.293640 m/s, LOS rate: 1.284726 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.399606 deg. 2025-01-08T19:58:54.332Z,1736366334.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.841537 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:54.396Z,1736366334.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:54.397Z,1736366334.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511148 2025-01-08T19:58:54.648Z,1736366334.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:54.649Z,1736366334.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762921 2025-01-08T19:58:54.689Z,1736366334.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:54.710Z,1736366334.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:54.717Z,1736366334.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 19.866291 m, bearing: 45.345861 deg, approach rate: 0.337497 m/s, LOS rate: 1.470076 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.875236 deg. 2025-01-08T19:58:54.718Z,1736366334.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.849838 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:54.900Z,1736366334.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:54.900Z,1736366334.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014103 2025-01-08T19:58:55.045Z,1736366335.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:55.062Z,1736366335.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:55.066Z,1736366335.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 19.980637 m, bearing: 45.835703 deg, approach rate: 0.324527 m/s, LOS rate: 1.382263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.435970 deg. 2025-01-08T19:58:55.068Z,1736366335.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842171 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:55.152Z,1736366335.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:55.154Z,1736366335.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267267 2025-01-08T19:58:55.405Z,1736366335.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:55.407Z,1736366335.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519974 2025-01-08T19:58:55.496Z,1736366335.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:55.519Z,1736366335.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:55.534Z,1736366335.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 20.132572 m, bearing: 46.453723 deg, approach rate: 0.335527 m/s, LOS rate: 1.354477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.814586 deg. 2025-01-08T19:58:55.544Z,1736366335.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.848779 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:55.656Z,1736366335.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:55.658Z,1736366335.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771329 2025-01-08T19:58:55.840Z,1736366335.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:55.849Z,1736366335.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:55.852Z,1736366335.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 20.249920 m, bearing: 46.918993 deg, approach rate: 0.351139 m/s, LOS rate: 1.384142 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.362623 deg. 2025-01-08T19:58:55.853Z,1736366335.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.840891 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:55.908Z,1736366335.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:55.910Z,1736366335.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023243 2025-01-08T19:58:56.160Z,1736366336.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:56.160Z,1736366336.160 [DAT](INFO): DAT read: Rx Time:19:58:54.7737 2025-01-08T19:58:56.161Z,1736366336.161 [DAT](INFO): Rx dataTimestamp_ set to:1736366336.160591 2025-01-08T19:58:56.161Z,1736366336.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275067 2025-01-08T19:58:56.251Z,1736366336.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:56.267Z,1736366336.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:56.282Z,1736366336.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:56.293Z,1736366336.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 20.391550 m, bearing: 47.467688 deg, approach rate: 0.327608 m/s, LOS rate: 1.260365 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.609371 deg. 2025-01-08T19:58:56.303Z,1736366336.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845198 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:56.413Z,1736366336.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:56.415Z,1736366336.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528140 2025-01-08T19:58:56.665Z,1736366336.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:56.677Z,1736366336.677 [DAT](INFO): DAT read: 19:58:54.7737 LVL= 25168, 23953, 14482, 29171, AGC= 61, IDX= 499,-0.00,-2.833,-0.231,-1.158,-1.298, PHS=-1.448, 1.114, 0.137, RAW= 292.2, 1.8, CAL= 294.9, 2.0, ROT= 215.1, -2.0 2025-01-08T19:58:56.679Z,1736366336.679 [DAT](INFO): got valid direction response: 19:58:54.7737 LVL= 25168, 23953, 14482, 29171, AGC= 61, IDX= 499,-0.00,-2.833,-0.231,-1.158,-1.298, PHS=-1.448, 1.114, 0.137, RAW= 292.2, 1.8, CAL= 294.9, 2.0, ROT= 215.1, -2.0 2025-01-08T19:58:56.681Z,1736366336.681 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:58:56.682Z,1736366336.682 [DAT](INFO): Received a bad header 2025-01-08T19:58:56.699Z,1736366336.699 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T19:58:56.700Z,1736366336.700 [DAT](INFO): direction in FSK: [0.079529,0.283980,-0.955526] 2025-01-08T19:58:56.707Z,1736366336.707 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:56.708Z,1736366336.708 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:56.708Z,1736366336.708 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:56.717Z,1736366336.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:56.754Z,1736366336.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:56.761Z,1736366336.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 20.556688 m, bearing: 48.078356 deg, approach rate: 0.349672 m/s, LOS rate: 1.282647 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.791829 deg. 2025-01-08T19:58:56.762Z,1736366336.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.848382 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:56.916Z,1736366336.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:56.916Z,1736366336.916 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:56.916Z,1736366336.916 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:56.916Z,1736366336.916 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:57.049Z,1736366337.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:57.057Z,1736366337.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:57.060Z,1736366337.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 20.675161 m, bearing: 48.506743 deg, approach rate: 0.390652 m/s, LOS rate: 1.404452 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.252759 deg. 2025-01-08T19:58:57.061Z,1736366337.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838974 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:57.168Z,1736366337.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:57.169Z,1736366337.169 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:57.169Z,1736366337.169 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:57.170Z,1736366337.170 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:57.420Z,1736366337.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:57.421Z,1736366337.421 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:57.421Z,1736366337.421 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:57.421Z,1736366337.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:57.519Z,1736366337.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:57.552Z,1736366337.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:57.560Z,1736366337.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 20.852627 m, bearing: 49.096715 deg, approach rate: 0.377413 m/s, LOS rate: 1.243984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.729461 deg. 2025-01-08T19:58:57.561Z,1736366337.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.847293 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:57.672Z,1736366337.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:57.673Z,1736366337.673 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:57.673Z,1736366337.673 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:57.673Z,1736366337.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:57.859Z,1736366337.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:57.868Z,1736366337.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:57.871Z,1736366337.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 20.981989 m, bearing: 49.516487 deg, approach rate: 0.379647 m/s, LOS rate: 1.224326 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.226529 deg. 2025-01-08T19:58:57.872Z,1736366337.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838516 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:57.926Z,1736366337.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:57.930Z,1736366337.930 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:57.930Z,1736366337.930 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:57.930Z,1736366337.930 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:58.176Z,1736366338.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:58.176Z,1736366338.176 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:58.176Z,1736366338.176 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:58.176Z,1736366338.176 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:58.261Z,1736366338.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:58.276Z,1736366338.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:58:58.278Z,1736366338.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:58.282Z,1736366338.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 21.136570 m, bearing: 50.007100 deg, approach rate: 0.377027 m/s, LOS rate: 1.187851 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.435927 deg. 2025-01-08T19:58:58.289Z,1736366338.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842170 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:58.428Z,1736366338.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:58.428Z,1736366338.428 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:58.428Z,1736366338.428 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:58.428Z,1736366338.428 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:58.680Z,1736366338.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:58.681Z,1736366338.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:58.681Z,1736366338.681 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:58.682Z,1736366338.682 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:58.813Z,1736366338.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:58.830Z,1736366338.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:58.838Z,1736366338.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 21.367645 m, bearing: 50.691450 deg, approach rate: 0.418411 m/s, LOS rate: 1.225731 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.005138 deg. 2025-01-08T19:58:58.839Z,1736366338.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.852105 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:58.932Z,1736366338.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:58.933Z,1736366338.933 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:58.933Z,1736366338.933 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:58.934Z,1736366338.934 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:59.168Z,1736366339.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:59.177Z,1736366339.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:59.184Z,1736366339.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:59.184Z,1736366339.184 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:59.184Z,1736366339.184 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:59.184Z,1736366339.184 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:59.200Z,1736366339.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 21.517782 m, bearing: 51.123447 deg, approach rate: 0.433588 m/s, LOS rate: 1.238868 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.261904 deg. 2025-01-08T19:58:59.201Z,1736366339.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839133 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:59.436Z,1736366339.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:59.437Z,1736366339.437 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:59.437Z,1736366339.437 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:59.437Z,1736366339.437 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:59.621Z,1736366339.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:58:59.629Z,1736366339.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:58:59.633Z,1736366339.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 21.723749 m, bearing: 51.686023 deg, approach rate: 0.454952 m/s, LOS rate: 1.230852 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.646414 deg. 2025-01-08T19:58:59.634Z,1736366339.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845844 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:58:59.689Z,1736366339.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:59.691Z,1736366339.691 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:59.691Z,1736366339.691 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:59.691Z,1736366339.691 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:59.940Z,1736366339.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:58:59.940Z,1736366339.940 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:58:59.940Z,1736366339.940 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:58:59.940Z,1736366339.940 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:58:59.989Z,1736366339.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:00.009Z,1736366340.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:00.017Z,1736366340.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 21.892756 m, bearing: 52.135380 deg, approach rate: 0.444682 m/s, LOS rate: 1.173189 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.312594 deg. 2025-01-08T19:59:00.020Z,1736366340.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.840018 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:00.192Z,1736366340.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:00.192Z,1736366340.192 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:00.192Z,1736366340.192 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:00.193Z,1736366340.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:59:00.444Z,1736366340.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:00.444Z,1736366340.444 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:00.444Z,1736366340.444 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:00.444Z,1736366340.444 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:59:00.484Z,1736366340.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:00.508Z,1736366340.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:00.510Z,1736366340.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:00.517Z,1736366340.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 22.079414 m, bearing: 52.851354 deg, approach rate: 0.372843 m/s, LOS rate: 1.418001 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.103914 deg. 2025-01-08T19:59:00.518Z,1736366340.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853829 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:00.696Z,1736366340.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:00.696Z,1736366340.696 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:00.696Z,1736366340.696 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:00.696Z,1736366340.696 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:59:00.842Z,1736366340.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:00.871Z,1736366340.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:00.874Z,1736366340.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 22.219801 m, bearing: 53.373346 deg, approach rate: 0.393328 m/s, LOS rate: 1.453231 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.530866 deg. 2025-01-08T19:59:00.879Z,1736366340.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.843827 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:00.948Z,1736366340.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:00.949Z,1736366340.949 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:00.949Z,1736366340.949 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:00.949Z,1736366340.949 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:59:01.200Z,1736366341.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:01.200Z,1736366341.200 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:01.200Z,1736366341.200 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:01.200Z,1736366341.200 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:59:01.246Z,1736366341.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:01.258Z,1736366341.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:01.266Z,1736366341.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 22.378550 m, bearing: 53.946583 deg, approach rate: 0.405446 m/s, LOS rate: 1.453643 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.682165 deg. 2025-01-08T19:59:01.272Z,1736366341.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.846468 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:01.452Z,1736366341.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:01.452Z,1736366341.452 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:01.452Z,1736366341.452 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:01.452Z,1736366341.452 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:59:01.671Z,1736366341.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:01.704Z,1736366341.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:01.705Z,1736366341.705 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:01.705Z,1736366341.705 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:01.705Z,1736366341.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:59:01.706Z,1736366341.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:01.713Z,1736366341.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 22.594778 m, bearing: 54.431608 deg, approach rate: 0.483304 m/s, LOS rate: 1.073718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.416014 deg. 2025-01-08T19:59:01.715Z,1736366341.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.841823 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:01.957Z,1736366341.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:01.958Z,1736366341.958 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:01.958Z,1736366341.958 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:01.958Z,1736366341.958 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:59:02.049Z,1736366342.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:02.066Z,1736366342.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:02.073Z,1736366342.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 22.789118 m, bearing: 54.855326 deg, approach rate: 0.539394 m/s, LOS rate: 1.165997 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.235286 deg. 2025-01-08T19:59:02.074Z,1736366342.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838668 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:02.208Z,1736366342.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:02.208Z,1736366342.208 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:02.208Z,1736366342.208 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:02.208Z,1736366342.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:59:02.460Z,1736366342.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:02.460Z,1736366342.460 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:02.460Z,1736366342.460 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:02.460Z,1736366342.460 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:59:02.490Z,1736366342.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:02.498Z,1736366342.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:02.533Z,1736366342.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 23.021137 m, bearing: 55.361191 deg, approach rate: 0.537503 m/s, LOS rate: 1.160075 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.477124 deg. 2025-01-08T19:59:02.540Z,1736366342.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842889 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:02.712Z,1736366342.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:02.712Z,1736366342.712 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:02.712Z,1736366342.712 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:02.712Z,1736366342.712 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T19:59:02.865Z,1736366342.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:02.872Z,1736366342.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:02.874Z,1736366342.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:02.877Z,1736366342.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 23.220154 m, bearing: 55.783376 deg, approach rate: 0.529207 m/s, LOS rate: 1.113003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.230674 deg. 2025-01-08T19:59:02.878Z,1736366342.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838588 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:02.965Z,1736366342.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:02.965Z,1736366342.965 [DAT](INFO): Reached modem response timeout 2025-01-08T19:59:02.966Z,1736366342.966 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:59:02.966Z,1736366342.966 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:03.216Z,1736366343.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:03.216Z,1736366343.216 [DAT](INFO): Reached modem response timeout 2025-01-08T19:59:03.216Z,1736366343.216 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:59:03.217Z,1736366343.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:03.263Z,1736366343.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:03.289Z,1736366343.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:03.296Z,1736366343.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 23.433041 m, bearing: 56.224226 deg, approach rate: 0.513169 m/s, LOS rate: 1.053016 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.285480 deg. 2025-01-08T19:59:03.297Z,1736366343.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839545 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:03.468Z,1736366343.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:03.468Z,1736366343.468 [DAT](INFO): Reached modem response timeout 2025-01-08T19:59:03.468Z,1736366343.468 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:59:03.469Z,1736366343.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:03.720Z,1736366343.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:03.720Z,1736366343.720 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:59:03.721Z,1736366343.721 [DAT](INFO): response not received 2025-01-08T19:59:03.721Z,1736366343.721 [DAT](ERROR): No response from remote modem. 2025-01-08T19:59:03.721Z,1736366343.721 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:59:03.721Z,1736366343.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:03.770Z,1736366343.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:03.787Z,1736366343.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:03.793Z,1736366343.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 23.708946 m, bearing: 56.800393 deg, approach rate: 0.554254 m/s, LOS rate: 1.143949 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.683040 deg. 2025-01-08T19:59:03.795Z,1736366343.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.846483 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:03.972Z,1736366343.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:03.972Z,1736366343.972 [DAT](INFO): DAT read: user:01> 2025-01-08T19:59:03.973Z,1736366343.973 [DAT](INFO): DAT read: Tx time:19:59:03.1751 2025-01-08T19:59:03.973Z,1736366343.973 [DAT](INFO): Ping request sent. 2025-01-08T19:59:03.973Z,1736366343.973 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:59:03.974Z,1736366343.974 [DAT](INFO): DAT read: TxSync time:19:59:03.1744 2025-01-08T19:59:03.974Z,1736366343.974 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:03.975Z,1736366343.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001502 2025-01-08T19:59:04.088Z,1736366344.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:04.106Z,1736366344.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:04.113Z,1736366344.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 23.883764 m, bearing: 57.155747 deg, approach rate: 0.547698 m/s, LOS rate: 1.105153 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.033318 deg. 2025-01-08T19:59:04.114Z,1736366344.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835144 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:04.224Z,1736366344.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:04.225Z,1736366344.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251108 2025-01-08T19:59:04.477Z,1736366344.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:04.478Z,1736366344.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503994 2025-01-08T19:59:04.492Z,1736366344.492 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T19:59:04.540Z,1736366344.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:04.549Z,1736366344.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:04.557Z,1736366344.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 24.125162 m, bearing: 57.657797 deg, approach rate: 0.546415 m/s, LOS rate: 1.125027 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.465910 deg. 2025-01-08T19:59:04.561Z,1736366344.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842694 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:04.728Z,1736366344.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:04.729Z,1736366344.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755215 2025-01-08T19:59:04.876Z,1736366344.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:04.884Z,1736366344.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:04.886Z,1736366344.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:04.905Z,1736366344.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 24.307186 m, bearing: 58.024356 deg, approach rate: 0.537567 m/s, LOS rate: 1.074436 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.066490 deg. 2025-01-08T19:59:04.906Z,1736366344.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835722 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:04.983Z,1736366344.983 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:04.984Z,1736366344.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010358 2025-01-08T19:59:05.236Z,1736366345.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:05.236Z,1736366345.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262772 2025-01-08T19:59:05.280Z,1736366345.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:05.306Z,1736366345.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:05.320Z,1736366345.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 24.526693 m, bearing: 58.455427 deg, approach rate: 0.522747 m/s, LOS rate: 1.017380 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.256601 deg. 2025-01-08T19:59:05.327Z,1736366345.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839041 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:05.488Z,1736366345.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:05.488Z,1736366345.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514938 2025-01-08T19:59:05.736Z,1736366345.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:05.740Z,1736366345.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:05.741Z,1736366345.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766997 2025-01-08T19:59:05.746Z,1736366345.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:05.749Z,1736366345.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 24.770182 m, bearing: 58.930452 deg, approach rate: 0.554015 m/s, LOS rate: 1.070199 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.385952 deg. 2025-01-08T19:59:05.750Z,1736366345.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.841298 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:05.992Z,1736366345.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:05.993Z,1736366345.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019222 2025-01-08T19:59:06.159Z,1736366346.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:06.168Z,1736366346.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:06.171Z,1736366346.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 24.997477 m, bearing: 59.363921 deg, approach rate: 0.537983 m/s, LOS rate: 1.016635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.263539 deg. 2025-01-08T19:59:06.173Z,1736366346.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839162 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:06.244Z,1736366346.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:06.244Z,1736366346.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270984 2025-01-08T19:59:06.497Z,1736366346.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:06.500Z,1736366346.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526032 2025-01-08T19:59:06.585Z,1736366346.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:06.618Z,1736366346.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:06.626Z,1736366346.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 25.228106 m, bearing: 59.793476 deg, approach rate: 0.513870 m/s, LOS rate: 0.948343 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.251848 deg. 2025-01-08T19:59:06.627Z,1736366346.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838958 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:06.748Z,1736366346.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:06.749Z,1736366346.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775747 2025-01-08T19:59:06.959Z,1736366346.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:06.966Z,1736366346.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:06.969Z,1736366346.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:06.972Z,1736366346.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 25.422615 m, bearing: 60.148069 deg, approach rate: 0.552454 m/s, LOS rate: 0.999417 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.030701 deg. 2025-01-08T19:59:06.973Z,1736366346.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835098 target range: 101.400002 and range: 101.40 m. 2025-01-08T19:59:06.000Z,1736366347.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:07.001Z,1736366347.001 [DAT](INFO): DAT read: Rx Time:19:59:05.7305 2025-01-08T19:59:07.001Z,1736366347.001 [DAT](INFO): Rx dataTimestamp_ set to:1736366347.000789 2025-01-08T19:59:07.004Z,1736366347.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029013 2025-01-08T19:59:07.252Z,1736366347.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:07.252Z,1736366347.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278959 2025-01-08T19:59:07.462Z,1736366347.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:07.506Z,1736366347.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:07.508Z,1736366347.508 [DAT](INFO): DAT read: Range 10 to 50 : 113.4 m (Round-trip 151.2 ms) speed -0.6 m/s 2025-01-08T19:59:07.509Z,1736366347.509 [DAT](INFO): DAT read: user:1018> 2025-01-08T19:59:07.510Z,1736366347.510 [DAT](INFO): DAT read: Tx time:19:59:06.8251 2025-01-08T19:59:07.510Z,1736366347.510 [DAT](INFO): Ping request sent. 2025-01-08T19:59:07.510Z,1736366347.510 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:59:07.511Z,1736366347.511 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:59:07.511Z,1736366347.511 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:07.512Z,1736366347.512 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:07.521Z,1736366347.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.400002 m, deltaT: 25.457675 s, deltaX: 12.000000 m, approachRate: 0.471371 m/s, rangeRepo size: 4 2025-01-08T19:59:07.521Z,1736366347.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:07.528Z,1736366347.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 25.705709 m, bearing: 60.651086 deg, approach rate: 0.513766 m/s, LOS rate: 0.902822 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.467262 deg. 2025-01-08T19:59:07.529Z,1736366347.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842717 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:07.756Z,1736366347.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:07.757Z,1736366347.757 [DAT](INFO): DAT read: TxSync time:19:59:06.8244 2025-01-08T19:59:07.893Z,1736366347.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:07.913Z,1736366347.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:07.921Z,1736366347.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 25.944885 m, bearing: 61.055943 deg, approach rate: 0.607993 m/s, LOS rate: 1.019662 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.178373 deg. 2025-01-08T19:59:07.922Z,1736366347.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.837675 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:08.008Z,1736366348.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:08.260Z,1736366348.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:08.277Z,1736366348.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:08.287Z,1736366348.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:08.289Z,1736366348.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 26.159250 m, bearing: 61.408381 deg, approach rate: 0.574440 m/s, LOS rate: 0.936696 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.023715 deg. 2025-01-08T19:59:08.290Z,1736366348.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834976 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:08.514Z,1736366348.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:08.737Z,1736366348.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T19:59:08.737Z,1736366348.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:08.764Z,1736366348.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:08.770Z,1736366348.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:08.776Z,1736366348.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 26.416533 m, bearing: 61.821981 deg, approach rate: 0.532640 m/s, LOS rate: 0.847911 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.203703 deg. 2025-01-08T19:59:08.778Z,1736366348.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838117 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:09.016Z,1736366349.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:09.058Z,1736366349.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:59:09.058Z,1736366349.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:09.066Z,1736366349.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:09.085Z,1736366349.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:09.088Z,1736366349.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 26.597462 m, bearing: 62.105789 deg, approach rate: 0.574185 m/s, LOS rate: 0.894543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.820753 deg. 2025-01-08T19:59:09.089Z,1736366349.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831434 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:09.268Z,1736366349.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:09.269Z,1736366349.269 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:09.269Z,1736366349.269 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:09.269Z,1736366349.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:09.476Z,1736366349.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T19:59:09.477Z,1736366349.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:09.521Z,1736366349.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:09.524Z,1736366349.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013355 2025-01-08T19:59:09.539Z,1736366349.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:09.542Z,1736366349.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 26.832369 m, bearing: 62.468220 deg, approach rate: 0.517386 m/s, LOS rate: 0.791266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.052828 deg. 2025-01-08T19:59:09.543Z,1736366349.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835484 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:09.772Z,1736366349.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:09.773Z,1736366349.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262119 2025-01-08T19:59:09.890Z,1736366349.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:09.899Z,1736366349.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:09.902Z,1736366349.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 27.058891 m, bearing: 62.816172 deg, approach rate: 0.629222 m/s, LOS rate: 0.958424 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.010183 deg. 2025-01-08T19:59:09.903Z,1736366349.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834740 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:10.024Z,1736366350.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:10.025Z,1736366350.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514677 2025-01-08T19:59:10.272Z,1736366350.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:10.276Z,1736366350.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:10.277Z,1736366350.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766132 2025-01-08T19:59:10.284Z,1736366350.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:10.287Z,1736366350.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 27.267857 m, bearing: 63.130952 deg, approach rate: 0.542439 m/s, LOS rate: 0.810850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.912202 deg. 2025-01-08T19:59:10.288Z,1736366350.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833030 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:10.529Z,1736366350.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:10.533Z,1736366350.533 [DAT](INFO): DAT read: Rx Time:19:59:09.3833 2025-01-08T19:59:10.534Z,1736366350.534 [DAT](INFO): Rx dataTimestamp_ set to:1736366350.533184 2025-01-08T19:59:10.536Z,1736366350.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025234 2025-01-08T19:59:10.730Z,1736366350.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:10.738Z,1736366350.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:10.744Z,1736366350.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 27.518017 m, bearing: 63.491776 deg, approach rate: 0.550679 m/s, LOS rate: 0.787057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.047685 deg. 2025-01-08T19:59:10.746Z,1736366350.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835394 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:10.780Z,1736366350.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:10.783Z,1736366350.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271875 2025-01-08T19:59:10.788Z,1736366350.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:59:11.034Z,1736366351.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:11.036Z,1736366351.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525526 2025-01-08T19:59:11.094Z,1736366351.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:11.102Z,1736366351.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:11.105Z,1736366351.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:11.107Z,1736366351.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 27.717688 m, bearing: 63.774354 deg, approach rate: 0.545084 m/s, LOS rate: 0.765853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.816750 deg. 2025-01-08T19:59:11.109Z,1736366351.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831364 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:11.284Z,1736366351.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:11.285Z,1736366351.285 [DAT](INFO): DAT read: $Error in header 2025-01-08T19:59:11.285Z,1736366351.285 [DAT](INFO): Received a bad header 2025-01-08T19:59:11.296Z,1736366351.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785161 2025-01-08T19:59:11.534Z,1736366351.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:11.538Z,1736366351.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:11.541Z,1736366351.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029819 2025-01-08T19:59:11.581Z,1736366351.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:11.596Z,1736366351.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 27.959713 m, bearing: 64.110226 deg, approach rate: 0.508336 m/s, LOS rate: 0.699337 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.973976 deg. 2025-01-08T19:59:11.599Z,1736366351.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834108 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:11.788Z,1736366351.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:11.788Z,1736366351.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277984 2025-01-08T19:59:11.793Z,1736366351.793 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:59:11.932Z,1736366351.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:11.941Z,1736366351.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:11.944Z,1736366351.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 28.177586 m, bearing: 64.399575 deg, approach rate: 0.605163 m/s, LOS rate: 0.797477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.836452 deg. 2025-01-08T19:59:11.945Z,1736366351.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831707 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:12.040Z,1736366352.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:12.040Z,1736366352.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530019 2025-01-08T19:59:12.292Z,1736366352.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:12.292Z,1736366352.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782079 2025-01-08T19:59:12.367Z,1736366352.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:12.375Z,1736366352.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:12.378Z,1736366352.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 28.417191 m, bearing: 64.712145 deg, approach rate: 0.551808 m/s, LOS rate: 0.713773 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.904905 deg. 2025-01-08T19:59:12.395Z,1736366352.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832902 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:12.546Z,1736366352.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:12.549Z,1736366352.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038085 2025-01-08T19:59:12.796Z,1736366352.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:12.797Z,1736366352.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286166 2025-01-08T19:59:12.814Z,1736366352.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:12.855Z,1736366352.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:12.862Z,1736366352.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 28.651642 m, bearing: 64.995062 deg, approach rate: 0.488487 m/s, LOS rate: 0.584642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.816930 deg. 2025-01-08T19:59:12.863Z,1736366352.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831367 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:13.049Z,1736366353.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:13.049Z,1736366353.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538832 2025-01-08T19:59:13.272Z,1736366353.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:13.278Z,1736366353.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:13.281Z,1736366353.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:13.284Z,1736366353.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 28.892303 m, bearing: 65.280261 deg, approach rate: 0.565285 m/s, LOS rate: 0.664315 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.823591 deg. 2025-01-08T19:59:13.285Z,1736366353.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831483 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:13.300Z,1736366353.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:13.301Z,1736366353.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790165 2025-01-08T19:59:13.554Z,1736366353.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:13.556Z,1736366353.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045054 2025-01-08T19:59:13.762Z,1736366353.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:13.776Z,1736366353.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:13.778Z,1736366353.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 29.140537 m, bearing: 65.570963 deg, approach rate: 0.501796 m/s, LOS rate: 0.582635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.839795 deg. 2025-01-08T19:59:13.780Z,1736366353.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831766 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:13.804Z,1736366353.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:13.805Z,1736366353.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.294118 2025-01-08T19:59:14.056Z,1736366354.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:14.056Z,1736366354.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546093 2025-01-08T19:59:14.105Z,1736366354.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:14.119Z,1736366354.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:14.122Z,1736366354.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 29.314463 m, bearing: 65.771859 deg, approach rate: 0.506022 m/s, LOS rate: 0.581020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.574274 deg. 2025-01-08T19:59:14.123Z,1736366354.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827132 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:14.308Z,1736366354.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:14.308Z,1736366354.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797958 2025-01-08T19:59:14.514Z,1736366354.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:14.549Z,1736366354.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:14.561Z,1736366354.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:14.564Z,1736366354.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052681 2025-01-08T19:59:14.576Z,1736366354.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 29.522064 m, bearing: 66.009247 deg, approach rate: 0.483123 m/s, LOS rate: 0.548555 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.682305 deg. 2025-01-08T19:59:14.590Z,1736366354.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829017 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:14.813Z,1736366354.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:14.814Z,1736366354.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303146 2025-01-08T19:59:14.922Z,1736366354.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:14.931Z,1736366354.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:14.934Z,1736366354.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 29.721895 m, bearing: 66.241530 deg, approach rate: 0.523114 m/s, LOS rate: 0.603977 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.667316 deg. 2025-01-08T19:59:14.935Z,1736366354.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828755 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:15.064Z,1736366355.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:15.065Z,1736366355.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554717 2025-01-08T19:59:15.308Z,1736366355.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:15.316Z,1736366355.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:15.317Z,1736366355.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.806510 2025-01-08T19:59:15.317Z,1736366355.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:15.320Z,1736366355.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:15.322Z,1736366355.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 29.910625 m, bearing: 66.458826 deg, approach rate: 0.485536 m/s, LOS rate: 0.555495 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.622931 deg. 2025-01-08T19:59:15.324Z,1736366355.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827981 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:15.569Z,1736366355.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:15.572Z,1736366355.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060709 2025-01-08T19:59:15.728Z,1736366355.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:15.760Z,1736366355.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:15.763Z,1736366355.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 30.111080 m, bearing: 66.707899 deg, approach rate: 0.460028 m/s, LOS rate: 0.567796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.717389 deg. 2025-01-08T19:59:15.770Z,1736366355.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829629 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:15.821Z,1736366355.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:15.822Z,1736366355.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311291 2025-01-08T19:59:16.072Z,1736366356.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:16.073Z,1736366356.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562144 2025-01-08T19:59:16.125Z,1736366356.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:16.134Z,1736366356.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:16.137Z,1736366356.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 30.300478 m, bearing: 66.940969 deg, approach rate: 0.499591 m/s, LOS rate: 0.610944 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.669990 deg. 2025-01-08T19:59:16.138Z,1736366356.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828802 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:16.324Z,1736366356.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:16.324Z,1736366356.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.814027 2025-01-08T19:59:16.506Z,1736366356.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:16.516Z,1736366356.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:16.519Z,1736366356.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 30.482531 m, bearing: 67.162619 deg, approach rate: 0.476966 m/s, LOS rate: 0.577239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.636135 deg. 2025-01-08T19:59:16.520Z,1736366356.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828211 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:16.576Z,1736366356.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:16.577Z,1736366356.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066273 2025-01-08T19:59:16.828Z,1736366356.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:16.829Z,1736366356.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318184 2025-01-08T19:59:16.929Z,1736366356.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:16.959Z,1736366356.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:16.967Z,1736366356.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 30.690405 m, bearing: 67.411846 deg, approach rate: 0.469328 m/s, LOS rate: 0.558879 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.717760 deg. 2025-01-08T19:59:16.972Z,1736366356.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829636 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:17.080Z,1736366357.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:17.080Z,1736366357.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570040 2025-01-08T19:59:17.309Z,1736366357.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:17.318Z,1736366357.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:17.321Z,1736366357.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 30.877436 m, bearing: 67.633271 deg, approach rate: 0.520591 m/s, LOS rate: 0.612593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.635409 deg. 2025-01-08T19:59:17.322Z,1736366357.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828199 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:17.332Z,1736366357.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:17.333Z,1736366357.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822324 2025-01-08T19:59:17.584Z,1736366357.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:17.584Z,1736366357.584 [DAT](INFO): Reached modem response timeout 2025-01-08T19:59:17.585Z,1736366357.585 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:59:17.585Z,1736366357.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:17.767Z,1736366357.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:17.778Z,1736366357.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:17.785Z,1736366357.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:17.794Z,1736366357.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 31.109785 m, bearing: 67.918173 deg, approach rate: 0.503520 m/s, LOS rate: 0.612792 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.823443 deg. 2025-01-08T19:59:17.800Z,1736366357.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831481 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:17.840Z,1736366357.839 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:17.840Z,1736366357.840 [DAT](INFO): Reached modem response timeout 2025-01-08T19:59:17.840Z,1736366357.840 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:59:17.840Z,1736366357.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:18.092Z,1736366358.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:18.092Z,1736366358.092 [DAT](INFO): Reached modem response timeout 2025-01-08T19:59:18.092Z,1736366358.092 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:59:18.092Z,1736366358.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:18.172Z,1736366358.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:18.182Z,1736366358.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:18.185Z,1736366358.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 31.319818 m, bearing: 68.171288 deg, approach rate: 0.523165 m/s, LOS rate: 0.626244 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.729392 deg. 2025-01-08T19:59:18.186Z,1736366358.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829839 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:18.344Z,1736366358.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:18.344Z,1736366358.344 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:59:18.345Z,1736366358.345 [DAT](INFO): response not received 2025-01-08T19:59:18.345Z,1736366358.345 [DAT](INFO): DAT read: user:1020> 2025-01-08T19:59:18.345Z,1736366358.345 [DAT](ERROR): No response from remote modem. 2025-01-08T19:59:18.346Z,1736366358.346 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:59:18.346Z,1736366358.346 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:18.528Z,1736366358.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:18.557Z,1736366358.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:18.560Z,1736366358.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 31.502552 m, bearing: 68.387955 deg, approach rate: 0.485978 m/s, LOS rate: 0.572881 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.621390 deg. 2025-01-08T19:59:18.561Z,1736366358.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827954 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:18.597Z,1736366358.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:18.600Z,1736366358.600 [DAT](INFO): DAT read: Tx time:19:59:17.7752 2025-01-08T19:59:18.601Z,1736366358.601 [DAT](INFO): Ping request sent. 2025-01-08T19:59:18.601Z,1736366358.601 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:59:18.604Z,1736366358.604 [DAT](INFO): DAT read: TxSync time:19:59:17.7745 2025-01-08T19:59:18.604Z,1736366358.604 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:18.605Z,1736366358.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004474 2025-01-08T19:59:18.850Z,1736366358.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:18.852Z,1736366358.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251681 2025-01-08T19:59:18.952Z,1736366358.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:18.960Z,1736366358.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:18.963Z,1736366358.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 31.741682 m, bearing: 68.672016 deg, approach rate: 0.592820 m/s, LOS rate: 0.698899 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.820885 deg. 2025-01-08T19:59:18.965Z,1736366358.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831436 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:19.100Z,1736366359.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:19.100Z,1736366359.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499713 2025-01-08T19:59:19.333Z,1736366359.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:19.342Z,1736366359.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:19.344Z,1736366359.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 31.957384 m, bearing: 68.922214 deg, approach rate: 0.565978 m/s, LOS rate: 0.652057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.720669 deg. 2025-01-08T19:59:19.345Z,1736366359.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829687 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:19.352Z,1736366359.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:19.353Z,1736366359.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751992 2025-01-08T19:59:19.604Z,1736366359.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:19.605Z,1736366359.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003994 2025-01-08T19:59:19.769Z,1736366359.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:19.778Z,1736366359.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:19.781Z,1736366359.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 32.224987 m, bearing: 69.222580 deg, approach rate: 0.613436 m/s, LOS rate: 0.682820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.868726 deg. 2025-01-08T19:59:19.782Z,1736366359.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832271 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:19.856Z,1736366359.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:19.857Z,1736366359.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256696 2025-01-08T19:59:20.108Z,1736366360.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:20.108Z,1736366360.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507720 2025-01-08T19:59:20.213Z,1736366360.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:20.221Z,1736366360.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:20.224Z,1736366360.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:20.226Z,1736366360.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 32.498768 m, bearing: 69.520990 deg, approach rate: 0.614391 m/s, LOS rate: 0.664017 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.862800 deg. 2025-01-08T19:59:20.228Z,1736366360.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832168 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:20.361Z,1736366360.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:20.362Z,1736366360.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760488 2025-01-08T19:59:20.612Z,1736366360.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:20.612Z,1736366360.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011635 2025-01-08T19:59:20.718Z,1736366360.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:20.734Z,1736366360.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:20.745Z,1736366360.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 32.810978 m, bearing: 69.853772 deg, approach rate: 0.610852 m/s, LOS rate: 0.644901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.963928 deg. 2025-01-08T19:59:20.746Z,1736366360.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833932 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:20.864Z,1736366360.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:20.865Z,1736366360.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264423 2025-01-08T19:59:21.094Z,1736366361.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:21.116Z,1736366361.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:21.118Z,1736366361.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516640 2025-01-08T19:59:21.134Z,1736366361.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:21.138Z,1736366361.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 33.061920 m, bearing: 70.113261 deg, approach rate: 0.627823 m/s, LOS rate: 0.644277 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.747696 deg. 2025-01-08T19:59:21.139Z,1736366361.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830159 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:21.368Z,1736366361.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:21.368Z,1736366361.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767595 2025-01-08T19:59:21.481Z,1736366361.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:21.490Z,1736366361.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:21.495Z,1736366361.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 33.320477 m, bearing: 70.374811 deg, approach rate: 0.726794 m/s, LOS rate: 0.729501 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.753696 deg. 2025-01-08T19:59:21.496Z,1736366361.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830263 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:21.621Z,1736366361.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:21.622Z,1736366361.622 [DAT](INFO): DAT read: Rx Time:19:59:20.4210 2025-01-08T19:59:21.622Z,1736366361.622 [DAT](INFO): Rx dataTimestamp_ set to:1736366361.621758 2025-01-08T19:59:21.623Z,1736366361.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021826 2025-01-08T19:59:21.872Z,1736366361.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:21.872Z,1736366361.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271691 2025-01-08T19:59:21.912Z,1736366361.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:21.921Z,1736366361.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m. 2025-01-08T19:59:21.923Z,1736366361.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.400002 m, nav range: 33.626835 m, bearing: 70.655249 deg, approach rate: 0.711419 m/s, LOS rate: 0.645293 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.808776 deg. 2025-01-08T19:59:21.927Z,1736366361.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831224 target range: 101.400002 and range: 113.40 m. 2025-01-08T19:59:22.124Z,1736366362.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:22.130Z,1736366362.130 [DAT](INFO): DAT read: 19:59:20.4210 LVL= 24816, 15921, 13810, 25651, AGC= 62, IDX= 299,-0.07,-0.339, 1.306, 0.365,-0.398, PHS= 0.147, 1.750, 0.760, RAW= 307.7, -33.8, CAL= 302.8, -46.9, ROT= 207.2, 46.9 2025-01-08T19:59:22.131Z,1736366362.131 [DAT](INFO): got valid direction response: 19:59:20.4210 LVL= 24816, 15921, 13810, 25651, AGC= 62, IDX= 299,-0.07,-0.339, 1.306, 0.365,-0.398, PHS= 0.147, 1.750, 0.760, RAW= 307.7, -33.8, CAL= 302.8, -46.9, ROT= 207.2, 46.9 2025-01-08T19:59:22.133Z,1736366362.133 [DAT](INFO): DAT read: Range 10 to 50 : 181.2 m (Round-trip 241.6 ms) speed -0.1 m/s 2025-01-08T19:59:22.134Z,1736366362.134 [DAT](INFO): DAT read: user:1021> 2025-01-08T19:59:22.135Z,1736366362.135 [DAT](INFO): DAT read: Tx time:19:59:21.5253 2025-01-08T19:59:22.135Z,1736366362.135 [DAT](INFO): Ping request sent. 2025-01-08T19:59:22.135Z,1736366362.135 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:59:22.135Z,1736366362.135 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:59:22.136Z,1736366362.136 [DAT](INFO): direction in FSK: [0.687381,0.389803,-0.612830] 2025-01-08T19:59:22.136Z,1736366362.136 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:22.137Z,1736366362.137 [DAT](INFO): publishing direction and range info 2025-01-08T19:59:22.144Z,1736366362.144 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:22.145Z,1736366362.145 [DAT](INFO): publishing direction and range info 2025-01-08T19:59:22.293Z,1736366362.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:22.339Z,1736366362.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 181.199997 m, deltaT: 14.617482 s, deltaX: 67.799995 m, approachRate: 4.638281 m/s, rangeRepo size: 4 2025-01-08T19:59:22.341Z,1736366362.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 181.199997 m, bearing: 309.897457 deg, lat: 36.905109 deg, lon: -122.119714 deg, deltaT: 40.075157 s, deltaX: 79.799995 m, approachRate: 1.991259 m/s, posRepo size: 4 2025-01-08T19:59:22.342Z,1736366362.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:22.350Z,1736366362.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 33.114777 m, bearing: 61.108657 deg, approach rate: 0.000000 m/s, LOS rate: 0.645293 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.776078 deg. 2025-01-08T19:59:22.351Z,1736366362.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830654 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:22.376Z,1736366362.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:22.377Z,1736366362.377 [DAT](INFO): DAT read: TxSync time:19:59:21.5246 2025-01-08T19:59:22.628Z,1736366362.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:22.729Z,1736366362.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:22.756Z,1736366362.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:22.758Z,1736366362.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:22.766Z,1736366362.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 33.393879 m, bearing: 61.472458 deg, approach rate: 0.658329 m/s, LOS rate: 0.850933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.057333 deg. 2025-01-08T19:59:22.771Z,1736366362.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835563 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:22.880Z,1736366362.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:22.880Z,1736366362.880 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:22.881Z,1736366362.881 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:22.881Z,1736366362.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:23.109Z,1736366363.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:23.118Z,1736366363.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:23.121Z,1736366363.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 33.638721 m, bearing: 61.781454 deg, approach rate: 0.680835 m/s, LOS rate: 0.852970 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.895346 deg. 2025-01-08T19:59:23.122Z,1736366363.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832736 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:23.132Z,1736366363.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:23.133Z,1736366363.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997784 2025-01-08T19:59:23.384Z,1736366363.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:23.385Z,1736366363.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250023 2025-01-08T19:59:23.497Z,1736366363.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:23.506Z,1736366363.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:23.509Z,1736366363.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 33.889217 m, bearing: 62.091730 deg, approach rate: 0.644694 m/s, LOS rate: 0.792641 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.899049 deg. 2025-01-08T19:59:23.510Z,1736366363.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832800 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:23.637Z,1736366363.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:23.638Z,1736366363.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502581 2025-01-08T19:59:23.888Z,1736366363.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:23.890Z,1736366363.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755252 2025-01-08T19:59:23.894Z,1736366363.894 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3 2025-01-08T19:59:23.932Z,1736366363.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T19:59:23.932Z,1736366363.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:23.952Z,1736366363.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:23.954Z,1736366363.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 34.171654 m, bearing: 62.431705 deg, approach rate: 0.640373 m/s, LOS rate: 0.764454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.986569 deg. 2025-01-08T19:59:23.961Z,1736366363.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834328 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:24.140Z,1736366364.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:24.140Z,1736366364.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005469 2025-01-08T19:59:24.296Z,1736366364.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T19:59:24.296Z,1736366364.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:24.306Z,1736366364.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:24.309Z,1736366364.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 34.408901 m, bearing: 62.712619 deg, approach rate: 0.662223 m/s, LOS rate: 0.778701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.812058 deg. 2025-01-08T19:59:24.310Z,1736366364.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831282 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:24.393Z,1736366364.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:24.394Z,1736366364.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258368 2025-01-08T19:59:24.644Z,1736366364.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:24.645Z,1736366364.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509496 2025-01-08T19:59:24.778Z,1736366364.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T19:59:24.778Z,1736366364.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:24.801Z,1736366364.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:24.808Z,1736366364.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:24.810Z,1736366364.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 34.724018 m, bearing: 63.078238 deg, approach rate: 0.633206 m/s, LOS rate: 0.728014 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.061951 deg. 2025-01-08T19:59:24.816Z,1736366364.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835643 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:24.896Z,1736366364.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:24.897Z,1736366364.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761723 2025-01-08T19:59:25.136Z,1736366365.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:25.144Z,1736366365.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:25.149Z,1736366365.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:25.149Z,1736366365.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014285 2025-01-08T19:59:25.147Z,1736366365.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 34.943741 m, bearing: 63.306518 deg, approach rate: 0.644526 m/s, LOS rate: 0.665415 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.655686 deg. 2025-01-08T19:59:25.166Z,1736366365.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828553 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:25.400Z,1736366365.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:25.401Z,1736366365.401 [DAT](INFO): DAT read: Rx Time:19:59:24.1313 2025-01-08T19:59:25.402Z,1736366365.402 [DAT](INFO): Rx dataTimestamp_ set to:1736366365.401235 2025-01-08T19:59:25.402Z,1736366365.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267501 2025-01-08T19:59:25.502Z,1736366365.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:25.510Z,1736366365.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:25.513Z,1736366365.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 35.169159 m, bearing: 63.536822 deg, approach rate: 0.615748 m/s, LOS rate: 0.625062 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.661637 deg. 2025-01-08T19:59:25.516Z,1736366365.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828657 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:25.652Z,1736366365.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:25.653Z,1736366365.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518439 2025-01-08T19:59:25.904Z,1736366365.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:25.906Z,1736366365.906 [DAT](INFO): DAT read: Range 10 to 50 : 151.3 m (Round-trip 201.8 ms) speed -0.6 m/s 2025-01-08T19:59:25.906Z,1736366365.906 [DAT](INFO): DAT read: user:1022> 2025-01-08T19:59:25.907Z,1736366365.907 [DAT](INFO): DAT read: Tx time:19:59:25.2253 2025-01-08T19:59:25.908Z,1736366365.908 [DAT](INFO): Ping request sent. 2025-01-08T19:59:25.908Z,1736366365.908 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:59:25.908Z,1736366365.908 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:59:25.908Z,1736366365.908 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:25.909Z,1736366365.909 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:25.974Z,1736366365.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:25.997Z,1736366365.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 151.300003 m, deltaT: 3.780276 s, deltaX: -29.899994 m, approachRate: -7.909474 m/s, rangeRepo size: 4 2025-01-08T19:59:25.997Z,1736366365.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:26.033Z,1736366366.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 35.437576 m, bearing: 63.791664 deg, approach rate: 0.558717 m/s, LOS rate: 0.526440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.733875 deg. 2025-01-08T19:59:26.040Z,1736366366.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829917 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:26.156Z,1736366366.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:26.157Z,1736366366.157 [DAT](INFO): DAT read: TxSync time:19:59:25.2246 2025-01-08T19:59:26.319Z,1736366366.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:26.328Z,1736366366.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:26.330Z,1736366366.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 35.634144 m, bearing: 63.976173 deg, approach rate: 0.583934 m/s, LOS rate: 0.545088 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.525642 deg. 2025-01-08T19:59:26.332Z,1736366366.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826283 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:26.410Z,1736366366.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:26.665Z,1736366366.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:26.734Z,1736366366.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:26.812Z,1736366366.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:26.814Z,1736366366.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 35.871189 m, bearing: 64.195067 deg, approach rate: 0.493966 m/s, LOS rate: 0.453126 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.627500 deg. 2025-01-08T19:59:26.820Z,1736366366.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828061 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:26.916Z,1736366366.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:27.160Z,1736366367.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:27.168Z,1736366367.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:27.169Z,1736366367.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:27.171Z,1736366367.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:27.190Z,1736366367.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 36.086681 m, bearing: 64.393489 deg, approach rate: 0.593112 m/s, LOS rate: 0.542864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.566874 deg. 2025-01-08T19:59:27.191Z,1736366367.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827003 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:27.420Z,1736366367.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:27.421Z,1736366367.421 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:27.421Z,1736366367.421 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:27.421Z,1736366367.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:27.536Z,1736366367.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:27.544Z,1736366367.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:27.567Z,1736366367.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 36.278038 m, bearing: 64.568231 deg, approach rate: 0.511880 m/s, LOS rate: 0.464970 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.496633 deg. 2025-01-08T19:59:27.569Z,1736366367.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825777 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:27.674Z,1736366367.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:27.675Z,1736366367.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766927 2025-01-08T19:59:27.926Z,1736366367.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:27.927Z,1736366367.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019612 2025-01-08T19:59:27.978Z,1736366367.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:28.013Z,1736366368.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:28.016Z,1736366368.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 36.480881 m, bearing: 64.754971 deg, approach rate: 0.433053 m/s, LOS rate: 0.396457 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.532273 deg. 2025-01-08T19:59:28.017Z,1736366368.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826399 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:28.176Z,1736366368.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:28.176Z,1736366368.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268588 2025-01-08T19:59:28.342Z,1736366368.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:28.370Z,1736366368.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:28.373Z,1736366368.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 36.647377 m, bearing: 64.909320 deg, approach rate: 0.465965 m/s, LOS rate: 0.430008 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.436121 deg. 2025-01-08T19:59:28.374Z,1736366368.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824720 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:28.428Z,1736366368.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:28.429Z,1736366368.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521716 2025-01-08T19:59:28.680Z,1736366368.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:28.682Z,1736366368.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773789 2025-01-08T19:59:28.816Z,1736366368.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:28.850Z,1736366368.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:28.857Z,1736366368.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 36.862194 m, bearing: 65.107740 deg, approach rate: 0.447946 m/s, LOS rate: 0.411342 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.566955 deg. 2025-01-08T19:59:28.859Z,1736366368.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827004 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:28.933Z,1736366368.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:28.934Z,1736366368.934 [DAT](INFO): DAT read: Rx Time:19:59:27.7955 2025-01-08T19:59:28.935Z,1736366368.935 [DAT](INFO): Rx dataTimestamp_ set to:1736366368.933845 2025-01-08T19:59:28.936Z,1736366368.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027303 2025-01-08T19:59:29.166Z,1736366369.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:29.173Z,1736366369.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:29.184Z,1736366369.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:29.184Z,1736366369.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276674 2025-01-08T19:59:29.192Z,1736366369.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:29.194Z,1736366369.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 37.015697 m, bearing: 65.261205 deg, approach rate: 0.471365 m/s, LOS rate: 0.469292 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.433662 deg. 2025-01-08T19:59:29.200Z,1736366369.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824677 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:29.436Z,1736366369.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:29.436Z,1736366369.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528665 2025-01-08T19:59:29.563Z,1736366369.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:29.572Z,1736366369.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:29.575Z,1736366369.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 37.187004 m, bearing: 65.431736 deg, approach rate: 0.431780 m/s, LOS rate: 0.427845 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.484409 deg. 2025-01-08T19:59:29.576Z,1736366369.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825563 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:29.688Z,1736366369.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:29.690Z,1736366369.690 [DAT](INFO): DAT read: Range 10 to 50 : 124.5 m (Round-trip 166.0 ms) speed -0.7 m/s 2025-01-08T19:59:29.690Z,1736366369.690 [DAT](INFO): DAT read: user:1023> 2025-01-08T19:59:29.691Z,1736366369.691 [DAT](INFO): DAT read: Tx time:19:59:28.8753 2025-01-08T19:59:29.692Z,1736366369.692 [DAT](INFO): Ping request sent. 2025-01-08T19:59:29.692Z,1736366369.692 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:59:29.692Z,1736366369.692 [DAT](INFO): DAT read: TxSync time:19:59:28.8746 2025-01-08T19:59:29.693Z,1736366369.693 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:59:29.693Z,1736366369.693 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:29.693Z,1736366369.693 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:29.940Z,1736366369.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:30.006Z,1736366370.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:30.038Z,1736366370.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 124.500000 m, deltaT: 7.563991 s, deltaX: -56.699997 m, approachRate: -7.496042 m/s, rangeRepo size: 4 2025-01-08T19:59:30.044Z,1736366370.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:30.046Z,1736366370.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 37.366348 m, bearing: 65.634770 deg, approach rate: 0.390703 m/s, LOS rate: 0.440190 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.581344 deg. 2025-01-08T19:59:30.052Z,1736366370.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827255 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:30.192Z,1736366370.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:30.368Z,1736366370.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:30.376Z,1736366370.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:30.378Z,1736366370.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 37.512737 m, bearing: 65.798142 deg, approach rate: 0.424730 m/s, LOS rate: 0.472151 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.463376 deg. 2025-01-08T19:59:30.380Z,1736366370.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825196 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:30.446Z,1736366370.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:30.700Z,1736366370.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:30.768Z,1736366370.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:30.776Z,1736366370.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:30.784Z,1736366370.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 37.675526 m, bearing: 65.978189 deg, approach rate: 0.406755 m/s, LOS rate: 0.447935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.512978 deg. 2025-01-08T19:59:30.785Z,1736366370.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826062 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:30.952Z,1736366370.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:31.182Z,1736366371.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:31.189Z,1736366371.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:31.191Z,1736366371.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:31.194Z,1736366371.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 37.851593 m, bearing: 66.187807 deg, approach rate: 0.424223 m/s, LOS rate: 0.502709 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.601088 deg. 2025-01-08T19:59:31.195Z,1736366371.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827600 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:31.204Z,1736366371.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:31.204Z,1736366371.204 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:31.204Z,1736366371.204 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:31.204Z,1736366371.204 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:31.456Z,1736366371.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:31.457Z,1736366371.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764836 2025-01-08T19:59:31.573Z,1736366371.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:31.601Z,1736366371.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:31.605Z,1736366371.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 38.018799 m, bearing: 66.385566 deg, approach rate: 0.407472 m/s, LOS rate: 0.479810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.565834 deg. 2025-01-08T19:59:31.606Z,1736366371.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826984 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:31.708Z,1736366371.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:31.708Z,1736366371.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016757 2025-01-08T19:59:31.960Z,1736366371.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:31.960Z,1736366371.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268732 2025-01-08T19:59:32.006Z,1736366372.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:32.040Z,1736366372.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:32.042Z,1736366372.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 38.218773 m, bearing: 66.626028 deg, approach rate: 0.460693 m/s, LOS rate: 0.551068 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.692758 deg. 2025-01-08T19:59:32.048Z,1736366372.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829200 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:32.212Z,1736366372.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:32.212Z,1736366372.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520652 2025-01-08T19:59:32.372Z,1736366372.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:32.412Z,1736366372.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:32.420Z,1736366372.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 38.388264 m, bearing: 66.827254 deg, approach rate: 0.477657 m/s, LOS rate: 0.564586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.576175 deg. 2025-01-08T19:59:32.421Z,1736366372.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827165 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:32.465Z,1736366372.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:32.466Z,1736366372.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774044 2025-01-08T19:59:32.716Z,1736366372.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:32.717Z,1736366372.717 [DAT](INFO): DAT read: Rx Time:19:59:31.4871 2025-01-08T19:59:32.717Z,1736366372.717 [DAT](INFO): Rx dataTimestamp_ set to:1736366372.716963 2025-01-08T19:59:32.718Z,1736366372.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026079 2025-01-08T19:59:32.784Z,1736366372.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:32.793Z,1736366372.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.20 m. 2025-01-08T19:59:32.796Z,1736366372.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.199997 m, nav range: 38.579914 m, bearing: 67.051088 deg, approach rate: 0.476206 m/s, LOS rate: 0.553411 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.643323 deg. 2025-01-08T19:59:32.797Z,1736366372.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828337 target range: 181.199997 and range: 181.20 m. 2025-01-08T19:59:32.968Z,1736366372.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:32.968Z,1736366372.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276803 2025-01-08T19:59:33.220Z,1736366373.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:33.226Z,1736366373.226 [DAT](INFO): DAT read: 19:59:31.4871 LVL= 26304, 23457, 17330, 28339, AGC= 58, IDX= 344, 0.31,-1.973,-0.133,-0.931,-1.927, PHS= 0.042, 1.841, 0.993, RAW= 298.1, -33.1, CAL= 291.3, -45.3, ROT= 218.7, 45.3 2025-01-08T19:59:33.228Z,1736366373.228 [DAT](INFO): got valid direction response: 19:59:31.4871 LVL= 26304, 23457, 17330, 28339, AGC= 58, IDX= 344, 0.31,-1.973,-0.133,-0.931,-1.927, PHS= 0.042, 1.841, 0.993, RAW= 298.1, -33.1, CAL= 291.3, -45.3, ROT= 218.7, 45.3 2025-01-08T19:59:33.229Z,1736366373.229 [DAT](INFO): DAT read: Bearing 218.7, 45.3 (Local) 2025-01-08T19:59:33.229Z,1736366373.229 [DAT](INFO): Local bearing/azimuth received: Bearing 218.7, 45.3 (Local) 2025-01-08T19:59:33.230Z,1736366373.230 [DAT](INFO): DAT read: Range 10 to 50 : 155.6 m (Round-trip 207.5 ms) speed 0.0 m/s 2025-01-08T19:59:33.232Z,1736366373.232 [DAT](INFO): DAT read: user:1024> 2025-01-08T19:59:33.233Z,1736366373.233 [DAT](INFO): DAT read: Tx time:19:59:32.5754 2025-01-08T19:59:33.233Z,1736366373.233 [DAT](INFO): Ping request sent. 2025-01-08T19:59:33.233Z,1736366373.233 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:59:33.233Z,1736366373.233 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:59:33.234Z,1736366373.234 [DAT](INFO): direction in FSK: [0.673307,0.272211,-0.687430] 2025-01-08T19:59:33.234Z,1736366373.234 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:33.235Z,1736366373.235 [DAT](INFO): publishing direction and range info 2025-01-08T19:59:33.242Z,1736366373.242 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:33.242Z,1736366373.242 [DAT](INFO): publishing direction and range info 2025-01-08T19:59:33.282Z,1736366373.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:33.313Z,1736366373.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 155.600006 m, deltaT: 11.096014 s, deltaX: -25.599991 m, approachRate: -2.307134 m/s, rangeRepo size: 4 2025-01-08T19:59:33.320Z,1736366373.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.600006 m, bearing: 305.000253 deg, lat: 36.905176 deg, lon: -122.119729 deg, deltaT: 11.096014 s, deltaX: -25.599991 m, approachRate: -2.307134 m/s, posRepo size: 4 2025-01-08T19:59:33.321Z,1736366373.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:33.349Z,1736366373.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 41.126347 m, bearing: 57.020810 deg, approach rate: 0.000000 m/s, LOS rate: 0.553411 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.837565 deg. 2025-01-08T19:59:33.350Z,1736366373.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831727 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:33.472Z,1736366373.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:33.473Z,1736366373.473 [DAT](INFO): DAT read: TxSync time:19:59:32.5747 2025-01-08T19:59:33.724Z,1736366373.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:33.766Z,1736366373.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:33.773Z,1736366373.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:33.775Z,1736366373.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:33.778Z,1736366373.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 41.341457 m, bearing: 57.344257 deg, approach rate: 0.465191 m/s, LOS rate: 0.695832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.940383 deg. 2025-01-08T19:59:33.779Z,1736366373.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833521 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:33.976Z,1736366373.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:33.976Z,1736366373.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:33.976Z,1736366373.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:33.977Z,1736366373.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:34.116Z,1736366374.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:34.127Z,1736366374.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:34.131Z,1736366374.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 41.515553 m, bearing: 57.589402 deg, approach rate: 0.495719 m/s, LOS rate: 0.695098 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.707496 deg. 2025-01-08T19:59:34.134Z,1736366374.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829457 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:34.228Z,1736366374.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:34.229Z,1736366374.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996339 2025-01-08T19:59:34.480Z,1736366374.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:34.480Z,1736366374.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247325 2025-01-08T19:59:34.546Z,1736366374.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:34.557Z,1736366374.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:34.560Z,1736366374.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 41.730831 m, bearing: 57.886202 deg, approach rate: 0.499493 m/s, LOS rate: 0.685086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.860920 deg. 2025-01-08T19:59:34.561Z,1736366374.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832135 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:34.736Z,1736366374.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:34.739Z,1736366374.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504993 2025-01-08T19:59:34.984Z,1736366374.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:34.985Z,1736366374.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751955 2025-01-08T19:59:34.988Z,1736366374.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:35.021Z,1736366375.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:35.036Z,1736366375.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 41.977852 m, bearing: 58.197169 deg, approach rate: 0.531937 m/s, LOS rate: 0.665695 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.902512 deg. 2025-01-08T19:59:35.037Z,1736366375.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832860 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:35.236Z,1736366375.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:35.237Z,1736366375.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003428 2025-01-08T19:59:35.288Z,1736366375.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:35.296Z,1736366375.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:35.300Z,1736366375.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 42.146034 m, bearing: 58.405852 deg, approach rate: 0.611183 m/s, LOS rate: 0.755338 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.598712 deg. 2025-01-08T19:59:35.301Z,1736366375.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827558 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:35.488Z,1736366375.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:35.489Z,1736366375.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255614 2025-01-08T19:59:35.686Z,1736366375.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:35.695Z,1736366375.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:35.717Z,1736366375.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 42.370491 m, bearing: 58.679504 deg, approach rate: 0.563782 m/s, LOS rate: 0.683704 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.791735 deg. 2025-01-08T19:59:35.719Z,1736366375.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830927 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:35.740Z,1736366375.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:35.740Z,1736366375.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507332 2025-01-08T19:59:35.992Z,1736366375.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:35.993Z,1736366375.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759528 2025-01-08T19:59:36.097Z,1736366376.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:36.107Z,1736366376.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:36.109Z,1736366376.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:36.128Z,1736366376.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 42.610828 m, bearing: 58.948076 deg, approach rate: 0.579227 m/s, LOS rate: 0.643620 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.776303 deg. 2025-01-08T19:59:36.130Z,1736366376.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830658 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:36.248Z,1736366376.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:36.249Z,1736366376.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016335 2025-01-08T19:59:36.473Z,1736366376.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:36.494Z,1736366376.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:36.500Z,1736366376.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:36.501Z,1736366376.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267418 2025-01-08T19:59:36.503Z,1736366376.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 42.832348 m, bearing: 59.190846 deg, approach rate: 0.576399 m/s, LOS rate: 0.628425 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.699689 deg. 2025-01-08T19:59:36.508Z,1736366376.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829320 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:36.752Z,1736366376.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:36.753Z,1736366376.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519409 2025-01-08T19:59:36.881Z,1736366376.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:36.959Z,1736366376.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:36.962Z,1736366376.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 43.073200 m, bearing: 59.450203 deg, approach rate: 0.523832 m/s, LOS rate: 0.560923 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.748858 deg. 2025-01-08T19:59:36.968Z,1736366376.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830179 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:37.006Z,1736366377.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:37.007Z,1736366377.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773939 2025-01-08T19:59:37.260Z,1736366377.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:37.260Z,1736366377.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027336 2025-01-08T19:59:37.314Z,1736366377.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:37.335Z,1736366377.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:37.338Z,1736366377.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 43.334431 m, bearing: 59.706298 deg, approach rate: 0.692449 m/s, LOS rate: 0.674740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.738791 deg. 2025-01-08T19:59:37.344Z,1736366377.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830003 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:37.513Z,1736366377.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:37.514Z,1736366377.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280812 2025-01-08T19:59:37.690Z,1736366377.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:37.700Z,1736366377.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:37.702Z,1736366377.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 43.562416 m, bearing: 59.926433 deg, approach rate: 0.618749 m/s, LOS rate: 0.594316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.632107 deg. 2025-01-08T19:59:37.708Z,1736366377.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828141 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:37.764Z,1736366377.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:37.765Z,1736366377.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532088 2025-01-08T19:59:38.016Z,1736366378.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:38.016Z,1736366378.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783220 2025-01-08T19:59:38.112Z,1736366378.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:38.126Z,1736366378.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:38.129Z,1736366378.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:38.134Z,1736366378.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 43.819077 m, bearing: 60.150636 deg, approach rate: 0.597665 m/s, LOS rate: 0.519024 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.643823 deg. 2025-01-08T19:59:38.137Z,1736366378.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828346 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:38.268Z,1736366378.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:38.269Z,1736366378.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035802 2025-01-08T19:59:38.494Z,1736366378.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:38.504Z,1736366378.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:38.506Z,1736366378.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 44.052063 m, bearing: 60.351363 deg, approach rate: 0.621304 m/s, LOS rate: 0.532445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.574159 deg. 2025-01-08T19:59:38.508Z,1736366378.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827130 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:38.520Z,1736366378.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:38.521Z,1736366378.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287397 2025-01-08T19:59:38.776Z,1736366378.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:38.777Z,1736366378.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543858 2025-01-08T19:59:38.905Z,1736366378.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:38.950Z,1736366378.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:38.992Z,1736366378.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 44.303364 m, bearing: 60.565354 deg, approach rate: 0.564916 m/s, LOS rate: 0.478316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.613492 deg. 2025-01-08T19:59:38.993Z,1736366378.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827816 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:39.028Z,1736366379.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:39.029Z,1736366379.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795568 2025-01-08T19:59:39.280Z,1736366379.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:39.280Z,1736366379.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047142 2025-01-08T19:59:39.344Z,1736366379.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:39.353Z,1736366379.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:39.356Z,1736366379.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 44.556686 m, bearing: 60.767347 deg, approach rate: 0.626596 m/s, LOS rate: 0.496788 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.577695 deg. 2025-01-08T19:59:39.357Z,1736366379.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827191 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:39.533Z,1736366379.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:39.533Z,1736366379.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300340 2025-01-08T19:59:39.701Z,1736366379.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:39.709Z,1736366379.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:39.728Z,1736366379.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 44.763607 m, bearing: 60.930988 deg, approach rate: 0.580703 m/s, LOS rate: 0.457120 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.463829 deg. 2025-01-08T19:59:39.729Z,1736366379.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825204 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:39.784Z,1736366379.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:39.786Z,1736366379.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552243 2025-01-08T19:59:40.036Z,1736366380.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:40.036Z,1736366380.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803187 2025-01-08T19:59:40.142Z,1736366380.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:40.152Z,1736366380.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:40.161Z,1736366380.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:40.168Z,1736366380.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 45.007229 m, bearing: 61.124851 deg, approach rate: 0.543039 m/s, LOS rate: 0.429785 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.553606 deg. 2025-01-08T19:59:40.171Z,1736366380.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826771 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:40.289Z,1736366380.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:40.290Z,1736366380.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057101 2025-01-08T19:59:40.507Z,1736366380.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:40.536Z,1736366380.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:40.539Z,1736366380.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 45.208656 m, bearing: 61.283879 deg, approach rate: 0.532183 m/s, LOS rate: 0.418288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.450134 deg. 2025-01-08T19:59:40.540Z,1736366380.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:40.541Z,1736366380.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307438 2025-01-08T19:59:40.544Z,1736366380.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824965 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:40.792Z,1736366380.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:40.793Z,1736366380.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559774 2025-01-08T19:59:40.908Z,1736366380.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:40.918Z,1736366380.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:40.920Z,1736366380.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 45.430748 m, bearing: 61.458006 deg, approach rate: 0.582465 m/s, LOS rate: 0.454438 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.494999 deg. 2025-01-08T19:59:40.922Z,1736366380.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825748 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:41.045Z,1736366381.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:41.046Z,1736366381.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812875 2025-01-08T19:59:41.296Z,1736366381.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:41.297Z,1736366381.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063401 2025-01-08T19:59:41.361Z,1736366381.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:41.370Z,1736366381.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:41.393Z,1736366381.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 45.661373 m, bearing: 61.643843 deg, approach rate: 0.509651 m/s, LOS rate: 0.408599 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.529863 deg. 2025-01-08T19:59:41.394Z,1736366381.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826356 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:41.549Z,1736366381.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:41.549Z,1736366381.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316047 2025-01-08T19:59:41.727Z,1736366381.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:41.742Z,1736366381.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:41.745Z,1736366381.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 45.847797 m, bearing: 61.793953 deg, approach rate: 0.505046 m/s, LOS rate: 0.405013 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.423676 deg. 2025-01-08T19:59:41.746Z,1736366381.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824503 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:41.801Z,1736366381.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:41.802Z,1736366381.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568550 2025-01-08T19:59:41.912Z,1736366381.912 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T19:59:42.052Z,1736366382.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:42.052Z,1736366382.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819369 2025-01-08T19:59:42.162Z,1736366382.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:42.169Z,1736366382.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:42.171Z,1736366382.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:42.174Z,1736366382.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 46.058804 m, bearing: 61.973035 deg, approach rate: 0.488908 m/s, LOS rate: 0.413038 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.509957 deg. 2025-01-08T19:59:42.175Z,1736366382.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826009 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:42.304Z,1736366382.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:42.304Z,1736366382.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071309 2025-01-08T19:59:42.540Z,1736366382.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:42.556Z,1736366382.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:42.558Z,1736366382.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324596 2025-01-08T19:59:42.560Z,1736366382.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:42.581Z,1736366382.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 46.242085 m, bearing: 62.127843 deg, approach rate: 0.476742 m/s, LOS rate: 0.401081 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.437758 deg. 2025-01-08T19:59:42.583Z,1736366382.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824749 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:42.808Z,1736366382.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:42.808Z,1736366382.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575351 2025-01-08T19:59:42.916Z,1736366382.916 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T19:59:42.957Z,1736366382.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:42.970Z,1736366382.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:42.973Z,1736366382.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 46.444794 m, bearing: 62.297306 deg, approach rate: 0.488411 m/s, LOS rate: 0.406526 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.481344 deg. 2025-01-08T19:59:42.974Z,1736366382.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825510 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:43.060Z,1736366383.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:43.060Z,1736366383.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827359 2025-01-08T19:59:43.312Z,1736366383.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:43.312Z,1736366383.312 [DAT](INFO): Reached modem response timeout 2025-01-08T19:59:43.312Z,1736366383.312 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:59:43.313Z,1736366383.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:43.407Z,1736366383.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:43.416Z,1736366383.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:43.419Z,1736366383.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 46.659565 m, bearing: 62.492828 deg, approach rate: 0.482912 m/s, LOS rate: 0.437605 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.559030 deg. 2025-01-08T19:59:43.420Z,1736366383.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826866 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:43.564Z,1736366383.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:43.565Z,1736366383.565 [DAT](INFO): Reached modem response timeout 2025-01-08T19:59:43.565Z,1736366383.565 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:59:43.565Z,1736366383.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:43.780Z,1736366383.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:43.789Z,1736366383.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:43.792Z,1736366383.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 46.837326 m, bearing: 62.655334 deg, approach rate: 0.475218 m/s, LOS rate: 0.432786 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.460841 deg. 2025-01-08T19:59:43.793Z,1736366383.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825152 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:43.816Z,1736366383.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:43.816Z,1736366383.816 [DAT](INFO): Reached modem response timeout 2025-01-08T19:59:43.816Z,1736366383.816 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:59:43.817Z,1736366383.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:44.069Z,1736366384.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:44.072Z,1736366384.072 [DAT](INFO): DAT read: Response Not Received 2025-01-08T19:59:44.072Z,1736366384.072 [DAT](INFO): response not received 2025-01-08T19:59:44.073Z,1736366384.073 [DAT](INFO): DAT read: user:1025> 2025-01-08T19:59:44.073Z,1736366384.073 [DAT](ERROR): No response from remote modem. 2025-01-08T19:59:44.073Z,1736366384.073 [DAT](DEBUG): Acoustic response timeout 2025-01-08T19:59:44.074Z,1736366384.074 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:44.191Z,1736366384.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:44.197Z,1736366384.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:44.200Z,1736366384.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:44.202Z,1736366384.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 47.037556 m, bearing: 62.841767 deg, approach rate: 0.488023 m/s, LOS rate: 0.452464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.532089 deg. 2025-01-08T19:59:44.220Z,1736366384.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826396 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:44.321Z,1736366384.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:44.322Z,1736366384.322 [DAT](INFO): DAT read: Tx time:19:59:43.5255 2025-01-08T19:59:44.322Z,1736366384.322 [DAT](INFO): Ping request sent. 2025-01-08T19:59:44.322Z,1736366384.322 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:59:44.323Z,1736366384.323 [DAT](INFO): DAT read: TxSync time:19:59:43.5248 2025-01-08T19:59:44.324Z,1736366384.324 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:44.324Z,1736366384.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001699 2025-01-08T19:59:44.554Z,1736366384.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:44.562Z,1736366384.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:44.567Z,1736366384.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 47.215038 m, bearing: 63.005612 deg, approach rate: 0.488953 m/s, LOS rate: 0.449685 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.464861 deg. 2025-01-08T19:59:44.568Z,1736366384.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825222 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:44.572Z,1736366384.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:44.572Z,1736366384.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250017 2025-01-08T19:59:44.824Z,1736366384.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:44.824Z,1736366384.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501926 2025-01-08T19:59:44.953Z,1736366384.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:44.961Z,1736366384.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:44.966Z,1736366384.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 47.410271 m, bearing: 63.183433 deg, approach rate: 0.489465 m/s, LOS rate: 0.443975 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.506435 deg. 2025-01-08T19:59:44.971Z,1736366384.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825948 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:45.078Z,1736366385.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:45.080Z,1736366385.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757254 2025-01-08T19:59:45.333Z,1736366385.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:45.334Z,1736366385.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011138 2025-01-08T19:59:45.402Z,1736366385.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:45.410Z,1736366385.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:45.413Z,1736366385.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 47.630352 m, bearing: 63.405200 deg, approach rate: 0.490136 m/s, LOS rate: 0.491607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.637383 deg. 2025-01-08T19:59:45.415Z,1736366385.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828233 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:45.584Z,1736366385.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:45.585Z,1736366385.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262261 2025-01-08T19:59:45.774Z,1736366385.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:45.791Z,1736366385.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:45.794Z,1736366385.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 47.812931 m, bearing: 63.587411 deg, approach rate: 0.479683 m/s, LOS rate: 0.476889 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.519717 deg. 2025-01-08T19:59:45.805Z,1736366385.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826180 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:45.836Z,1736366385.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:45.837Z,1736366385.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514188 2025-01-08T19:59:46.102Z,1736366386.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:46.102Z,1736366386.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.779919 2025-01-08T19:59:46.194Z,1736366386.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:46.202Z,1736366386.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:46.220Z,1736366386.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:46.223Z,1736366386.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 48.027031 m, bearing: 63.795418 deg, approach rate: 0.518855 m/s, LOS rate: 0.501839 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.596398 deg. 2025-01-08T19:59:46.228Z,1736366386.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827518 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:46.345Z,1736366386.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:46.346Z,1736366386.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023819 2025-01-08T19:59:46.564Z,1736366386.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:46.573Z,1736366386.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:46.592Z,1736366386.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 48.216190 m, bearing: 63.977014 deg, approach rate: 0.512388 m/s, LOS rate: 0.489971 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.517822 deg. 2025-01-08T19:59:46.593Z,1736366386.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826147 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:46.596Z,1736366386.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:46.597Z,1736366386.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274109 2025-01-08T19:59:46.849Z,1736366386.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:46.849Z,1736366386.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526760 2025-01-08T19:59:47.081Z,1736366387.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:47.102Z,1736366387.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:47.105Z,1736366387.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782435 2025-01-08T19:59:47.133Z,1736366387.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:47.139Z,1736366387.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 48.481556 m, bearing: 64.228058 deg, approach rate: 0.473986 m/s, LOS rate: 0.445950 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.724152 deg. 2025-01-08T19:59:47.141Z,1736366387.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829748 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:47.352Z,1736366387.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:47.352Z,1736366387.352 [DAT](INFO): DAT read: Rx Time:19:59:46.1452 2025-01-08T19:59:47.353Z,1736366387.353 [DAT](INFO): Rx dataTimestamp_ set to:1736366387.352662 2025-01-08T19:59:47.353Z,1736366387.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031020 2025-01-08T19:59:47.477Z,1736366387.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:47.486Z,1736366387.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.60 m. 2025-01-08T19:59:47.492Z,1736366387.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.600006 m, nav range: 48.690025 m, bearing: 64.419727 deg, approach rate: 0.590424 m/s, LOS rate: 0.540515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.547710 deg. 2025-01-08T19:59:47.493Z,1736366387.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826668 target range: 155.600006 and range: 155.60 m. 2025-01-08T19:59:47.604Z,1736366387.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:47.604Z,1736366387.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281980 2025-01-08T19:59:47.860Z,1736366387.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:47.867Z,1736366387.867 [DAT](INFO): DAT read: 19:59:46.1452 LVL= 17520, 12337, 10098, 21491, AGC= 55, IDX= 491,-0.23,-2.011, 0.290,-0.957,-1.865, PHS=-0.058, 2.201, 0.905, RAW= 304.9, -28.8, CAL= 300.9, -41.8, ROT= 209.1, 41.8 2025-01-08T19:59:47.868Z,1736366387.868 [DAT](INFO): got valid direction response: 19:59:46.1452 LVL= 17520, 12337, 10098, 21491, AGC= 55, IDX= 491,-0.23,-2.011, 0.290,-0.957,-1.865, PHS=-0.058, 2.201, 0.905, RAW= 304.9, -28.8, CAL= 300.9, -41.8, ROT= 209.1, 41.8 2025-01-08T19:59:47.869Z,1736366387.869 [DAT](INFO): DAT read: Bearing 209.1, 41.8 (Local) 2025-01-08T19:59:47.870Z,1736366387.870 [DAT](INFO): Local bearing/azimuth received: Bearing 209.1, 41.8 (Local) 2025-01-08T19:59:47.872Z,1736366387.872 [DAT](INFO): DAT read: Range 10 to 50 : 161.6 m (Round-trip 215.5 ms) speed 0.0 m/s 2025-01-08T19:59:47.872Z,1736366387.872 [DAT](INFO): DAT read: user:1026> 2025-01-08T19:59:47.873Z,1736366387.873 [DAT](INFO): DAT read: Tx time:19:59:47.2255 2025-01-08T19:59:47.873Z,1736366387.873 [DAT](INFO): Ping request sent. 2025-01-08T19:59:47.873Z,1736366387.873 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:59:47.874Z,1736366387.874 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:59:47.875Z,1736366387.875 [DAT](INFO): direction in FSK: [0.618335,0.384888,-0.685218] 2025-01-08T19:59:47.875Z,1736366387.875 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:47.875Z,1736366387.875 [DAT](INFO): publishing direction and range info 2025-01-08T19:59:47.878Z,1736366387.878 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:47.878Z,1736366387.878 [DAT](INFO): publishing direction and range info 2025-01-08T19:59:47.933Z,1736366387.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:47.973Z,1736366387.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 161.600006 m, deltaT: 14.640333 s, deltaX: 6.000000 m, approachRate: 0.409827 m/s, rangeRepo size: 4 2025-01-08T19:59:47.975Z,1736366387.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 161.600006 m, bearing: 313.724728 deg, lat: 36.905588 deg, lon: -122.121212 deg, deltaT: 14.640333 s, deltaX: 6.000000 m, approachRate: 0.409827 m/s, posRepo size: 4 2025-01-08T19:59:47.984Z,1736366387.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:47.986Z,1736366387.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 110.138367 m, bearing: 307.291874 deg, approach rate: 0.000000 m/s, LOS rate: 0.540515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.763849 deg. 2025-01-08T19:59:47.996Z,1736366387.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830441 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:48.112Z,1736366388.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:48.114Z,1736366388.114 [DAT](INFO): DAT read: TxSync time:19:59:47.2248 2025-01-08T19:59:48.364Z,1736366388.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:48.453Z,1736366388.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:48.460Z,1736366388.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:48.462Z,1736366388.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:48.482Z,1736366388.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 109.824524 m, bearing: 307.372400 deg, approach rate: -0.639990 m/s, LOS rate: 0.164679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217454 deg. 2025-01-08T19:59:48.488Z,1736366388.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820904 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:48.616Z,1736366388.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:48.617Z,1736366388.617 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:48.617Z,1736366388.617 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:48.618Z,1736366388.618 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:48.802Z,1736366388.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:48.824Z,1736366388.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:48.827Z,1736366388.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 109.614845 m, bearing: 307.427372 deg, approach rate: -0.579852 m/s, LOS rate: 0.152313 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140419 deg. 2025-01-08T19:59:48.833Z,1736366388.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819560 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:48.870Z,1736366388.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:48.871Z,1736366388.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997194 2025-01-08T19:59:49.121Z,1736366389.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:49.124Z,1736366389.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249638 2025-01-08T19:59:49.230Z,1736366389.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:49.267Z,1736366389.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:49.274Z,1736366389.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 109.365021 m, bearing: 307.498754 deg, approach rate: -0.564344 m/s, LOS rate: 0.161616 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189819 deg. 2025-01-08T19:59:49.275Z,1736366389.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820422 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:49.373Z,1736366389.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:49.374Z,1736366389.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500636 2025-01-08T19:59:49.622Z,1736366389.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:49.624Z,1736366389.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:49.625Z,1736366389.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751052 2025-01-08T19:59:49.638Z,1736366389.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:49.642Z,1736366389.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 109.136757 m, bearing: 307.564612 deg, approach rate: -0.614042 m/s, LOS rate: 0.177533 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173174 deg. 2025-01-08T19:59:49.643Z,1736366389.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820131 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:49.876Z,1736366389.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:49.876Z,1736366389.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002867 2025-01-08T19:59:50.012Z,1736366390.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:50.043Z,1736366390.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:50.046Z,1736366390.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 108.909157 m, bearing: 307.630405 deg, approach rate: -0.567859 m/s, LOS rate: 0.164497 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172979 deg. 2025-01-08T19:59:50.054Z,1736366390.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820128 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:50.130Z,1736366390.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:50.133Z,1736366390.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258862 2025-01-08T19:59:50.380Z,1736366390.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:50.380Z,1736366390.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506864 2025-01-08T19:59:50.478Z,1736366390.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:50.486Z,1736366390.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:50.488Z,1736366390.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:50.491Z,1736366390.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 108.651756 m, bearing: 307.712011 deg, approach rate: -0.573678 m/s, LOS rate: 0.182309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.220584 deg. 2025-01-08T19:59:50.492Z,1736366390.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820959 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:50.632Z,1736366390.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:50.633Z,1736366390.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759118 2025-01-08T19:59:50.829Z,1736366390.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:50.838Z,1736366390.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:50.841Z,1736366390.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 108.457825 m, bearing: 307.773525 deg, approach rate: -0.554166 m/s, LOS rate: 0.176092 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160058 deg. 2025-01-08T19:59:50.842Z,1736366390.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819902 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:50.884Z,1736366390.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:50.886Z,1736366390.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011822 2025-01-08T19:59:51.137Z,1736366391.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:51.140Z,1736366391.140 [DAT](INFO): DAT read: Rx Time:19:59:49.8124 2025-01-08T19:59:51.141Z,1736366391.141 [DAT](INFO): Rx dataTimestamp_ set to:1736366391.140507 2025-01-08T19:59:51.143Z,1736366391.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269256 2025-01-08T19:59:51.246Z,1736366391.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:51.280Z,1736366391.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:51.288Z,1736366391.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 108.238251 m, bearing: 307.848613 deg, approach rate: -0.502060 m/s, LOS rate: 0.172038 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200906 deg. 2025-01-08T19:59:51.289Z,1736366391.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820615 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:51.389Z,1736366391.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:51.390Z,1736366391.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516582 2025-01-08T19:59:51.637Z,1736366391.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:51.640Z,1736366391.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:51.642Z,1736366391.642 [DAT](INFO): DAT read: Range 10 to 50 : 136.9 m (Round-trip 182.6 ms) speed -0.2 m/s 2025-01-08T19:59:51.642Z,1736366391.642 [DAT](INFO): DAT read: user:1027> 2025-01-08T19:59:51.643Z,1736366391.643 [DAT](INFO): DAT read: Tx time:19:59:50.9272 2025-01-08T19:59:51.643Z,1736366391.643 [DAT](INFO): Ping request sent. 2025-01-08T19:59:51.644Z,1736366391.644 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:59:51.644Z,1736366391.644 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:59:51.644Z,1736366391.644 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:51.645Z,1736366391.645 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:51.659Z,1736366391.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 136.899994 m, deltaT: 3.779716 s, deltaX: -24.700012 m, approachRate: -6.534886 m/s, rangeRepo size: 4 2025-01-08T19:59:51.660Z,1736366391.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:51.669Z,1736366391.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 108.032242 m, bearing: 307.919290 deg, approach rate: -0.539050 m/s, LOS rate: 0.185288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187621 deg. 2025-01-08T19:59:51.671Z,1736366391.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820384 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:51.892Z,1736366391.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:51.893Z,1736366391.893 [DAT](INFO): DAT read: TxSync time:19:59:50.9264 2025-01-08T19:59:52.039Z,1736366392.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:52.048Z,1736366392.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:52.052Z,1736366392.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 107.821053 m, bearing: 307.992108 deg, approach rate: -0.541881 m/s, LOS rate: 0.187206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194068 deg. 2025-01-08T19:59:52.053Z,1736366392.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820496 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:52.151Z,1736366392.151 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:52.400Z,1736366392.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:52.469Z,1736366392.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:52.500Z,1736366392.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:52.508Z,1736366392.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 107.596420 m, bearing: 308.069800 deg, approach rate: -0.510962 m/s, LOS rate: 0.177091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208747 deg. 2025-01-08T19:59:52.509Z,1736366392.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820752 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:52.652Z,1736366392.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:52.837Z,1736366392.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:52.845Z,1736366392.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:52.847Z,1736366392.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:52.871Z,1736366392.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 107.403969 m, bearing: 308.136597 deg, approach rate: -0.534628 m/s, LOS rate: 0.185894 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175936 deg. 2025-01-08T19:59:52.872Z,1736366392.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820179 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:52.904Z,1736366392.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:52.905Z,1736366392.905 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:52.905Z,1736366392.905 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:52.905Z,1736366392.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:53.157Z,1736366393.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:53.159Z,1736366393.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515336 2025-01-08T19:59:53.275Z,1736366393.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:53.287Z,1736366393.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:53.290Z,1736366393.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 107.182831 m, bearing: 308.215358 deg, approach rate: -0.502856 m/s, LOS rate: 0.179469 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.211957 deg. 2025-01-08T19:59:53.291Z,1736366393.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820808 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:53.408Z,1736366393.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:53.409Z,1736366393.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765015 2025-01-08T19:59:53.644Z,1736366393.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:53.664Z,1736366393.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:53.666Z,1736366393.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022179 2025-01-08T19:59:53.674Z,1736366393.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:53.696Z,1736366393.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 106.995476 m, bearing: 308.281928 deg, approach rate: -0.483605 m/s, LOS rate: 0.172131 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175244 deg. 2025-01-08T19:59:53.697Z,1736366393.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820168 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:53.916Z,1736366393.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:53.917Z,1736366393.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273527 2025-01-08T19:59:54.057Z,1736366394.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:54.068Z,1736366394.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:54.070Z,1736366394.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 106.786003 m, bearing: 308.356288 deg, approach rate: -0.532875 m/s, LOS rate: 0.189536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198705 deg. 2025-01-08T19:59:54.072Z,1736366394.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820577 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:54.170Z,1736366394.170 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:54.173Z,1736366394.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528589 2025-01-08T19:59:54.421Z,1736366394.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:54.421Z,1736366394.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777641 2025-01-08T19:59:54.489Z,1736366394.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:54.501Z,1736366394.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:54.504Z,1736366394.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 106.564842 m, bearing: 308.432437 deg, approach rate: -0.509283 m/s, LOS rate: 0.175718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204106 deg. 2025-01-08T19:59:54.505Z,1736366394.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820671 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:54.672Z,1736366394.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:54.673Z,1736366394.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029170 2025-01-08T19:59:54.872Z,1736366394.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:54.879Z,1736366394.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:54.882Z,1736366394.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:54.885Z,1736366394.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 106.368332 m, bearing: 308.500417 deg, approach rate: -0.516922 m/s, LOS rate: 0.179152 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179502 deg. 2025-01-08T19:59:54.886Z,1736366394.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820241 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:54.924Z,1736366394.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:54.925Z,1736366394.925 [DAT](INFO): DAT read: Rx Time:19:59:53.5869 2025-01-08T19:59:54.925Z,1736366394.925 [DAT](INFO): Rx dataTimestamp_ set to:1736366394.924746 2025-01-08T19:59:54.926Z,1736366394.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282021 2025-01-08T19:59:55.178Z,1736366395.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:55.180Z,1736366395.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536058 2025-01-08T19:59:55.325Z,1736366395.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:55.356Z,1736366395.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.60 m. 2025-01-08T19:59:55.359Z,1736366395.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.600006 m, nav range: 106.122116 m, bearing: 308.579767 deg, approach rate: -0.518868 m/s, LOS rate: 0.167607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.213787 deg. 2025-01-08T19:59:55.364Z,1736366395.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820840 target range: 161.600006 and range: 161.60 m. 2025-01-08T19:59:55.428Z,1736366395.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:55.439Z,1736366395.439 [DAT](INFO): DAT read: 19:59:53.5869 LVL= 18416, 11985, 9906, 16851, AGC= 59, IDX= 146,-0.33, 2.415,-1.801,-2.923, 2.428, PHS= 0.075, 2.101, 0.929, RAW= 305.2, -31.9, CAL= 300.3, -44.8, ROT= 209.7, 44.8 2025-01-08T19:59:55.440Z,1736366395.440 [DAT](INFO): got valid direction response: 19:59:53.5869 LVL= 18416, 11985, 9906, 16851, AGC= 59, IDX= 146,-0.33, 2.415,-1.801,-2.923, 2.428, PHS= 0.075, 2.101, 0.929, RAW= 305.2, -31.9, CAL= 300.3, -44.8, ROT= 209.7, 44.8 2025-01-08T19:59:55.441Z,1736366395.441 [DAT](INFO): DAT read: Bearing 209.7, 44.8 (Local) 2025-01-08T19:59:55.441Z,1736366395.441 [DAT](INFO): Local bearing/azimuth received: Bearing 209.7, 44.8 (Local) 2025-01-08T19:59:55.443Z,1736366395.443 [DAT](INFO): DAT read: Range 10 to 50 : 191.6 m (Round-trip 255.5 ms) speed -0.7 m/s 2025-01-08T19:59:55.449Z,1736366395.449 [DAT](INFO): DAT read: user:1028> 2025-01-08T19:59:55.450Z,1736366395.450 [DAT](INFO): DAT read: Tx time:19:59:54.6756 2025-01-08T19:59:55.450Z,1736366395.450 [DAT](INFO): Ping request sent. 2025-01-08T19:59:55.450Z,1736366395.450 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:59:55.450Z,1736366395.450 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T19:59:55.456Z,1736366395.456 [DAT](INFO): direction in FSK: [0.661657,0.370392,-0.651935] 2025-01-08T19:59:55.456Z,1736366395.456 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:55.456Z,1736366395.456 [DAT](INFO): publishing direction and range info 2025-01-08T19:59:55.465Z,1736366395.465 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:55.465Z,1736366395.465 [DAT](INFO): publishing direction and range info 2025-01-08T19:59:55.681Z,1736366395.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:55.682Z,1736366395.682 [DAT](INFO): DAT read: TxSync time:19:59:54.6749 2025-01-08T19:59:55.691Z,1736366395.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:55.714Z,1736366395.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 191.600006 m, deltaT: 7.568238 s, deltaX: 30.000000 m, approachRate: 3.963934 m/s, rangeRepo size: 4 2025-01-08T19:59:55.721Z,1736366395.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 191.600006 m, bearing: 311.379657 deg, lat: 36.905770 deg, lon: -122.121250 deg, deltaT: 7.568238 s, deltaX: 30.000000 m, approachRate: 3.963934 m/s, posRepo size: 4 2025-01-08T19:59:55.722Z,1736366395.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T19:59:55.729Z,1736366395.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 121.992699 m, bearing: 315.114816 deg, approach rate: 0.000000 m/s, LOS rate: 0.167607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154890 deg. 2025-01-08T19:59:55.730Z,1736366395.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819812 target range: 191.600006 and range: 191.60 m. 2025-01-08T19:59:55.932Z,1736366395.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:56.097Z,1736366396.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:56.106Z,1736366396.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T19:59:56.123Z,1736366396.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 121.788643 m, bearing: 315.187911 deg, approach rate: -0.519584 m/s, LOS rate: 0.186433 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194838 deg. 2025-01-08T19:59:56.125Z,1736366396.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820509 target range: 191.600006 and range: 191.60 m. 2025-01-08T19:59:56.186Z,1736366396.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:56.436Z,1736366396.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:56.603Z,1736366396.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:56.624Z,1736366396.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T19:59:56.627Z,1736366396.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 121.522179 m, bearing: 315.279338 deg, approach rate: -0.514488 m/s, LOS rate: 0.176914 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.250068 deg. 2025-01-08T19:59:56.633Z,1736366396.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821473 target range: 191.600006 and range: 191.60 m. 2025-01-08T19:59:56.688Z,1736366396.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:56.940Z,1736366396.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:56.942Z,1736366396.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:56.950Z,1736366396.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:56.952Z,1736366396.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T19:59:56.955Z,1736366396.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 121.344017 m, bearing: 315.340778 deg, approach rate: -0.542418 m/s, LOS rate: 0.187329 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159775 deg. 2025-01-08T19:59:56.956Z,1736366396.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819897 target range: 191.600006 and range: 191.60 m. 2025-01-08T19:59:57.195Z,1736366397.195 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:57.199Z,1736366397.199 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:57.200Z,1736366397.200 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:57.201Z,1736366397.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:57.369Z,1736366397.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:57.377Z,1736366397.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T19:59:57.380Z,1736366397.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 121.105072 m, bearing: 315.420879 deg, approach rate: -0.562490 m/s, LOS rate: 0.188934 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215963 deg. 2025-01-08T19:59:57.383Z,1736366397.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820878 target range: 191.600006 and range: 191.60 m. 2025-01-08T19:59:57.445Z,1736366397.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:57.446Z,1736366397.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995314 2025-01-08T19:59:57.696Z,1736366397.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:57.696Z,1736366397.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246174 2025-01-08T19:59:57.762Z,1736366397.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:57.771Z,1736366397.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T19:59:57.774Z,1736366397.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 120.885025 m, bearing: 315.494730 deg, approach rate: -0.558871 m/s, LOS rate: 0.187907 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197142 deg. 2025-01-08T19:59:57.776Z,1736366397.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820549 target range: 191.600006 and range: 191.60 m. 2025-01-08T19:59:57.948Z,1736366397.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:57.949Z,1736366397.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499217 2025-01-08T19:59:58.150Z,1736366398.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:58.160Z,1736366398.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T19:59:58.162Z,1736366398.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 120.667496 m, bearing: 315.568055 deg, approach rate: -0.560502 m/s, LOS rate: 0.189275 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195557 deg. 2025-01-08T19:59:58.164Z,1736366398.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820522 target range: 191.600006 and range: 191.60 m. 2025-01-08T19:59:58.202Z,1736366398.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:58.205Z,1736366398.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754241 2025-01-08T19:59:58.452Z,1736366398.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:58.452Z,1736366398.452 [DAT](INFO): DAT read: Rx Time:19:59:57.2670 2025-01-08T19:59:58.453Z,1736366398.453 [DAT](INFO): Rx dataTimestamp_ set to:1736366398.452564 2025-01-08T19:59:58.453Z,1736366398.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003200 2025-01-08T19:59:58.611Z,1736366398.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:58.640Z,1736366398.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T19:59:58.643Z,1736366398.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 120.398125 m, bearing: 315.654954 deg, approach rate: -0.560170 m/s, LOS rate: 0.181115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.236466 deg. 2025-01-08T19:59:58.649Z,1736366398.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821236 target range: 191.600006 and range: 191.60 m. 2025-01-08T19:59:58.704Z,1736366398.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:58.705Z,1736366398.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254319 2025-01-08T19:59:58.956Z,1736366398.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:58.957Z,1736366398.957 [DAT](INFO): DAT read: Range 10 to 50 : 140.4 m (Round-trip 187.3 ms) speed -0.4 m/s 2025-01-08T19:59:58.958Z,1736366398.958 [DAT](INFO): DAT read: user:1029> 2025-01-08T19:59:58.959Z,1736366398.959 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T19:59:58.959Z,1736366398.959 [DAT](INFO): ****** received valid address query ****** 2025-01-08T19:59:58.959Z,1736366398.959 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T19:59:58.960Z,1736366398.960 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T19:59:59.037Z,1736366399.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:59.052Z,1736366399.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T19:59:59.055Z,1736366399.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 140.399994 m, deltaT: 3.527323 s, deltaX: -51.200012 m, approachRate: -14.515261 m/s, rangeRepo size: 4 2025-01-08T19:59:59.060Z,1736366399.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T19:59:59.063Z,1736366399.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 120.152428 m, bearing: 315.734775 deg, approach rate: -0.593298 m/s, LOS rate: 0.193141 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215137 deg. 2025-01-08T19:59:59.068Z,1736366399.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820864 target range: 191.600006 and range: 191.60 m. 2025-01-08T19:59:59.208Z,1736366399.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:59.209Z,1736366399.209 [DAT](INFO): DAT read: Tx time:19:59:58.3756 2025-01-08T19:59:59.209Z,1736366399.209 [DAT](INFO): Ping request sent. 2025-01-08T19:59:59.209Z,1736366399.209 [DAT](INFO): transmitted an acoustic signal 2025-01-08T19:59:59.210Z,1736366399.210 [DAT](INFO): DAT read: TxSync time:19:59:58.3749 2025-01-08T19:59:59.210Z,1736366399.210 [DAT](INFO): publishing transmit ping time 2025-01-08T19:59:59.211Z,1736366399.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001565 2025-01-08T19:59:59.403Z,1736366399.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:59.412Z,1736366399.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T19:59:59.417Z,1736366399.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 119.931114 m, bearing: 315.808237 deg, approach rate: -0.618094 m/s, LOS rate: 0.205547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195979 deg. 2025-01-08T19:59:59.418Z,1736366399.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820529 target range: 191.600006 and range: 191.60 m. 2025-01-08T19:59:59.460Z,1736366399.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:59.462Z,1736366399.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252149 2025-01-08T19:59:59.712Z,1736366399.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:59.712Z,1736366399.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503022 2025-01-08T19:59:59.787Z,1736366399.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T19:59:59.800Z,1736366399.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T19:59:59.803Z,1736366399.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 119.703407 m, bearing: 315.884786 deg, approach rate: -0.586668 m/s, LOS rate: 0.197597 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205269 deg. 2025-01-08T19:59:59.804Z,1736366399.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820691 target range: 191.600006 and range: 191.60 m. 2025-01-08T19:59:59.964Z,1736366399.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T19:59:59.966Z,1736366399.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755609 2025-01-08T20:00:00.182Z,1736366400.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:00.190Z,1736366400.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:00.193Z,1736366400.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 119.469391 m, bearing: 315.964133 deg, approach rate: -0.599745 m/s, LOS rate: 0.203751 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.213692 deg. 2025-01-08T20:00:00.194Z,1736366400.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820838 target range: 191.600006 and range: 191.60 m. 2025-01-08T20:00:00.216Z,1736366400.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:00.217Z,1736366400.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007112 2025-01-08T20:00:00.468Z,1736366400.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:00.468Z,1736366400.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259049 2025-01-08T20:00:00.720Z,1736366400.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:00.720Z,1736366400.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511011 2025-01-08T20:00:00.722Z,1736366400.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:00.756Z,1736366400.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:00.759Z,1736366400.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 119.148956 m, bearing: 316.077866 deg, approach rate: -0.571164 m/s, LOS rate: 0.203271 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.317301 deg. 2025-01-08T20:00:00.765Z,1736366400.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822647 target range: 191.600006 and range: 191.60 m. 2025-01-08T20:00:00.972Z,1736366400.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:00.973Z,1736366400.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763227 2025-01-08T20:00:01.211Z,1736366401.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:01.218Z,1736366401.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:01.220Z,1736366401.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:01.224Z,1736366401.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:01.225Z,1736366401.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015110 2025-01-08T20:00:01.225Z,1736366401.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 118.859818 m, bearing: 316.181101 deg, approach rate: -0.616786 m/s, LOS rate: 0.220754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.285641 deg. 2025-01-08T20:00:01.226Z,1736366401.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822094 target range: 191.600006 and range: 191.60 m. 2025-01-08T20:00:01.477Z,1736366401.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:01.478Z,1736366401.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268740 2025-01-08T20:00:01.728Z,1736366401.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:01.730Z,1736366401.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519893 2025-01-08T20:00:01.886Z,1736366401.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:01.895Z,1736366401.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:01.899Z,1736366401.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 118.466393 m, bearing: 316.324135 deg, approach rate: -0.583187 m/s, LOS rate: 0.212728 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.405706 deg. 2025-01-08T20:00:01.901Z,1736366401.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824190 target range: 191.600006 and range: 191.60 m. 2025-01-08T20:00:01.980Z,1736366401.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:01.980Z,1736366401.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771059 2025-01-08T20:00:02.233Z,1736366402.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:02.234Z,1736366402.234 [DAT](INFO): DAT read: Rx Time:20:00:01.0047 2025-01-08T20:00:02.235Z,1736366402.235 [DAT](INFO): Rx dataTimestamp_ set to:1736366402.234443 2025-01-08T20:00:02.235Z,1736366402.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025966 2025-01-08T20:00:02.429Z,1736366402.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:02.446Z,1736366402.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:02.453Z,1736366402.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 118.168327 m, bearing: 316.437714 deg, approach rate: -0.541182 m/s, LOS rate: 0.206739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.316778 deg. 2025-01-08T20:00:02.454Z,1736366402.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822638 target range: 191.600006 and range: 191.60 m. 2025-01-08T20:00:02.484Z,1736366402.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:02.484Z,1736366402.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275026 2025-01-08T20:00:02.736Z,1736366402.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:02.737Z,1736366402.737 [DAT](INFO): DAT read: Range 10 to 50 : 168.7 m (Round-trip 225.0 ms) speed -0.5 m/s 2025-01-08T20:00:02.738Z,1736366402.738 [DAT](INFO): DAT read: user:1030> 2025-01-08T20:00:02.739Z,1736366402.739 [DAT](INFO): DAT read: Tx time:20:00:02.1256 2025-01-08T20:00:02.739Z,1736366402.739 [DAT](INFO): Ping request sent. 2025-01-08T20:00:02.739Z,1736366402.739 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:02.740Z,1736366402.740 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:02.740Z,1736366402.740 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:02.741Z,1736366402.741 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:02.808Z,1736366402.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:02.829Z,1736366402.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 168.699997 m, deltaT: 7.307426 s, deltaX: -22.900009 m, approachRate: -3.133800 m/s, rangeRepo size: 4 2025-01-08T20:00:02.830Z,1736366402.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:02.846Z,1736366402.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 117.967552 m, bearing: 316.514643 deg, approach rate: -0.524223 m/s, LOS rate: 0.201204 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206367 deg. 2025-01-08T20:00:02.852Z,1736366402.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820711 target range: 191.600006 and range: 168.70 m. 2025-01-08T20:00:02.988Z,1736366402.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:02.989Z,1736366402.989 [DAT](INFO): DAT read: TxSync time:20:00:02.1249 2025-01-08T20:00:03.152Z,1736366403.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:03.165Z,1736366403.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:03.172Z,1736366403.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 117.772728 m, bearing: 316.589970 deg, approach rate: -0.580774 m/s, LOS rate: 0.224921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201539 deg. 2025-01-08T20:00:03.173Z,1736366403.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820626 target range: 191.600006 and range: 168.70 m. 2025-01-08T20:00:03.240Z,1736366403.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:03.492Z,1736366403.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:03.588Z,1736366403.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:03.594Z,1736366403.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:03.596Z,1736366403.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:03.600Z,1736366403.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 117.545311 m, bearing: 316.679800 deg, approach rate: -0.526064 m/s, LOS rate: 0.208198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.245196 deg. 2025-01-08T20:00:03.603Z,1736366403.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821388 target range: 191.600006 and range: 168.70 m. 2025-01-08T20:00:03.744Z,1736366403.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:03.744Z,1736366403.744 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:03.744Z,1736366403.744 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:03.745Z,1736366403.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:03.944Z,1736366403.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:03.954Z,1736366403.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:03.956Z,1736366403.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 117.360046 m, bearing: 316.753722 deg, approach rate: -0.518783 m/s, LOS rate: 0.207326 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197303 deg. 2025-01-08T20:00:03.958Z,1736366403.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820552 target range: 191.600006 and range: 168.70 m. 2025-01-08T20:00:03.996Z,1736366403.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:03.996Z,1736366403.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256968 2025-01-08T20:00:04.248Z,1736366404.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:04.249Z,1736366404.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509676 2025-01-08T20:00:04.390Z,1736366404.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:04.400Z,1736366404.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:04.403Z,1736366404.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 117.142838 m, bearing: 316.843375 deg, approach rate: -0.486487 m/s, LOS rate: 0.201170 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.244642 deg. 2025-01-08T20:00:04.404Z,1736366404.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821379 target range: 191.600006 and range: 168.70 m. 2025-01-08T20:00:04.500Z,1736366404.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:04.501Z,1736366404.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761206 2025-01-08T20:00:04.743Z,1736366404.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:04.752Z,1736366404.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:04.753Z,1736366404.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013028 2025-01-08T20:00:04.754Z,1736366404.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:04.773Z,1736366404.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 116.970680 m, bearing: 316.914447 deg, approach rate: -0.486636 m/s, LOS rate: 0.201195 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188716 deg. 2025-01-08T20:00:04.774Z,1736366404.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820403 target range: 191.600006 and range: 168.70 m. 2025-01-08T20:00:05.004Z,1736366405.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:05.004Z,1736366405.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264936 2025-01-08T20:00:05.152Z,1736366405.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:05.160Z,1736366405.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:05.164Z,1736366405.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 116.771088 m, bearing: 316.997053 deg, approach rate: -0.490883 m/s, LOS rate: 0.203511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.223427 deg. 2025-01-08T20:00:05.166Z,1736366405.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821008 target range: 191.600006 and range: 168.70 m. 2025-01-08T20:00:05.256Z,1736366405.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:05.256Z,1736366405.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516988 2025-01-08T20:00:05.508Z,1736366405.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:05.508Z,1736366405.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768801 2025-01-08T20:00:05.581Z,1736366405.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:05.596Z,1736366405.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:05.598Z,1736366405.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:05.605Z,1736366405.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 116.571808 m, bearing: 317.079056 deg, approach rate: -0.455580 m/s, LOS rate: 0.187789 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221613 deg. 2025-01-08T20:00:05.606Z,1736366405.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820977 target range: 191.600006 and range: 168.70 m. 2025-01-08T20:00:05.760Z,1736366405.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:05.760Z,1736366405.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020903 2025-01-08T20:00:05.961Z,1736366405.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:05.970Z,1736366405.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:05.973Z,1736366405.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 116.395012 m, bearing: 317.152014 deg, approach rate: -0.475282 m/s, LOS rate: 0.196434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194395 deg. 2025-01-08T20:00:05.974Z,1736366405.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820501 target range: 191.600006 and range: 168.70 m. 2025-01-08T20:00:06.012Z,1736366406.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:06.013Z,1736366406.013 [DAT](INFO): DAT read: Rx Time:20:00:04.7569 2025-01-08T20:00:06.013Z,1736366406.013 [DAT](INFO): Rx dataTimestamp_ set to:1736366406.012728 2025-01-08T20:00:06.014Z,1736366406.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274034 2025-01-08T20:00:06.264Z,1736366406.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:06.264Z,1736366406.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524905 2025-01-08T20:00:06.464Z,1736366406.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:06.489Z,1736366406.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.60 m. 2025-01-08T20:00:06.496Z,1736366406.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.600006 m, nav range: 116.172714 m, bearing: 317.242775 deg, approach rate: -0.428424 m/s, LOS rate: 0.175254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.247989 deg. 2025-01-08T20:00:06.497Z,1736366406.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821437 target range: 191.600006 and range: 168.70 m. 2025-01-08T20:00:06.517Z,1736366406.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:06.524Z,1736366406.524 [DAT](INFO): DAT read: 20:00:04.7569 LVL= 23968, 13537, 14546, 22115, AGC= 59, IDX= 448, 0.49,-2.246,-0.251,-1.144,-2.064, PHS=-0.093, 1.860, 0.917, RAW= 298.9, -29.3, CAL= 293.7, -41.8, ROT= 216.3, 41.8 2025-01-08T20:00:06.525Z,1736366406.525 [DAT](INFO): got valid direction response: 20:00:04.7569 LVL= 23968, 13537, 14546, 22115, AGC= 59, IDX= 448, 0.49,-2.246,-0.251,-1.144,-2.064, PHS=-0.093, 1.860, 0.917, RAW= 298.9, -29.3, CAL= 293.7, -41.8, ROT= 216.3, 41.8 2025-01-08T20:00:06.526Z,1736366406.526 [DAT](INFO): DAT read: Bearing 216.3, 41.8 (Local) 2025-01-08T20:00:06.526Z,1736366406.526 [DAT](INFO): Local bearing/azimuth received: Bearing 216.3, 41.8 (Local) 2025-01-08T20:00:06.528Z,1736366406.528 [DAT](INFO): DAT read: Range 10 to 50 : 170.2 m (Round-trip 227.0 ms) speed -0.8 m/s 2025-01-08T20:00:06.529Z,1736366406.529 [DAT](INFO): DAT read: user:1031> 2025-01-08T20:00:06.529Z,1736366406.529 [DAT](INFO): DAT read: Tx time:20:00:05.8757 2025-01-08T20:00:06.530Z,1736366406.530 [DAT](INFO): Ping request sent. 2025-01-08T20:00:06.530Z,1736366406.530 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:06.530Z,1736366406.530 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:00:06.532Z,1736366406.532 [DAT](INFO): direction in FSK: [0.622304,0.300897,-0.722633] 2025-01-08T20:00:06.532Z,1736366406.532 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:06.532Z,1736366406.532 [DAT](INFO): publishing direction and range info 2025-01-08T20:00:06.547Z,1736366406.547 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:06.548Z,1736366406.548 [DAT](INFO): publishing direction and range info 2025-01-08T20:00:06.768Z,1736366406.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:06.770Z,1736366406.770 [DAT](INFO): DAT read: TxSync time:20:00:05.8750 2025-01-08T20:00:06.827Z,1736366406.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:06.854Z,1736366406.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.199997 m, deltaT: 3.781091 s, deltaX: 1.500000 m, approachRate: 0.396711 m/s, rangeRepo size: 4 2025-01-08T20:00:06.861Z,1736366406.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 170.199997 m, bearing: 308.425194 deg, lat: 36.905770 deg, lon: -122.121346 deg, deltaT: 11.088517 s, deltaX: -21.400009 m, approachRate: -1.929925 m/s, posRepo size: 4 2025-01-08T20:00:06.861Z,1736366406.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:06.868Z,1736366406.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 121.981247 m, bearing: 314.351250 deg, approach rate: 0.000000 m/s, LOS rate: 0.175254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167028 deg. 2025-01-08T20:00:06.869Z,1736366406.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820024 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:07.020Z,1736366407.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:07.208Z,1736366407.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:07.218Z,1736366407.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:07.221Z,1736366407.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 121.803001 m, bearing: 314.414209 deg, approach rate: -0.489331 m/s, LOS rate: 0.173093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164340 deg. 2025-01-08T20:00:07.223Z,1736366407.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819977 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:07.273Z,1736366407.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:07.524Z,1736366407.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:07.670Z,1736366407.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:07.682Z,1736366407.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:07.685Z,1736366407.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:07.687Z,1736366407.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 121.599022 m, bearing: 314.487452 deg, approach rate: -0.437072 m/s, LOS rate: 0.157202 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195282 deg. 2025-01-08T20:00:07.689Z,1736366407.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820517 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:07.777Z,1736366407.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:07.778Z,1736366407.778 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:07.778Z,1736366407.778 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:07.778Z,1736366407.778 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:08.027Z,1736366408.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:08.028Z,1736366408.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:08.029Z,1736366408.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498786 2025-01-08T20:00:08.038Z,1736366408.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:08.041Z,1736366408.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 121.441338 m, bearing: 314.544407 deg, approach rate: -0.446214 m/s, LOS rate: 0.161381 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146274 deg. 2025-01-08T20:00:08.043Z,1736366408.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819662 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:08.280Z,1736366408.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:08.280Z,1736366408.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750731 2025-01-08T20:00:08.450Z,1736366408.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:08.489Z,1736366408.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:08.499Z,1736366408.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 121.250519 m, bearing: 314.609684 deg, approach rate: -0.428652 m/s, LOS rate: 0.146868 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171325 deg. 2025-01-08T20:00:08.506Z,1736366408.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820099 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:08.532Z,1736366408.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:08.533Z,1736366408.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003129 2025-01-08T20:00:08.784Z,1736366408.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:08.784Z,1736366408.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254748 2025-01-08T20:00:08.857Z,1736366408.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:08.866Z,1736366408.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:08.869Z,1736366408.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 121.067223 m, bearing: 314.672632 deg, approach rate: -0.478720 m/s, LOS rate: 0.164652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164316 deg. 2025-01-08T20:00:08.870Z,1736366408.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819977 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:09.036Z,1736366409.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:09.036Z,1736366409.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506662 2025-01-08T20:00:09.230Z,1736366409.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:09.239Z,1736366409.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:09.242Z,1736366409.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 120.899017 m, bearing: 314.730112 deg, approach rate: -0.450973 m/s, LOS rate: 0.154324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147867 deg. 2025-01-08T20:00:09.243Z,1736366409.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819689 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:09.288Z,1736366409.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:09.289Z,1736366409.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759530 2025-01-08T20:00:09.540Z,1736366409.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:09.540Z,1736366409.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010684 2025-01-08T20:00:09.698Z,1736366409.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:09.734Z,1736366409.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:09.740Z,1736366409.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:09.743Z,1736366409.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 120.678192 m, bearing: 314.807365 deg, approach rate: -0.440793 m/s, LOS rate: 0.154487 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.207366 deg. 2025-01-08T20:00:09.752Z,1736366409.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820728 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:09.792Z,1736366409.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:09.793Z,1736366409.793 [DAT](INFO): DAT read: Rx Time:20:00:08.4753 2025-01-08T20:00:09.793Z,1736366409.793 [DAT](INFO): Rx dataTimestamp_ set to:1736366409.792766 2025-01-08T20:00:09.794Z,1736366409.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263888 2025-01-08T20:00:10.045Z,1736366410.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:10.046Z,1736366410.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516234 2025-01-08T20:00:10.053Z,1736366410.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:10.062Z,1736366410.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:10.066Z,1736366410.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 120.510658 m, bearing: 314.865921 deg, approach rate: -0.520332 m/s, LOS rate: 0.182120 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151101 deg. 2025-01-08T20:00:10.067Z,1736366410.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819746 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:10.296Z,1736366410.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:10.298Z,1736366410.298 [DAT](INFO): DAT read: Range 10 to 50 : 146.6 m (Round-trip 195.5 ms) speed -0.7 m/s 2025-01-08T20:00:10.299Z,1736366410.299 [DAT](INFO): DAT read: user:1032> 2025-01-08T20:00:10.300Z,1736366410.300 [DAT](INFO): DAT read: Tx time:20:00:09.5757 2025-01-08T20:00:10.300Z,1736366410.300 [DAT](INFO): Ping request sent. 2025-01-08T20:00:10.300Z,1736366410.300 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:10.300Z,1736366410.300 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:10.301Z,1736366410.301 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:10.301Z,1736366410.301 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:10.513Z,1736366410.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:10.540Z,1736366410.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 146.600006 m, deltaT: 3.778900 s, deltaX: -23.599991 m, approachRate: -6.245201 m/s, rangeRepo size: 4 2025-01-08T20:00:10.541Z,1736366410.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:10.549Z,1736366410.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:10.549Z,1736366410.549 [DAT](INFO): DAT read: TxSync time:20:00:09.5750 2025-01-08T20:00:10.560Z,1736366410.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 120.278923 m, bearing: 314.947197 deg, approach rate: -0.489760 m/s, LOS rate: 0.172102 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.219481 deg. 2025-01-08T20:00:10.561Z,1736366410.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820940 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:10.801Z,1736366410.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:10.869Z,1736366410.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:10.878Z,1736366410.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:10.881Z,1736366410.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 120.099434 m, bearing: 315.010375 deg, approach rate: -0.523823 m/s, LOS rate: 0.184657 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165005 deg. 2025-01-08T20:00:10.883Z,1736366410.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819989 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:11.052Z,1736366411.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:11.263Z,1736366411.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:11.292Z,1736366411.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:11.295Z,1736366411.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 119.901367 m, bearing: 315.080646 deg, approach rate: -0.478675 m/s, LOS rate: 0.170107 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186347 deg. 2025-01-08T20:00:11.296Z,1736366411.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820361 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:11.304Z,1736366411.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:11.556Z,1736366411.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:11.713Z,1736366411.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:11.721Z,1736366411.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:11.724Z,1736366411.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 119.659355 m, bearing: 315.165744 deg, approach rate: -0.563383 m/s, LOS rate: 0.198502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.230995 deg. 2025-01-08T20:00:11.725Z,1736366411.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821140 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:11.808Z,1736366411.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:12.060Z,1736366412.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:12.068Z,1736366412.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:12.075Z,1736366412.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:12.077Z,1736366412.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:12.080Z,1736366412.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 119.468231 m, bearing: 315.233227 deg, approach rate: -0.537135 m/s, LOS rate: 0.189958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177959 deg. 2025-01-08T20:00:12.082Z,1736366412.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820215 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:12.312Z,1736366412.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:12.312Z,1736366412.312 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:12.312Z,1736366412.312 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:12.313Z,1736366412.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:12.530Z,1736366412.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:12.540Z,1736366412.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:12.543Z,1736366412.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 119.207260 m, bearing: 315.325684 deg, approach rate: -0.564125 m/s, LOS rate: 0.200296 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.253162 deg. 2025-01-08T20:00:12.546Z,1736366412.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821527 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:12.564Z,1736366412.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:12.565Z,1736366412.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265105 2025-01-08T20:00:12.817Z,1736366412.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:12.820Z,1736366412.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518744 2025-01-08T20:00:12.886Z,1736366412.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:12.895Z,1736366412.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:12.909Z,1736366412.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 119.005524 m, bearing: 315.397262 deg, approach rate: -0.568128 m/s, LOS rate: 0.201919 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190284 deg. 2025-01-08T20:00:12.911Z,1736366412.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820430 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:13.036Z,1736366413.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:00:13.068Z,1736366413.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:13.068Z,1736366413.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768293 2025-01-08T20:00:13.282Z,1736366413.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:13.290Z,1736366413.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:13.294Z,1736366413.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 118.782600 m, bearing: 315.476813 deg, approach rate: -0.563165 m/s, LOS rate: 0.201344 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.214286 deg. 2025-01-08T20:00:13.295Z,1736366413.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820849 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:13.329Z,1736366413.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:13.330Z,1736366413.330 [DAT](INFO): DAT read: Rx Time:20:00:12.2120 2025-01-08T20:00:13.331Z,1736366413.331 [DAT](INFO): Rx dataTimestamp_ set to:1736366413.330362 2025-01-08T20:00:13.332Z,1736366413.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031947 2025-01-08T20:00:13.580Z,1736366413.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:13.580Z,1736366413.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280124 2025-01-08T20:00:13.768Z,1736366413.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:13.786Z,1736366413.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:13.801Z,1736366413.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 118.493210 m, bearing: 315.577938 deg, approach rate: -0.583505 m/s, LOS rate: 0.204397 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.279298 deg. 2025-01-08T20:00:13.804Z,1736366413.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821983 target range: 170.199997 and range: 170.20 m. 2025-01-08T20:00:13.833Z,1736366413.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:13.836Z,1736366413.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534531 2025-01-08T20:00:14.040Z,1736366414.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:00:14.084Z,1736366414.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:14.086Z,1736366414.086 [DAT](INFO): DAT read: Range 10 to 50 : 174.0 m (Round-trip 232.1 ms) speed -0.4 m/s 2025-01-08T20:00:14.086Z,1736366414.086 [DAT](INFO): DAT read: user:1033> 2025-01-08T20:00:14.087Z,1736366414.087 [DAT](INFO): DAT read: Tx time:20:00:13.3273 2025-01-08T20:00:14.087Z,1736366414.087 [DAT](INFO): Ping request sent. 2025-01-08T20:00:14.088Z,1736366414.088 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:14.088Z,1736366414.088 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:14.088Z,1736366414.088 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:14.089Z,1736366414.089 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:14.100Z,1736366414.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:14.154Z,1736366414.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:14.173Z,1736366414.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 174.000000 m, deltaT: 7.566985 s, deltaX: 3.800003 m, approachRate: 0.502182 m/s, rangeRepo size: 4 2025-01-08T20:00:14.174Z,1736366414.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:14.182Z,1736366414.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 118.286339 m, bearing: 315.650819 deg, approach rate: -0.535540 m/s, LOS rate: 0.189003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194212 deg. 2025-01-08T20:00:14.188Z,1736366414.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820498 target range: 170.199997 and range: 174.00 m. 2025-01-08T20:00:14.336Z,1736366414.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:14.337Z,1736366414.337 [DAT](INFO): DAT read: TxSync time:20:00:13.3265 2025-01-08T20:00:14.337Z,1736366414.337 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:14.337Z,1736366414.337 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:14.338Z,1736366414.338 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:14.588Z,1736366414.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:14.588Z,1736366414.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500859 2025-01-08T20:00:14.632Z,1736366414.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:14.641Z,1736366414.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:14.645Z,1736366414.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 117.958420 m, bearing: 315.768636 deg, approach rate: -0.700098 m/s, LOS rate: 0.252235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.329615 deg. 2025-01-08T20:00:14.646Z,1736366414.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822862 target range: 170.199997 and range: 174.00 m. 2025-01-08T20:00:14.840Z,1736366414.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:14.841Z,1736366414.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752860 2025-01-08T20:00:14.945Z,1736366414.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:14.954Z,1736366414.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:14.958Z,1736366414.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 117.764267 m, bearing: 315.838737 deg, approach rate: -0.619505 m/s, LOS rate: 0.224049 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185837 deg. 2025-01-08T20:00:14.959Z,1736366414.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820352 target range: 170.199997 and range: 174.00 m. 2025-01-08T20:00:15.092Z,1736366415.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:15.092Z,1736366415.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004838 2025-01-08T20:00:15.344Z,1736366415.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:15.344Z,1736366415.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256805 2025-01-08T20:00:15.413Z,1736366415.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:15.422Z,1736366415.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:15.425Z,1736366415.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 117.476273 m, bearing: 315.943692 deg, approach rate: -0.615873 m/s, LOS rate: 0.224994 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.290818 deg. 2025-01-08T20:00:15.426Z,1736366415.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822185 target range: 170.199997 and range: 174.00 m. 2025-01-08T20:00:15.596Z,1736366415.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:15.598Z,1736366415.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510092 2025-01-08T20:00:15.845Z,1736366415.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:15.848Z,1736366415.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:15.848Z,1736366415.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760807 2025-01-08T20:00:15.875Z,1736366415.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:15.878Z,1736366415.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 117.206619 m, bearing: 316.042989 deg, approach rate: -0.606508 m/s, LOS rate: 0.223855 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.273761 deg. 2025-01-08T20:00:15.884Z,1736366415.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821887 target range: 170.199997 and range: 174.00 m. 2025-01-08T20:00:16.100Z,1736366416.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:16.101Z,1736366416.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013185 2025-01-08T20:00:16.208Z,1736366416.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:16.215Z,1736366416.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:16.218Z,1736366416.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:16.221Z,1736366416.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 116.980782 m, bearing: 316.127043 deg, approach rate: -0.642876 m/s, LOS rate: 0.239733 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.227835 deg. 2025-01-08T20:00:16.222Z,1736366416.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821085 target range: 170.199997 and range: 174.00 m. 2025-01-08T20:00:16.352Z,1736366416.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:16.353Z,1736366416.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265016 2025-01-08T20:00:16.604Z,1736366416.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:16.604Z,1736366416.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516861 2025-01-08T20:00:16.629Z,1736366416.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:16.672Z,1736366416.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:16.677Z,1736366416.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 116.725746 m, bearing: 316.218507 deg, approach rate: -0.566864 m/s, LOS rate: 0.203739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.250176 deg. 2025-01-08T20:00:16.679Z,1736366416.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821475 target range: 170.199997 and range: 174.00 m. 2025-01-08T20:00:16.856Z,1736366416.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:16.856Z,1736366416.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768749 2025-01-08T20:00:16.986Z,1736366416.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:16.995Z,1736366416.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:16.998Z,1736366416.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 116.510078 m, bearing: 316.296575 deg, approach rate: -0.660031 m/s, LOS rate: 0.239363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209824 deg. 2025-01-08T20:00:16.000Z,1736366417.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820771 target range: 170.199997 and range: 174.00 m. 2025-01-08T20:00:17.108Z,1736366417.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:17.109Z,1736366417.109 [DAT](INFO): DAT read: Rx Time:20:00:15.9666 2025-01-08T20:00:17.109Z,1736366417.109 [DAT](INFO): Rx dataTimestamp_ set to:1736366417.108919 2025-01-08T20:00:17.110Z,1736366417.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022172 2025-01-08T20:00:17.360Z,1736366417.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:17.360Z,1736366417.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272778 2025-01-08T20:00:17.434Z,1736366417.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:17.442Z,1736366417.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:17.445Z,1736366417.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 116.240494 m, bearing: 316.394750 deg, approach rate: -0.602282 m/s, LOS rate: 0.219843 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.270392 deg. 2025-01-08T20:00:17.446Z,1736366417.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821828 target range: 170.199997 and range: 174.00 m. 2025-01-08T20:00:17.612Z,1736366417.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:17.613Z,1736366417.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525233 2025-01-08T20:00:17.827Z,1736366417.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:17.853Z,1736366417.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:17.862Z,1736366417.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 116.013565 m, bearing: 316.480611 deg, approach rate: -0.552318 m/s, LOS rate: 0.209383 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233270 deg. 2025-01-08T20:00:17.864Z,1736366417.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:17.867Z,1736366417.867 [DAT](INFO): DAT read: Range 10 to 50 : 176.2 m (Round-trip 235.0 ms) speed -0.2 m/s 2025-01-08T20:00:17.872Z,1736366417.872 [DAT](INFO): DAT read: user:1034> 2025-01-08T20:00:17.873Z,1736366417.873 [DAT](INFO): DAT read: Tx time:20:00:17.0759 2025-01-08T20:00:17.873Z,1736366417.873 [DAT](INFO): Ping request sent. 2025-01-08T20:00:17.873Z,1736366417.873 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:17.874Z,1736366417.874 [DAT](INFO): DAT read: TxSync time:20:00:17.0750 2025-01-08T20:00:17.874Z,1736366417.874 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:17.874Z,1736366417.874 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:17.880Z,1736366417.880 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:17.884Z,1736366417.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821180 target range: 170.199997 and range: 174.00 m. 2025-01-08T20:00:18.116Z,1736366418.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:18.204Z,1736366418.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:18.229Z,1736366418.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 176.199997 m, deltaT: 3.780050 s, deltaX: 2.199997 m, approachRate: 0.582002 m/s, rangeRepo size: 4 2025-01-08T20:00:18.230Z,1736366418.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:18.237Z,1736366418.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 115.796700 m, bearing: 316.563202 deg, approach rate: -0.577912 m/s, LOS rate: 0.220503 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.223422 deg. 2025-01-08T20:00:18.238Z,1736366418.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821008 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:18.368Z,1736366418.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:18.620Z,1736366418.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:18.628Z,1736366418.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:18.668Z,1736366418.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:18.681Z,1736366418.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:18.688Z,1736366418.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 115.575325 m, bearing: 316.651268 deg, approach rate: -0.489801 m/s, LOS rate: 0.195223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.239888 deg. 2025-01-08T20:00:18.690Z,1736366418.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821296 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:18.872Z,1736366418.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:18.872Z,1736366418.872 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:18.872Z,1736366418.872 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:18.872Z,1736366418.872 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:19.008Z,1736366419.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:19.017Z,1736366419.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:19.020Z,1736366419.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 115.376183 m, bearing: 316.731142 deg, approach rate: -0.591401 m/s, LOS rate: 0.237614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215221 deg. 2025-01-08T20:00:19.021Z,1736366419.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820865 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:19.124Z,1736366419.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:19.124Z,1736366419.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251201 2025-01-08T20:00:19.376Z,1736366419.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:19.377Z,1736366419.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503521 2025-01-08T20:00:19.412Z,1736366419.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:19.422Z,1736366419.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:19.441Z,1736366419.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 115.165276 m, bearing: 316.815859 deg, approach rate: -0.520894 m/s, LOS rate: 0.209617 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.229803 deg. 2025-01-08T20:00:19.442Z,1736366419.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821120 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:19.628Z,1736366419.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:19.630Z,1736366419.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756109 2025-01-08T20:00:19.855Z,1736366419.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:19.863Z,1736366419.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:19.866Z,1736366419.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 114.948616 m, bearing: 316.904741 deg, approach rate: -0.491084 m/s, LOS rate: 0.201840 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.242331 deg. 2025-01-08T20:00:19.869Z,1736366419.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821338 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:19.880Z,1736366419.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:19.881Z,1736366419.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007364 2025-01-08T20:00:20.132Z,1736366420.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:20.133Z,1736366420.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259821 2025-01-08T20:00:20.227Z,1736366420.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:20.236Z,1736366420.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:20.239Z,1736366420.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 114.766785 m, bearing: 316.979357 deg, approach rate: -0.487224 m/s, LOS rate: 0.200254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199389 deg. 2025-01-08T20:00:20.240Z,1736366420.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820589 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:20.384Z,1736366420.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:20.384Z,1736366420.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511236 2025-01-08T20:00:20.636Z,1736366420.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:20.636Z,1736366420.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763255 2025-01-08T20:00:20.642Z,1736366420.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:20.670Z,1736366420.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:20.678Z,1736366420.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:20.690Z,1736366420.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 114.578575 m, bearing: 317.059874 deg, approach rate: -0.426223 m/s, LOS rate: 0.182641 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217134 deg. 2025-01-08T20:00:20.691Z,1736366420.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820899 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:20.889Z,1736366420.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:20.892Z,1736366420.892 [DAT](INFO): DAT read: Rx Time:20:00:19.7493 2025-01-08T20:00:20.893Z,1736366420.893 [DAT](INFO): Rx dataTimestamp_ set to:1736366420.892196 2025-01-08T20:00:20.894Z,1736366420.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020454 2025-01-08T20:00:21.102Z,1736366421.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:21.110Z,1736366421.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:21.113Z,1736366421.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 114.369431 m, bearing: 317.149466 deg, approach rate: -0.483458 m/s, LOS rate: 0.207479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.244451 deg. 2025-01-08T20:00:21.116Z,1736366421.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821375 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:21.140Z,1736366421.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:21.141Z,1736366421.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267387 2025-01-08T20:00:21.392Z,1736366421.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:21.392Z,1736366421.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519104 2025-01-08T20:00:21.506Z,1736366421.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:21.514Z,1736366421.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:21.518Z,1736366421.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 114.186188 m, bearing: 317.228042 deg, approach rate: -0.454031 m/s, LOS rate: 0.195004 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.211290 deg. 2025-01-08T20:00:21.519Z,1736366421.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820796 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:21.644Z,1736366421.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:21.646Z,1736366421.646 [DAT](INFO): DAT read: Range 10 to 50 : 201.9 m (Round-trip 269.3 ms) speed -0.6 m/s 2025-01-08T20:00:21.648Z,1736366421.648 [DAT](INFO): DAT read: user:1035> 2025-01-08T20:00:21.649Z,1736366421.649 [DAT](INFO): DAT read: Tx time:20:00:20.8258 2025-01-08T20:00:21.650Z,1736366421.650 [DAT](INFO): Ping request sent. 2025-01-08T20:00:21.650Z,1736366421.650 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:21.652Z,1736366421.652 [DAT](INFO): DAT read: TxSync time:20:00:20.8250 2025-01-08T20:00:21.653Z,1736366421.653 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:21.653Z,1736366421.653 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:21.654Z,1736366421.654 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:21.902Z,1736366421.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:22.008Z,1736366422.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:22.031Z,1736366422.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 201.899994 m, deltaT: 3.780109 s, deltaX: 25.699997 m, approachRate: 6.798745 m/s, rangeRepo size: 4 2025-01-08T20:00:22.032Z,1736366422.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:22.038Z,1736366422.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 113.965950 m, bearing: 317.316427 deg, approach rate: -0.428546 m/s, LOS rate: 0.172317 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.240855 deg. 2025-01-08T20:00:22.056Z,1736366422.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821312 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:22.152Z,1736366422.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:22.404Z,1736366422.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:22.463Z,1736366422.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:22.486Z,1736366422.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:22.489Z,1736366422.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 113.765854 m, bearing: 317.396974 deg, approach rate: -0.436726 m/s, LOS rate: 0.176109 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217250 deg. 2025-01-08T20:00:22.490Z,1736366422.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820900 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:22.656Z,1736366422.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:22.899Z,1736366422.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:22.908Z,1736366422.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:22.910Z,1736366422.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:22.913Z,1736366422.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:22.916Z,1736366422.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 113.577583 m, bearing: 317.477988 deg, approach rate: -0.441494 m/s, LOS rate: 0.190293 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.218631 deg. 2025-01-08T20:00:22.917Z,1736366422.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820925 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:23.161Z,1736366423.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:23.162Z,1736366423.162 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:23.162Z,1736366423.162 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:23.162Z,1736366423.162 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:23.292Z,1736366423.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:23.302Z,1736366423.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:23.305Z,1736366423.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 113.407219 m, bearing: 317.550990 deg, approach rate: -0.437560 m/s, LOS rate: 0.187779 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194522 deg. 2025-01-08T20:00:23.306Z,1736366423.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820504 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:23.412Z,1736366423.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:23.412Z,1736366423.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762693 2025-01-08T20:00:23.664Z,1736366423.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:23.666Z,1736366423.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016005 2025-01-08T20:00:23.730Z,1736366423.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:23.739Z,1736366423.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:23.742Z,1736366423.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 113.208664 m, bearing: 317.632033 deg, approach rate: -0.454348 m/s, LOS rate: 0.185772 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.218739 deg. 2025-01-08T20:00:23.744Z,1736366423.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820927 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:23.916Z,1736366423.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:23.916Z,1736366423.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266700 2025-01-08T20:00:24.081Z,1736366424.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:24.090Z,1736366424.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:24.093Z,1736366424.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 113.049156 m, bearing: 317.696600 deg, approach rate: -0.454601 m/s, LOS rate: 0.184277 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169160 deg. 2025-01-08T20:00:24.094Z,1736366424.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820061 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:24.170Z,1736366424.170 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:24.171Z,1736366424.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521066 2025-01-08T20:00:24.424Z,1736366424.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:24.425Z,1736366424.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774853 2025-01-08T20:00:24.483Z,1736366424.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:24.491Z,1736366424.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:24.494Z,1736366424.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 112.866158 m, bearing: 317.770759 deg, approach rate: -0.455933 m/s, LOS rate: 0.185064 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198024 deg. 2025-01-08T20:00:24.495Z,1736366424.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820565 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:24.676Z,1736366424.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:24.678Z,1736366424.678 [DAT](INFO): DAT read: Rx Time:20:00:23.4698 2025-01-08T20:00:24.678Z,1736366424.678 [DAT](INFO): Rx dataTimestamp_ set to:1736366424.678143 2025-01-08T20:00:24.680Z,1736366424.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029648 2025-01-08T20:00:24.928Z,1736366424.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:24.929Z,1736366424.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278855 2025-01-08T20:00:24.931Z,1736366424.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:24.937Z,1736366424.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:24.940Z,1736366424.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:24.943Z,1736366424.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 112.654007 m, bearing: 317.862100 deg, approach rate: -0.473517 m/s, LOS rate: 0.204256 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.249724 deg. 2025-01-08T20:00:24.960Z,1736366424.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821467 target range: 170.199997 and range: 176.20 m. 2025-01-08T20:00:25.181Z,1736366425.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:25.184Z,1736366425.184 [DAT](INFO): DAT read: Range 10 to 50 : 179.8 m (Round-trip 239.8 ms) speed -0.6 m/s 2025-01-08T20:00:25.185Z,1736366425.185 [DAT](INFO): DAT read: user:1036> 2025-01-08T20:00:25.185Z,1736366425.185 [DAT](INFO): DAT read: Tx time:20:00:24.5758 2025-01-08T20:00:25.186Z,1736366425.186 [DAT](INFO): Ping request sent. 2025-01-08T20:00:25.186Z,1736366425.186 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:25.186Z,1736366425.186 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:25.186Z,1736366425.186 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:25.187Z,1736366425.187 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:25.307Z,1736366425.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:25.329Z,1736366425.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 179.800003 m, deltaT: 7.318028 s, deltaX: 3.600006 m, approachRate: 0.491937 m/s, rangeRepo size: 4 2025-01-08T20:00:25.329Z,1736366425.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:25.337Z,1736366425.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 112.475922 m, bearing: 317.939108 deg, approach rate: -0.457915 m/s, LOS rate: 0.198326 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206575 deg. 2025-01-08T20:00:25.338Z,1736366425.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820714 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:25.433Z,1736366425.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:25.434Z,1736366425.434 [DAT](INFO): DAT read: TxSync time:20:00:24.5750 2025-01-08T20:00:25.684Z,1736366425.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:25.728Z,1736366425.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:25.737Z,1736366425.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:25.756Z,1736366425.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 112.259796 m, bearing: 318.025353 deg, approach rate: -0.529046 m/s, LOS rate: 0.211523 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.234419 deg. 2025-01-08T20:00:25.757Z,1736366425.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821200 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:25.936Z,1736366425.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:26.099Z,1736366426.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:26.127Z,1736366426.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:26.130Z,1736366426.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 112.069611 m, bearing: 318.101981 deg, approach rate: -0.491707 m/s, LOS rate: 0.198449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205457 deg. 2025-01-08T20:00:26.132Z,1736366426.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820694 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:26.189Z,1736366426.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:26.440Z,1736366426.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:26.501Z,1736366426.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:26.510Z,1736366426.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:26.513Z,1736366426.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 111.864479 m, bearing: 318.185498 deg, approach rate: -0.530345 m/s, LOS rate: 0.216321 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226196 deg. 2025-01-08T20:00:26.515Z,1736366426.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821057 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:26.692Z,1736366426.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:26.931Z,1736366426.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:26.956Z,1736366426.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:26.965Z,1736366426.965 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:26.967Z,1736366426.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:26.974Z,1736366426.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 111.638947 m, bearing: 318.281061 deg, approach rate: -0.493925 m/s, LOS rate: 0.209710 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.262453 deg. 2025-01-08T20:00:26.975Z,1736366426.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821690 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:27.208Z,1736366427.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:27.208Z,1736366427.208 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:27.208Z,1736366427.208 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:27.209Z,1736366427.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:27.309Z,1736366427.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:27.318Z,1736366427.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:27.321Z,1736366427.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 111.440475 m, bearing: 318.365427 deg, approach rate: -0.565288 m/s, LOS rate: 0.240720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228733 deg. 2025-01-08T20:00:27.322Z,1736366427.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821101 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:27.460Z,1736366427.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:27.460Z,1736366427.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274678 2025-01-08T20:00:27.712Z,1736366427.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:27.713Z,1736366427.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526897 2025-01-08T20:00:27.759Z,1736366427.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:27.784Z,1736366427.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:27.787Z,1736366427.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 111.200012 m, bearing: 318.470911 deg, approach rate: -0.515584 m/s, LOS rate: 0.226659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.292319 deg. 2025-01-08T20:00:27.789Z,1736366427.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822211 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:27.964Z,1736366427.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:27.965Z,1736366427.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778872 2025-01-08T20:00:28.216Z,1736366428.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:28.217Z,1736366428.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030864 2025-01-08T20:00:28.259Z,1736366428.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:28.268Z,1736366428.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:28.271Z,1736366428.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 110.933228 m, bearing: 318.588755 deg, approach rate: -0.551439 m/s, LOS rate: 0.244168 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.329565 deg. 2025-01-08T20:00:28.273Z,1736366428.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822861 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:28.468Z,1736366428.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:28.469Z,1736366428.469 [DAT](INFO): DAT read: Rx Time:20:00:27.2548 2025-01-08T20:00:28.469Z,1736366428.469 [DAT](INFO): Rx dataTimestamp_ set to:1736366428.468842 2025-01-08T20:00:28.470Z,1736366428.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284005 2025-01-08T20:00:28.569Z,1736366428.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:28.604Z,1736366428.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:28.606Z,1736366428.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 110.768120 m, bearing: 318.662075 deg, approach rate: -0.498459 m/s, LOS rate: 0.221682 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195473 deg. 2025-01-08T20:00:28.612Z,1736366428.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820520 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:28.721Z,1736366428.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:28.722Z,1736366428.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536083 2025-01-08T20:00:28.973Z,1736366428.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:28.977Z,1736366428.977 [DAT](INFO): DAT read: Range 10 to 50 : 206.1 m (Round-trip 274.9 ms) speed 0.0 m/s 2025-01-08T20:00:28.978Z,1736366428.978 [DAT](INFO): DAT read: user:1037> 2025-01-08T20:00:28.979Z,1736366428.979 [DAT](INFO): DAT read: Tx time:20:00:28.3759 2025-01-08T20:00:28.979Z,1736366428.979 [DAT](INFO): Ping request sent. 2025-01-08T20:00:28.979Z,1736366428.979 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:28.980Z,1736366428.980 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:28.980Z,1736366428.980 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:28.981Z,1736366428.981 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:29.069Z,1736366429.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:29.097Z,1736366429.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:29.112Z,1736366429.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 206.100006 m, deltaT: 3.791534 s, deltaX: 26.300003 m, approachRate: 6.936507 m/s, rangeRepo size: 4 2025-01-08T20:00:29.113Z,1736366429.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:29.120Z,1736366429.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 110.496941 m, bearing: 318.778341 deg, approach rate: -0.542168 m/s, LOS rate: 0.233020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.324836 deg. 2025-01-08T20:00:29.122Z,1736366429.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822778 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:29.224Z,1736366429.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:29.225Z,1736366429.225 [DAT](INFO): DAT read: TxSync time:20:00:28.3751 2025-01-08T20:00:29.225Z,1736366429.225 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:29.226Z,1736366429.226 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:29.226Z,1736366429.226 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:29.432Z,1736366429.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:29.440Z,1736366429.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:29.443Z,1736366429.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 110.300308 m, bearing: 318.863125 deg, approach rate: -0.577275 m/s, LOS rate: 0.249353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.229990 deg. 2025-01-08T20:00:29.444Z,1736366429.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821123 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:29.478Z,1736366429.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:29.480Z,1736366429.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499970 2025-01-08T20:00:29.729Z,1736366429.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:29.733Z,1736366429.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752993 2025-01-08T20:00:29.844Z,1736366429.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:29.854Z,1736366429.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:29.857Z,1736366429.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 110.072731 m, bearing: 318.961919 deg, approach rate: -0.550243 m/s, LOS rate: 0.239362 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.272180 deg. 2025-01-08T20:00:29.858Z,1736366429.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821859 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:29.980Z,1736366429.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:29.980Z,1736366429.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000970 2025-01-08T20:00:30.220Z,1736366430.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:30.229Z,1736366430.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:30.232Z,1736366430.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:30.233Z,1736366430.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253290 2025-01-08T20:00:30.234Z,1736366430.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 109.865967 m, bearing: 319.052255 deg, approach rate: -0.551710 m/s, LOS rate: 0.241496 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.246701 deg. 2025-01-08T20:00:30.235Z,1736366430.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821414 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:30.484Z,1736366430.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:30.484Z,1736366430.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504822 2025-01-08T20:00:30.632Z,1736366430.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:30.640Z,1736366430.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:30.643Z,1736366430.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 109.640648 m, bearing: 319.151595 deg, approach rate: -0.547176 m/s, LOS rate: 0.241739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.273818 deg. 2025-01-08T20:00:30.644Z,1736366430.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821888 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:30.738Z,1736366430.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:30.739Z,1736366430.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759276 2025-01-08T20:00:30.992Z,1736366430.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:30.992Z,1736366430.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012665 2025-01-08T20:00:31.104Z,1736366431.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:31.119Z,1736366431.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:31.123Z,1736366431.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:31.126Z,1736366431.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 109.390656 m, bearing: 319.262569 deg, approach rate: -0.518398 m/s, LOS rate: 0.230647 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.308865 deg. 2025-01-08T20:00:31.127Z,1736366431.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822499 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:31.244Z,1736366431.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:31.244Z,1736366431.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264846 2025-01-08T20:00:31.436Z,1736366431.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:31.444Z,1736366431.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:31.447Z,1736366431.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 109.214882 m, bearing: 319.340685 deg, approach rate: -0.546198 m/s, LOS rate: 0.243128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209911 deg. 2025-01-08T20:00:31.449Z,1736366431.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820772 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:31.497Z,1736366431.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:31.498Z,1736366431.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518097 2025-01-08T20:00:31.749Z,1736366431.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:31.752Z,1736366431.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771802 2025-01-08T20:00:31.856Z,1736366431.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:31.885Z,1736366431.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:31.892Z,1736366431.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 108.997635 m, bearing: 319.439477 deg, approach rate: -0.493327 m/s, LOS rate: 0.224786 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.272152 deg. 2025-01-08T20:00:31.893Z,1736366431.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821859 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:31.000Z,1736366432.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:32.000Z,1736366432.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020900 2025-01-08T20:00:32.231Z,1736366432.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:32.252Z,1736366432.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:32.252Z,1736366432.252 [DAT](INFO): DAT read: Rx Time:20:00:31.0563 2025-01-08T20:00:32.253Z,1736366432.253 [DAT](INFO): Rx dataTimestamp_ set to:1736366432.252677 2025-01-08T20:00:32.253Z,1736366432.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273976 2025-01-08T20:00:32.270Z,1736366432.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:32.282Z,1736366432.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 108.804359 m, bearing: 319.527716 deg, approach rate: -0.501107 m/s, LOS rate: 0.229182 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.240369 deg. 2025-01-08T20:00:32.288Z,1736366432.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821304 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:32.507Z,1736366432.507 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:32.509Z,1736366432.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529739 2025-01-08T20:00:32.644Z,1736366432.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:32.684Z,1736366432.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:32.687Z,1736366432.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 108.591690 m, bearing: 319.625413 deg, approach rate: -0.521585 m/s, LOS rate: 0.240077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.268850 deg. 2025-01-08T20:00:32.692Z,1736366432.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821801 target range: 170.199997 and range: 179.80 m. 2025-01-08T20:00:32.758Z,1736366432.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:32.764Z,1736366432.764 [DAT](INFO): DAT read: Range 10 to 50 : 207.1 m (Round-trip 276.2 ms) speed -0.4 m/s 2025-01-08T20:00:32.767Z,1736366432.767 [DAT](INFO): DAT read: user:1038> 2025-01-08T20:00:32.769Z,1736366432.769 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:32.772Z,1736366432.772 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:32.773Z,1736366432.773 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:32.773Z,1736366432.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:33.008Z,1736366433.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:33.009Z,1736366433.009 [DAT](INFO): DAT read: Tx time:20:00:32.1759 2025-01-08T20:00:33.009Z,1736366433.009 [DAT](INFO): Ping request sent. 2025-01-08T20:00:33.009Z,1736366433.009 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:33.010Z,1736366433.010 [DAT](INFO): DAT read: TxSync time:20:00:32.1751 2025-01-08T20:00:33.010Z,1736366433.010 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:33.011Z,1736366433.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001557 2025-01-08T20:00:33.135Z,1736366433.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:33.159Z,1736366433.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:33.162Z,1736366433.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 207.100006 m, deltaT: 7.576389 s, deltaX: 27.300003 m, approachRate: 3.603300 m/s, rangeRepo size: 4 2025-01-08T20:00:33.163Z,1736366433.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:33.170Z,1736366433.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 108.347099 m, bearing: 319.736648 deg, approach rate: -0.506215 m/s, LOS rate: 0.230736 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.309641 deg. 2025-01-08T20:00:33.171Z,1736366433.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822513 target range: 170.199997 and range: 207.10 m. 2025-01-08T20:00:33.260Z,1736366433.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:33.262Z,1736366433.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252497 2025-01-08T20:00:33.449Z,1736366433.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:33.457Z,1736366433.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:33.461Z,1736366433.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 108.188286 m, bearing: 319.809339 deg, approach rate: -0.536541 m/s, LOS rate: 0.245944 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193580 deg. 2025-01-08T20:00:33.462Z,1736366433.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820487 target range: 170.199997 and range: 207.10 m. 2025-01-08T20:00:33.512Z,1736366433.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:33.514Z,1736366433.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504382 2025-01-08T20:00:33.766Z,1736366433.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:33.768Z,1736366433.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758540 2025-01-08T20:00:33.879Z,1736366433.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:33.889Z,1736366433.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:33.892Z,1736366433.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 107.978027 m, bearing: 319.912517 deg, approach rate: -0.487442 m/s, LOS rate: 0.239664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.285321 deg. 2025-01-08T20:00:33.893Z,1736366433.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822089 target range: 170.199997 and range: 207.10 m. 2025-01-08T20:00:34.016Z,1736366434.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:34.016Z,1736366434.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007316 2025-01-08T20:00:34.261Z,1736366434.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:34.268Z,1736366434.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:34.269Z,1736366434.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259528 2025-01-08T20:00:34.272Z,1736366434.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:34.275Z,1736366434.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 107.791306 m, bearing: 320.004507 deg, approach rate: -0.486726 m/s, LOS rate: 0.240204 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.251631 deg. 2025-01-08T20:00:34.276Z,1736366434.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821500 target range: 170.199997 and range: 207.10 m. 2025-01-08T20:00:34.520Z,1736366434.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:34.521Z,1736366434.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511584 2025-01-08T20:00:34.669Z,1736366434.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:34.683Z,1736366434.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:34.686Z,1736366434.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 107.591957 m, bearing: 320.102793 deg, approach rate: -0.485412 m/s, LOS rate: 0.239768 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.270587 deg. 2025-01-08T20:00:34.687Z,1736366434.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821831 target range: 170.199997 and range: 207.10 m. 2025-01-08T20:00:34.774Z,1736366434.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:34.776Z,1736366434.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766517 2025-01-08T20:00:35.026Z,1736366435.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:35.028Z,1736366435.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018842 2025-01-08T20:00:35.109Z,1736366435.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:35.120Z,1736366435.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:35.126Z,1736366435.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 107.380585 m, bearing: 320.209242 deg, approach rate: -0.485926 m/s, LOS rate: 0.245200 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.295161 deg. 2025-01-08T20:00:35.127Z,1736366435.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822260 target range: 170.199997 and range: 207.10 m. 2025-01-08T20:00:35.276Z,1736366435.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:35.276Z,1736366435.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267464 2025-01-08T20:00:35.466Z,1736366435.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:35.473Z,1736366435.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:35.475Z,1736366435.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:35.478Z,1736366435.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 107.209145 m, bearing: 320.295893 deg, approach rate: -0.480383 m/s, LOS rate: 0.243186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.235551 deg. 2025-01-08T20:00:35.479Z,1736366435.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821220 target range: 170.199997 and range: 207.10 m. 2025-01-08T20:00:35.529Z,1736366435.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:35.530Z,1736366435.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520566 2025-01-08T20:00:35.781Z,1736366435.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:35.784Z,1736366435.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774091 2025-01-08T20:00:35.902Z,1736366435.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:35.932Z,1736366435.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:35.935Z,1736366435.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 107.004715 m, bearing: 320.399131 deg, approach rate: -0.448139 m/s, LOS rate: 0.226746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.285491 deg. 2025-01-08T20:00:35.936Z,1736366435.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822092 target range: 170.199997 and range: 207.10 m. 2025-01-08T20:00:36.033Z,1736366436.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:36.034Z,1736366436.034 [DAT](INFO): DAT read: Rx Time:20:00:34.8593 2025-01-08T20:00:36.034Z,1736366436.034 [DAT](INFO): Rx dataTimestamp_ set to:1736366436.033930 2025-01-08T20:00:36.035Z,1736366436.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025766 2025-01-08T20:00:36.284Z,1736366436.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:36.284Z,1736366436.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275416 2025-01-08T20:00:36.300Z,1736366436.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:36.308Z,1736366436.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:36.310Z,1736366436.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 106.819046 m, bearing: 320.493388 deg, approach rate: -0.493272 m/s, LOS rate: 0.250850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.258446 deg. 2025-01-08T20:00:36.312Z,1736366436.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821620 target range: 170.199997 and range: 207.10 m. 2025-01-08T20:00:36.538Z,1736366436.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:36.540Z,1736366436.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531015 2025-01-08T20:00:36.694Z,1736366436.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:36.721Z,1736366436.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.20 m. 2025-01-08T20:00:36.729Z,1736366436.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.199997 m, nav range: 106.635094 m, bearing: 320.587097 deg, approach rate: -0.444573 m/s, LOS rate: 0.226865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.256796 deg. 2025-01-08T20:00:36.730Z,1736366436.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821591 target range: 170.199997 and range: 207.10 m. 2025-01-08T20:00:36.790Z,1736366436.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:36.813Z,1736366436.813 [DAT](INFO): DAT read: 20:00:34.8593 LVL= 12656, 16561, 8082, 19027, AGC= 52, IDX= 454, 0.49, 2.658,-1.419,-2.306, 2.752, PHS=-0.006, 2.159, 1.222, RAW= 295.6, -32.4, CAL= 288.7, -44.4, ROT= 221.3, 44.4 2025-01-08T20:00:36.817Z,1736366436.817 [DAT](INFO): got valid direction response: 20:00:34.8593 LVL= 12656, 16561, 8082, 19027, AGC= 52, IDX= 454, 0.49, 2.658,-1.419,-2.306, 2.752, PHS=-0.006, 2.159, 1.222, RAW= 295.6, -32.4, CAL= 288.7, -44.4, ROT= 221.3, 44.4 2025-01-08T20:00:36.821Z,1736366436.821 [DAT](INFO): DAT read: Bearing 221.3, 44.4 (Local) 2025-01-08T20:00:36.822Z,1736366436.822 [DAT](INFO): Local bearing/azimuth received: Bearing 221.3, 44.4 (Local) 2025-01-08T20:00:36.834Z,1736366436.834 [DAT](INFO): DAT read: Range 10 to 50 : 209.4 m (Round-trip 279.2 ms) speed -0.4 m/s 2025-01-08T20:00:36.835Z,1736366436.835 [DAT](INFO): DAT read: user:1039> 2025-01-08T20:00:36.849Z,1736366436.849 [DAT](INFO): DAT read: Tx time:20:00:35.9759 2025-01-08T20:00:36.850Z,1736366436.850 [DAT](INFO): Ping request sent. 2025-01-08T20:00:36.850Z,1736366436.850 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:36.850Z,1736366436.850 [DAT](INFO): DAT read: TxSync time:20:00:35.9751 2025-01-08T20:00:36.855Z,1736366436.855 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:00:36.856Z,1736366436.856 [DAT](INFO): direction in FSK: [0.662006,0.241465,-0.709537] 2025-01-08T20:00:36.856Z,1736366436.856 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:36.857Z,1736366436.857 [DAT](INFO): publishing direction and range info 2025-01-08T20:00:36.872Z,1736366436.872 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:36.872Z,1736366436.872 [DAT](INFO): publishing direction and range info 2025-01-08T20:00:37.040Z,1736366437.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:37.171Z,1736366437.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:37.190Z,1736366437.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 209.399994 m, deltaT: 4.031706 s, deltaX: 2.299988 m, approachRate: 0.570475 m/s, rangeRepo size: 4 2025-01-08T20:00:37.192Z,1736366437.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 209.399994 m, bearing: 303.245645 deg, lat: 36.905770 deg, lon: -122.121476 deg, deltaT: 30.273158 s, deltaX: 39.199997 m, approachRate: 1.294876 m/s, posRepo size: 4 2025-01-08T20:00:37.193Z,1736366437.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:37.196Z,1736366437.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 114.066910 m, bearing: 316.209797 deg, approach rate: 0.000000 m/s, LOS rate: 0.226865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.293822 deg. 2025-01-08T20:00:37.197Z,1736366437.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822237 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:37.292Z,1736366437.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:37.501Z,1736366437.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:37.523Z,1736366437.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:37.525Z,1736366437.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:37.529Z,1736366437.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 113.896378 m, bearing: 316.278297 deg, approach rate: -0.507591 m/s, LOS rate: 0.204195 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180992 deg. 2025-01-08T20:00:37.530Z,1736366437.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820268 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:37.544Z,1736366437.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:37.544Z,1736366437.544 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:37.544Z,1736366437.544 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:37.545Z,1736366437.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:37.797Z,1736366437.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:37.800Z,1736366437.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.949860 2025-01-08T20:00:37.936Z,1736366437.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:37.945Z,1736366437.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:37.949Z,1736366437.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 113.667717 m, bearing: 316.367803 deg, approach rate: -0.544944 m/s, LOS rate: 0.213740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.244243 deg. 2025-01-08T20:00:37.950Z,1736366437.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821372 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:38.049Z,1736366438.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:38.050Z,1736366438.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.199717 2025-01-08T20:00:38.300Z,1736366438.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:38.301Z,1736366438.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450669 2025-01-08T20:00:38.311Z,1736366438.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:38.321Z,1736366438.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:38.324Z,1736366438.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 113.471138 m, bearing: 316.445055 deg, approach rate: -0.522789 m/s, LOS rate: 0.205803 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.207344 deg. 2025-01-08T20:00:38.325Z,1736366438.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820727 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:38.552Z,1736366438.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:38.552Z,1736366438.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702613 2025-01-08T20:00:38.727Z,1736366438.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:38.736Z,1736366438.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:38.739Z,1736366438.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 113.253250 m, bearing: 316.531094 deg, approach rate: -0.524728 m/s, LOS rate: 0.207602 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233799 deg. 2025-01-08T20:00:38.740Z,1736366438.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821189 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:38.806Z,1736366438.806 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:38.808Z,1736366438.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958074 2025-01-08T20:00:39.056Z,1736366439.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:39.056Z,1736366439.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206630 2025-01-08T20:00:39.147Z,1736366439.147 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 89.37, 82.24, 79.86 2025-01-08T20:00:39.169Z,1736366439.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:00:39.169Z,1736366439.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:39.177Z,1736366439.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:39.180Z,1736366439.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 113.022102 m, bearing: 316.622415 deg, approach rate: -0.524218 m/s, LOS rate: 0.207530 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.249708 deg. 2025-01-08T20:00:39.181Z,1736366439.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821467 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:39.308Z,1736366439.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:39.308Z,1736366439.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458474 2025-01-08T20:00:39.522Z,1736366439.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:00:39.522Z,1736366439.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:39.529Z,1736366439.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:39.531Z,1736366439.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:39.534Z,1736366439.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 112.837212 m, bearing: 316.695715 deg, approach rate: -0.523162 m/s, LOS rate: 0.207746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195444 deg. 2025-01-08T20:00:39.536Z,1736366439.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820520 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:39.560Z,1736366439.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:39.560Z,1736366439.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710641 2025-01-08T20:00:39.812Z,1736366439.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:39.813Z,1736366439.813 [DAT](INFO): DAT read: Rx Time:20:00:38.6302 2025-01-08T20:00:39.813Z,1736366439.813 [DAT](INFO): Rx dataTimestamp_ set to:1736366439.812836 2025-01-08T20:00:39.814Z,1736366439.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963836 2025-01-08T20:00:39.953Z,1736366439.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:39.962Z,1736366439.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:39.989Z,1736366439.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 112.610641 m, bearing: 316.781356 deg, approach rate: -0.525467 m/s, LOS rate: 0.199021 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232626 deg. 2025-01-08T20:00:39.990Z,1736366439.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821169 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:40.064Z,1736366440.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:40.065Z,1736366440.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214963 2025-01-08T20:00:40.316Z,1736366440.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:40.317Z,1736366440.317 [DAT](INFO): DAT read: Range 10 to 50 : 187.5 m (Round-trip 250.0 ms) speed -0.8 m/s 2025-01-08T20:00:40.320Z,1736366440.320 [DAT](INFO): DAT read: user:1040> 2025-01-08T20:00:40.322Z,1736366440.322 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:40.323Z,1736366440.323 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:40.323Z,1736366440.323 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:40.323Z,1736366440.323 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:40.340Z,1736366440.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:40.349Z,1736366440.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 187.500000 m, deltaT: 3.525869 s, deltaX: -21.899994 m, approachRate: -6.211233 m/s, rangeRepo size: 4 2025-01-08T20:00:40.350Z,1736366440.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:40.353Z,1736366440.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 112.408203 m, bearing: 316.858264 deg, approach rate: -0.524372 m/s, LOS rate: 0.199573 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206326 deg. 2025-01-08T20:00:40.354Z,1736366440.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820710 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:40.569Z,1736366440.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:40.570Z,1736366440.570 [DAT](INFO): DAT read: Tx time:20:00:39.7260 2025-01-08T20:00:40.570Z,1736366440.570 [DAT](INFO): Ping request sent. 2025-01-08T20:00:40.571Z,1736366440.571 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:40.571Z,1736366440.571 [DAT](INFO): DAT read: TxSync time:20:00:39.7252 2025-01-08T20:00:40.572Z,1736366440.572 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:40.572Z,1736366440.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001882 2025-01-08T20:00:40.743Z,1736366440.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:40.753Z,1736366440.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:40.756Z,1736366440.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 112.197212 m, bearing: 316.938976 deg, approach rate: -0.520902 m/s, LOS rate: 0.199638 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217775 deg. 2025-01-08T20:00:40.757Z,1736366440.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820910 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:40.830Z,1736366440.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:40.833Z,1736366440.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.261991 2025-01-08T20:00:41.080Z,1736366441.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:41.080Z,1736366441.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.509733 2025-01-08T20:00:41.180Z,1736366441.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:41.201Z,1736366441.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:41.206Z,1736366441.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 111.970757 m, bearing: 317.029126 deg, approach rate: -0.506718 m/s, LOS rate: 0.202129 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.246184 deg. 2025-01-08T20:00:41.221Z,1736366441.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821405 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:41.333Z,1736366441.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:41.333Z,1736366441.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762703 2025-01-08T20:00:41.586Z,1736366441.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:41.586Z,1736366441.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015578 2025-01-08T20:00:41.622Z,1736366441.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:41.630Z,1736366441.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:41.632Z,1736366441.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:41.636Z,1736366441.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 111.742332 m, bearing: 317.120651 deg, approach rate: -0.527970 m/s, LOS rate: 0.211978 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.250319 deg. 2025-01-08T20:00:41.637Z,1736366441.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821477 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:41.836Z,1736366441.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:41.836Z,1736366441.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265751 2025-01-08T20:00:42.076Z,1736366442.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:42.088Z,1736366442.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:42.089Z,1736366442.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517936 2025-01-08T20:00:42.095Z,1736366442.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:42.102Z,1736366442.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 111.516579 m, bearing: 317.210126 deg, approach rate: -0.488485 m/s, LOS rate: 0.193998 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.244154 deg. 2025-01-08T20:00:42.103Z,1736366442.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821370 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:42.340Z,1736366442.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:42.342Z,1736366442.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770621 2025-01-08T20:00:42.451Z,1736366442.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:42.468Z,1736366442.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:42.471Z,1736366442.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 111.331932 m, bearing: 317.283248 deg, approach rate: -0.494346 m/s, LOS rate: 0.196092 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194916 deg. 2025-01-08T20:00:42.476Z,1736366442.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820511 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:42.592Z,1736366442.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:42.593Z,1736366442.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021952 2025-01-08T20:00:42.825Z,1736366442.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:42.838Z,1736366442.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:42.841Z,1736366442.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 111.143890 m, bearing: 317.357783 deg, approach rate: -0.508959 m/s, LOS rate: 0.202078 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199167 deg. 2025-01-08T20:00:42.842Z,1736366442.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820585 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:42.844Z,1736366442.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:42.845Z,1736366442.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273948 2025-01-08T20:00:43.096Z,1736366443.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:43.096Z,1736366443.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525745 2025-01-08T20:00:43.248Z,1736366443.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:43.261Z,1736366443.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:43.264Z,1736366443.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 110.939774 m, bearing: 317.443237 deg, approach rate: -0.482188 m/s, LOS rate: 0.202241 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232020 deg. 2025-01-08T20:00:43.265Z,1736366443.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821158 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:43.349Z,1736366443.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:43.350Z,1736366443.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779100 2025-01-08T20:00:43.600Z,1736366443.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:43.601Z,1736366443.601 [DAT](INFO): DAT read: Rx Time:20:00:42.4160 2025-01-08T20:00:43.601Z,1736366443.601 [DAT](INFO): Rx dataTimestamp_ set to:1736366443.600822 2025-01-08T20:00:43.602Z,1736366443.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031062 2025-01-08T20:00:43.620Z,1736366443.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:43.640Z,1736366443.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:43.642Z,1736366443.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:43.650Z,1736366443.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 110.760483 m, bearing: 317.518574 deg, approach rate: -0.470649 m/s, LOS rate: 0.198083 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201562 deg. 2025-01-08T20:00:43.657Z,1736366443.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820627 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:43.852Z,1736366443.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:43.852Z,1736366443.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281728 2025-01-08T20:00:44.034Z,1736366444.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:44.042Z,1736366444.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:44.045Z,1736366444.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 110.565643 m, bearing: 317.602158 deg, approach rate: -0.486619 m/s, LOS rate: 0.209122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226379 deg. 2025-01-08T20:00:44.046Z,1736366444.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821060 target range: 209.399994 and range: 209.40 m. 2025-01-08T20:00:44.106Z,1736366444.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:44.108Z,1736366444.108 [DAT](INFO): DAT read: Range 10 to 50 : 214.3 m (Round-trip 285.8 ms) speed -0.3 m/s 2025-01-08T20:00:44.109Z,1736366444.109 [DAT](INFO): DAT read: user:1041> 2025-01-08T20:00:44.110Z,1736366444.110 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:44.110Z,1736366444.110 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:44.110Z,1736366444.110 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:44.110Z,1736366444.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:44.160Z,1736366444.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:00:44.356Z,1736366444.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:44.357Z,1736366444.357 [DAT](INFO): DAT read: Tx time:20:00:43.5260 2025-01-08T20:00:44.357Z,1736366444.357 [DAT](INFO): Ping request sent. 2025-01-08T20:00:44.357Z,1736366444.357 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:44.358Z,1736366444.358 [DAT](INFO): DAT read: TxSync time:20:00:43.5252 2025-01-08T20:00:44.358Z,1736366444.358 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:44.359Z,1736366444.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001574 2025-01-08T20:00:44.441Z,1736366444.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:44.462Z,1736366444.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 214.300003 m, deltaT: 7.316198 s, deltaX: 4.900009 m, approachRate: 0.669748 m/s, rangeRepo size: 4 2025-01-08T20:00:44.462Z,1736366444.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:44.469Z,1736366444.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 110.373909 m, bearing: 317.684792 deg, approach rate: -0.457696 m/s, LOS rate: 0.197602 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.223519 deg. 2025-01-08T20:00:44.470Z,1736366444.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821010 target range: 209.399994 and range: 214.30 m. 2025-01-08T20:00:44.608Z,1736366444.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:44.608Z,1736366444.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251381 2025-01-08T20:00:44.861Z,1736366444.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:44.864Z,1736366444.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506501 2025-01-08T20:00:44.987Z,1736366444.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:45.001Z,1736366445.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:45.004Z,1736366445.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 110.117500 m, bearing: 317.795357 deg, approach rate: -0.475313 m/s, LOS rate: 0.205434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.307649 deg. 2025-01-08T20:00:45.005Z,1736366445.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822478 target range: 209.399994 and range: 214.30 m. 2025-01-08T20:00:45.112Z,1736366445.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:45.113Z,1736366445.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755606 2025-01-08T20:00:45.164Z,1736366445.164 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:00:45.364Z,1736366445.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:45.365Z,1736366445.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008253 2025-01-08T20:00:45.458Z,1736366445.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:45.467Z,1736366445.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:45.470Z,1736366445.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 109.896805 m, bearing: 317.891377 deg, approach rate: -0.473336 m/s, LOS rate: 0.206352 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.263823 deg. 2025-01-08T20:00:45.471Z,1736366445.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821713 target range: 209.399994 and range: 214.30 m. 2025-01-08T20:00:45.616Z,1736366445.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:45.617Z,1736366445.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259718 2025-01-08T20:00:45.876Z,1736366445.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:45.876Z,1736366445.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519334 2025-01-08T20:00:45.879Z,1736366445.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:45.900Z,1736366445.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:45.902Z,1736366445.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:45.929Z,1736366445.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 109.705025 m, bearing: 317.974975 deg, approach rate: -0.440435 m/s, LOS rate: 0.192324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226418 deg. 2025-01-08T20:00:45.938Z,1736366445.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821061 target range: 209.399994 and range: 214.30 m. 2025-01-08T20:00:46.128Z,1736366446.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:46.129Z,1736366446.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771743 2025-01-08T20:00:46.293Z,1736366446.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:46.306Z,1736366446.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:46.309Z,1736366446.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 109.499321 m, bearing: 318.068583 deg, approach rate: -0.510929 m/s, LOS rate: 0.232942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.256537 deg. 2025-01-08T20:00:46.310Z,1736366446.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821586 target range: 209.399994 and range: 214.30 m. 2025-01-08T20:00:46.381Z,1736366446.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:46.382Z,1736366446.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025260 2025-01-08T20:00:46.633Z,1736366446.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:46.633Z,1736366446.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276404 2025-01-08T20:00:46.693Z,1736366446.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:46.702Z,1736366446.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:46.705Z,1736366446.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 109.306602 m, bearing: 318.156559 deg, approach rate: -0.485244 m/s, LOS rate: 0.221903 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.239577 deg. 2025-01-08T20:00:46.706Z,1736366446.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821290 target range: 209.399994 and range: 214.30 m. 2025-01-08T20:00:46.884Z,1736366446.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:46.884Z,1736366446.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527345 2025-01-08T20:00:47.102Z,1736366447.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:47.111Z,1736366447.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:47.114Z,1736366447.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 109.094337 m, bearing: 318.249356 deg, approach rate: -0.519350 m/s, LOS rate: 0.227489 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.254117 deg. 2025-01-08T20:00:47.116Z,1736366447.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821544 target range: 209.399994 and range: 214.30 m. 2025-01-08T20:00:47.136Z,1736366447.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:47.137Z,1736366447.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779561 2025-01-08T20:00:47.389Z,1736366447.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:47.391Z,1736366447.391 [DAT](INFO): DAT read: Rx Time:20:00:46.2162 2025-01-08T20:00:47.392Z,1736366447.392 [DAT](INFO): Rx dataTimestamp_ set to:1736366447.391269 2025-01-08T20:00:47.394Z,1736366447.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036215 2025-01-08T20:00:47.489Z,1736366447.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:47.508Z,1736366447.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:47.518Z,1736366447.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 108.894440 m, bearing: 318.337228 deg, approach rate: -0.502693 m/s, LOS rate: 0.221382 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.239285 deg. 2025-01-08T20:00:47.536Z,1736366447.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821285 target range: 209.399994 and range: 214.30 m. 2025-01-08T20:00:47.640Z,1736366447.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:47.642Z,1736366447.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284354 2025-01-08T20:00:47.890Z,1736366447.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:47.892Z,1736366447.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:47.893Z,1736366447.893 [DAT](INFO): DAT read: Range 10 to 50 : 214.5 m (Round-trip 286.0 ms) speed -0.8 m/s 2025-01-08T20:00:47.894Z,1736366447.894 [DAT](INFO): DAT read: user:1042> 2025-01-08T20:00:47.895Z,1736366447.895 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:47.895Z,1736366447.895 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:47.896Z,1736366447.896 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:47.896Z,1736366447.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:47.905Z,1736366447.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:47.908Z,1736366447.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 214.500000 m, deltaT: 3.785613 s, deltaX: 0.199997 m, approachRate: 0.052831 m/s, rangeRepo size: 4 2025-01-08T20:00:47.908Z,1736366447.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:47.948Z,1736366447.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 108.687065 m, bearing: 318.428981 deg, approach rate: -0.520512 m/s, LOS rate: 0.230740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.250969 deg. 2025-01-08T20:00:47.978Z,1736366447.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821489 target range: 209.399994 and range: 214.50 m. 2025-01-08T20:00:48.144Z,1736366448.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:48.145Z,1736366448.145 [DAT](INFO): DAT read: Tx time:20:00:47.3260 2025-01-08T20:00:48.145Z,1736366448.145 [DAT](INFO): Ping request sent. 2025-01-08T20:00:48.145Z,1736366448.145 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:48.146Z,1736366448.146 [DAT](INFO): DAT read: TxSync time:20:00:47.3252 2025-01-08T20:00:48.146Z,1736366448.146 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:48.147Z,1736366448.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001582 2025-01-08T20:00:48.316Z,1736366448.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:48.324Z,1736366448.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:48.343Z,1736366448.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 108.454689 m, bearing: 318.532955 deg, approach rate: -0.556327 m/s, LOS rate: 0.249455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.287774 deg. 2025-01-08T20:00:48.345Z,1736366448.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822131 target range: 209.399994 and range: 214.50 m. 2025-01-08T20:00:48.397Z,1736366448.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:48.399Z,1736366448.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253434 2025-01-08T20:00:48.649Z,1736366448.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:48.650Z,1736366448.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504384 2025-01-08T20:00:48.708Z,1736366448.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:48.728Z,1736366448.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:48.730Z,1736366448.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 108.241432 m, bearing: 318.629356 deg, approach rate: -0.532094 m/s, LOS rate: 0.241003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.264958 deg. 2025-01-08T20:00:48.733Z,1736366448.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821733 target range: 209.399994 and range: 214.50 m. 2025-01-08T20:00:48.900Z,1736366448.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:48.901Z,1736366448.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755356 2025-01-08T20:00:49.143Z,1736366449.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:49.152Z,1736366449.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:49.152Z,1736366449.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007166 2025-01-08T20:00:49.163Z,1736366449.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:49.174Z,1736366449.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 108.001144 m, bearing: 318.739134 deg, approach rate: -0.549365 m/s, LOS rate: 0.251541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.305249 deg. 2025-01-08T20:00:49.175Z,1736366449.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822436 target range: 209.399994 and range: 214.50 m. 2025-01-08T20:00:49.404Z,1736366449.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:49.404Z,1736366449.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259099 2025-01-08T20:00:49.493Z,1736366449.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:49.502Z,1736366449.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:49.505Z,1736366449.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 107.795761 m, bearing: 318.833793 deg, approach rate: -0.604346 m/s, LOS rate: 0.279067 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.259702 deg. 2025-01-08T20:00:49.506Z,1736366449.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821641 target range: 209.399994 and range: 214.50 m. 2025-01-08T20:00:49.656Z,1736366449.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:49.658Z,1736366449.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512135 2025-01-08T20:00:49.892Z,1736366449.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:49.901Z,1736366449.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:49.904Z,1736366449.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 107.570755 m, bearing: 318.938478 deg, approach rate: -0.564739 m/s, LOS rate: 0.263296 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.289895 deg. 2025-01-08T20:00:49.905Z,1736366449.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822168 target range: 209.399994 and range: 214.50 m. 2025-01-08T20:00:49.908Z,1736366449.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:49.908Z,1736366449.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763217 2025-01-08T20:00:50.160Z,1736366450.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:50.161Z,1736366450.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015261 2025-01-08T20:00:50.389Z,1736366450.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:50.412Z,1736366450.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:50.413Z,1736366450.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267280 2025-01-08T20:00:50.446Z,1736366450.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:50.452Z,1736366450.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:50.455Z,1736366450.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 107.286308 m, bearing: 319.074896 deg, approach rate: -0.516127 m/s, LOS rate: 0.248185 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.385518 deg. 2025-01-08T20:00:50.460Z,1736366450.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823837 target range: 209.399994 and range: 214.50 m. 2025-01-08T20:00:50.664Z,1736366450.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:50.666Z,1736366450.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520760 2025-01-08T20:00:50.768Z,1736366450.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:50.777Z,1736366450.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:50.780Z,1736366450.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 107.064323 m, bearing: 319.182532 deg, approach rate: -0.683575 m/s, LOS rate: 0.332141 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.298763 deg. 2025-01-08T20:00:50.781Z,1736366450.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822323 target range: 209.399994 and range: 214.50 m. 2025-01-08T20:00:50.916Z,1736366450.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:50.917Z,1736366450.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771397 2025-01-08T20:00:51.168Z,1736366451.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:51.169Z,1736366451.169 [DAT](INFO): DAT read: Rx Time:20:00:50.0192 2025-01-08T20:00:51.169Z,1736366451.169 [DAT](INFO): Rx dataTimestamp_ set to:1736366451.168736 2025-01-08T20:00:51.170Z,1736366451.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024323 2025-01-08T20:00:51.282Z,1736366451.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:51.291Z,1736366451.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:51.294Z,1736366451.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 106.778496 m, bearing: 319.328478 deg, approach rate: -0.556233 m/s, LOS rate: 0.284777 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.414187 deg. 2025-01-08T20:00:51.295Z,1736366451.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824337 target range: 209.399994 and range: 214.50 m. 2025-01-08T20:00:51.420Z,1736366451.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:51.421Z,1736366451.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275280 2025-01-08T20:00:51.664Z,1736366451.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:51.674Z,1736366451.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:51.677Z,1736366451.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530973 2025-01-08T20:00:51.702Z,1736366451.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:51.709Z,1736366451.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 106.567009 m, bearing: 319.437526 deg, approach rate: -0.514726 m/s, LOS rate: 0.265930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.302974 deg. 2025-01-08T20:00:51.710Z,1736366451.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822397 target range: 209.399994 and range: 214.50 m. 2025-01-08T20:00:51.924Z,1736366451.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:51.926Z,1736366451.926 [DAT](INFO): DAT read: Range 10 to 50 : 216.7 m (Round-trip 289.0 ms) speed -0.2 m/s 2025-01-08T20:00:51.927Z,1736366451.927 [DAT](INFO): DAT read: user:1043> 2025-01-08T20:00:51.928Z,1736366451.928 [DAT](INFO): DAT read: Tx time:20:00:51.1260 2025-01-08T20:00:51.928Z,1736366451.928 [DAT](INFO): Ping request sent. 2025-01-08T20:00:51.928Z,1736366451.928 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:51.929Z,1736366451.929 [DAT](INFO): DAT read: TxSync time:20:00:51.1253 2025-01-08T20:00:51.930Z,1736366451.930 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:51.930Z,1736366451.930 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:51.931Z,1736366451.931 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:52.164Z,1736366452.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:52.174Z,1736366452.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 216.699997 m, deltaT: 4.032432 s, deltaX: 2.199997 m, approachRate: 0.545576 m/s, rangeRepo size: 4 2025-01-08T20:00:52.174Z,1736366452.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:52.176Z,1736366452.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:52.179Z,1736366452.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 106.296333 m, bearing: 319.571922 deg, approach rate: -0.573979 m/s, LOS rate: 0.285718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.379395 deg. 2025-01-08T20:00:52.181Z,1736366452.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823730 target range: 209.399994 and range: 216.70 m. 2025-01-08T20:00:52.429Z,1736366452.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:52.536Z,1736366452.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:52.542Z,1736366452.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:52.545Z,1736366452.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:52.548Z,1736366452.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 106.096031 m, bearing: 319.673044 deg, approach rate: -0.539226 m/s, LOS rate: 0.272742 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.279124 deg. 2025-01-08T20:00:52.549Z,1736366452.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821980 target range: 209.399994 and range: 216.70 m. 2025-01-08T20:00:52.680Z,1736366452.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:52.681Z,1736366452.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:52.681Z,1736366452.681 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:52.682Z,1736366452.682 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:52.923Z,1736366452.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:52.933Z,1736366452.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:52.934Z,1736366452.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005311 2025-01-08T20:00:52.935Z,1736366452.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:52.938Z,1736366452.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 105.888199 m, bearing: 319.778753 deg, approach rate: -0.532692 m/s, LOS rate: 0.271472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.292932 deg. 2025-01-08T20:00:52.939Z,1736366452.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822221 target range: 209.399994 and range: 216.70 m. 2025-01-08T20:00:53.185Z,1736366453.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:53.186Z,1736366453.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257315 2025-01-08T20:00:53.348Z,1736366453.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:53.356Z,1736366453.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:53.359Z,1736366453.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 105.671379 m, bearing: 319.888642 deg, approach rate: -0.514130 m/s, LOS rate: 0.261108 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.305528 deg. 2025-01-08T20:00:53.361Z,1736366453.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822441 target range: 209.399994 and range: 216.70 m. 2025-01-08T20:00:53.437Z,1736366453.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:53.438Z,1736366453.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509559 2025-01-08T20:00:53.688Z,1736366453.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:53.688Z,1736366453.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760087 2025-01-08T20:00:53.732Z,1736366453.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:53.757Z,1736366453.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:53.764Z,1736366453.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 105.475883 m, bearing: 319.987868 deg, approach rate: -0.487936 m/s, LOS rate: 0.248116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.273413 deg. 2025-01-08T20:00:53.766Z,1736366453.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821881 target range: 209.399994 and range: 216.70 m. 2025-01-08T20:00:53.940Z,1736366453.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:53.940Z,1736366453.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012109 2025-01-08T20:00:54.154Z,1736366454.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:54.162Z,1736366454.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:54.166Z,1736366454.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 105.278603 m, bearing: 320.086631 deg, approach rate: -0.486958 m/s, LOS rate: 0.244237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.272026 deg. 2025-01-08T20:00:54.167Z,1736366454.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821856 target range: 209.399994 and range: 216.70 m. 2025-01-08T20:00:54.192Z,1736366454.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:54.192Z,1736366454.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264214 2025-01-08T20:00:54.444Z,1736366454.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:54.444Z,1736366454.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516198 2025-01-08T20:00:54.537Z,1736366454.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:54.544Z,1736366454.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:54.546Z,1736366454.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:54.549Z,1736366454.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 105.099655 m, bearing: 320.176362 deg, approach rate: -0.466841 m/s, LOS rate: 0.234490 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.244836 deg. 2025-01-08T20:00:54.550Z,1736366454.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821382 target range: 209.399994 and range: 216.70 m. 2025-01-08T20:00:54.696Z,1736366454.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:54.696Z,1736366454.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768048 2025-01-08T20:00:54.948Z,1736366454.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:54.949Z,1736366454.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020966 2025-01-08T20:00:55.052Z,1736366455.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:55.106Z,1736366455.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:55.113Z,1736366455.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 104.859619 m, bearing: 320.296907 deg, approach rate: -0.428180 m/s, LOS rate: 0.215523 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.337646 deg. 2025-01-08T20:00:55.114Z,1736366455.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823002 target range: 209.399994 and range: 216.70 m. 2025-01-08T20:00:55.200Z,1736366455.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:55.201Z,1736366455.201 [DAT](INFO): DAT read: Rx Time:20:00:53.8208 2025-01-08T20:00:55.201Z,1736366455.201 [DAT](INFO): Rx dataTimestamp_ set to:1736366455.200763 2025-01-08T20:00:55.202Z,1736366455.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273317 2025-01-08T20:00:55.453Z,1736366455.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:55.455Z,1736366455.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526159 2025-01-08T20:00:55.467Z,1736366455.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:55.541Z,1736366455.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.40 m. 2025-01-08T20:00:55.551Z,1736366455.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.399994 m, nav range: 104.682312 m, bearing: 320.385752 deg, approach rate: -0.407868 m/s, LOS rate: 0.204720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.242171 deg. 2025-01-08T20:00:55.565Z,1736366455.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821335 target range: 209.399994 and range: 216.70 m. 2025-01-08T20:00:55.704Z,1736366455.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:55.710Z,1736366455.710 [DAT](INFO): DAT read: 20:00:53.8208 LVL= 22768, 19697, 15714, 24851, AGC= 59, IDX= 442, 0.34, 3.009,-0.963,-2.141,-3.112, PHS=-0.074, 2.196, 0.969, RAW= 302.7, -29.0, CAL= 298.2, -41.9, ROT= 211.8, 41.9 2025-01-08T20:00:55.711Z,1736366455.711 [DAT](INFO): got valid direction response: 20:00:53.8208 LVL= 22768, 19697, 15714, 24851, AGC= 59, IDX= 442, 0.34, 3.009,-0.963,-2.141,-3.112, PHS=-0.074, 2.196, 0.969, RAW= 302.7, -29.0, CAL= 298.2, -41.9, ROT= 211.8, 41.9 2025-01-08T20:00:55.712Z,1736366455.712 [DAT](INFO): DAT read: Bearing 211.8, 41.9 (Local) 2025-01-08T20:00:55.713Z,1736366455.713 [DAT](INFO): Local bearing/azimuth received: Bearing 211.8, 41.9 (Local) 2025-01-08T20:00:55.715Z,1736366455.715 [DAT](INFO): DAT read: Range 10 to 50 : 217.8 m (Round-trip 290.5 ms) speed -1.2 m/s 2025-01-08T20:00:55.716Z,1736366455.716 [DAT](INFO): DAT read: user:1044> 2025-01-08T20:00:55.717Z,1736366455.717 [DAT](INFO): DAT read: Tx time:20:00:54.9261 2025-01-08T20:00:55.717Z,1736366455.717 [DAT](INFO): Ping request sent. 2025-01-08T20:00:55.717Z,1736366455.717 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:55.717Z,1736366455.717 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:00:55.720Z,1736366455.720 [DAT](INFO): direction in FSK: [0.621215,0.354174,-0.699037] 2025-01-08T20:00:55.721Z,1736366455.721 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:55.722Z,1736366455.722 [DAT](INFO): publishing direction and range info 2025-01-08T20:00:55.770Z,1736366455.770 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:55.771Z,1736366455.771 [DAT](INFO): publishing direction and range info 2025-01-08T20:00:55.956Z,1736366455.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:55.957Z,1736366455.957 [DAT](INFO): DAT read: TxSync time:20:00:54.9253 2025-01-08T20:00:56.028Z,1736366456.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:56.135Z,1736366456.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 217.800003 m, deltaT: 3.779486 s, deltaX: 1.100006 m, approachRate: 0.291046 m/s, rangeRepo size: 4 2025-01-08T20:00:56.141Z,1736366456.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 217.800003 m, bearing: 310.949726 deg, lat: 36.905795 deg, lon: -122.121579 deg, deltaT: 18.913729 s, deltaX: 8.400009 m, approachRate: 0.444122 m/s, posRepo size: 4 2025-01-08T20:00:56.142Z,1736366456.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:00:56.150Z,1736366456.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 112.544868 m, bearing: 317.823112 deg, approach rate: 0.000000 m/s, LOS rate: 0.204720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.339584 deg. 2025-01-08T20:00:56.151Z,1736366456.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823036 target range: 217.800003 and range: 217.80 m. 2025-01-08T20:00:56.208Z,1736366456.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:56.460Z,1736366456.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:56.664Z,1736366456.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:56.688Z,1736366456.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:56.690Z,1736366456.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:00:56.697Z,1736366456.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 112.268021 m, bearing: 317.931113 deg, approach rate: -0.497990 m/s, LOS rate: 0.194750 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.299985 deg. 2025-01-08T20:00:56.703Z,1736366456.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822344 target range: 217.800003 and range: 217.80 m. 2025-01-08T20:00:56.712Z,1736366456.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:56.712Z,1736366456.712 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:00:56.712Z,1736366456.712 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:00:56.713Z,1736366456.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:00:56.964Z,1736366456.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:56.965Z,1736366456.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248056 2025-01-08T20:00:57.216Z,1736366457.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:57.217Z,1736366457.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499634 2025-01-08T20:00:57.224Z,1736366457.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:57.233Z,1736366457.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:00:57.236Z,1736366457.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 112.037949 m, bearing: 318.021956 deg, approach rate: -0.423746 m/s, LOS rate: 0.167657 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.248271 deg. 2025-01-08T20:00:57.237Z,1736366457.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821442 target range: 217.800003 and range: 217.80 m. 2025-01-08T20:00:57.468Z,1736366457.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:57.469Z,1736366457.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751966 2025-01-08T20:00:57.669Z,1736366457.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:57.701Z,1736366457.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:00:57.704Z,1736366457.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 111.854294 m, bearing: 318.093593 deg, approach rate: -0.392143 m/s, LOS rate: 0.153213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190452 deg. 2025-01-08T20:00:57.705Z,1736366457.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820433 target range: 217.800003 and range: 217.80 m. 2025-01-08T20:00:57.720Z,1736366457.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:57.720Z,1736366457.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003323 2025-01-08T20:00:57.972Z,1736366457.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:57.972Z,1736366457.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255285 2025-01-08T20:00:58.060Z,1736366458.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:58.078Z,1736366458.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:00:58.085Z,1736366458.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 111.692764 m, bearing: 318.156534 deg, approach rate: -0.428950 m/s, LOS rate: 0.167384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164282 deg. 2025-01-08T20:00:58.086Z,1736366458.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819976 target range: 217.800003 and range: 217.80 m. 2025-01-08T20:00:58.224Z,1736366458.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:58.225Z,1736366458.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507362 2025-01-08T20:00:58.476Z,1736366458.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:58.476Z,1736366458.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759276 2025-01-08T20:00:58.505Z,1736366458.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:58.517Z,1736366458.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:00:58.525Z,1736366458.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 111.498634 m, bearing: 318.230387 deg, approach rate: -0.442175 m/s, LOS rate: 0.168509 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197129 deg. 2025-01-08T20:00:58.526Z,1736366458.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820549 target range: 217.800003 and range: 217.80 m. 2025-01-08T20:00:58.728Z,1736366458.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:58.728Z,1736366458.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011319 2025-01-08T20:00:58.856Z,1736366458.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:58.862Z,1736366458.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:00:58.881Z,1736366458.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:00:58.885Z,1736366458.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 111.345413 m, bearing: 318.288795 deg, approach rate: -0.421242 m/s, LOS rate: 0.160799 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150651 deg. 2025-01-08T20:00:58.886Z,1736366458.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819738 target range: 217.800003 and range: 217.80 m. 2025-01-08T20:00:58.981Z,1736366458.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:58.982Z,1736366458.982 [DAT](INFO): DAT read: Rx Time:20:00:57.6238 2025-01-08T20:00:58.982Z,1736366458.982 [DAT](INFO): Rx dataTimestamp_ set to:1736366458.982148 2025-01-08T20:00:58.983Z,1736366458.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265826 2025-01-08T20:00:59.233Z,1736366459.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:59.235Z,1736366459.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517345 2025-01-08T20:00:59.328Z,1736366459.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:59.337Z,1736366459.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:00:59.356Z,1736366459.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 111.119301 m, bearing: 318.377301 deg, approach rate: -0.495207 m/s, LOS rate: 0.194230 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.241242 deg. 2025-01-08T20:00:59.358Z,1736366459.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821319 target range: 217.800003 and range: 217.80 m. 2025-01-08T20:00:59.484Z,1736366459.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:59.485Z,1736366459.485 [DAT](INFO): DAT read: Range 10 to 50 : 220.1 m (Round-trip 293.5 ms) speed -0.1 m/s 2025-01-08T20:00:59.486Z,1736366459.486 [DAT](INFO): DAT read: user:1045> 2025-01-08T20:00:59.487Z,1736366459.487 [DAT](INFO): DAT read: Tx time:20:00:58.7261 2025-01-08T20:00:59.487Z,1736366459.487 [DAT](INFO): Ping request sent. 2025-01-08T20:00:59.487Z,1736366459.487 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:00:59.488Z,1736366459.488 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:00:59.488Z,1736366459.488 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:59.489Z,1736366459.489 [DAT](INFO): publishing transmit ping time 2025-01-08T20:00:59.682Z,1736366459.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:00:59.691Z,1736366459.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 220.100006 m, deltaT: 3.779994 s, deltaX: 2.300003 m, approachRate: 0.608467 m/s, rangeRepo size: 4 2025-01-08T20:00:59.708Z,1736366459.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:00:59.710Z,1736366459.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 110.950516 m, bearing: 318.443472 deg, approach rate: -0.478348 m/s, LOS rate: 0.187820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174003 deg. 2025-01-08T20:00:59.716Z,1736366459.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820146 target range: 217.800003 and range: 220.10 m. 2025-01-08T20:00:59.736Z,1736366459.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:00:59.737Z,1736366459.737 [DAT](INFO): DAT read: TxSync time:20:00:58.7253 2025-01-08T20:00:59.988Z,1736366459.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:00.089Z,1736366460.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:00.097Z,1736366460.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:00.106Z,1736366460.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 110.755783 m, bearing: 318.520462 deg, approach rate: -0.478144 m/s, LOS rate: 0.189373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206562 deg. 2025-01-08T20:01:00.107Z,1736366460.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820714 target range: 217.800003 and range: 220.10 m. 2025-01-08T20:01:00.240Z,1736366460.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:00.492Z,1736366460.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:00.501Z,1736366460.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:00.510Z,1736366460.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:00.529Z,1736366460.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 110.545784 m, bearing: 318.609051 deg, approach rate: -0.508857 m/s, LOS rate: 0.215070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.241455 deg. 2025-01-08T20:01:00.530Z,1736366460.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821323 target range: 217.800003 and range: 220.10 m. 2025-01-08T20:01:00.744Z,1736366460.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:00.888Z,1736366460.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:00.894Z,1736366460.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:00.896Z,1736366460.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:00.900Z,1736366460.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 110.349678 m, bearing: 318.692619 deg, approach rate: -0.507924 m/s, LOS rate: 0.216829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226333 deg. 2025-01-08T20:01:00.901Z,1736366460.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821059 target range: 217.800003 and range: 220.10 m. 2025-01-08T20:01:00.996Z,1736366460.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:00.996Z,1736366460.996 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:00.997Z,1736366460.997 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:00.997Z,1736366460.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:01.248Z,1736366461.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:01.249Z,1736366461.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761585 2025-01-08T20:01:01.326Z,1736366461.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:01.335Z,1736366461.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:01.338Z,1736366461.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 110.110886 m, bearing: 318.798776 deg, approach rate: -0.544454 m/s, LOS rate: 0.242567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.294347 deg. 2025-01-08T20:01:01.340Z,1736366461.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822246 target range: 217.800003 and range: 220.10 m. 2025-01-08T20:01:01.501Z,1736366461.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:01.502Z,1736366461.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014553 2025-01-08T20:01:01.697Z,1736366461.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:01.706Z,1736366461.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:01.709Z,1736366461.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 109.909325 m, bearing: 318.889355 deg, approach rate: -0.542420 m/s, LOS rate: 0.244203 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.247420 deg. 2025-01-08T20:01:01.710Z,1736366461.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821427 target range: 217.800003 and range: 220.10 m. 2025-01-08T20:01:01.752Z,1736366461.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:01.754Z,1736366461.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265835 2025-01-08T20:01:02.004Z,1736366462.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:02.005Z,1736366462.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517036 2025-01-08T20:01:02.104Z,1736366462.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:02.113Z,1736366462.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:02.135Z,1736366462.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 109.688972 m, bearing: 318.989009 deg, approach rate: -0.542331 m/s, LOS rate: 0.245760 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.274746 deg. 2025-01-08T20:01:02.137Z,1736366462.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821904 target range: 217.800003 and range: 220.10 m. 2025-01-08T20:01:02.257Z,1736366462.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:02.260Z,1736366462.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771145 2025-01-08T20:01:02.508Z,1736366462.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:02.508Z,1736366462.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020975 2025-01-08T20:01:02.559Z,1736366462.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:02.582Z,1736366462.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:02.590Z,1736366462.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 109.433586 m, bearing: 319.111532 deg, approach rate: -0.543664 m/s, LOS rate: 0.261435 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.343610 deg. 2025-01-08T20:01:02.626Z,1736366462.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823106 target range: 217.800003 and range: 220.10 m. 2025-01-08T20:01:02.760Z,1736366462.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:02.761Z,1736366462.761 [DAT](INFO): DAT read: Rx Time:20:01:01.4279 2025-01-08T20:01:02.762Z,1736366462.762 [DAT](INFO): Rx dataTimestamp_ set to:1736366462.761358 2025-01-08T20:01:02.763Z,1736366462.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275082 2025-01-08T20:01:02.946Z,1736366462.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:02.954Z,1736366462.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:02.956Z,1736366462.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:02.959Z,1736366462.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 109.215660 m, bearing: 319.217092 deg, approach rate: -0.583242 m/s, LOS rate: 0.283077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.292495 deg. 2025-01-08T20:01:02.960Z,1736366462.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822214 target range: 217.800003 and range: 220.10 m. 2025-01-08T20:01:03.013Z,1736366463.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:03.014Z,1736366463.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526273 2025-01-08T20:01:03.264Z,1736366463.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:03.266Z,1736366463.266 [DAT](INFO): DAT read: Range 10 to 50 : 223.2 m (Round-trip 297.6 ms) speed -0.1 m/s 2025-01-08T20:01:03.267Z,1736366463.267 [DAT](INFO): DAT read: user:1046> 2025-01-08T20:01:03.268Z,1736366463.268 [DAT](INFO): DAT read: Tx time:20:01:02.5261 2025-01-08T20:01:03.268Z,1736366463.268 [DAT](INFO): Ping request sent. 2025-01-08T20:01:03.268Z,1736366463.268 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:03.268Z,1736366463.268 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:01:03.269Z,1736366463.269 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:03.269Z,1736366463.269 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:03.382Z,1736366463.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:03.392Z,1736366463.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 223.199997 m, deltaT: 3.779940 s, deltaX: 3.099991 m, approachRate: 0.820116 m/s, rangeRepo size: 4 2025-01-08T20:01:03.392Z,1736366463.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:03.395Z,1736366463.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 108.966698 m, bearing: 319.343459 deg, approach rate: -0.572855 m/s, LOS rate: 0.291431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.355148 deg. 2025-01-08T20:01:03.396Z,1736366463.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823307 target range: 217.800003 and range: 223.20 m. 2025-01-08T20:01:03.516Z,1736366463.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:03.517Z,1736366463.517 [DAT](INFO): DAT read: TxSync time:20:01:02.5253 2025-01-08T20:01:03.766Z,1736366463.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:03.768Z,1736366463.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:03.849Z,1736366463.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:03.852Z,1736366463.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 108.748207 m, bearing: 319.455508 deg, approach rate: -0.477695 m/s, LOS rate: 0.245470 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.312005 deg. 2025-01-08T20:01:03.853Z,1736366463.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822554 target range: 217.800003 and range: 223.20 m. 2025-01-08T20:01:04.020Z,1736366464.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:04.157Z,1736366464.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:04.184Z,1736366464.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:04.209Z,1736366464.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 108.526718 m, bearing: 319.570387 deg, approach rate: -0.672507 m/s, LOS rate: 0.349518 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.320521 deg. 2025-01-08T20:01:04.217Z,1736366464.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822703 target range: 217.800003 and range: 223.20 m. 2025-01-08T20:01:04.272Z,1736366464.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:04.524Z,1736366464.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:04.608Z,1736366464.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:04.639Z,1736366464.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:04.647Z,1736366464.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 108.273590 m, bearing: 319.708299 deg, approach rate: -0.549235 m/s, LOS rate: 0.299940 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.389883 deg. 2025-01-08T20:01:04.653Z,1736366464.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823914 target range: 217.800003 and range: 223.20 m. 2025-01-08T20:01:04.776Z,1736366464.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:04.967Z,1736366464.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:04.974Z,1736366464.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:04.977Z,1736366464.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:04.979Z,1736366464.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 108.073685 m, bearing: 319.818995 deg, approach rate: -0.591106 m/s, LOS rate: 0.327925 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.307885 deg. 2025-01-08T20:01:04.981Z,1736366464.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822482 target range: 217.800003 and range: 223.20 m. 2025-01-08T20:01:05.028Z,1736366465.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:05.029Z,1736366465.029 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:05.029Z,1736366465.029 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:05.030Z,1736366465.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:05.280Z,1736366465.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:05.280Z,1736366465.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012144 2025-01-08T20:01:05.401Z,1736366465.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:05.409Z,1736366465.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:05.432Z,1736366465.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 107.850006 m, bearing: 319.948611 deg, approach rate: -0.517280 m/s, LOS rate: 0.300371 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.364834 deg. 2025-01-08T20:01:05.433Z,1736366465.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823476 target range: 217.800003 and range: 223.20 m. 2025-01-08T20:01:05.533Z,1736366465.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:05.534Z,1736366465.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265440 2025-01-08T20:01:05.772Z,1736366465.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:05.784Z,1736366465.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:05.784Z,1736366465.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516105 2025-01-08T20:01:05.802Z,1736366465.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:05.810Z,1736366465.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 107.658485 m, bearing: 320.060130 deg, approach rate: -0.487552 m/s, LOS rate: 0.284399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.310337 deg. 2025-01-08T20:01:05.817Z,1736366465.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822525 target range: 217.800003 and range: 223.20 m. 2025-01-08T20:01:06.038Z,1736366466.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:06.040Z,1736366466.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771634 2025-01-08T20:01:06.182Z,1736366466.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:06.213Z,1736366466.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:06.236Z,1736366466.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 107.447685 m, bearing: 320.183447 deg, approach rate: -0.513835 m/s, LOS rate: 0.301179 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.345857 deg. 2025-01-08T20:01:06.251Z,1736366466.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823145 target range: 217.800003 and range: 223.20 m. 2025-01-08T20:01:06.288Z,1736366466.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:06.289Z,1736366466.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020524 2025-01-08T20:01:06.540Z,1736366466.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:06.541Z,1736366466.541 [DAT](INFO): DAT read: Rx Time:20:01:05.2273 2025-01-08T20:01:06.542Z,1736366466.542 [DAT](INFO): Rx dataTimestamp_ set to:1736366466.541542 2025-01-08T20:01:06.543Z,1736366466.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274603 2025-01-08T20:01:06.643Z,1736366466.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:06.674Z,1736366466.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:06.682Z,1736366466.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 107.226631 m, bearing: 320.308081 deg, approach rate: -0.479308 m/s, LOS rate: 0.270800 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.349855 deg. 2025-01-08T20:01:06.688Z,1736366466.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823215 target range: 217.800003 and range: 223.20 m. 2025-01-08T20:01:06.792Z,1736366466.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:06.792Z,1736366466.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524266 2025-01-08T20:01:07.020Z,1736366467.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:07.027Z,1736366467.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:07.029Z,1736366467.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T20:01:07.033Z,1736366467.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 107.045395 m, bearing: 320.410861 deg, approach rate: -0.509048 m/s, LOS rate: 0.289171 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.284044 deg. 2025-01-08T20:01:07.034Z,1736366467.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822066 target range: 217.800003 and range: 223.20 m. 2025-01-08T20:01:07.044Z,1736366467.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:07.067Z,1736366467.067 [DAT](INFO): DAT read: 20:01:05.2273 LVL= 20064, 15905, 13234, 23363, AGC= 63, IDX= 413, 0.05, 0.836,-3.087, 1.860, 1.258, PHS=-0.334, 1.985, 0.599, RAW= 306.4, -21.5, CAL= 307.6, -31.6, ROT= 202.4, 31.6 2025-01-08T20:01:07.068Z,1736366467.068 [DAT](INFO): got valid direction response: 20:01:05.2273 LVL= 20064, 15905, 13234, 23363, AGC= 63, IDX= 413, 0.05, 0.836,-3.087, 1.860, 1.258, PHS=-0.334, 1.985, 0.599, RAW= 306.4, -21.5, CAL= 307.6, -31.6, ROT= 202.4, 31.6 2025-01-08T20:01:07.069Z,1736366467.069 [DAT](INFO): DAT read: Bearing 202.4, 31.6 (Local) 2025-01-08T20:01:07.070Z,1736366467.070 [DAT](INFO): Local bearing/azimuth received: Bearing 202.4, 31.6 (Local) 2025-01-08T20:01:07.072Z,1736366467.072 [DAT](INFO): DAT read: Range 10 to 50 : 222.6 m (Round-trip 296.9 ms) speed -0.7 m/s 2025-01-08T20:01:07.072Z,1736366467.072 [DAT](INFO): DAT read: user:1047> 2025-01-08T20:01:07.073Z,1736366467.073 [DAT](INFO): DAT read: Tx time:20:01:06.3262 2025-01-08T20:01:07.073Z,1736366467.073 [DAT](INFO): Ping request sent. 2025-01-08T20:01:07.074Z,1736366467.074 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:07.074Z,1736366467.074 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:01:07.075Z,1736366467.075 [DAT](INFO): direction in FSK: [0.510132,0.445660,-0.735631] 2025-01-08T20:01:07.084Z,1736366467.084 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:07.084Z,1736366467.084 [DAT](INFO): publishing direction and range info 2025-01-08T20:01:07.092Z,1736366467.092 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:07.092Z,1736366467.092 [DAT](INFO): publishing direction and range info 2025-01-08T20:01:07.296Z,1736366467.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:07.298Z,1736366467.298 [DAT](INFO): DAT read: TxSync time:20:01:06.3254 2025-01-08T20:01:07.480Z,1736366467.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:07.513Z,1736366467.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 222.600006 m, deltaT: 3.780162 s, deltaX: -0.599991 m, approachRate: -0.158721 m/s, rangeRepo size: 4 2025-01-08T20:01:07.520Z,1736366467.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 222.600006 m, bearing: 321.193168 deg, lat: 36.905907 deg, lon: -122.122021 deg, deltaT: 11.340096 s, deltaX: 4.800003 m, approachRate: 0.423277 m/s, posRepo size: 4 2025-01-08T20:01:07.520Z,1736366467.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:07.523Z,1736366467.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 143.157532 m, bearing: 311.487565 deg, approach rate: 0.000000 m/s, LOS rate: 0.289171 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.393918 deg. 2025-01-08T20:01:07.528Z,1736366467.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823984 target range: 222.600006 and range: 222.60 m. 2025-01-08T20:01:07.549Z,1736366467.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:07.800Z,1736366467.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:07.824Z,1736366467.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:07.834Z,1736366467.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:07.853Z,1736366467.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 142.978058 m, bearing: 311.541099 deg, approach rate: -0.558561 m/s, LOS rate: 0.166820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135991 deg. 2025-01-08T20:01:07.854Z,1736366467.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819482 target range: 222.600006 and range: 222.60 m. 2025-01-08T20:01:08.052Z,1736366468.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:08.231Z,1736366468.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:08.297Z,1736366468.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:08.306Z,1736366468.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:08.311Z,1736366468.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 142.768799 m, bearing: 311.603469 deg, approach rate: -0.451961 m/s, LOS rate: 0.134906 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162571 deg. 2025-01-08T20:01:08.317Z,1736366468.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819946 target range: 222.600006 and range: 222.60 m. 2025-01-08T20:01:08.557Z,1736366468.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:08.697Z,1736366468.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:08.710Z,1736366468.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:08.713Z,1736366468.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 142.541016 m, bearing: 311.664746 deg, approach rate: -0.550612 m/s, LOS rate: 0.148359 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159311 deg. 2025-01-08T20:01:08.714Z,1736366468.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819889 target range: 222.600006 and range: 222.60 m. 2025-01-08T20:01:08.808Z,1736366468.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:09.060Z,1736366469.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:09.117Z,1736366469.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:09.124Z,1736366469.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:09.126Z,1736366469.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:09.129Z,1736366469.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 142.335037 m, bearing: 311.719361 deg, approach rate: -0.495533 m/s, LOS rate: 0.131579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139267 deg. 2025-01-08T20:01:09.130Z,1736366469.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819540 target range: 222.600006 and range: 222.60 m. 2025-01-08T20:01:09.312Z,1736366469.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:09.312Z,1736366469.312 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:09.312Z,1736366469.312 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:09.313Z,1736366469.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:09.497Z,1736366469.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:09.519Z,1736366469.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:09.526Z,1736366469.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 142.151154 m, bearing: 311.763368 deg, approach rate: -0.467617 m/s, LOS rate: 0.112054 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107378 deg. 2025-01-08T20:01:09.532Z,1736366469.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818983 target range: 222.600006 and range: 222.60 m. 2025-01-08T20:01:09.564Z,1736366469.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:09.565Z,1736366469.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491302 2025-01-08T20:01:09.816Z,1736366469.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:09.817Z,1736366469.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743361 2025-01-08T20:01:09.943Z,1736366469.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:09.953Z,1736366469.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:09.972Z,1736366469.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 141.934967 m, bearing: 311.814918 deg, approach rate: -0.497617 m/s, LOS rate: 0.118839 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130073 deg. 2025-01-08T20:01:09.974Z,1736366469.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819379 target range: 222.600006 and range: 222.60 m. 2025-01-08T20:01:10.068Z,1736366470.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:10.070Z,1736366470.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995966 2025-01-08T20:01:10.321Z,1736366470.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:10.324Z,1736366470.324 [DAT](INFO): DAT read: Rx Time:20:01:09.0305 2025-01-08T20:01:10.325Z,1736366470.325 [DAT](INFO): Rx dataTimestamp_ set to:1736366470.324418 2025-01-08T20:01:10.328Z,1736366470.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253223 2025-01-08T20:01:10.337Z,1736366470.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:10.354Z,1736366470.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:10.361Z,1736366470.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 141.743958 m, bearing: 311.860498 deg, approach rate: -0.476722 m/s, LOS rate: 0.113912 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112111 deg. 2025-01-08T20:01:10.362Z,1736366470.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819066 target range: 222.600006 and range: 222.60 m. 2025-01-08T20:01:10.572Z,1736366470.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:10.572Z,1736366470.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498802 2025-01-08T20:01:10.730Z,1736366470.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:10.742Z,1736366470.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:10.745Z,1736366470.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 141.549271 m, bearing: 311.902605 deg, approach rate: -0.501216 m/s, LOS rate: 0.108552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101680 deg. 2025-01-08T20:01:10.747Z,1736366470.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818883 target range: 222.600006 and range: 222.60 m. 2025-01-08T20:01:10.824Z,1736366470.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:10.826Z,1736366470.826 [DAT](INFO): DAT read: Range 10 to 50 : 225.0 m (Round-trip 300.1 ms) speed -1.1 m/s 2025-01-08T20:01:10.826Z,1736366470.826 [DAT](INFO): DAT read: user:1048> 2025-01-08T20:01:10.827Z,1736366470.827 [DAT](INFO): DAT read: Tx time:20:01:10.1262 2025-01-08T20:01:10.828Z,1736366470.828 [DAT](INFO): Ping request sent. 2025-01-08T20:01:10.828Z,1736366470.828 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:10.828Z,1736366470.828 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:01:10.828Z,1736366470.828 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:10.829Z,1736366470.829 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:11.073Z,1736366471.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:11.076Z,1736366471.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:11.077Z,1736366471.077 [DAT](INFO): DAT read: TxSync time:20:01:10.1254 2025-01-08T20:01:11.086Z,1736366471.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 225.000000 m, deltaT: 3.780103 s, deltaX: 2.399994 m, approachRate: 0.634902 m/s, rangeRepo size: 4 2025-01-08T20:01:11.086Z,1736366471.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:11.089Z,1736366471.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 141.378860 m, bearing: 311.939482 deg, approach rate: -0.497313 m/s, LOS rate: 0.107749 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.085951 deg. 2025-01-08T20:01:11.091Z,1736366471.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818609 target range: 222.600006 and range: 225.00 m. 2025-01-08T20:01:11.329Z,1736366471.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:11.488Z,1736366471.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:11.506Z,1736366471.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:11.512Z,1736366471.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:11.520Z,1736366471.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 141.170837 m, bearing: 311.983502 deg, approach rate: -0.486882 m/s, LOS rate: 0.103182 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107442 deg. 2025-01-08T20:01:11.521Z,1736366471.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818984 target range: 222.600006 and range: 225.00 m. 2025-01-08T20:01:11.581Z,1736366471.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:11.582Z,1736366471.582 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:11.582Z,1736366471.582 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:11.582Z,1736366471.582 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:11.832Z,1736366471.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:11.833Z,1736366471.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005225 2025-01-08T20:01:11.869Z,1736366471.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:11.889Z,1736366471.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:11.897Z,1736366471.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 140.979309 m, bearing: 312.024096 deg, approach rate: -0.508310 m/s, LOS rate: 0.107880 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097132 deg. 2025-01-08T20:01:11.905Z,1736366471.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818804 target range: 222.600006 and range: 225.00 m. 2025-01-08T20:01:12.084Z,1736366472.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:12.085Z,1736366472.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256772 2025-01-08T20:01:12.274Z,1736366472.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:12.287Z,1736366472.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:12.290Z,1736366472.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 140.775986 m, bearing: 312.067465 deg, approach rate: -0.511054 m/s, LOS rate: 0.109165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105481 deg. 2025-01-08T20:01:12.291Z,1736366472.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818950 target range: 222.600006 and range: 225.00 m. 2025-01-08T20:01:12.338Z,1736366472.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:12.340Z,1736366472.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511731 2025-01-08T20:01:12.588Z,1736366472.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:12.588Z,1736366472.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760469 2025-01-08T20:01:12.732Z,1736366472.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:12.744Z,1736366472.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:12.747Z,1736366472.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 140.529694 m, bearing: 312.121620 deg, approach rate: -0.538962 m/s, LOS rate: 0.118716 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137937 deg. 2025-01-08T20:01:12.771Z,1736366472.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819516 target range: 222.600006 and range: 225.00 m. 2025-01-08T20:01:12.841Z,1736366472.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:12.842Z,1736366472.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014180 2025-01-08T20:01:13.085Z,1736366473.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:13.092Z,1736366473.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:13.093Z,1736366473.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264698 2025-01-08T20:01:13.096Z,1736366473.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:13.104Z,1736366473.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 140.339462 m, bearing: 312.163460 deg, approach rate: -0.541208 m/s, LOS rate: 0.119195 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100876 deg. 2025-01-08T20:01:13.105Z,1736366473.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818869 target range: 222.600006 and range: 225.00 m. 2025-01-08T20:01:13.346Z,1736366473.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:13.348Z,1736366473.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519784 2025-01-08T20:01:13.516Z,1736366473.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:13.522Z,1736366473.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:13.524Z,1736366473.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:13.543Z,1736366473.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 140.099640 m, bearing: 312.221133 deg, approach rate: -0.559097 m/s, LOS rate: 0.134685 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148504 deg. 2025-01-08T20:01:13.544Z,1736366473.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819701 target range: 222.600006 and range: 225.00 m. 2025-01-08T20:01:13.596Z,1736366473.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:13.596Z,1736366473.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768585 2025-01-08T20:01:13.849Z,1736366473.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:13.851Z,1736366473.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022355 2025-01-08T20:01:13.892Z,1736366473.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:13.926Z,1736366473.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:13.934Z,1736366473.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 139.889847 m, bearing: 312.272049 deg, approach rate: -0.522450 m/s, LOS rate: 0.126987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128164 deg. 2025-01-08T20:01:13.939Z,1736366473.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819345 target range: 222.600006 and range: 225.00 m. 2025-01-08T20:01:14.102Z,1736366474.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:14.121Z,1736366474.121 [DAT](INFO): DAT read: Rx Time:20:01:12.8361 2025-01-08T20:01:14.122Z,1736366474.122 [DAT](INFO): Rx dataTimestamp_ set to:1736366474.121424 2025-01-08T20:01:14.122Z,1736366474.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294417 2025-01-08T20:01:14.301Z,1736366474.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:14.311Z,1736366474.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:14.317Z,1736366474.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 139.662872 m, bearing: 312.327631 deg, approach rate: -0.592091 m/s, LOS rate: 0.145228 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142203 deg. 2025-01-08T20:01:14.318Z,1736366474.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819591 target range: 222.600006 and range: 225.00 m. 2025-01-08T20:01:14.353Z,1736366474.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:14.357Z,1736366474.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528768 2025-01-08T20:01:14.604Z,1736366474.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:14.607Z,1736366474.607 [DAT](INFO): DAT read: Range 10 to 50 : 229.2 m (Round-trip 305.7 ms) speed 0.0 m/s 2025-01-08T20:01:14.608Z,1736366474.608 [DAT](INFO): DAT read: user:1049> 2025-01-08T20:01:14.609Z,1736366474.609 [DAT](INFO): DAT read: Tx time:20:01:13.9262 2025-01-08T20:01:14.610Z,1736366474.610 [DAT](INFO): Ping request sent. 2025-01-08T20:01:14.610Z,1736366474.610 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:14.610Z,1736366474.610 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:01:14.610Z,1736366474.610 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:14.612Z,1736366474.612 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:14.761Z,1736366474.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:14.774Z,1736366474.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 229.199997 m, deltaT: 3.780202 s, deltaX: 4.199997 m, approachRate: 1.111051 m/s, rangeRepo size: 4 2025-01-08T20:01:14.775Z,1736366474.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:14.777Z,1736366474.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 139.393143 m, bearing: 312.395836 deg, approach rate: -0.581311 m/s, LOS rate: 0.147276 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180195 deg. 2025-01-08T20:01:14.779Z,1736366474.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820254 target range: 222.600006 and range: 229.20 m. 2025-01-08T20:01:14.857Z,1736366474.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:14.858Z,1736366474.858 [DAT](INFO): DAT read: TxSync time:20:01:13.9254 2025-01-08T20:01:15.104Z,1736366475.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:15.108Z,1736366475.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:15.118Z,1736366475.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:15.142Z,1736366475.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 139.192871 m, bearing: 312.447051 deg, approach rate: -0.580195 m/s, LOS rate: 0.148586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129053 deg. 2025-01-08T20:01:15.143Z,1736366475.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819361 target range: 222.600006 and range: 229.20 m. 2025-01-08T20:01:15.287Z,1736366475.287 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:01:15.361Z,1736366475.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:15.536Z,1736366475.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:15.543Z,1736366475.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:15.545Z,1736366475.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:15.549Z,1736366475.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 138.936890 m, bearing: 312.519415 deg, approach rate: -0.599622 m/s, LOS rate: 0.169822 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192680 deg. 2025-01-08T20:01:15.550Z,1736366475.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820472 target range: 222.600006 and range: 229.20 m. 2025-01-08T20:01:15.617Z,1736366475.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:15.617Z,1736366475.617 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:15.617Z,1736366475.617 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:15.617Z,1736366475.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:15.868Z,1736366475.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:15.868Z,1736366475.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258597 2025-01-08T20:01:15.927Z,1736366475.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:15.935Z,1736366475.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:15.938Z,1736366475.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 138.706726 m, bearing: 312.585356 deg, approach rate: -0.590454 m/s, LOS rate: 0.169441 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173335 deg. 2025-01-08T20:01:15.940Z,1736366475.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820134 target range: 222.600006 and range: 229.20 m. 2025-01-08T20:01:16.120Z,1736366476.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:16.120Z,1736366476.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510743 2025-01-08T20:01:16.288Z,1736366476.288 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:01:16.313Z,1736366476.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:16.322Z,1736366476.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:16.325Z,1736366476.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 138.479294 m, bearing: 312.651083 deg, approach rate: -0.587638 m/s, LOS rate: 0.170104 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172691 deg. 2025-01-08T20:01:16.326Z,1736366476.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820123 target range: 222.600006 and range: 229.20 m. 2025-01-08T20:01:16.374Z,1736366476.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:16.376Z,1736366476.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766199 2025-01-08T20:01:16.624Z,1736366476.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:16.624Z,1736366476.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014707 2025-01-08T20:01:16.745Z,1736366476.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:16.753Z,1736366476.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:16.756Z,1736366476.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 138.227875 m, bearing: 312.729091 deg, approach rate: -0.583177 m/s, LOS rate: 0.181272 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209635 deg. 2025-01-08T20:01:16.757Z,1736366476.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820767 target range: 222.600006 and range: 229.20 m. 2025-01-08T20:01:16.876Z,1736366476.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:16.878Z,1736366476.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268279 2025-01-08T20:01:17.128Z,1736366477.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:17.128Z,1736366477.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518735 2025-01-08T20:01:17.131Z,1736366477.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:17.161Z,1736366477.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:17.168Z,1736366477.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 138.003479 m, bearing: 312.799068 deg, approach rate: -0.550516 m/s, LOS rate: 0.171956 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185459 deg. 2025-01-08T20:01:17.169Z,1736366477.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820345 target range: 222.600006 and range: 229.20 m. 2025-01-08T20:01:17.382Z,1736366477.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:17.385Z,1736366477.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774318 2025-01-08T20:01:17.563Z,1736366477.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:17.580Z,1736366477.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:17.587Z,1736366477.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:17.590Z,1736366477.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 137.764145 m, bearing: 312.876569 deg, approach rate: -0.568284 m/s, LOS rate: 0.184341 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208092 deg. 2025-01-08T20:01:17.596Z,1736366477.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820741 target range: 222.600006 and range: 229.20 m. 2025-01-08T20:01:17.633Z,1736366477.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:17.634Z,1736366477.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024086 2025-01-08T20:01:17.884Z,1736366477.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:17.884Z,1736366477.884 [DAT](INFO): DAT read: Rx Time:20:01:16.6381 2025-01-08T20:01:17.885Z,1736366477.885 [DAT](INFO): Rx dataTimestamp_ set to:1736366477.884610 2025-01-08T20:01:17.885Z,1736366477.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275702 2025-01-08T20:01:17.958Z,1736366477.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:17.979Z,1736366477.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:17.988Z,1736366477.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 137.528244 m, bearing: 312.953342 deg, approach rate: -0.600380 m/s, LOS rate: 0.195725 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205897 deg. 2025-01-08T20:01:17.989Z,1736366477.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820703 target range: 222.600006 and range: 229.20 m. 2025-01-08T20:01:18.136Z,1736366478.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:18.137Z,1736366478.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526970 2025-01-08T20:01:18.338Z,1736366478.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:18.346Z,1736366478.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:18.350Z,1736366478.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 137.309921 m, bearing: 313.024666 deg, approach rate: -0.588349 m/s, LOS rate: 0.192514 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189498 deg. 2025-01-08T20:01:18.352Z,1736366478.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820416 target range: 222.600006 and range: 229.20 m. 2025-01-08T20:01:18.390Z,1736366478.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:18.395Z,1736366478.395 [DAT](INFO): DAT read: Range 10 to 50 : 230.8 m (Round-trip 307.8 ms) speed -0.1 m/s 2025-01-08T20:01:18.399Z,1736366478.399 [DAT](INFO): DAT read: user:1050> 2025-01-08T20:01:18.405Z,1736366478.405 [DAT](INFO): DAT read: Tx time:20:01:17.7262 2025-01-08T20:01:18.406Z,1736366478.406 [DAT](INFO): Ping request sent. 2025-01-08T20:01:18.406Z,1736366478.406 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:18.416Z,1736366478.416 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:01:18.417Z,1736366478.417 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:18.426Z,1736366478.426 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:18.642Z,1736366478.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:18.643Z,1736366478.643 [DAT](INFO): DAT read: TxSync time:20:01:17.7254 2025-01-08T20:01:18.786Z,1736366478.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:18.818Z,1736366478.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 230.800003 m, deltaT: 3.786162 s, deltaX: 1.600006 m, approachRate: 0.422593 m/s, rangeRepo size: 4 2025-01-08T20:01:18.844Z,1736366478.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:18.847Z,1736366478.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 137.058289 m, bearing: 313.106567 deg, approach rate: -0.533405 m/s, LOS rate: 0.173931 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221340 deg. 2025-01-08T20:01:18.853Z,1736366478.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820972 target range: 222.600006 and range: 230.80 m. 2025-01-08T20:01:18.892Z,1736366478.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:19.144Z,1736366479.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:19.206Z,1736366479.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:19.220Z,1736366479.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:19.223Z,1736366479.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 136.823090 m, bearing: 313.183801 deg, approach rate: -0.585731 m/s, LOS rate: 0.192671 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.207286 deg. 2025-01-08T20:01:19.224Z,1736366479.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820726 target range: 222.600006 and range: 230.80 m. 2025-01-08T20:01:19.398Z,1736366479.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:19.588Z,1736366479.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:19.595Z,1736366479.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:19.597Z,1736366479.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:19.601Z,1736366479.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 136.622742 m, bearing: 313.253856 deg, approach rate: -0.530191 m/s, LOS rate: 0.185662 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185659 deg. 2025-01-08T20:01:19.602Z,1736366479.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820349 target range: 222.600006 and range: 230.80 m. 2025-01-08T20:01:19.648Z,1736366479.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:19.649Z,1736366479.649 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:19.649Z,1736366479.649 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:19.649Z,1736366479.649 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:19.900Z,1736366479.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:19.901Z,1736366479.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495135 2025-01-08T20:01:19.964Z,1736366479.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:19.977Z,1736366479.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:19.980Z,1736366479.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 136.427155 m, bearing: 313.322590 deg, approach rate: -0.514985 m/s, LOS rate: 0.181238 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181684 deg. 2025-01-08T20:01:19.982Z,1736366479.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820280 target range: 222.600006 and range: 230.80 m. 2025-01-08T20:01:20.152Z,1736366480.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:20.152Z,1736366480.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746323 2025-01-08T20:01:20.353Z,1736366480.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:20.362Z,1736366480.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:20.382Z,1736366480.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 136.222977 m, bearing: 313.394302 deg, approach rate: -0.530281 m/s, LOS rate: 0.186526 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190644 deg. 2025-01-08T20:01:20.387Z,1736366480.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820436 target range: 222.600006 and range: 230.80 m. 2025-01-08T20:01:20.404Z,1736366480.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:20.405Z,1736366480.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999107 2025-01-08T20:01:20.657Z,1736366480.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:20.658Z,1736366480.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251836 2025-01-08T20:01:20.789Z,1736366480.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:20.798Z,1736366480.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:20.802Z,1736366480.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 136.000961 m, bearing: 313.471126 deg, approach rate: -0.509727 m/s, LOS rate: 0.176670 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206035 deg. 2025-01-08T20:01:20.803Z,1736366480.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820705 target range: 222.600006 and range: 230.80 m. 2025-01-08T20:01:20.909Z,1736366480.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:20.909Z,1736366480.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503472 2025-01-08T20:01:21.160Z,1736366481.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:21.161Z,1736366481.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754565 2025-01-08T20:01:21.170Z,1736366481.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:21.178Z,1736366481.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:21.183Z,1736366481.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 135.806656 m, bearing: 313.538275 deg, approach rate: -0.510376 m/s, LOS rate: 0.176631 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176921 deg. 2025-01-08T20:01:21.184Z,1736366481.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820197 target range: 222.600006 and range: 230.80 m. 2025-01-08T20:01:21.412Z,1736366481.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:21.413Z,1736366481.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006731 2025-01-08T20:01:21.606Z,1736366481.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:21.613Z,1736366481.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:21.616Z,1736366481.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:21.619Z,1736366481.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 135.588409 m, bearing: 313.610801 deg, approach rate: -0.499456 m/s, LOS rate: 0.166241 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193112 deg. 2025-01-08T20:01:21.621Z,1736366481.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820479 target range: 222.600006 and range: 230.80 m. 2025-01-08T20:01:21.666Z,1736366481.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:21.666Z,1736366481.666 [DAT](INFO): DAT read: Rx Time:20:01:20.4384 2025-01-08T20:01:21.668Z,1736366481.668 [DAT](INFO): Rx dataTimestamp_ set to:1736366481.666837 2025-01-08T20:01:21.669Z,1736366481.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262611 2025-01-08T20:01:21.916Z,1736366481.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:21.916Z,1736366481.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510390 2025-01-08T20:01:21.988Z,1736366481.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:22.026Z,1736366482.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:22.029Z,1736366482.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 135.396881 m, bearing: 313.674477 deg, approach rate: -0.466515 m/s, LOS rate: 0.155319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166485 deg. 2025-01-08T20:01:22.030Z,1736366482.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820014 target range: 222.600006 and range: 230.80 m. 2025-01-08T20:01:22.168Z,1736366482.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:22.170Z,1736366482.170 [DAT](INFO): DAT read: Range 10 to 50 : 231.0 m (Round-trip 308.0 ms) speed -0.4 m/s 2025-01-08T20:01:22.170Z,1736366482.170 [DAT](INFO): DAT read: user:1051> 2025-01-08T20:01:22.171Z,1736366482.171 [DAT](INFO): DAT read: Tx time:20:01:21.5263 2025-01-08T20:01:22.172Z,1736366482.172 [DAT](INFO): Ping request sent. 2025-01-08T20:01:22.172Z,1736366482.172 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:22.172Z,1736366482.172 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:01:22.172Z,1736366482.172 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:22.173Z,1736366482.173 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:22.420Z,1736366482.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:22.420Z,1736366482.420 [DAT](INFO): DAT read: TxSync time:20:01:21.5255 2025-01-08T20:01:22.595Z,1736366482.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:22.605Z,1736366482.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 231.000000 m, deltaT: 3.777665 s, deltaX: 0.199997 m, approachRate: 0.052942 m/s, rangeRepo size: 4 2025-01-08T20:01:22.606Z,1736366482.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:22.611Z,1736366482.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 135.099655 m, bearing: 313.769791 deg, approach rate: -0.513633 m/s, LOS rate: 0.165073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.261754 deg. 2025-01-08T20:01:22.612Z,1736366482.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821677 target range: 222.600006 and range: 231.00 m. 2025-01-08T20:01:22.672Z,1736366482.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:22.888Z,1736366482.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:22.897Z,1736366482.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:22.904Z,1736366482.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 134.956146 m, bearing: 313.815913 deg, approach rate: -0.490748 m/s, LOS rate: 0.157889 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113701 deg. 2025-01-08T20:01:22.925Z,1736366482.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:22.926Z,1736366482.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819093 target range: 222.600006 and range: 231.00 m. 2025-01-08T20:01:23.176Z,1736366483.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:23.381Z,1736366483.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:23.390Z,1736366483.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:23.393Z,1736366483.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 134.714905 m, bearing: 313.893666 deg, approach rate: -0.489277 m/s, LOS rate: 0.157978 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208863 deg. 2025-01-08T20:01:23.394Z,1736366483.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820754 target range: 222.600006 and range: 231.00 m. 2025-01-08T20:01:23.428Z,1736366483.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:23.681Z,1736366483.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:23.763Z,1736366483.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:23.771Z,1736366483.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:23.773Z,1736366483.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:23.776Z,1736366483.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 134.516312 m, bearing: 313.952412 deg, approach rate: -0.517980 m/s, LOS rate: 0.153451 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151685 deg. 2025-01-08T20:01:23.777Z,1736366483.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819756 target range: 222.600006 and range: 231.00 m. 2025-01-08T20:01:23.932Z,1736366483.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:23.933Z,1736366483.933 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:23.933Z,1736366483.933 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:23.934Z,1736366483.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:24.111Z,1736366484.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:24.140Z,1736366484.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:24.156Z,1736366484.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 134.334930 m, bearing: 314.005874 deg, approach rate: -0.494251 m/s, LOS rate: 0.145877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135789 deg. 2025-01-08T20:01:24.157Z,1736366484.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819479 target range: 222.600006 and range: 231.00 m. 2025-01-08T20:01:24.184Z,1736366484.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:24.184Z,1736366484.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012694 2025-01-08T20:01:24.436Z,1736366484.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:24.436Z,1736366484.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264682 2025-01-08T20:01:24.555Z,1736366484.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:24.565Z,1736366484.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:24.569Z,1736366484.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 134.103607 m, bearing: 314.074089 deg, approach rate: -0.547086 m/s, LOS rate: 0.161607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180182 deg. 2025-01-08T20:01:24.570Z,1736366484.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820253 target range: 222.600006 and range: 231.00 m. 2025-01-08T20:01:24.688Z,1736366484.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:24.688Z,1736366484.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516745 2025-01-08T20:01:24.919Z,1736366484.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:24.928Z,1736366484.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:24.930Z,1736366484.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 133.908691 m, bearing: 314.131160 deg, approach rate: -0.535296 m/s, LOS rate: 0.156963 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146650 deg. 2025-01-08T20:01:24.933Z,1736366484.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819668 target range: 222.600006 and range: 231.00 m. 2025-01-08T20:01:24.948Z,1736366484.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:24.949Z,1736366484.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776734 2025-01-08T20:01:25.201Z,1736366485.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:25.202Z,1736366485.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030753 2025-01-08T20:01:25.314Z,1736366485.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:25.324Z,1736366485.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:25.327Z,1736366485.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 133.697327 m, bearing: 314.193166 deg, approach rate: -0.533732 m/s, LOS rate: 0.156823 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161498 deg. 2025-01-08T20:01:25.328Z,1736366485.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819927 target range: 222.600006 and range: 231.00 m. 2025-01-08T20:01:25.452Z,1736366485.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:25.452Z,1736366485.452 [DAT](INFO): DAT read: Rx Time:20:01:24.2421 2025-01-08T20:01:25.453Z,1736366485.453 [DAT](INFO): Rx dataTimestamp_ set to:1736366485.452550 2025-01-08T20:01:25.453Z,1736366485.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281641 2025-01-08T20:01:25.704Z,1736366485.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:25.704Z,1736366485.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532611 2025-01-08T20:01:25.746Z,1736366485.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:25.768Z,1736366485.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:25.771Z,1736366485.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 133.458557 m, bearing: 314.260914 deg, approach rate: -0.536918 m/s, LOS rate: 0.152617 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178794 deg. 2025-01-08T20:01:25.777Z,1736366485.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820229 target range: 222.600006 and range: 231.00 m. 2025-01-08T20:01:25.956Z,1736366485.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:25.957Z,1736366485.957 [DAT](INFO): DAT read: Range 10 to 50 : 233.7 m (Round-trip 311.7 ms) speed -0.4 m/s 2025-01-08T20:01:25.958Z,1736366485.958 [DAT](INFO): DAT read: user:1052> 2025-01-08T20:01:25.959Z,1736366485.959 [DAT](INFO): DAT read: Tx time:20:01:25.3263 2025-01-08T20:01:25.959Z,1736366485.959 [DAT](INFO): Ping request sent. 2025-01-08T20:01:25.959Z,1736366485.959 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:25.960Z,1736366485.960 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:01:25.960Z,1736366485.960 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:25.960Z,1736366485.960 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:26.112Z,1736366486.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:26.120Z,1736366486.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:26.126Z,1736366486.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 233.699997 m, deltaT: 3.787709 s, deltaX: 2.699997 m, approachRate: 0.712831 m/s, rangeRepo size: 4 2025-01-08T20:01:26.128Z,1736366486.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:26.130Z,1736366486.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 133.256546 m, bearing: 314.318314 deg, approach rate: -0.564707 m/s, LOS rate: 0.160700 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147647 deg. 2025-01-08T20:01:26.132Z,1736366486.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819685 target range: 222.600006 and range: 233.70 m. 2025-01-08T20:01:26.208Z,1736366486.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:26.210Z,1736366486.210 [DAT](INFO): DAT read: TxSync time:20:01:25.3255 2025-01-08T20:01:26.210Z,1736366486.210 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:26.211Z,1736366486.211 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:26.211Z,1736366486.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:26.460Z,1736366486.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:26.460Z,1736366486.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500869 2025-01-08T20:01:26.556Z,1736366486.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:26.589Z,1736366486.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:26.596Z,1736366486.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 133.014557 m, bearing: 314.387572 deg, approach rate: -0.521939 m/s, LOS rate: 0.149652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183338 deg. 2025-01-08T20:01:26.598Z,1736366486.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820309 target range: 222.600006 and range: 233.70 m. 2025-01-08T20:01:26.712Z,1736366486.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:26.713Z,1736366486.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753592 2025-01-08T20:01:26.939Z,1736366486.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:26.947Z,1736366486.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:26.950Z,1736366486.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 132.792145 m, bearing: 314.452848 deg, approach rate: -0.622015 m/s, LOS rate: 0.182862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171342 deg. 2025-01-08T20:01:26.951Z,1736366486.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820099 target range: 222.600006 and range: 233.70 m. 2025-01-08T20:01:26.964Z,1736366486.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:26.964Z,1736366486.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005008 2025-01-08T20:01:27.216Z,1736366487.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:27.217Z,1736366487.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257238 2025-01-08T20:01:27.325Z,1736366487.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:27.334Z,1736366487.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:27.340Z,1736366487.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 132.571091 m, bearing: 314.518349 deg, approach rate: -0.570746 m/s, LOS rate: 0.169401 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172016 deg. 2025-01-08T20:01:27.341Z,1736366487.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820111 target range: 222.600006 and range: 233.70 m. 2025-01-08T20:01:27.468Z,1736366487.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:27.468Z,1736366487.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509063 2025-01-08T20:01:27.720Z,1736366487.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:27.721Z,1736366487.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761135 2025-01-08T20:01:27.758Z,1736366487.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:27.767Z,1736366487.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:27.770Z,1736366487.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 132.319290 m, bearing: 314.595232 deg, approach rate: -0.581679 m/s, LOS rate: 0.177943 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206272 deg. 2025-01-08T20:01:27.771Z,1736366487.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820709 target range: 222.600006 and range: 233.70 m. 2025-01-08T20:01:27.973Z,1736366487.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:27.973Z,1736366487.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013992 2025-01-08T20:01:28.145Z,1736366488.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:28.153Z,1736366488.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:28.157Z,1736366488.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:28.165Z,1736366488.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 132.094238 m, bearing: 314.664276 deg, approach rate: -0.579620 m/s, LOS rate: 0.178126 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182671 deg. 2025-01-08T20:01:28.184Z,1736366488.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820297 target range: 222.600006 and range: 233.70 m. 2025-01-08T20:01:28.224Z,1736366488.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:28.224Z,1736366488.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265053 2025-01-08T20:01:28.476Z,1736366488.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:28.477Z,1736366488.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517158 2025-01-08T20:01:28.567Z,1736366488.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:28.620Z,1736366488.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:28.623Z,1736366488.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 131.852478 m, bearing: 314.738937 deg, approach rate: -0.525850 m/s, LOS rate: 0.162692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199579 deg. 2025-01-08T20:01:28.628Z,1736366488.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820592 target range: 222.600006 and range: 233.70 m. 2025-01-08T20:01:28.728Z,1736366488.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:28.728Z,1736366488.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769023 2025-01-08T20:01:28.980Z,1736366488.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:28.980Z,1736366488.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020989 2025-01-08T20:01:29.079Z,1736366489.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:29.088Z,1736366489.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:29.090Z,1736366489.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 131.547928 m, bearing: 314.830094 deg, approach rate: -0.645084 m/s, LOS rate: 0.193531 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.249288 deg. 2025-01-08T20:01:29.093Z,1736366489.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821460 target range: 222.600006 and range: 233.70 m. 2025-01-08T20:01:29.238Z,1736366489.238 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:29.239Z,1736366489.239 [DAT](INFO): DAT read: Rx Time:20:01:28.0447 2025-01-08T20:01:29.240Z,1736366489.240 [DAT](INFO): Rx dataTimestamp_ set to:1736366489.239243 2025-01-08T20:01:29.240Z,1736366489.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280641 2025-01-08T20:01:29.453Z,1736366489.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:29.461Z,1736366489.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T20:01:29.465Z,1736366489.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 131.328217 m, bearing: 314.896187 deg, approach rate: -0.587339 m/s, LOS rate: 0.176979 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173798 deg. 2025-01-08T20:01:29.467Z,1736366489.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820142 target range: 222.600006 and range: 233.70 m. 2025-01-08T20:01:29.488Z,1736366489.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:29.488Z,1736366489.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529032 2025-01-08T20:01:29.741Z,1736366489.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:29.757Z,1736366489.757 [DAT](INFO): DAT read: 20:01:28.0447 LVL= 23776, 21809, 16370, 27923, AGC= 65, IDX= 446, 0.14, 1.558,-2.416, 2.416, 1.993, PHS=-0.347, 1.922, 0.420, RAW= 310.6, -19.4, CAL= 313.5, -28.2, ROT= 196.5, 28.2 2025-01-08T20:01:29.758Z,1736366489.758 [DAT](INFO): got valid direction response: 20:01:28.0447 LVL= 23776, 21809, 16370, 27923, AGC= 65, IDX= 446, 0.14, 1.558,-2.416, 2.416, 1.993, PHS=-0.347, 1.922, 0.420, RAW= 310.6, -19.4, CAL= 313.5, -28.2, ROT= 196.5, 28.2 2025-01-08T20:01:29.759Z,1736366489.759 [DAT](INFO): DAT read: Bearing 196.5, 28.2 (Local) 2025-01-08T20:01:29.759Z,1736366489.759 [DAT](INFO): Local bearing/azimuth received: Bearing 196.5, 28.2 (Local) 2025-01-08T20:01:29.761Z,1736366489.761 [DAT](INFO): DAT read: Range 10 to 50 : 235.6 m (Round-trip 314.2 ms) speed -0.4 m/s 2025-01-08T20:01:29.762Z,1736366489.762 [DAT](INFO): DAT read: user:1053> 2025-01-08T20:01:29.762Z,1736366489.762 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:01:29.763Z,1736366489.763 [DAT](INFO): direction in FSK: [0.478468,0.513945,-0.711989] 2025-01-08T20:01:29.764Z,1736366489.764 [DAT](INFO): publishing direction and range info 2025-01-08T20:01:29.769Z,1736366489.769 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:29.769Z,1736366489.769 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:29.769Z,1736366489.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:29.961Z,1736366489.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:29.992Z,1736366489.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:29.993Z,1736366489.993 [DAT](INFO): DAT read: Txtm:20:01:29.1764 2025-01-08T20:01:29.993Z,1736366489.993 [DAT](INFO): unknown deviceResponse_: Txtm:20:01:29.1764 2025-01-08T20:01:29.994Z,1736366489.994 [DAT](INFO): DAT read: TxSync time:20:01:29.1756 2025-01-08T20:01:29.994Z,1736366489.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034882 2025-01-08T20:01:30.012Z,1736366490.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 235.600006 m, deltaT: 3.785900 s, deltaX: 1.900009 m, approachRate: 0.501865 m/s, rangeRepo size: 4 2025-01-08T20:01:30.014Z,1736366490.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 235.600006 m, bearing: 326.283883 deg, lat: 36.906049 deg, lon: -122.122049 deg, deltaT: 22.697741 s, deltaX: 13.000000 m, approachRate: 0.572744 m/s, posRepo size: 4 2025-01-08T20:01:30.015Z,1736366490.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:30.021Z,1736366490.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 144.328339 m, bearing: 318.737027 deg, approach rate: 0.000000 m/s, LOS rate: 0.176979 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.264820 deg. 2025-01-08T20:01:30.023Z,1736366490.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821731 target range: 235.600006 and range: 235.60 m. 2025-01-08T20:01:30.244Z,1736366490.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:30.244Z,1736366490.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285059 2025-01-08T20:01:30.314Z,1736366490.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:30.322Z,1736366490.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:30.324Z,1736366490.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:30.327Z,1736366490.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 144.140717 m, bearing: 318.799942 deg, approach rate: -0.591638 m/s, LOS rate: 0.198649 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164174 deg. 2025-01-08T20:01:30.328Z,1736366490.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819974 target range: 235.600006 and range: 235.60 m. 2025-01-08T20:01:30.496Z,1736366490.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:30.496Z,1736366490.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536966 2025-01-08T20:01:30.723Z,1736366490.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:30.732Z,1736366490.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:30.748Z,1736366490.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:30.749Z,1736366490.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789807 2025-01-08T20:01:30.755Z,1736366490.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 143.931442 m, bearing: 318.871185 deg, approach rate: -0.514052 m/s, LOS rate: 0.175253 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189227 deg. 2025-01-08T20:01:30.756Z,1736366490.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820411 target range: 235.600006 and range: 235.60 m. 2025-01-08T20:01:30.000Z,1736366491.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:31.000Z,1736366491.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040893 2025-01-08T20:01:31.099Z,1736366491.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:31.136Z,1736366491.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:31.139Z,1736366491.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 143.739197 m, bearing: 318.936979 deg, approach rate: -0.505458 m/s, LOS rate: 0.173219 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172832 deg. 2025-01-08T20:01:31.144Z,1736366491.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820125 target range: 235.600006 and range: 235.60 m. 2025-01-08T20:01:31.252Z,1736366491.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:31.253Z,1736366491.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293786 2025-01-08T20:01:31.504Z,1736366491.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:31.504Z,1736366491.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545027 2025-01-08T20:01:31.506Z,1736366491.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:31.514Z,1736366491.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:31.518Z,1736366491.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 143.531021 m, bearing: 319.008322 deg, approach rate: -0.516920 m/s, LOS rate: 0.177408 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189524 deg. 2025-01-08T20:01:31.522Z,1736366491.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820416 target range: 235.600006 and range: 235.60 m. 2025-01-08T20:01:31.757Z,1736366491.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:31.758Z,1736366491.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798832 2025-01-08T20:01:31.928Z,1736366491.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:31.938Z,1736366491.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:31.968Z,1736366491.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 143.333038 m, bearing: 319.078185 deg, approach rate: -0.467702 m/s, LOS rate: 0.165268 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185065 deg. 2025-01-08T20:01:31.970Z,1736366491.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820339 target range: 235.600006 and range: 235.60 m. 2025-01-08T20:01:32.010Z,1736366492.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:32.011Z,1736366492.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051127 2025-01-08T20:01:32.264Z,1736366492.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:32.264Z,1736366492.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304895 2025-01-08T20:01:32.316Z,1736366492.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:32.323Z,1736366492.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:32.350Z,1736366492.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:32.357Z,1736366492.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 143.151001 m, bearing: 319.142232 deg, approach rate: -0.441617 m/s, LOS rate: 0.155574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167571 deg. 2025-01-08T20:01:32.358Z,1736366492.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820034 target range: 235.600006 and range: 235.60 m. 2025-01-08T20:01:32.516Z,1736366492.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:32.517Z,1736366492.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557276 2025-01-08T20:01:32.765Z,1736366492.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:32.768Z,1736366492.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:32.769Z,1736366492.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809174 2025-01-08T20:01:32.776Z,1736366492.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:32.779Z,1736366492.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 142.956757 m, bearing: 319.212732 deg, approach rate: -0.455635 m/s, LOS rate: 0.165595 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186973 deg. 2025-01-08T20:01:32.780Z,1736366492.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820372 target range: 235.600006 and range: 235.60 m. 2025-01-08T20:01:33.021Z,1736366493.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:33.023Z,1736366493.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062800 2025-01-08T20:01:33.123Z,1736366493.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:33.132Z,1736366493.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:33.144Z,1736366493.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 142.800980 m, bearing: 319.268845 deg, approach rate: -0.438513 m/s, LOS rate: 0.158130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143709 deg. 2025-01-08T20:01:33.145Z,1736366493.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819617 target range: 235.600006 and range: 235.60 m. 2025-01-08T20:01:33.272Z,1736366493.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:33.273Z,1736366493.273 [DAT](INFO): DAT read: Rx Time:20:01:31.8962 2025-01-08T20:01:33.273Z,1736366493.273 [DAT](INFO): Rx dataTimestamp_ set to:1736366493.273042 2025-01-08T20:01:33.274Z,1736366493.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314435 2025-01-08T20:01:33.524Z,1736366493.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:33.525Z,1736366493.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565284 2025-01-08T20:01:33.530Z,1736366493.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:33.539Z,1736366493.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:33.566Z,1736366493.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 142.623840 m, bearing: 319.332500 deg, approach rate: -0.434638 m/s, LOS rate: 0.156383 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166390 deg. 2025-01-08T20:01:33.567Z,1736366493.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820013 target range: 235.600006 and range: 235.60 m. 2025-01-08T20:01:33.776Z,1736366493.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:33.778Z,1736366493.778 [DAT](INFO): DAT read: Range 10 to 50 : 236.7 m (Round-trip 315.7 ms) speed -0.5 m/s 2025-01-08T20:01:33.779Z,1736366493.779 [DAT](INFO): DAT read: user:1054> 2025-01-08T20:01:33.779Z,1736366493.779 [DAT](INFO): DAT read: Tx time:20:01:32.9764 2025-01-08T20:01:33.780Z,1736366493.780 [DAT](INFO): Ping request sent. 2025-01-08T20:01:33.780Z,1736366493.780 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:33.780Z,1736366493.780 [DAT](INFO): DAT read: TxSync time:20:01:32.9756 2025-01-08T20:01:33.781Z,1736366493.781 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:01:33.781Z,1736366493.781 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:33.782Z,1736366493.782 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:33.962Z,1736366493.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:33.984Z,1736366493.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 236.699997 m, deltaT: 4.034307 s, deltaX: 1.099991 m, approachRate: 0.272659 m/s, rangeRepo size: 4 2025-01-08T20:01:33.985Z,1736366493.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:33.992Z,1736366493.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 142.433411 m, bearing: 319.400168 deg, approach rate: -0.440137 m/s, LOS rate: 0.156609 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178461 deg. 2025-01-08T20:01:33.993Z,1736366493.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820223 target range: 235.600006 and range: 236.70 m. 2025-01-08T20:01:34.028Z,1736366494.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:34.280Z,1736366494.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:34.328Z,1736366494.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:34.334Z,1736366494.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:34.337Z,1736366494.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:34.340Z,1736366494.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 142.273254 m, bearing: 319.457744 deg, approach rate: -0.438519 m/s, LOS rate: 0.157824 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148109 deg. 2025-01-08T20:01:34.341Z,1736366494.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819694 target range: 235.600006 and range: 236.70 m. 2025-01-08T20:01:34.532Z,1736366494.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:34.533Z,1736366494.533 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:34.533Z,1736366494.533 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:34.533Z,1736366494.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:34.773Z,1736366494.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:34.784Z,1736366494.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:34.784Z,1736366494.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004583 2025-01-08T20:01:34.791Z,1736366494.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:34.794Z,1736366494.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 142.077103 m, bearing: 319.528624 deg, approach rate: -0.435491 m/s, LOS rate: 0.157583 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188119 deg. 2025-01-08T20:01:34.800Z,1736366494.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820392 target range: 235.600006 and range: 236.70 m. 2025-01-08T20:01:35.036Z,1736366495.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:35.036Z,1736366495.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256581 2025-01-08T20:01:35.150Z,1736366495.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:35.160Z,1736366495.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:35.163Z,1736366495.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 141.910553 m, bearing: 319.588890 deg, approach rate: -0.446196 m/s, LOS rate: 0.161646 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156197 deg. 2025-01-08T20:01:35.164Z,1736366495.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819835 target range: 235.600006 and range: 236.70 m. 2025-01-08T20:01:35.288Z,1736366495.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:35.289Z,1736366495.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508635 2025-01-08T20:01:35.540Z,1736366495.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:35.540Z,1736366495.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760603 2025-01-08T20:01:35.545Z,1736366495.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:35.584Z,1736366495.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:35.586Z,1736366495.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 141.736160 m, bearing: 319.651793 deg, approach rate: -0.412516 m/s, LOS rate: 0.148976 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164126 deg. 2025-01-08T20:01:35.592Z,1736366495.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819973 target range: 235.600006 and range: 236.70 m. 2025-01-08T20:01:35.792Z,1736366495.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:35.792Z,1736366495.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012568 2025-01-08T20:01:36.039Z,1736366496.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:36.044Z,1736366496.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:36.044Z,1736366496.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264538 2025-01-08T20:01:36.051Z,1736366496.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:36.054Z,1736366496.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 141.495224 m, bearing: 319.734174 deg, approach rate: -0.515141 m/s, LOS rate: 0.176437 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222748 deg. 2025-01-08T20:01:36.055Z,1736366496.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820996 target range: 235.600006 and range: 236.70 m. 2025-01-08T20:01:36.296Z,1736366496.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:36.296Z,1736366496.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516484 2025-01-08T20:01:36.408Z,1736366496.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:36.424Z,1736366496.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:36.426Z,1736366496.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:36.434Z,1736366496.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 141.315186 m, bearing: 319.795758 deg, approach rate: -0.480270 m/s, LOS rate: 0.164493 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160176 deg. 2025-01-08T20:01:36.440Z,1736366496.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819904 target range: 235.600006 and range: 236.70 m. 2025-01-08T20:01:36.549Z,1736366496.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:36.550Z,1736366496.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770412 2025-01-08T20:01:36.800Z,1736366496.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:36.801Z,1736366496.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021192 2025-01-08T20:01:36.830Z,1736366496.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:36.839Z,1736366496.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:36.842Z,1736366496.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 141.098816 m, bearing: 319.870717 deg, approach rate: -0.523256 m/s, LOS rate: 0.181553 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200406 deg. 2025-01-08T20:01:36.844Z,1736366496.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820607 target range: 235.600006 and range: 236.70 m. 2025-01-08T20:01:37.052Z,1736366497.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:37.053Z,1736366497.053 [DAT](INFO): DAT read: Rx Time:20:01:35.6998 2025-01-08T20:01:37.053Z,1736366497.053 [DAT](INFO): Rx dataTimestamp_ set to:1736366497.052940 2025-01-08T20:01:37.054Z,1736366497.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273896 2025-01-08T20:01:37.300Z,1736366497.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:37.304Z,1736366497.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:37.305Z,1736366497.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524854 2025-01-08T20:01:37.336Z,1736366497.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.60 m. 2025-01-08T20:01:37.339Z,1736366497.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 235.600006 m, nav range: 140.857513 m, bearing: 319.954683 deg, approach rate: -0.485510 m/s, LOS rate: 0.169233 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.227515 deg. 2025-01-08T20:01:37.340Z,1736366497.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821080 target range: 235.600006 and range: 236.70 m. 2025-01-08T20:01:37.556Z,1736366497.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:37.562Z,1736366497.562 [DAT](INFO): DAT read: 20:01:35.6998 LVL= 21488, 21745, 14546, 25539, AGC= 55, IDX= 465, 0.11, 0.600, 2.952, 1.510, 0.994, PHS=-0.305, 2.006, 0.513, RAW= 309.6, -21.1, CAL= 311.3, -31.0, ROT= 198.7, 31.0 2025-01-08T20:01:37.563Z,1736366497.563 [DAT](INFO): got valid direction response: 20:01:35.6998 LVL= 21488, 21745, 14546, 25539, AGC= 55, IDX= 465, 0.11, 0.600, 2.952, 1.510, 0.994, PHS=-0.305, 2.006, 0.513, RAW= 309.6, -21.1, CAL= 311.3, -31.0, ROT= 198.7, 31.0 2025-01-08T20:01:37.564Z,1736366497.564 [DAT](INFO): DAT read: Bearing 198.7, 31.0 (Local) 2025-01-08T20:01:37.565Z,1736366497.565 [DAT](INFO): Local bearing/azimuth received: Bearing 198.7, 31.0 (Local) 2025-01-08T20:01:37.568Z,1736366497.568 [DAT](INFO): DAT read: Range 10 to 50 : 239.4 m (Round-trip 319.2 ms) speed -1.0 m/s 2025-01-08T20:01:37.569Z,1736366497.569 [DAT](INFO): DAT read: user:1055> 2025-01-08T20:01:37.570Z,1736366497.570 [DAT](INFO): DAT read: Tx time:20:01:36.8264 2025-01-08T20:01:37.570Z,1736366497.570 [DAT](INFO): Ping request sent. 2025-01-08T20:01:37.570Z,1736366497.570 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:37.570Z,1736366497.570 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:01:37.572Z,1736366497.572 [DAT](INFO): direction in FSK: [0.504932,0.491160,-0.709792] 2025-01-08T20:01:37.572Z,1736366497.572 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:37.572Z,1736366497.572 [DAT](INFO): publishing direction and range info 2025-01-08T20:01:37.575Z,1736366497.575 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:37.575Z,1736366497.575 [DAT](INFO): publishing direction and range info 2025-01-08T20:01:37.808Z,1736366497.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:37.809Z,1736366497.809 [DAT](INFO): DAT read: TxSync time:20:01:36.8256 2025-01-08T20:01:37.859Z,1736366497.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:37.905Z,1736366497.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 239.399994 m, deltaT: 3.779821 s, deltaX: 2.699997 m, approachRate: 0.714319 m/s, rangeRepo size: 4 2025-01-08T20:01:37.907Z,1736366497.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 239.399994 m, bearing: 325.813448 deg, lat: 36.906253 deg, lon: -122.122142 deg, deltaT: 7.814128 s, deltaX: 3.799988 m, approachRate: 0.486297 m/s, posRepo size: 4 2025-01-08T20:01:37.912Z,1736366497.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:37.915Z,1736366497.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 163.421692 m, bearing: 322.951075 deg, approach rate: 0.000000 m/s, LOS rate: 0.169233 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.258856 deg. 2025-01-08T20:01:37.921Z,1736366497.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821627 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:38.060Z,1736366498.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:38.292Z,1736366498.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:38.310Z,1736366498.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:38.312Z,1736366498.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:38.318Z,1736366498.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 163.193573 m, bearing: 323.027979 deg, approach rate: -0.549274 m/s, LOS rate: 0.185430 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206218 deg. 2025-01-08T20:01:38.319Z,1736366498.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820708 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:38.564Z,1736366498.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:38.626Z,1736366498.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:38.656Z,1736366498.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:38.659Z,1736366498.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:38.673Z,1736366498.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 163.019775 m, bearing: 323.088070 deg, approach rate: -0.499080 m/s, LOS rate: 0.172745 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155654 deg. 2025-01-08T20:01:38.684Z,1736366498.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819825 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:38.817Z,1736366498.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:38.817Z,1736366498.817 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:38.818Z,1736366498.818 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:38.818Z,1736366498.818 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:39.068Z,1736366499.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:39.068Z,1736366499.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498120 2025-01-08T20:01:39.077Z,1736366499.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:39.091Z,1736366499.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:39.098Z,1736366499.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 162.772308 m, bearing: 323.173611 deg, approach rate: -0.572487 m/s, LOS rate: 0.198189 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232197 deg. 2025-01-08T20:01:39.104Z,1736366499.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821161 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:39.320Z,1736366499.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:39.321Z,1736366499.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750394 2025-01-08T20:01:39.447Z,1736366499.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:39.457Z,1736366499.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:39.460Z,1736366499.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 162.570038 m, bearing: 323.243988 deg, approach rate: -0.552440 m/s, LOS rate: 0.192453 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186580 deg. 2025-01-08T20:01:39.461Z,1736366499.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820365 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:39.572Z,1736366499.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:39.573Z,1736366499.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002398 2025-01-08T20:01:39.824Z,1736366499.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:39.824Z,1736366499.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254135 2025-01-08T20:01:39.901Z,1736366499.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:39.919Z,1736366499.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:39.926Z,1736366499.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 162.319244 m, bearing: 323.330884 deg, approach rate: -0.543306 m/s, LOS rate: 0.188537 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.236275 deg. 2025-01-08T20:01:39.927Z,1736366499.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821232 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:40.076Z,1736366500.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:40.077Z,1736366500.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506424 2025-01-08T20:01:40.248Z,1736366500.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:40.273Z,1736366500.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:40.281Z,1736366500.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 162.128738 m, bearing: 323.397414 deg, approach rate: -0.538019 m/s, LOS rate: 0.188112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175011 deg. 2025-01-08T20:01:40.282Z,1736366500.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820163 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:40.328Z,1736366500.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:40.329Z,1736366500.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758536 2025-01-08T20:01:40.580Z,1736366500.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:40.580Z,1736366500.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010230 2025-01-08T20:01:40.666Z,1736366500.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:40.691Z,1736366500.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:40.697Z,1736366500.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:40.706Z,1736366500.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 161.899216 m, bearing: 323.478065 deg, approach rate: -0.540816 m/s, LOS rate: 0.190303 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217480 deg. 2025-01-08T20:01:40.712Z,1736366500.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820904 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:40.833Z,1736366500.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:40.834Z,1736366500.834 [DAT](INFO): DAT read: Rx Time:20:01:39.4992 2025-01-08T20:01:40.835Z,1736366500.835 [DAT](INFO): Rx dataTimestamp_ set to:1736366500.834359 2025-01-08T20:01:40.836Z,1736366500.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265599 2025-01-08T20:01:41.084Z,1736366501.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:41.085Z,1736366501.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514419 2025-01-08T20:01:41.094Z,1736366501.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:41.128Z,1736366501.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:41.131Z,1736366501.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 161.671066 m, bearing: 323.562342 deg, approach rate: -0.535057 m/s, LOS rate: 0.197927 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228374 deg. 2025-01-08T20:01:41.136Z,1736366501.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821095 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:41.338Z,1736366501.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:41.342Z,1736366501.342 [DAT](INFO): DAT read: Range 10 to 50 : 201.4 m (Round-trip 268.6 ms) speed -0.4 m/s 2025-01-08T20:01:41.343Z,1736366501.343 [DAT](INFO): DAT read: user:1056> 2025-01-08T20:01:41.344Z,1736366501.344 [DAT](INFO): DAT read: Tx time:20:01:40.5764 2025-01-08T20:01:41.344Z,1736366501.344 [DAT](INFO): Ping request sent. 2025-01-08T20:01:41.344Z,1736366501.344 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:41.345Z,1736366501.345 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:01:41.345Z,1736366501.345 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:41.345Z,1736366501.345 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:41.478Z,1736366501.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:41.488Z,1736366501.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 201.399994 m, deltaT: 3.784690 s, deltaX: -38.000000 m, approachRate: -10.040452 m/s, rangeRepo size: 4 2025-01-08T20:01:41.488Z,1736366501.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:41.491Z,1736366501.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 161.467148 m, bearing: 323.638171 deg, approach rate: -0.561051 m/s, LOS rate: 0.208894 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.202958 deg. 2025-01-08T20:01:41.493Z,1736366501.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820651 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:41.588Z,1736366501.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:41.589Z,1736366501.589 [DAT](INFO): DAT read: TxSync time:20:01:40.5756 2025-01-08T20:01:41.840Z,1736366501.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:41.905Z,1736366501.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:41.913Z,1736366501.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:41.917Z,1736366501.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 161.248520 m, bearing: 323.718890 deg, approach rate: -0.512577 m/s, LOS rate: 0.189505 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217673 deg. 2025-01-08T20:01:41.919Z,1736366501.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820908 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:42.093Z,1736366502.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:42.292Z,1736366502.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:42.309Z,1736366502.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:42.322Z,1736366502.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 161.051727 m, bearing: 323.792768 deg, approach rate: -0.498710 m/s, LOS rate: 0.187449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197090 deg. 2025-01-08T20:01:42.323Z,1736366502.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820549 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:42.345Z,1736366502.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:42.596Z,1736366502.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:42.687Z,1736366502.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:42.711Z,1736366502.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:42.713Z,1736366502.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:42.721Z,1736366502.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 160.851730 m, bearing: 323.868465 deg, approach rate: -0.493433 m/s, LOS rate: 0.186993 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.202560 deg. 2025-01-08T20:01:42.722Z,1736366502.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820644 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:42.849Z,1736366502.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:42.849Z,1736366502.849 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:42.850Z,1736366502.850 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:42.850Z,1736366502.850 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:43.100Z,1736366503.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:43.100Z,1736366503.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756027 2025-01-08T20:01:43.116Z,1736366503.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:43.133Z,1736366503.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:43.141Z,1736366503.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 160.652145 m, bearing: 323.943950 deg, approach rate: -0.475275 m/s, LOS rate: 0.179976 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201921 deg. 2025-01-08T20:01:43.142Z,1736366503.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820633 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:43.352Z,1736366503.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:43.354Z,1736366503.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009035 2025-01-08T20:01:43.495Z,1736366503.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:43.504Z,1736366503.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:43.507Z,1736366503.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 160.460266 m, bearing: 324.016489 deg, approach rate: -0.517273 m/s, LOS rate: 0.195787 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193063 deg. 2025-01-08T20:01:43.508Z,1736366503.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820478 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:43.605Z,1736366503.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:43.605Z,1736366503.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260862 2025-01-08T20:01:43.856Z,1736366503.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:43.856Z,1736366503.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511923 2025-01-08T20:01:43.911Z,1736366503.911 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +49.43, +613.17 7.63, 0.00 2025-01-08T20:01:43.919Z,1736366503.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:01:43.920Z,1736366503.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:43.929Z,1736366503.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:43.933Z,1736366503.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 160.254837 m, bearing: 324.094259 deg, approach rate: -0.483999 m/s, LOS rate: 0.183462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208792 deg. 2025-01-08T20:01:43.934Z,1736366503.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820753 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:44.108Z,1736366504.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:44.108Z,1736366504.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763964 2025-01-08T20:01:44.305Z,1736366504.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:01:44.305Z,1736366504.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:44.313Z,1736366504.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:44.316Z,1736366504.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 160.067871 m, bearing: 324.165011 deg, approach rate: -0.486409 m/s, LOS rate: 0.184283 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187690 deg. 2025-01-08T20:01:44.318Z,1736366504.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820385 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:44.360Z,1736366504.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:44.362Z,1736366504.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017176 2025-01-08T20:01:44.612Z,1736366504.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:44.612Z,1736366504.612 [DAT](INFO): DAT read: Rx Time:20:01:43.3040 2025-01-08T20:01:44.613Z,1736366504.613 [DAT](INFO): Rx dataTimestamp_ set to:1736366504.612644 2025-01-08T20:01:44.613Z,1736366504.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269001 2025-01-08T20:01:44.726Z,1736366504.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:01:44.726Z,1736366504.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:44.734Z,1736366504.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:44.736Z,1736366504.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.40 m. 2025-01-08T20:01:44.739Z,1736366504.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.399994 m, nav range: 159.863281 m, bearing: 324.242434 deg, approach rate: -0.483730 m/s, LOS rate: 0.183294 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.207754 deg. 2025-01-08T20:01:44.740Z,1736366504.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820735 target range: 239.399994 and range: 239.40 m. 2025-01-08T20:01:44.864Z,1736366504.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:44.865Z,1736366504.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520648 2025-01-08T20:01:45.116Z,1736366505.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:45.123Z,1736366505.123 [DAT](INFO): DAT read: 20:01:43.3040 LVL= 23424, 17505, 15026, 28275, AGC= 61, IDX= 491,-0.05, 2.921,-0.985,-2.450,-2.932, PHS=-0.342, 1.994, 0.478, RAW= 309.8, -20.1, CAL= 312.2, -29.4, ROT= 197.8, 29.4 2025-01-08T20:01:45.124Z,1736366505.124 [DAT](INFO): got valid direction response: 20:01:43.3040 LVL= 23424, 17505, 15026, 28275, AGC= 61, IDX= 491,-0.05, 2.921,-0.985,-2.450,-2.932, PHS=-0.342, 1.994, 0.478, RAW= 309.8, -20.1, CAL= 312.2, -29.4, ROT= 197.8, 29.4 2025-01-08T20:01:45.125Z,1736366505.125 [DAT](INFO): DAT read: Bearing 197.8, 29.4 (Local) 2025-01-08T20:01:45.126Z,1736366505.126 [DAT](INFO): Local bearing/azimuth received: Bearing 197.8, 29.4 (Local) 2025-01-08T20:01:45.127Z,1736366505.127 [DAT](INFO): DAT read: Range 10 to 50 : 242.4 m (Round-trip 323.3 ms) speed -0.4 m/s 2025-01-08T20:01:45.128Z,1736366505.128 [DAT](INFO): DAT read: user:1057> 2025-01-08T20:01:45.129Z,1736366505.129 [DAT](INFO): DAT read: Tx time:20:01:44.4265 2025-01-08T20:01:45.129Z,1736366505.129 [DAT](INFO): Ping request sent. 2025-01-08T20:01:45.129Z,1736366505.129 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:45.129Z,1736366505.129 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:01:45.130Z,1736366505.130 [DAT](INFO): direction in FSK: [0.489826,0.498794,-0.715035] 2025-01-08T20:01:45.130Z,1736366505.130 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:45.131Z,1736366505.131 [DAT](INFO): publishing direction and range info 2025-01-08T20:01:45.142Z,1736366505.142 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:45.142Z,1736366505.142 [DAT](INFO): publishing direction and range info 2025-01-08T20:01:45.170Z,1736366505.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:45.201Z,1736366505.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 242.399994 m, deltaT: 7.560473 s, deltaX: 3.000000 m, approachRate: 0.396801 m/s, rangeRepo size: 4 2025-01-08T20:01:45.209Z,1736366505.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 242.399994 m, bearing: 326.494699 deg, lat: 36.906467 deg, lon: -122.122176 deg, deltaT: 7.560473 s, deltaX: 3.000000 m, approachRate: 0.396801 m/s, posRepo size: 4 2025-01-08T20:01:45.210Z,1736366505.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.40 m. 2025-01-08T20:01:45.256Z,1736366505.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.399994 m, nav range: 181.150375 m, bearing: 327.938894 deg, approach rate: 0.000000 m/s, LOS rate: 0.183294 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225400 deg. 2025-01-08T20:01:45.257Z,1736366505.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821043 target range: 242.399994 and range: 242.40 m. 2025-01-08T20:01:45.369Z,1736366505.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:45.370Z,1736366505.370 [DAT](INFO): DAT read: TxSync time:20:01:44.4257 2025-01-08T20:01:45.578Z,1736366505.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:45.595Z,1736366505.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.40 m. 2025-01-08T20:01:45.602Z,1736366505.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.399994 m, nav range: 180.988281 m, bearing: 327.999196 deg, approach rate: -0.401297 m/s, LOS rate: 0.149422 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156253 deg. 2025-01-08T20:01:45.608Z,1736366505.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819836 target range: 242.399994 and range: 242.40 m. 2025-01-08T20:01:45.620Z,1736366505.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:45.872Z,1736366505.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:45.994Z,1736366505.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:46.004Z,1736366506.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.40 m. 2025-01-08T20:01:46.007Z,1736366506.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.399994 m, nav range: 180.831253 m, bearing: 328.057682 deg, approach rate: -0.383692 m/s, LOS rate: 0.143033 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150797 deg. 2025-01-08T20:01:46.009Z,1736366506.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819741 target range: 242.399994 and range: 242.40 m. 2025-01-08T20:01:46.124Z,1736366506.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:46.376Z,1736366506.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:46.413Z,1736366506.413 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:01:46.476Z,1736366506.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:46.487Z,1736366506.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.40 m. 2025-01-08T20:01:46.490Z,1736366506.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.399994 m, nav range: 180.649567 m, bearing: 328.125419 deg, approach rate: -0.376236 m/s, LOS rate: 0.140410 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178600 deg. 2025-01-08T20:01:46.492Z,1736366506.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820226 target range: 242.399994 and range: 242.40 m. 2025-01-08T20:01:46.629Z,1736366506.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:46.880Z,1736366506.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:46.928Z,1736366506.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:46.956Z,1736366506.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:46.958Z,1736366506.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.40 m. 2025-01-08T20:01:46.965Z,1736366506.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.399994 m, nav range: 180.477539 m, bearing: 328.187675 deg, approach rate: -0.365669 m/s, LOS rate: 0.132460 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162132 deg. 2025-01-08T20:01:46.966Z,1736366506.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819939 target range: 242.399994 and range: 242.40 m. 2025-01-08T20:01:47.132Z,1736366507.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:47.133Z,1736366507.133 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:47.133Z,1736366507.133 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:47.133Z,1736366507.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:47.366Z,1736366507.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:47.384Z,1736366507.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:47.384Z,1736366507.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255367 2025-01-08T20:01:47.393Z,1736366507.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.40 m. 2025-01-08T20:01:47.402Z,1736366507.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.399994 m, nav range: 180.309784 m, bearing: 328.247673 deg, approach rate: -0.385773 m/s, LOS rate: 0.138101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155348 deg. 2025-01-08T20:01:47.407Z,1736366507.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819820 target range: 242.399994 and range: 242.40 m. 2025-01-08T20:01:47.412Z,1736366507.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:01:47.638Z,1736366507.638 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:47.639Z,1736366507.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510384 2025-01-08T20:01:47.773Z,1736366507.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:47.806Z,1736366507.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.40 m. 2025-01-08T20:01:47.818Z,1736366507.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.399994 m, nav range: 180.153671 m, bearing: 328.303423 deg, approach rate: -0.377261 m/s, LOS rate: 0.134842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142582 deg. 2025-01-08T20:01:47.825Z,1736366507.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819597 target range: 242.399994 and range: 242.40 m. 2025-01-08T20:01:47.888Z,1736366507.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:47.889Z,1736366507.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759478 2025-01-08T20:01:48.140Z,1736366508.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:48.140Z,1736366508.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011279 2025-01-08T20:01:48.282Z,1736366508.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:48.291Z,1736366508.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.40 m. 2025-01-08T20:01:48.294Z,1736366508.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.399994 m, nav range: 179.949753 m, bearing: 328.371744 deg, approach rate: -0.420936 m/s, LOS rate: 0.141191 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180383 deg. 2025-01-08T20:01:48.295Z,1736366508.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820257 target range: 242.399994 and range: 242.40 m. 2025-01-08T20:01:48.392Z,1736366508.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:48.393Z,1736366508.393 [DAT](INFO): DAT read: Rx Time:20:01:47.1581 2025-01-08T20:01:48.393Z,1736366508.393 [DAT](INFO): Rx dataTimestamp_ set to:1736366508.392813 2025-01-08T20:01:48.394Z,1736366508.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264606 2025-01-08T20:01:48.576Z,1736366508.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:48.585Z,1736366508.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.40 m. 2025-01-08T20:01:48.588Z,1736366508.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.399994 m, nav range: 179.832184 m, bearing: 328.411121 deg, approach rate: -0.399373 m/s, LOS rate: 0.133846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.093393 deg. 2025-01-08T20:01:48.589Z,1736366508.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818739 target range: 242.399994 and range: 242.40 m. 2025-01-08T20:01:48.645Z,1736366508.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:48.646Z,1736366508.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516695 2025-01-08T20:01:48.913Z,1736366508.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:48.920Z,1736366508.920 [DAT](INFO): DAT read: 20:01:47.1581 LVL= 21856, 17873, 15730, 26211, AGC= 60, IDX= 460, 0.47,-1.804, 0.594,-0.945,-1.282, PHS=-0.434, 1.923, 0.334, RAW= 311.4, -17.2, CAL= 315.5, -24.3, ROT= 194.5, 24.3 2025-01-08T20:01:48.921Z,1736366508.921 [DAT](INFO): got valid direction response: 20:01:47.1581 LVL= 21856, 17873, 15730, 26211, AGC= 60, IDX= 460, 0.47,-1.804, 0.594,-0.945,-1.282, PHS=-0.434, 1.923, 0.334, RAW= 311.4, -17.2, CAL= 315.5, -24.3, ROT= 194.5, 24.3 2025-01-08T20:01:48.922Z,1736366508.922 [DAT](INFO): DAT read: Bearing 194.5, 24.3 (Local) 2025-01-08T20:01:48.922Z,1736366508.922 [DAT](INFO): Local bearing/azimuth received: Bearing 194.5, 24.3 (Local) 2025-01-08T20:01:48.924Z,1736366508.924 [DAT](INFO): DAT read: Range 10 to 50 : 245.5 m (Round-trip 327.4 ms) speed -0.7 m/s 2025-01-08T20:01:48.925Z,1736366508.925 [DAT](INFO): DAT read: user:1058> 2025-01-08T20:01:48.926Z,1736366508.926 [DAT](INFO): DAT read: Tx time:20:01:48.2765 2025-01-08T20:01:48.926Z,1736366508.926 [DAT](INFO): Ping request sent. 2025-01-08T20:01:48.926Z,1736366508.926 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:48.926Z,1736366508.926 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:01:48.927Z,1736366508.927 [DAT](INFO): direction in FSK: [0.441581,0.536099,-0.719447] 2025-01-08T20:01:48.928Z,1736366508.928 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:48.928Z,1736366508.928 [DAT](INFO): publishing direction and range info 2025-01-08T20:01:48.931Z,1736366508.931 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:48.931Z,1736366508.931 [DAT](INFO): publishing direction and range info 2025-01-08T20:01:49.053Z,1736366509.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:01:49.053Z,1736366509.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:49.088Z,1736366509.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 245.500000 m, deltaT: 3.796435 s, deltaX: 3.100006 m, approachRate: 0.816557 m/s, rangeRepo size: 4 2025-01-08T20:01:49.090Z,1736366509.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 245.500000 m, bearing: 332.055587 deg, lat: 36.906468 deg, lon: -122.122142 deg, deltaT: 3.796435 s, deltaX: 3.100006 m, approachRate: 0.816557 m/s, posRepo size: 4 2025-01-08T20:01:49.099Z,1736366509.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:49.102Z,1736366509.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 178.156616 m, bearing: 329.314508 deg, approach rate: 0.000000 m/s, LOS rate: 0.133846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175257 deg. 2025-01-08T20:01:49.108Z,1736366509.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820168 target range: 245.500000 and range: 245.50 m. 2025-01-08T20:01:49.164Z,1736366509.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:49.166Z,1736366509.166 [DAT](INFO): DAT read: TxSync time:20:01:48.2757 2025-01-08T20:01:49.394Z,1736366509.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:01:49.394Z,1736366509.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:49.403Z,1736366509.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:49.408Z,1736366509.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:49.410Z,1736366509.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 178.022308 m, bearing: 329.361387 deg, approach rate: -0.414365 m/s, LOS rate: 0.144741 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115931 deg. 2025-01-08T20:01:49.412Z,1736366509.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819132 target range: 245.500000 and range: 245.50 m. 2025-01-08T20:01:49.416Z,1736366509.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:49.416Z,1736366509.416 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:49.417Z,1736366509.417 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:49.417Z,1736366509.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:49.668Z,1736366509.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:49.669Z,1736366509.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743116 2025-01-08T20:01:49.912Z,1736366509.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:01:49.912Z,1736366509.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:49.920Z,1736366509.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:49.921Z,1736366509.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994748 2025-01-08T20:01:49.923Z,1736366509.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:49.926Z,1736366509.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 177.819778 m, bearing: 329.433025 deg, approach rate: -0.393172 m/s, LOS rate: 0.139230 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190345 deg. 2025-01-08T20:01:49.927Z,1736366509.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820431 target range: 245.500000 and range: 245.50 m. 2025-01-08T20:01:50.172Z,1736366510.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:50.172Z,1736366510.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246412 2025-01-08T20:01:50.310Z,1736366510.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:50.322Z,1736366510.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:50.330Z,1736366510.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 177.653275 m, bearing: 329.493212 deg, approach rate: -0.416390 m/s, LOS rate: 0.150656 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155916 deg. 2025-01-08T20:01:50.331Z,1736366510.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819830 target range: 245.500000 and range: 245.50 m. 2025-01-08T20:01:50.425Z,1736366510.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:50.426Z,1736366510.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499694 2025-01-08T20:01:50.676Z,1736366510.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:50.677Z,1736366510.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751396 2025-01-08T20:01:50.685Z,1736366510.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:50.693Z,1736366510.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:50.696Z,1736366510.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 177.496841 m, bearing: 329.549965 deg, approach rate: -0.421640 m/s, LOS rate: 0.153102 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145593 deg. 2025-01-08T20:01:50.697Z,1736366510.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819650 target range: 245.500000 and range: 245.50 m. 2025-01-08T20:01:50.930Z,1736366510.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:50.933Z,1736366510.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006052 2025-01-08T20:01:51.176Z,1736366511.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:51.180Z,1736366511.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:51.180Z,1736366511.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254463 2025-01-08T20:01:51.187Z,1736366511.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:51.190Z,1736366511.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 177.277847 m, bearing: 329.628151 deg, approach rate: -0.443497 m/s, LOS rate: 0.158534 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.210033 deg. 2025-01-08T20:01:51.192Z,1736366511.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820775 target range: 245.500000 and range: 245.50 m. 2025-01-08T20:01:51.432Z,1736366511.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:51.434Z,1736366511.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507857 2025-01-08T20:01:51.513Z,1736366511.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:51.536Z,1736366511.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:51.538Z,1736366511.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:51.545Z,1736366511.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 177.127930 m, bearing: 329.681683 deg, approach rate: -0.427435 m/s, LOS rate: 0.152757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135919 deg. 2025-01-08T20:01:51.546Z,1736366511.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819481 target range: 245.500000 and range: 245.50 m. 2025-01-08T20:01:51.684Z,1736366511.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:51.685Z,1736366511.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758534 2025-01-08T20:01:51.938Z,1736366511.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:51.939Z,1736366511.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012566 2025-01-08T20:01:51.956Z,1736366511.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:51.972Z,1736366511.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:51.979Z,1736366511.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 176.930115 m, bearing: 329.752501 deg, approach rate: -0.455335 m/s, LOS rate: 0.163193 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187877 deg. 2025-01-08T20:01:51.981Z,1736366511.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820388 target range: 245.500000 and range: 245.50 m. 2025-01-08T20:01:52.188Z,1736366512.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:52.188Z,1736366512.188 [DAT](INFO): DAT read: Rx Time:20:01:51.0109 2025-01-08T20:01:52.189Z,1736366512.189 [DAT](INFO): Rx dataTimestamp_ set to:1736366512.188624 2025-01-08T20:01:52.189Z,1736366512.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263487 2025-01-08T20:01:52.345Z,1736366512.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:52.373Z,1736366512.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:52.380Z,1736366512.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 176.755142 m, bearing: 329.817579 deg, approach rate: -0.436422 m/s, LOS rate: 0.162479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170612 deg. 2025-01-08T20:01:52.381Z,1736366512.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820086 target range: 245.500000 and range: 245.50 m. 2025-01-08T20:01:52.442Z,1736366512.442 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:52.443Z,1736366512.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516848 2025-01-08T20:01:52.692Z,1736366512.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:52.693Z,1736366512.693 [DAT](INFO): DAT read: Range 10 to 50 : 247.6 m (Round-trip 330.2 ms) speed -0.8 m/s 2025-01-08T20:01:52.694Z,1736366512.694 [DAT](INFO): DAT read: user:1059> 2025-01-08T20:01:52.695Z,1736366512.695 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:01:52.695Z,1736366512.695 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:52.695Z,1736366512.695 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:52.696Z,1736366512.696 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:52.736Z,1736366512.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:52.758Z,1736366512.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 247.600006 m, deltaT: 3.779121 s, deltaX: 2.100006 m, approachRate: 0.555686 m/s, rangeRepo size: 4 2025-01-08T20:01:52.759Z,1736366512.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:52.766Z,1736366512.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 176.579315 m, bearing: 329.883267 deg, approach rate: -0.457832 m/s, LOS rate: 0.171214 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172446 deg. 2025-01-08T20:01:52.776Z,1736366512.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820118 target range: 245.500000 and range: 247.60 m. 2025-01-08T20:01:52.946Z,1736366512.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:52.950Z,1736366512.950 [DAT](INFO): DAT read: Tx time:20:01:52.1265 2025-01-08T20:01:52.951Z,1736366512.951 [DAT](INFO): Ping request sent. 2025-01-08T20:01:52.952Z,1736366512.952 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:52.954Z,1736366512.954 [DAT](INFO): DAT read: TxSync time:20:01:52.1258 2025-01-08T20:01:52.956Z,1736366512.956 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:52.957Z,1736366512.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006022 2025-01-08T20:01:53.117Z,1736366513.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:53.125Z,1736366513.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:53.129Z,1736366513.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 176.399704 m, bearing: 329.950811 deg, approach rate: -0.488303 m/s, LOS rate: 0.183819 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178027 deg. 2025-01-08T20:01:53.130Z,1736366513.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820216 target range: 245.500000 and range: 247.60 m. 2025-01-08T20:01:53.196Z,1736366513.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:53.197Z,1736366513.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245953 2025-01-08T20:01:53.448Z,1736366513.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:53.448Z,1736366513.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497615 2025-01-08T20:01:53.525Z,1736366513.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:53.540Z,1736366513.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:53.542Z,1736366513.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:53.546Z,1736366513.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 176.207474 m, bearing: 330.023349 deg, approach rate: -0.461059 m/s, LOS rate: 0.174169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193036 deg. 2025-01-08T20:01:53.547Z,1736366513.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820478 target range: 245.500000 and range: 247.60 m. 2025-01-08T20:01:53.700Z,1736366513.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:53.701Z,1736366513.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750345 2025-01-08T20:01:53.954Z,1736366513.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:53.956Z,1736366513.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004928 2025-01-08T20:01:53.990Z,1736366513.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:54.010Z,1736366514.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:54.018Z,1736366514.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 175.989853 m, bearing: 330.106815 deg, approach rate: -0.464660 m/s, LOS rate: 0.178435 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225893 deg. 2025-01-08T20:01:54.023Z,1736366514.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821051 target range: 245.500000 and range: 247.60 m. 2025-01-08T20:01:54.204Z,1736366514.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:54.204Z,1736366514.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253565 2025-01-08T20:01:54.352Z,1736366514.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:54.366Z,1736366514.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:54.372Z,1736366514.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 175.826569 m, bearing: 330.172187 deg, approach rate: -0.459879 m/s, LOS rate: 0.184287 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171484 deg. 2025-01-08T20:01:54.373Z,1736366514.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820102 target range: 245.500000 and range: 247.60 m. 2025-01-08T20:01:54.456Z,1736366514.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:54.457Z,1736366514.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506617 2025-01-08T20:01:54.709Z,1736366514.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:54.710Z,1736366514.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759056 2025-01-08T20:01:54.720Z,1736366514.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:54.728Z,1736366514.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:54.731Z,1736366514.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 175.661224 m, bearing: 330.238863 deg, approach rate: -0.456150 m/s, LOS rate: 0.184119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175403 deg. 2025-01-08T20:01:54.733Z,1736366514.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820170 target range: 245.500000 and range: 247.60 m. 2025-01-08T20:01:54.961Z,1736366514.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:54.964Z,1736366514.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012672 2025-01-08T20:01:55.141Z,1736366515.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:55.156Z,1736366515.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:55.158Z,1736366515.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 175.469513 m, bearing: 330.318203 deg, approach rate: -0.448873 m/s, LOS rate: 0.185968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.213463 deg. 2025-01-08T20:01:55.160Z,1736366515.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820834 target range: 245.500000 and range: 247.60 m. 2025-01-08T20:01:55.212Z,1736366515.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:55.213Z,1736366515.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262594 2025-01-08T20:01:55.464Z,1736366515.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:55.464Z,1736366515.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513755 2025-01-08T20:01:55.535Z,1736366515.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:55.542Z,1736366515.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:55.549Z,1736366515.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:55.552Z,1736366515.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 175.290710 m, bearing: 330.392430 deg, approach rate: -0.455918 m/s, LOS rate: 0.189461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198094 deg. 2025-01-08T20:01:55.553Z,1736366515.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820566 target range: 245.500000 and range: 247.60 m. 2025-01-08T20:01:55.717Z,1736366515.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:55.718Z,1736366515.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767369 2025-01-08T20:01:55.922Z,1736366515.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:55.970Z,1736366515.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:55.973Z,1736366515.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021470 2025-01-08T20:01:56.001Z,1736366516.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:56.009Z,1736366516.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 175.115311 m, bearing: 330.465622 deg, approach rate: -0.386227 m/s, LOS rate: 0.161330 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194983 deg. 2025-01-08T20:01:56.010Z,1736366516.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820512 target range: 245.500000 and range: 247.60 m. 2025-01-08T20:01:56.220Z,1736366516.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:56.221Z,1736366516.221 [DAT](INFO): DAT read: Rx Time:20:01:54.8635 2025-01-08T20:01:56.222Z,1736366516.222 [DAT](INFO): Rx dataTimestamp_ set to:1736366516.221560 2025-01-08T20:01:56.223Z,1736366516.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272040 2025-01-08T20:01:56.368Z,1736366516.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:56.377Z,1736366516.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m. 2025-01-08T20:01:56.380Z,1736366516.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.500000 m, nav range: 174.920959 m, bearing: 330.549896 deg, approach rate: -0.517578 m/s, LOS rate: 0.224679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228286 deg. 2025-01-08T20:01:56.382Z,1736366516.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821093 target range: 245.500000 and range: 247.60 m. 2025-01-08T20:01:56.473Z,1736366516.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:56.475Z,1736366516.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524034 2025-01-08T20:01:56.724Z,1736366516.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:56.735Z,1736366516.735 [DAT](INFO): DAT read: 20:01:54.8635 LVL= 27088, 22257, 18098, 29219, AGC= 64, IDX= 442, 0.03, 0.714, 2.864, 1.519, 1.185, PHS=-0.382, 1.726, 0.331, RAW= 310.6, -17.7, CAL= 314.4, -25.2, ROT= 195.6, 25.2 2025-01-08T20:01:56.736Z,1736366516.736 [DAT](INFO): got valid direction response: 20:01:54.8635 LVL= 27088, 22257, 18098, 29219, AGC= 64, IDX= 442, 0.03, 0.714, 2.864, 1.519, 1.185, PHS=-0.382, 1.726, 0.331, RAW= 310.6, -17.7, CAL= 314.4, -25.2, ROT= 195.6, 25.2 2025-01-08T20:01:56.737Z,1736366516.737 [DAT](INFO): DAT read: Bearing 195.6, 25.2 (Local) 2025-01-08T20:01:56.737Z,1736366516.737 [DAT](INFO): Local bearing/azimuth received: Bearing 195.6, 25.2 (Local) 2025-01-08T20:01:56.739Z,1736366516.739 [DAT](INFO): DAT read: Range 10 to 50 : 249.6 m (Round-trip 332.8 ms) speed -0.8 m/s 2025-01-08T20:01:56.748Z,1736366516.748 [DAT](INFO): DAT read: user:1060> 2025-01-08T20:01:56.749Z,1736366516.749 [DAT](INFO): DAT read: Tx time:20:01:55.9782 2025-01-08T20:01:56.750Z,1736366516.750 [DAT](INFO): Ping request sent. 2025-01-08T20:01:56.750Z,1736366516.750 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:01:56.750Z,1736366516.750 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:01:56.751Z,1736366516.751 [DAT](INFO): direction in FSK: [0.449566,0.522767,-0.724296] 2025-01-08T20:01:56.752Z,1736366516.752 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:56.752Z,1736366516.752 [DAT](INFO): publishing direction and range info 2025-01-08T20:01:56.760Z,1736366516.760 [DAT](INFO): publishing transmit ping time 2025-01-08T20:01:56.760Z,1736366516.760 [DAT](INFO): publishing direction and range info 2025-01-08T20:01:56.790Z,1736366516.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:56.842Z,1736366516.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 249.600006 m, deltaT: 4.032002 s, deltaX: 2.000000 m, approachRate: 0.496031 m/s, rangeRepo size: 4 2025-01-08T20:01:56.849Z,1736366516.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 249.600006 m, bearing: 331.179707 deg, lat: 36.906496 deg, lon: -122.122196 deg, deltaT: 7.811123 s, deltaX: 4.100006 m, approachRate: 0.524893 m/s, posRepo size: 4 2025-01-08T20:01:56.850Z,1736366516.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:01:56.857Z,1736366516.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 179.831802 m, bearing: 329.779788 deg, approach rate: 0.000000 m/s, LOS rate: 0.224679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.288264 deg. 2025-01-08T20:01:56.858Z,1736366516.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822140 target range: 249.600006 and range: 249.60 m. 2025-01-08T20:01:56.980Z,1736366516.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:56.983Z,1736366516.983 [DAT](INFO): DAT read: TxSync time:20:01:55.9774 2025-01-08T20:01:57.233Z,1736366517.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:57.236Z,1736366517.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:57.256Z,1736366517.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:01:57.263Z,1736366517.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 179.639786 m, bearing: 329.861297 deg, approach rate: -0.463044 m/s, LOS rate: 0.196768 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.219974 deg. 2025-01-08T20:01:57.265Z,1736366517.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820948 target range: 249.600006 and range: 249.60 m. 2025-01-08T20:01:57.485Z,1736366517.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:57.567Z,1736366517.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:57.574Z,1736366517.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:57.576Z,1736366517.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:01:57.578Z,1736366517.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 179.498276 m, bearing: 329.922012 deg, approach rate: -0.442725 m/s, LOS rate: 0.190103 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157477 deg. 2025-01-08T20:01:57.597Z,1736366517.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819857 target range: 249.600006 and range: 249.60 m. 2025-01-08T20:01:57.737Z,1736366517.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:57.737Z,1736366517.737 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:01:57.738Z,1736366517.738 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:01:57.738Z,1736366517.738 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:01:57.990Z,1736366517.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:58.001Z,1736366518.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241244 2025-01-08T20:01:58.028Z,1736366518.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:58.047Z,1736366518.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:01:58.054Z,1736366518.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 179.304276 m, bearing: 330.005907 deg, approach rate: -0.411698 m/s, LOS rate: 0.178229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.227140 deg. 2025-01-08T20:01:58.056Z,1736366518.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821073 target range: 249.600006 and range: 249.60 m. 2025-01-08T20:01:58.240Z,1736366518.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:58.240Z,1736366518.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490666 2025-01-08T20:01:58.396Z,1736366518.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:58.407Z,1736366518.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:01:58.410Z,1736366518.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 179.145874 m, bearing: 330.073215 deg, approach rate: -0.440211 m/s, LOS rate: 0.187222 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177291 deg. 2025-01-08T20:01:58.427Z,1736366518.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820203 target range: 249.600006 and range: 249.60 m. 2025-01-08T20:01:58.493Z,1736366518.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:58.494Z,1736366518.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743771 2025-01-08T20:01:58.744Z,1736366518.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:58.744Z,1736366518.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994689 2025-01-08T20:01:58.804Z,1736366518.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:58.868Z,1736366518.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:01:58.876Z,1736366518.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 178.973145 m, bearing: 330.146573 deg, approach rate: -0.374142 m/s, LOS rate: 0.159051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195472 deg. 2025-01-08T20:01:58.877Z,1736366518.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820520 target range: 249.600006 and range: 249.60 m. 2025-01-08T20:01:58.998Z,1736366518.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:59.001Z,1736366519.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250360 2025-01-08T20:01:59.204Z,1736366519.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:59.214Z,1736366519.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:01:59.218Z,1736366519.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 178.814880 m, bearing: 330.216068 deg, approach rate: -0.458339 m/s, LOS rate: 0.201437 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183854 deg. 2025-01-08T20:01:59.239Z,1736366519.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820318 target range: 249.600006 and range: 249.60 m. 2025-01-08T20:01:59.248Z,1736366519.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:59.249Z,1736366519.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498962 2025-01-08T20:01:59.500Z,1736366519.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:59.500Z,1736366519.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750619 2025-01-08T20:01:59.600Z,1736366519.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:01:59.607Z,1736366519.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:01:59.609Z,1736366519.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:01:59.612Z,1736366519.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 178.658295 m, bearing: 330.284797 deg, approach rate: -0.396392 m/s, LOS rate: 0.174139 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181555 deg. 2025-01-08T20:01:59.613Z,1736366519.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820278 target range: 249.600006 and range: 249.60 m. 2025-01-08T20:01:59.752Z,1736366519.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:01:59.753Z,1736366519.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002794 2025-01-08T20:02:00.005Z,1736366520.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:00.008Z,1736366520.008 [DAT](INFO): DAT read: Rx Time:20:01:58.7173 2025-01-08T20:02:00.010Z,1736366520.010 [DAT](INFO): Rx dataTimestamp_ set to:1736366520.008521 2025-01-08T20:02:00.011Z,1736366520.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261080 2025-01-08T20:02:00.026Z,1736366520.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:00.069Z,1736366520.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:00.076Z,1736366520.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 178.489441 m, bearing: 330.358970 deg, approach rate: -0.367187 m/s, LOS rate: 0.161448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197915 deg. 2025-01-08T20:02:00.077Z,1736366520.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820563 target range: 249.600006 and range: 249.60 m. 2025-01-08T20:02:00.256Z,1736366520.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:00.256Z,1736366520.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506526 2025-01-08T20:02:00.429Z,1736366520.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:00.438Z,1736366520.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:00.441Z,1736366520.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 178.331467 m, bearing: 330.427327 deg, approach rate: -0.427403 m/s, LOS rate: 0.185106 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180439 deg. 2025-01-08T20:02:00.442Z,1736366520.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820258 target range: 249.600006 and range: 249.60 m. 2025-01-08T20:02:00.508Z,1736366520.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:00.511Z,1736366520.511 [DAT](INFO): DAT read: Range 10 to 50 : 251.2 m (Round-trip 335.0 ms) speed -0.3 m/s 2025-01-08T20:02:00.512Z,1736366520.512 [DAT](INFO): DAT read: user:1061> 2025-01-08T20:02:00.513Z,1736366520.513 [DAT](INFO): DAT read: Tx time:20:01:59.8266 2025-01-08T20:02:00.514Z,1736366520.514 [DAT](INFO): Ping request sent. 2025-01-08T20:02:00.514Z,1736366520.514 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:00.514Z,1736366520.514 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:02:00.515Z,1736366520.515 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:00.516Z,1736366520.516 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:00.760Z,1736366520.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:00.761Z,1736366520.761 [DAT](INFO): DAT read: TxSync time:20:01:59.8258 2025-01-08T20:02:00.805Z,1736366520.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:00.814Z,1736366520.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 251.199997 m, deltaT: 3.784546 s, deltaX: 1.599991 m, approachRate: 0.422770 m/s, rangeRepo size: 4 2025-01-08T20:02:00.816Z,1736366520.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:00.835Z,1736366520.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 178.184357 m, bearing: 330.491086 deg, approach rate: -0.392132 m/s, LOS rate: 0.170093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166619 deg. 2025-01-08T20:02:00.837Z,1736366520.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820017 target range: 249.600006 and range: 251.20 m. 2025-01-08T20:02:01.012Z,1736366521.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:01.224Z,1736366521.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:01.233Z,1736366521.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:01.236Z,1736366521.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 178.025131 m, bearing: 330.557342 deg, approach rate: -0.379269 m/s, LOS rate: 0.157961 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174133 deg. 2025-01-08T20:02:01.237Z,1736366521.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820148 target range: 249.600006 and range: 251.20 m. 2025-01-08T20:02:01.264Z,1736366521.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:01.516Z,1736366521.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:01.607Z,1736366521.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:01.613Z,1736366521.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:01.636Z,1736366521.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:01.639Z,1736366521.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 177.879578 m, bearing: 330.617899 deg, approach rate: -0.380830 m/s, LOS rate: 0.158572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157006 deg. 2025-01-08T20:02:01.644Z,1736366521.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819849 target range: 249.600006 and range: 251.20 m. 2025-01-08T20:02:01.772Z,1736366521.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:01.773Z,1736366521.773 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:01.773Z,1736366521.773 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:01.774Z,1736366521.774 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:02.020Z,1736366522.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:02.026Z,1736366522.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:02.029Z,1736366522.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514749 2025-01-08T20:02:02.090Z,1736366522.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:02.106Z,1736366522.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 177.722702 m, bearing: 330.683067 deg, approach rate: -0.332705 m/s, LOS rate: 0.138331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170861 deg. 2025-01-08T20:02:02.107Z,1736366522.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820091 target range: 249.600006 and range: 251.20 m. 2025-01-08T20:02:02.276Z,1736366522.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:02.276Z,1736366522.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762190 2025-01-08T20:02:02.454Z,1736366522.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:02.462Z,1736366522.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:02.467Z,1736366522.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 177.559113 m, bearing: 330.748260 deg, approach rate: -0.436325 m/s, LOS rate: 0.174043 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170946 deg. 2025-01-08T20:02:02.468Z,1736366522.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820092 target range: 249.600006 and range: 251.20 m. 2025-01-08T20:02:02.529Z,1736366522.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:02.530Z,1736366522.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015552 2025-01-08T20:02:02.780Z,1736366522.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:02.780Z,1736366522.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266153 2025-01-08T20:02:02.820Z,1736366522.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:02.858Z,1736366522.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:02.869Z,1736366522.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 177.421097 m, bearing: 330.803182 deg, approach rate: -0.348459 m/s, LOS rate: 0.138775 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140083 deg. 2025-01-08T20:02:02.870Z,1736366522.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819554 target range: 249.600006 and range: 251.20 m. 2025-01-08T20:02:03.034Z,1736366523.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:03.035Z,1736366523.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520756 2025-01-08T20:02:03.284Z,1736366523.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:03.284Z,1736366523.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770259 2025-01-08T20:02:03.329Z,1736366523.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:03.338Z,1736366523.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:03.341Z,1736366523.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 177.223877 m, bearing: 330.877746 deg, approach rate: -0.410608 m/s, LOS rate: 0.155412 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199125 deg. 2025-01-08T20:02:03.342Z,1736366523.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820584 target range: 249.600006 and range: 251.20 m. 2025-01-08T20:02:03.536Z,1736366523.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:03.538Z,1736366523.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023298 2025-01-08T20:02:03.643Z,1736366523.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:03.684Z,1736366523.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:03.686Z,1736366523.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:03.701Z,1736366523.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 177.101974 m, bearing: 330.923928 deg, approach rate: -0.350271 m/s, LOS rate: 0.132791 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113830 deg. 2025-01-08T20:02:03.709Z,1736366523.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819096 target range: 249.600006 and range: 251.20 m. 2025-01-08T20:02:03.788Z,1736366523.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:03.789Z,1736366523.789 [DAT](INFO): DAT read: Rx Time:20:02:02.5678 2025-01-08T20:02:03.789Z,1736366523.789 [DAT](INFO): Rx dataTimestamp_ set to:1736366523.788828 2025-01-08T20:02:03.790Z,1736366523.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275459 2025-01-08T20:02:04.040Z,1736366524.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:04.041Z,1736366524.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526695 2025-01-08T20:02:04.095Z,1736366524.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:04.136Z,1736366524.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:04.200Z,1736366524.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 176.927002 m, bearing: 330.990257 deg, approach rate: -0.393433 m/s, LOS rate: 0.149290 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174368 deg. 2025-01-08T20:02:04.201Z,1736366524.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820152 target range: 249.600006 and range: 251.20 m. 2025-01-08T20:02:04.292Z,1736366524.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:04.294Z,1736366524.294 [DAT](INFO): DAT read: Range 10 to 50 : 252.8 m (Round-trip 337.1 ms) speed -0.8 m/s 2025-01-08T20:02:04.295Z,1736366524.295 [DAT](INFO): DAT read: user:1062> 2025-01-08T20:02:04.296Z,1736366524.296 [DAT](INFO): DAT read: Tx time:20:02:03.6766 2025-01-08T20:02:04.296Z,1736366524.296 [DAT](INFO): Ping request sent. 2025-01-08T20:02:04.296Z,1736366524.296 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:04.296Z,1736366524.296 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:02:04.296Z,1736366524.296 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:04.297Z,1736366524.297 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:04.544Z,1736366524.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:04.545Z,1736366524.545 [DAT](INFO): DAT read: TxSync time:20:02:03.6758 2025-01-08T20:02:04.701Z,1736366524.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:04.722Z,1736366524.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 252.800003 m, deltaT: 3.783774 s, deltaX: 1.600006 m, approachRate: 0.422860 m/s, rangeRepo size: 4 2025-01-08T20:02:04.723Z,1736366524.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:04.726Z,1736366524.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 176.684464 m, bearing: 331.079219 deg, approach rate: -0.412587 m/s, LOS rate: 0.151542 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.242436 deg. 2025-01-08T20:02:04.727Z,1736366524.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821340 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:04.796Z,1736366524.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:05.024Z,1736366525.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:05.034Z,1736366525.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:05.048Z,1736366525.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:05.057Z,1736366525.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 176.555664 m, bearing: 331.126655 deg, approach rate: -0.408817 m/s, LOS rate: 0.150674 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117598 deg. 2025-01-08T20:02:05.058Z,1736366525.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819161 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:05.300Z,1736366525.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:05.453Z,1736366525.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:05.462Z,1736366525.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:05.465Z,1736366525.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 176.376434 m, bearing: 331.192221 deg, approach rate: -0.418930 m/s, LOS rate: 0.153410 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172085 deg. 2025-01-08T20:02:05.466Z,1736366525.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820112 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:05.552Z,1736366525.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:05.805Z,1736366525.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:05.932Z,1736366525.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:05.939Z,1736366525.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:05.941Z,1736366525.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:05.944Z,1736366525.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 176.177246 m, bearing: 331.265592 deg, approach rate: -0.415608 m/s, LOS rate: 0.153262 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195547 deg. 2025-01-08T20:02:05.945Z,1736366525.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820522 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:06.057Z,1736366526.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:06.058Z,1736366526.058 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:06.058Z,1736366526.058 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:06.059Z,1736366526.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:06.308Z,1736366526.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:06.308Z,1736366526.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012390 2025-01-08T20:02:06.349Z,1736366526.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:06.357Z,1736366526.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:06.361Z,1736366526.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 175.997345 m, bearing: 331.331023 deg, approach rate: -0.432066 m/s, LOS rate: 0.157306 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171680 deg. 2025-01-08T20:02:06.362Z,1736366526.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820105 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:06.560Z,1736366526.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:06.561Z,1736366526.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265226 2025-01-08T20:02:06.781Z,1736366526.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:06.790Z,1736366526.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:06.793Z,1736366526.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 175.811111 m, bearing: 331.398912 deg, approach rate: -0.430856 m/s, LOS rate: 0.157229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179068 deg. 2025-01-08T20:02:06.794Z,1736366526.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820234 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:06.812Z,1736366526.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:06.813Z,1736366526.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516533 2025-01-08T20:02:07.064Z,1736366527.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:07.064Z,1736366527.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768313 2025-01-08T20:02:07.222Z,1736366527.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:07.230Z,1736366527.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:07.234Z,1736366527.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 175.615509 m, bearing: 331.472387 deg, approach rate: -0.444032 m/s, LOS rate: 0.166981 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195858 deg. 2025-01-08T20:02:07.252Z,1736366527.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820527 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:07.317Z,1736366527.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:07.318Z,1736366527.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021761 2025-01-08T20:02:07.568Z,1736366527.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:07.568Z,1736366527.568 [DAT](INFO): DAT read: Rx Time:20:02:06.3718 2025-01-08T20:02:07.569Z,1736366527.569 [DAT](INFO): Rx dataTimestamp_ set to:1736366527.568621 2025-01-08T20:02:07.569Z,1736366527.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273432 2025-01-08T20:02:07.586Z,1736366527.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:07.594Z,1736366527.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:07.597Z,1736366527.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 175.454575 m, bearing: 331.533140 deg, approach rate: -0.442320 m/s, LOS rate: 0.167128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157610 deg. 2025-01-08T20:02:07.598Z,1736366527.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819860 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:07.820Z,1736366527.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:07.821Z,1736366527.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524505 2025-01-08T20:02:07.994Z,1736366527.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:08.002Z,1736366528.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:08.004Z,1736366528.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:08.008Z,1736366528.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 175.274643 m, bearing: 331.601568 deg, approach rate: -0.438350 m/s, LOS rate: 0.166876 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180681 deg. 2025-01-08T20:02:08.009Z,1736366528.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820262 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:08.073Z,1736366528.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:08.077Z,1736366528.077 [DAT](INFO): DAT read: Range 10 to 50 : 218.2 m (Round-trip 291.0 ms) speed -1.1 m/s 2025-01-08T20:02:08.078Z,1736366528.078 [DAT](INFO): DAT read: user:1063> 2025-01-08T20:02:08.079Z,1736366528.079 [DAT](INFO): DAT read: Tx time:20:02:07.4767 2025-01-08T20:02:08.083Z,1736366528.083 [DAT](INFO): Ping request sent. 2025-01-08T20:02:08.084Z,1736366528.084 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:08.085Z,1736366528.085 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:02:08.085Z,1736366528.085 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:08.086Z,1736366528.086 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:08.324Z,1736366528.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:08.325Z,1736366528.325 [DAT](INFO): DAT read: TxSync time:20:02:07.4759 2025-01-08T20:02:08.418Z,1736366528.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:08.428Z,1736366528.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 218.199997 m, deltaT: 3.782328 s, deltaX: -34.600006 m, approachRate: -9.147807 m/s, rangeRepo size: 4 2025-01-08T20:02:08.428Z,1736366528.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:08.432Z,1736366528.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 175.086639 m, bearing: 331.675664 deg, approach rate: -0.445294 m/s, LOS rate: 0.175688 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197713 deg. 2025-01-08T20:02:08.433Z,1736366528.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820560 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:08.576Z,1736366528.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:08.802Z,1736366528.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:08.810Z,1736366528.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:08.813Z,1736366528.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 174.917465 m, bearing: 331.743017 deg, approach rate: -0.441385 m/s, LOS rate: 0.175897 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177440 deg. 2025-01-08T20:02:08.814Z,1736366528.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820206 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:08.828Z,1736366528.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:09.080Z,1736366529.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:09.261Z,1736366529.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:09.270Z,1736366529.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:09.273Z,1736366529.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 174.718445 m, bearing: 331.826554 deg, approach rate: -0.432837 m/s, LOS rate: 0.181886 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226081 deg. 2025-01-08T20:02:09.274Z,1736366529.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821054 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:09.333Z,1736366529.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:09.584Z,1736366529.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:09.608Z,1736366529.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:09.653Z,1736366529.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:09.666Z,1736366529.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 174.568939 m, bearing: 331.889997 deg, approach rate: -0.390956 m/s, LOS rate: 0.166046 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165680 deg. 2025-01-08T20:02:09.676Z,1736366529.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820000 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:09.836Z,1736366529.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:10.006Z,1736366530.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:10.013Z,1736366530.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:10.015Z,1736366530.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:10.018Z,1736366530.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 174.397675 m, bearing: 331.962958 deg, approach rate: -0.472552 m/s, LOS rate: 0.201511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194284 deg. 2025-01-08T20:02:10.020Z,1736366530.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820499 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:10.089Z,1736366530.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:10.090Z,1736366530.090 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:10.090Z,1736366530.090 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:10.090Z,1736366530.090 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:10.340Z,1736366530.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:10.340Z,1736366530.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257564 2025-01-08T20:02:10.446Z,1736366530.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:10.456Z,1736366530.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:10.459Z,1736366530.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 174.214569 m, bearing: 332.045128 deg, approach rate: -0.415519 m/s, LOS rate: 0.186664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221955 deg. 2025-01-08T20:02:10.460Z,1736366530.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820982 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:10.592Z,1736366530.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:10.593Z,1736366530.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509766 2025-01-08T20:02:10.836Z,1736366530.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:10.844Z,1736366530.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:10.844Z,1736366530.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761673 2025-01-08T20:02:10.854Z,1736366530.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:10.861Z,1736366530.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 174.054565 m, bearing: 332.117263 deg, approach rate: -0.401632 m/s, LOS rate: 0.181235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191789 deg. 2025-01-08T20:02:10.862Z,1736366530.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820456 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:11.096Z,1736366531.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:11.096Z,1736366531.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013615 2025-01-08T20:02:11.278Z,1736366531.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:11.289Z,1736366531.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:11.292Z,1736366531.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 173.872391 m, bearing: 332.199551 deg, approach rate: -0.418948 m/s, LOS rate: 0.189436 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222307 deg. 2025-01-08T20:02:11.293Z,1736366531.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820989 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:11.348Z,1736366531.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:11.350Z,1736366531.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266704 2025-01-08T20:02:11.600Z,1736366531.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:11.601Z,1736366531.601 [DAT](INFO): DAT read: Rx Time:20:02:10.2250 2025-01-08T20:02:11.601Z,1736366531.601 [DAT](INFO): Rx dataTimestamp_ set to:1736366531.601078 2025-01-08T20:02:11.602Z,1736366531.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519172 2025-01-08T20:02:11.653Z,1736366531.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:11.692Z,1736366531.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:11.695Z,1736366531.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 173.720078 m, bearing: 332.268636 deg, approach rate: -0.381978 m/s, LOS rate: 0.173407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182623 deg. 2025-01-08T20:02:11.700Z,1736366531.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820296 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:11.852Z,1736366531.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:11.852Z,1736366531.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769691 2025-01-08T20:02:12.024Z,1736366532.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:12.030Z,1736366532.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:12.034Z,1736366532.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:12.037Z,1736366532.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 173.569183 m, bearing: 332.337263 deg, approach rate: -0.435244 m/s, LOS rate: 0.198122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181246 deg. 2025-01-08T20:02:12.038Z,1736366532.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820272 target range: 249.600006 and range: 252.80 m. 2025-01-08T20:02:12.104Z,1736366532.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:12.109Z,1736366532.109 [DAT](INFO): DAT read: Range 10 to 50 : 258.0 m (Round-trip 344.1 ms) speed -0.5 m/s 2025-01-08T20:02:12.110Z,1736366532.110 [DAT](INFO): DAT read: user:1064> 2025-01-08T20:02:12.111Z,1736366532.111 [DAT](INFO): DAT read: Tx time:20:02:11.3267 2025-01-08T20:02:12.112Z,1736366532.112 [DAT](INFO): Ping request sent. 2025-01-08T20:02:12.112Z,1736366532.112 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:12.112Z,1736366532.112 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:02:12.113Z,1736366532.113 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:12.114Z,1736366532.114 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:12.356Z,1736366532.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:12.356Z,1736366532.356 [DAT](INFO): DAT read: TxSync time:20:02:11.3259 2025-01-08T20:02:12.460Z,1736366532.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:12.471Z,1736366532.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 258.000000 m, deltaT: 7.812527 s, deltaX: 5.199997 m, approachRate: 0.665597 m/s, rangeRepo size: 4 2025-01-08T20:02:12.472Z,1736366532.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:12.475Z,1736366532.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 173.400528 m, bearing: 332.415454 deg, approach rate: -0.386731 m/s, LOS rate: 0.179468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209986 deg. 2025-01-08T20:02:12.476Z,1736366532.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820774 target range: 249.600006 and range: 258.00 m. 2025-01-08T20:02:12.608Z,1736366532.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:12.860Z,1736366532.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:12.868Z,1736366532.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:12.876Z,1736366532.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:12.879Z,1736366532.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 173.243210 m, bearing: 332.488660 deg, approach rate: -0.387412 m/s, LOS rate: 0.180440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195002 deg. 2025-01-08T20:02:12.880Z,1736366532.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820512 target range: 249.600006 and range: 258.00 m. 2025-01-08T20:02:13.112Z,1736366533.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:13.312Z,1736366533.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:13.322Z,1736366533.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:13.325Z,1736366533.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 173.077484 m, bearing: 332.567534 deg, approach rate: -0.371880 m/s, LOS rate: 0.177160 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212035 deg. 2025-01-08T20:02:13.326Z,1736366533.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820809 target range: 249.600006 and range: 258.00 m. 2025-01-08T20:02:13.364Z,1736366533.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:13.616Z,1736366533.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:13.643Z,1736366533.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:13.698Z,1736366533.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:13.712Z,1736366533.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 172.954636 m, bearing: 332.626353 deg, approach rate: -0.326659 m/s, LOS rate: 0.156512 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151767 deg. 2025-01-08T20:02:13.714Z,1736366533.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819757 target range: 249.600006 and range: 258.00 m. 2025-01-08T20:02:13.869Z,1736366533.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:14.047Z,1736366534.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:14.055Z,1736366534.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:14.057Z,1736366534.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:14.060Z,1736366534.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 172.804016 m, bearing: 332.698280 deg, approach rate: -0.419580 m/s, LOS rate: 0.200541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191154 deg. 2025-01-08T20:02:14.061Z,1736366534.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820445 target range: 249.600006 and range: 258.00 m. 2025-01-08T20:02:14.120Z,1736366534.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:14.120Z,1736366534.120 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:14.120Z,1736366534.120 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:14.121Z,1736366534.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:14.372Z,1736366534.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:14.372Z,1736366534.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260672 2025-01-08T20:02:14.479Z,1736366534.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:14.511Z,1736366534.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:14.514Z,1736366534.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 172.650452 m, bearing: 332.771786 deg, approach rate: -0.355247 m/s, LOS rate: 0.170197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195902 deg. 2025-01-08T20:02:14.520Z,1736366534.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820528 target range: 249.600006 and range: 258.00 m. 2025-01-08T20:02:14.624Z,1736366534.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:14.624Z,1736366534.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512711 2025-01-08T20:02:14.861Z,1736366534.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:14.870Z,1736366534.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:14.873Z,1736366534.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 172.514343 m, bearing: 332.837008 deg, approach rate: -0.357670 m/s, LOS rate: 0.171528 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171007 deg. 2025-01-08T20:02:14.874Z,1736366534.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820093 target range: 249.600006 and range: 258.00 m. 2025-01-08T20:02:14.877Z,1736366534.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:14.879Z,1736366534.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766759 2025-01-08T20:02:15.128Z,1736366535.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:15.129Z,1736366535.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016744 2025-01-08T20:02:15.338Z,1736366535.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:15.347Z,1736366535.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:15.351Z,1736366535.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 172.342422 m, bearing: 332.917672 deg, approach rate: -0.360256 m/s, LOS rate: 0.169196 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217416 deg. 2025-01-08T20:02:15.352Z,1736366535.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820903 target range: 249.600006 and range: 258.00 m. 2025-01-08T20:02:15.380Z,1736366535.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:15.380Z,1736366535.380 [DAT](INFO): DAT read: Rx Time:20:02:14.0780 2025-01-08T20:02:15.381Z,1736366535.381 [DAT](INFO): Rx dataTimestamp_ set to:1736366535.380602 2025-01-08T20:02:15.382Z,1736366535.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270137 2025-01-08T20:02:15.632Z,1736366535.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:15.633Z,1736366535.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521422 2025-01-08T20:02:15.696Z,1736366535.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:15.719Z,1736366535.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:15.731Z,1736366535.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 172.214081 m, bearing: 332.978101 deg, approach rate: -0.344891 m/s, LOS rate: 0.162513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156610 deg. 2025-01-08T20:02:15.735Z,1736366535.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819842 target range: 249.600006 and range: 258.00 m. 2025-01-08T20:02:15.884Z,1736366535.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:15.885Z,1736366535.885 [DAT](INFO): DAT read: Range 10 to 50 : 260.3 m (Round-trip 347.1 ms) speed -0.7 m/s 2025-01-08T20:02:15.886Z,1736366535.886 [DAT](INFO): DAT read: user:1065> 2025-01-08T20:02:15.887Z,1736366535.887 [DAT](INFO): DAT read: Tx time:20:02:15.1767 2025-01-08T20:02:15.887Z,1736366535.887 [DAT](INFO): Ping request sent. 2025-01-08T20:02:15.887Z,1736366535.887 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:15.888Z,1736366535.888 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:02:15.888Z,1736366535.888 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:15.888Z,1736366535.888 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:16.066Z,1736366536.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:16.092Z,1736366536.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:16.094Z,1736366536.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 260.299988 m, deltaT: 3.779100 s, deltaX: 2.299988 m, approachRate: 0.608607 m/s, rangeRepo size: 4 2025-01-08T20:02:16.095Z,1736366536.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:16.102Z,1736366536.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 172.080566 m, bearing: 333.040675 deg, approach rate: -0.356376 m/s, LOS rate: 0.167151 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163053 deg. 2025-01-08T20:02:16.112Z,1736366536.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819954 target range: 249.600006 and range: 260.30 m. 2025-01-08T20:02:16.136Z,1736366536.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:16.137Z,1736366536.137 [DAT](INFO): DAT read: TxSync time:20:02:15.1759 2025-01-08T20:02:16.137Z,1736366536.137 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:16.137Z,1736366536.137 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:16.138Z,1736366536.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:16.388Z,1736366536.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:16.389Z,1736366536.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501299 2025-01-08T20:02:16.562Z,1736366536.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:16.572Z,1736366536.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:16.575Z,1736366536.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 171.896545 m, bearing: 333.124197 deg, approach rate: -0.384482 m/s, LOS rate: 0.174692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226018 deg. 2025-01-08T20:02:16.576Z,1736366536.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821054 target range: 249.600006 and range: 260.30 m. 2025-01-08T20:02:16.641Z,1736366536.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:16.642Z,1736366536.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754520 2025-01-08T20:02:16.892Z,1736366536.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:16.892Z,1736366536.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004810 2025-01-08T20:02:16.898Z,1736366536.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:16.906Z,1736366536.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:16.912Z,1736366536.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 171.772995 m, bearing: 333.180624 deg, approach rate: -0.370193 m/s, LOS rate: 0.169194 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144590 deg. 2025-01-08T20:02:16.915Z,1736366536.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819633 target range: 249.600006 and range: 260.30 m. 2025-01-08T20:02:17.145Z,1736366537.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:17.146Z,1736366537.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258293 2025-01-08T20:02:17.390Z,1736366537.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:17.396Z,1736366537.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:17.397Z,1736366537.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509096 2025-01-08T20:02:17.401Z,1736366537.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:17.404Z,1736366537.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 171.588547 m, bearing: 333.262550 deg, approach rate: -0.372552 m/s, LOS rate: 0.165655 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221229 deg. 2025-01-08T20:02:17.405Z,1736366537.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820970 target range: 249.600006 and range: 260.30 m. 2025-01-08T20:02:17.532Z,1736366537.532 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:02:17.650Z,1736366537.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:17.653Z,1736366537.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765191 2025-01-08T20:02:17.740Z,1736366537.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:17.750Z,1736366537.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:17.753Z,1736366537.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 171.457047 m, bearing: 333.320843 deg, approach rate: -0.376319 m/s, LOS rate: 0.166947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150199 deg. 2025-01-08T20:02:17.755Z,1736366537.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819730 target range: 249.600006 and range: 260.30 m. 2025-01-08T20:02:17.900Z,1736366537.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:17.901Z,1736366537.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013689 2025-01-08T20:02:18.152Z,1736366538.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:18.153Z,1736366538.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265073 2025-01-08T20:02:18.198Z,1736366538.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:18.212Z,1736366538.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:18.218Z,1736366538.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:18.253Z,1736366538.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 171.285400 m, bearing: 333.396933 deg, approach rate: -0.367814 m/s, LOS rate: 0.163213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.203684 deg. 2025-01-08T20:02:18.254Z,1736366538.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820664 target range: 249.600006 and range: 260.30 m. 2025-01-08T20:02:18.404Z,1736366538.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:18.405Z,1736366538.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517873 2025-01-08T20:02:18.536Z,1736366538.536 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:02:18.642Z,1736366538.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:18.656Z,1736366538.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:18.658Z,1736366538.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770368 2025-01-08T20:02:18.682Z,1736366538.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:18.689Z,1736366538.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 171.109390 m, bearing: 333.473353 deg, approach rate: -0.379372 m/s, LOS rate: 0.164885 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204681 deg. 2025-01-08T20:02:18.690Z,1736366538.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820681 target range: 249.600006 and range: 260.30 m. 2025-01-08T20:02:18.909Z,1736366538.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:18.912Z,1736366538.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023660 2025-01-08T20:02:19.011Z,1736366539.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:19.038Z,1736366539.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:19.041Z,1736366539.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 170.963608 m, bearing: 333.536736 deg, approach rate: -0.430951 m/s, LOS rate: 0.187528 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165497 deg. 2025-01-08T20:02:19.042Z,1736366539.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819997 target range: 249.600006 and range: 260.30 m. 2025-01-08T20:02:19.160Z,1736366539.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:19.160Z,1736366539.160 [DAT](INFO): DAT read: Rx Time:20:02:17.9290 2025-01-08T20:02:19.161Z,1736366539.161 [DAT](INFO): Rx dataTimestamp_ set to:1736366539.160645 2025-01-08T20:02:19.161Z,1736366539.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274028 2025-01-08T20:02:19.412Z,1736366539.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:19.412Z,1736366539.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524956 2025-01-08T20:02:19.435Z,1736366539.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:19.464Z,1736366539.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:19.471Z,1736366539.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 170.790482 m, bearing: 333.613481 deg, approach rate: -0.408383 m/s, LOS rate: 0.181215 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205654 deg. 2025-01-08T20:02:19.473Z,1736366539.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820698 target range: 249.600006 and range: 260.30 m. 2025-01-08T20:02:19.668Z,1736366539.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:19.672Z,1736366539.672 [DAT](INFO): DAT read: Range 10 to 50 : 261.0 m (Round-trip 348.1 ms) speed -0.3 m/s 2025-01-08T20:02:19.674Z,1736366539.674 [DAT](INFO): DAT read: user:1066> 2025-01-08T20:02:19.675Z,1736366539.675 [DAT](INFO): DAT read: Tx time:20:02:19.0267 2025-01-08T20:02:19.675Z,1736366539.675 [DAT](INFO): Ping request sent. 2025-01-08T20:02:19.676Z,1736366539.676 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:19.676Z,1736366539.676 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:02:19.676Z,1736366539.676 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:19.677Z,1736366539.677 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:19.807Z,1736366539.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:19.829Z,1736366539.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 261.000000 m, deltaT: 3.784661 s, deltaX: 0.700012 m, approachRate: 0.184960 m/s, rangeRepo size: 4 2025-01-08T20:02:19.830Z,1736366539.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:19.837Z,1736366539.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 170.638992 m, bearing: 333.680897 deg, approach rate: -0.393334 m/s, LOS rate: 0.175198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177614 deg. 2025-01-08T20:02:19.838Z,1736366539.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820209 target range: 249.600006 and range: 261.00 m. 2025-01-08T20:02:19.917Z,1736366539.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:19.918Z,1736366539.918 [DAT](INFO): DAT read: TxSync time:20:02:19.0259 2025-01-08T20:02:20.168Z,1736366540.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:20.367Z,1736366540.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:20.374Z,1736366540.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:20.376Z,1736366540.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:20.379Z,1736366540.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 170.411163 m, bearing: 333.782823 deg, approach rate: -0.415917 m/s, LOS rate: 0.186322 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.281371 deg. 2025-01-08T20:02:20.380Z,1736366540.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822020 target range: 249.600006 and range: 261.00 m. 2025-01-08T20:02:20.420Z,1736366540.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:20.421Z,1736366540.421 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:20.421Z,1736366540.421 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:20.421Z,1736366540.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:20.677Z,1736366540.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:20.678Z,1736366540.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002170 2025-01-08T20:02:20.722Z,1736366540.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:20.758Z,1736366540.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:20.766Z,1736366540.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 170.261749 m, bearing: 333.847792 deg, approach rate: -0.390937 m/s, LOS rate: 0.170137 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170263 deg. 2025-01-08T20:02:20.772Z,1736366540.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820080 target range: 249.600006 and range: 261.00 m. 2025-01-08T20:02:20.928Z,1736366540.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:20.929Z,1736366540.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252977 2025-01-08T20:02:21.171Z,1736366541.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:21.180Z,1736366541.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:21.180Z,1736366541.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504864 2025-01-08T20:02:21.181Z,1736366541.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:21.185Z,1736366541.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 170.073181 m, bearing: 333.930234 deg, approach rate: -0.448070 m/s, LOS rate: 0.196114 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222786 deg. 2025-01-08T20:02:21.186Z,1736366541.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820997 target range: 249.600006 and range: 261.00 m. 2025-01-08T20:02:21.433Z,1736366541.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:21.434Z,1736366541.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758305 2025-01-08T20:02:21.618Z,1736366541.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:21.627Z,1736366541.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:21.630Z,1736366541.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 169.893921 m, bearing: 334.016105 deg, approach rate: -0.400464 m/s, LOS rate: 0.192037 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233070 deg. 2025-01-08T20:02:21.632Z,1736366541.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821177 target range: 249.600006 and range: 261.00 m. 2025-01-08T20:02:21.684Z,1736366541.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:21.684Z,1736366541.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008885 2025-01-08T20:02:21.937Z,1736366541.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:21.940Z,1736366541.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263670 2025-01-08T20:02:21.983Z,1736366541.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:22.013Z,1736366542.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:22.020Z,1736366542.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 169.747467 m, bearing: 334.086473 deg, approach rate: -0.379708 m/s, LOS rate: 0.182600 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186473 deg. 2025-01-08T20:02:22.021Z,1736366542.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820364 target range: 249.600006 and range: 261.00 m. 2025-01-08T20:02:22.188Z,1736366542.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:22.189Z,1736366542.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512920 2025-01-08T20:02:22.439Z,1736366542.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:22.440Z,1736366542.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:22.441Z,1736366542.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765289 2025-01-08T20:02:22.472Z,1736366542.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:22.474Z,1736366542.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:22.481Z,1736366542.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 169.560181 m, bearing: 334.173975 deg, approach rate: -0.405871 m/s, LOS rate: 0.189835 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.237979 deg. 2025-01-08T20:02:22.483Z,1736366542.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821262 target range: 249.600006 and range: 261.00 m. 2025-01-08T20:02:22.694Z,1736366542.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:22.695Z,1736366542.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019748 2025-01-08T20:02:22.808Z,1736366542.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:22.817Z,1736366542.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:22.820Z,1736366542.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 169.408813 m, bearing: 334.244936 deg, approach rate: -0.441310 m/s, LOS rate: 0.207071 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188258 deg. 2025-01-08T20:02:22.821Z,1736366542.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820395 target range: 249.600006 and range: 261.00 m. 2025-01-08T20:02:22.944Z,1736366542.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:22.944Z,1736366542.944 [DAT](INFO): DAT read: Rx Time:20:02:21.7823 2025-01-08T20:02:22.945Z,1736366542.945 [DAT](INFO): Rx dataTimestamp_ set to:1736366542.944647 2025-01-08T20:02:22.945Z,1736366542.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269864 2025-01-08T20:02:23.194Z,1736366543.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:23.196Z,1736366543.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:23.196Z,1736366543.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520837 2025-01-08T20:02:23.205Z,1736366543.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:23.208Z,1736366543.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 169.251053 m, bearing: 334.319258 deg, approach rate: -0.406609 m/s, LOS rate: 0.191735 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198360 deg. 2025-01-08T20:02:23.209Z,1736366543.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820571 target range: 249.600006 and range: 261.00 m. 2025-01-08T20:02:23.450Z,1736366543.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:23.452Z,1736366543.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776027 2025-01-08T20:02:23.622Z,1736366543.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:23.631Z,1736366543.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.60 m. 2025-01-08T20:02:23.635Z,1736366543.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.600006 m, nav range: 169.086655 m, bearing: 334.401125 deg, approach rate: -0.386102 m/s, LOS rate: 0.192459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221026 deg. 2025-01-08T20:02:23.636Z,1736366543.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820966 target range: 249.600006 and range: 261.00 m. 2025-01-08T20:02:23.700Z,1736366543.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:23.712Z,1736366543.712 [DAT](INFO): DAT read: 20:02:21.7823 LVL= 25584, 18113, 13298, 27827, AGC= 61, IDX= 458, 0.28,-1.281, 1.103,-0.410,-0.943, PHS=-0.250, 2.093, 0.531, RAW= 310.9, -22.1, CAL= 312.1, -32.8, ROT= 197.9, 32.8 2025-01-08T20:02:23.714Z,1736366543.714 [DAT](INFO): got valid direction response: 20:02:21.7823 LVL= 25584, 18113, 13298, 27827, AGC= 61, IDX= 458, 0.28,-1.281, 1.103,-0.410,-0.943, PHS=-0.250, 2.093, 0.531, RAW= 310.9, -22.1, CAL= 312.1, -32.8, ROT= 197.9, 32.8 2025-01-08T20:02:23.728Z,1736366543.728 [DAT](INFO): DAT read: Bearing 197.9, 32.8 (Local) 2025-01-08T20:02:23.728Z,1736366543.728 [DAT](INFO): Local bearing/azimuth received: Bearing 197.9, 32.8 (Local) 2025-01-08T20:02:23.730Z,1736366543.730 [DAT](INFO): DAT read: Range 10 to 50 : 263.4 m (Round-trip 351.3 ms) speed -0.4 m/s 2025-01-08T20:02:23.730Z,1736366543.730 [DAT](INFO): DAT read: user:1067> 2025-01-08T20:02:23.740Z,1736366543.740 [DAT](INFO): DAT read: Tx time:20:02:22.8768 2025-01-08T20:02:23.741Z,1736366543.741 [DAT](INFO): Ping request sent. 2025-01-08T20:02:23.741Z,1736366543.741 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:23.742Z,1736366543.742 [DAT](INFO): DAT read: TxSync time:20:02:22.8760 2025-01-08T20:02:23.743Z,1736366543.743 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:02:23.752Z,1736366543.752 [DAT](INFO): direction in FSK: [0.521336,0.503261,-0.689156] 2025-01-08T20:02:23.752Z,1736366543.752 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:23.752Z,1736366543.752 [DAT](INFO): publishing direction and range info 2025-01-08T20:02:23.764Z,1736366543.764 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:23.764Z,1736366543.764 [DAT](INFO): publishing direction and range info 2025-01-08T20:02:23.952Z,1736366543.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:24.012Z,1736366544.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:24.057Z,1736366544.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 263.399994 m, deltaT: 4.032480 s, deltaX: 2.399994 m, approachRate: 0.595166 m/s, rangeRepo size: 4 2025-01-08T20:02:24.059Z,1736366544.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 263.399994 m, bearing: 324.711713 deg, lat: 36.906578 deg, lon: -122.122214 deg, deltaT: 26.977088 s, deltaX: 13.799988 m, approachRate: 0.511545 m/s, posRepo size: 4 2025-01-08T20:02:24.064Z,1736366544.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T20:02:24.072Z,1736366544.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 177.856400 m, bearing: 335.286931 deg, approach rate: 0.000000 m/s, LOS rate: 0.192459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.220654 deg. 2025-01-08T20:02:24.073Z,1736366544.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820960 target range: 263.399994 and range: 263.40 m. 2025-01-08T20:02:24.204Z,1736366544.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:24.456Z,1736366544.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:24.470Z,1736366544.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:24.477Z,1736366544.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:24.480Z,1736366544.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T20:02:24.499Z,1736366544.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 177.691101 m, bearing: 335.370507 deg, approach rate: -0.390787 m/s, LOS rate: 0.197768 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226147 deg. 2025-01-08T20:02:24.501Z,1736366544.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821056 target range: 263.399994 and range: 263.40 m. 2025-01-08T20:02:24.709Z,1736366544.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:24.709Z,1736366544.709 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:24.710Z,1736366544.710 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:24.710Z,1736366544.710 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:24.813Z,1736366544.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:24.822Z,1736366544.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T20:02:24.825Z,1736366544.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 177.567566 m, bearing: 335.433338 deg, approach rate: -0.359933 m/s, LOS rate: 0.183193 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163811 deg. 2025-01-08T20:02:24.826Z,1736366544.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819968 target range: 263.399994 and range: 263.40 m. 2025-01-08T20:02:24.961Z,1736366544.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:24.964Z,1736366544.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222302 2025-01-08T20:02:25.207Z,1736366545.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:25.212Z,1736366545.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:25.213Z,1736366545.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471692 2025-01-08T20:02:25.217Z,1736366545.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T20:02:25.220Z,1736366545.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 177.426041 m, bearing: 335.505632 deg, approach rate: -0.358144 m/s, LOS rate: 0.183093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192240 deg. 2025-01-08T20:02:25.221Z,1736366545.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820464 target range: 263.399994 and range: 263.40 m. 2025-01-08T20:02:25.464Z,1736366545.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:25.465Z,1736366545.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724295 2025-01-08T20:02:25.638Z,1736366545.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:25.648Z,1736366545.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T20:02:25.653Z,1736366545.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 177.273453 m, bearing: 335.581861 deg, approach rate: -0.355206 m/s, LOS rate: 0.177606 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204071 deg. 2025-01-08T20:02:25.655Z,1736366545.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820671 target range: 263.399994 and range: 263.40 m. 2025-01-08T20:02:25.716Z,1736366545.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:25.717Z,1736366545.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976210 2025-01-08T20:02:25.968Z,1736366545.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:25.970Z,1736366545.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229089 2025-01-08T20:02:26.031Z,1736366546.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:26.041Z,1736366546.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T20:02:26.044Z,1736366546.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 177.134506 m, bearing: 335.651494 deg, approach rate: -0.352705 m/s, LOS rate: 0.176895 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184246 deg. 2025-01-08T20:02:26.045Z,1736366546.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820324 target range: 263.399994 and range: 263.40 m. 2025-01-08T20:02:26.220Z,1736366546.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:26.220Z,1736366546.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479580 2025-01-08T20:02:26.480Z,1736366546.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:26.480Z,1736366546.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739604 2025-01-08T20:02:26.504Z,1736366546.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:26.510Z,1736366546.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:26.514Z,1736366546.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T20:02:26.518Z,1736366546.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 176.972687 m, bearing: 335.734461 deg, approach rate: -0.341709 m/s, LOS rate: 0.175359 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.224313 deg. 2025-01-08T20:02:26.520Z,1736366546.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821024 target range: 263.399994 and range: 263.40 m. 2025-01-08T20:02:26.734Z,1736366546.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:26.736Z,1736366546.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994682 2025-01-08T20:02:26.834Z,1736366546.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:26.851Z,1736366546.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T20:02:26.858Z,1736366546.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 176.860046 m, bearing: 335.792406 deg, approach rate: -0.334886 m/s, LOS rate: 0.172384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149133 deg. 2025-01-08T20:02:26.863Z,1736366546.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819712 target range: 263.399994 and range: 263.40 m. 2025-01-08T20:02:26.986Z,1736366546.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:26.988Z,1736366546.988 [DAT](INFO): DAT read: Rx Time:20:02:25.6368 2025-01-08T20:02:26.988Z,1736366546.988 [DAT](INFO): Rx dataTimestamp_ set to:1736366546.988087 2025-01-08T20:02:26.989Z,1736366546.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248090 2025-01-08T20:02:27.236Z,1736366547.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:27.238Z,1736366547.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497041 2025-01-08T20:02:27.262Z,1736366547.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:27.273Z,1736366547.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.40 m. 2025-01-08T20:02:27.276Z,1736366547.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.399994 m, nav range: 176.713867 m, bearing: 335.867764 deg, approach rate: -0.346480 m/s, LOS rate: 0.178764 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201447 deg. 2025-01-08T20:02:27.277Z,1736366547.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820625 target range: 263.399994 and range: 263.40 m. 2025-01-08T20:02:27.488Z,1736366547.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:27.495Z,1736366547.495 [DAT](INFO): DAT read: 20:02:25.6368 LVL= 23920, 23393, 15970, 29123, AGC= 66, IDX= 472,-0.09,-2.332,-0.130,-1.624,-2.102, PHS=-0.141, 2.020, 0.476, RAW= 313.9, -23.4, CAL= 314.8, -34.9, ROT= 195.2, 34.9 2025-01-08T20:02:27.496Z,1736366547.496 [DAT](INFO): got valid direction response: 20:02:25.6368 LVL= 23920, 23393, 15970, 29123, AGC= 66, IDX= 472,-0.09,-2.332,-0.130,-1.624,-2.102, PHS=-0.141, 2.020, 0.476, RAW= 313.9, -23.4, CAL= 314.8, -34.9, ROT= 195.2, 34.9 2025-01-08T20:02:27.497Z,1736366547.497 [DAT](INFO): DAT read: Bearing 195.2, 34.9 (Local) 2025-01-08T20:02:27.497Z,1736366547.497 [DAT](INFO): Local bearing/azimuth received: Bearing 195.2, 34.9 (Local) 2025-01-08T20:02:27.500Z,1736366547.500 [DAT](INFO): DAT read: Range 10 to 50 : 266.8 m (Round-trip 355.8 ms) speed -0.4 m/s 2025-01-08T20:02:27.501Z,1736366547.501 [DAT](INFO): DAT read: user:1068> 2025-01-08T20:02:27.502Z,1736366547.502 [DAT](INFO): DAT read: Tx time:20:02:26.7268 2025-01-08T20:02:27.502Z,1736366547.502 [DAT](INFO): Ping request sent. 2025-01-08T20:02:27.502Z,1736366547.502 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:27.502Z,1736366547.502 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:02:27.504Z,1736366547.504 [DAT](INFO): direction in FSK: [0.541178,0.534759,-0.648968] 2025-01-08T20:02:27.504Z,1736366547.504 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:27.504Z,1736366547.504 [DAT](INFO): publishing direction and range info 2025-01-08T20:02:27.508Z,1736366547.508 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:27.508Z,1736366547.508 [DAT](INFO): publishing direction and range info 2025-01-08T20:02:27.720Z,1736366547.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:27.740Z,1736366547.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:27.741Z,1736366547.741 [DAT](INFO): DAT read: TxSync time:20:02:26.7260 2025-01-08T20:02:27.758Z,1736366547.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 266.799988 m, deltaT: 3.787256 s, deltaX: 3.399994 m, approachRate: 0.897746 m/s, rangeRepo size: 4 2025-01-08T20:02:27.764Z,1736366547.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 266.799988 m, bearing: 324.695762 deg, lat: 36.906593 deg, lon: -122.122261 deg, deltaT: 3.787256 s, deltaX: 3.399994 m, approachRate: 0.897746 m/s, posRepo size: 4 2025-01-08T20:02:27.766Z,1736366547.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:27.773Z,1736366547.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 179.844604 m, bearing: 334.935713 deg, approach rate: 0.000000 m/s, LOS rate: 0.178764 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.235039 deg. 2025-01-08T20:02:27.774Z,1736366547.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821211 target range: 266.799988 and range: 266.80 m. 2025-01-08T20:02:27.993Z,1736366547.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:28.058Z,1736366548.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:28.071Z,1736366548.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:28.074Z,1736366548.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 179.727768 m, bearing: 334.991662 deg, approach rate: -0.372100 m/s, LOS rate: 0.178301 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143141 deg. 2025-01-08T20:02:28.092Z,1736366548.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819607 target range: 266.799988 and range: 266.80 m. 2025-01-08T20:02:28.244Z,1736366548.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:28.496Z,1736366548.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:28.517Z,1736366548.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:28.544Z,1736366548.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:28.546Z,1736366548.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:28.553Z,1736366548.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 179.564728 m, bearing: 335.066009 deg, approach rate: -0.343341 m/s, LOS rate: 0.156707 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198429 deg. 2025-01-08T20:02:28.554Z,1736366548.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820572 target range: 266.799988 and range: 266.80 m. 2025-01-08T20:02:28.748Z,1736366548.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:28.748Z,1736366548.748 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:28.748Z,1736366548.748 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:28.749Z,1736366548.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:28.900Z,1736366548.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:28.921Z,1736366548.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:28.927Z,1736366548.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 179.429382 m, bearing: 335.128098 deg, approach rate: -0.361417 m/s, LOS rate: 0.165923 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161593 deg. 2025-01-08T20:02:28.934Z,1736366548.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819929 target range: 266.799988 and range: 266.80 m. 2025-01-08T20:02:29.001Z,1736366549.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:29.003Z,1736366549.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499995 2025-01-08T20:02:29.252Z,1736366549.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:29.252Z,1736366549.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750142 2025-01-08T20:02:29.266Z,1736366549.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:29.276Z,1736366549.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:29.279Z,1736366549.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 179.299408 m, bearing: 335.187549 deg, approach rate: -0.365431 m/s, LOS rate: 0.167273 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153670 deg. 2025-01-08T20:02:29.280Z,1736366549.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819791 target range: 266.799988 and range: 266.80 m. 2025-01-08T20:02:29.506Z,1736366549.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:29.508Z,1736366549.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005585 2025-01-08T20:02:29.756Z,1736366549.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:29.756Z,1736366549.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254330 2025-01-08T20:02:29.778Z,1736366549.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:29.788Z,1736366549.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:29.790Z,1736366549.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 179.119797 m, bearing: 335.268004 deg, approach rate: -0.351428 m/s, LOS rate: 0.157576 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.216792 deg. 2025-01-08T20:02:29.792Z,1736366549.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820892 target range: 266.799988 and range: 266.80 m. 2025-01-08T20:02:30.010Z,1736366550.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:30.011Z,1736366550.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509134 2025-01-08T20:02:30.103Z,1736366550.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:30.111Z,1736366550.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:30.114Z,1736366550.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 179.005554 m, bearing: 335.318999 deg, approach rate: -0.352993 m/s, LOS rate: 0.157668 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128269 deg. 2025-01-08T20:02:30.115Z,1736366550.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819347 target range: 266.799988 and range: 266.80 m. 2025-01-08T20:02:30.260Z,1736366550.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:30.260Z,1736366550.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758245 2025-01-08T20:02:30.512Z,1736366550.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:30.513Z,1736366550.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010430 2025-01-08T20:02:30.580Z,1736366550.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:30.588Z,1736366550.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:30.590Z,1736366550.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:30.594Z,1736366550.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 178.841187 m, bearing: 335.395421 deg, approach rate: -0.343462 m/s, LOS rate: 0.159837 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204661 deg. 2025-01-08T20:02:30.619Z,1736366550.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820681 target range: 266.799988 and range: 266.80 m. 2025-01-08T20:02:30.764Z,1736366550.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:30.764Z,1736366550.764 [DAT](INFO): DAT read: Rx Time:20:02:29.4877 2025-01-08T20:02:30.766Z,1736366550.766 [DAT](INFO): Rx dataTimestamp_ set to:1736366550.764717 2025-01-08T20:02:30.767Z,1736366550.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264417 2025-01-08T20:02:30.947Z,1736366550.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:30.959Z,1736366550.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:30.961Z,1736366550.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 178.714401 m, bearing: 335.454469 deg, approach rate: -0.343511 m/s, LOS rate: 0.160100 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152458 deg. 2025-01-08T20:02:30.963Z,1736366550.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819770 target range: 266.799988 and range: 266.80 m. 2025-01-08T20:02:31.017Z,1736366551.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:31.018Z,1736366551.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515410 2025-01-08T20:02:31.269Z,1736366551.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:31.271Z,1736366551.271 [DAT](INFO): DAT read: Range 10 to 50 : 267.6 m (Round-trip 356.8 ms) speed -0.5 m/s 2025-01-08T20:02:31.272Z,1736366551.272 [DAT](INFO): DAT read: user:1069> 2025-01-08T20:02:31.273Z,1736366551.273 [DAT](INFO): DAT read: Tx time:20:02:30.5768 2025-01-08T20:02:31.273Z,1736366551.273 [DAT](INFO): Ping request sent. 2025-01-08T20:02:31.273Z,1736366551.273 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:31.273Z,1736366551.273 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:02:31.274Z,1736366551.274 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:31.274Z,1736366551.274 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:31.352Z,1736366551.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:31.377Z,1736366551.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 267.600006 m, deltaT: 3.781324 s, deltaX: 0.800018 m, approachRate: 0.211571 m/s, rangeRepo size: 4 2025-01-08T20:02:31.378Z,1736366551.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:31.385Z,1736366551.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 178.574783 m, bearing: 335.519520 deg, approach rate: -0.334227 m/s, LOS rate: 0.155844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170490 deg. 2025-01-08T20:02:31.386Z,1736366551.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820085 target range: 266.799988 and range: 267.60 m. 2025-01-08T20:02:31.521Z,1736366551.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:31.524Z,1736366551.524 [DAT](INFO): DAT read: TxSync time:20:02:30.5760 2025-01-08T20:02:31.772Z,1736366551.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:31.844Z,1736366551.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:31.863Z,1736366551.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:31.866Z,1736366551.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 178.402298 m, bearing: 335.599783 deg, approach rate: -0.354728 m/s, LOS rate: 0.165227 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.216209 deg. 2025-01-08T20:02:31.868Z,1736366551.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820882 target range: 266.799988 and range: 267.60 m. 2025-01-08T20:02:32.024Z,1736366552.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:32.189Z,1736366552.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:32.197Z,1736366552.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:32.205Z,1736366552.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 178.281982 m, bearing: 335.656163 deg, approach rate: -0.359902 m/s, LOS rate: 0.168765 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144441 deg. 2025-01-08T20:02:32.206Z,1736366552.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819630 target range: 266.799988 and range: 267.60 m. 2025-01-08T20:02:32.277Z,1736366552.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:32.529Z,1736366552.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:32.620Z,1736366552.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:32.626Z,1736366552.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:32.629Z,1736366552.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:32.633Z,1736366552.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 178.126251 m, bearing: 335.727839 deg, approach rate: -0.360542 m/s, LOS rate: 0.166086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190401 deg. 2025-01-08T20:02:32.634Z,1736366552.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820432 target range: 266.799988 and range: 267.60 m. 2025-01-08T20:02:32.780Z,1736366552.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:32.780Z,1736366552.780 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:32.780Z,1736366552.780 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:32.781Z,1736366552.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:32.986Z,1736366552.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:32.995Z,1736366552.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:33.013Z,1736366553.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 177.993759 m, bearing: 335.789030 deg, approach rate: -0.362287 m/s, LOS rate: 0.167447 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158897 deg. 2025-01-08T20:02:33.014Z,1736366553.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819882 target range: 266.799988 and range: 267.60 m. 2025-01-08T20:02:33.032Z,1736366553.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:33.032Z,1736366553.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759309 2025-01-08T20:02:33.284Z,1736366553.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:33.284Z,1736366553.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011288 2025-01-08T20:02:33.369Z,1736366553.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:33.378Z,1736366553.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:33.386Z,1736366553.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 177.855133 m, bearing: 335.852920 deg, approach rate: -0.361762 m/s, LOS rate: 0.166857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167004 deg. 2025-01-08T20:02:33.387Z,1736366553.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820024 target range: 266.799988 and range: 267.60 m. 2025-01-08T20:02:33.538Z,1736366553.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:33.541Z,1736366553.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267566 2025-01-08T20:02:33.788Z,1736366553.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:33.788Z,1736366553.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515201 2025-01-08T20:02:33.824Z,1736366553.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:33.887Z,1736366553.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:33.894Z,1736366553.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 177.687134 m, bearing: 335.934795 deg, approach rate: -0.329956 m/s, LOS rate: 0.160958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221044 deg. 2025-01-08T20:02:33.900Z,1736366553.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820967 target range: 266.799988 and range: 267.60 m. 2025-01-08T20:02:34.040Z,1736366554.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:34.041Z,1736366554.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767439 2025-01-08T20:02:34.292Z,1736366554.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:34.292Z,1736366554.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019332 2025-01-08T20:02:34.300Z,1736366554.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:34.309Z,1736366554.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:34.312Z,1736366554.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 177.511505 m, bearing: 336.020521 deg, approach rate: -0.416441 m/s, LOS rate: 0.203468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232615 deg. 2025-01-08T20:02:34.313Z,1736366554.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821168 target range: 266.799988 and range: 267.60 m. 2025-01-08T20:02:34.544Z,1736366554.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:34.545Z,1736366554.545 [DAT](INFO): DAT read: Rx Time:20:02:33.3405 2025-01-08T20:02:34.545Z,1736366554.545 [DAT](INFO): Rx dataTimestamp_ set to:1736366554.544704 2025-01-08T20:02:34.546Z,1736366554.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272377 2025-01-08T20:02:34.670Z,1736366554.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:34.689Z,1736366554.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:34.691Z,1736366554.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:34.697Z,1736366554.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 177.373734 m, bearing: 336.091441 deg, approach rate: -0.360716 m/s, LOS rate: 0.185828 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188111 deg. 2025-01-08T20:02:34.704Z,1736366554.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820392 target range: 266.799988 and range: 267.60 m. 2025-01-08T20:02:34.796Z,1736366554.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:34.797Z,1736366554.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523355 2025-01-08T20:02:35.048Z,1736366555.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:35.051Z,1736366555.051 [DAT](INFO): DAT read: Range 10 to 50 : 269.5 m (Round-trip 359.4 ms) speed -0.5 m/s 2025-01-08T20:02:35.052Z,1736366555.052 [DAT](INFO): DAT read: user:1070> 2025-01-08T20:02:35.053Z,1736366555.053 [DAT](INFO): DAT read: Tx time:20:02:34.4269 2025-01-08T20:02:35.053Z,1736366555.053 [DAT](INFO): Ping request sent. 2025-01-08T20:02:35.053Z,1736366555.053 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:35.053Z,1736366555.053 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:02:35.054Z,1736366555.054 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:35.054Z,1736366555.054 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:35.058Z,1736366555.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:35.067Z,1736366555.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 269.500000 m, deltaT: 3.778761 s, deltaX: 1.899994 m, approachRate: 0.502809 m/s, rangeRepo size: 4 2025-01-08T20:02:35.067Z,1736366555.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:35.070Z,1736366555.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 177.229736 m, bearing: 336.165903 deg, approach rate: -0.383626 m/s, LOS rate: 0.198538 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198754 deg. 2025-01-08T20:02:35.071Z,1736366555.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820578 target range: 266.799988 and range: 269.50 m. 2025-01-08T20:02:35.305Z,1736366555.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:35.306Z,1736366555.306 [DAT](INFO): DAT read: TxSync time:20:02:34.4261 2025-01-08T20:02:35.438Z,1736366555.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:35.447Z,1736366555.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:35.467Z,1736366555.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 177.088867 m, bearing: 336.239208 deg, approach rate: -0.369992 m/s, LOS rate: 0.192689 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195276 deg. 2025-01-08T20:02:35.476Z,1736366555.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820517 target range: 266.799988 and range: 269.50 m. 2025-01-08T20:02:35.557Z,1736366555.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:35.809Z,1736366555.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:35.877Z,1736366555.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:35.887Z,1736366555.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:35.890Z,1736366555.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 176.920319 m, bearing: 336.326273 deg, approach rate: -0.382842 m/s, LOS rate: 0.197947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.236628 deg. 2025-01-08T20:02:35.891Z,1736366555.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821239 target range: 266.799988 and range: 269.50 m. 2025-01-08T20:02:36.061Z,1736366556.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:36.312Z,1736366556.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:36.313Z,1736366556.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:36.322Z,1736366556.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:36.325Z,1736366556.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 176.754120 m, bearing: 336.413004 deg, approach rate: -0.381738 m/s, LOS rate: 0.199397 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.235622 deg. 2025-01-08T20:02:36.326Z,1736366556.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821221 target range: 266.799988 and range: 269.50 m. 2025-01-08T20:02:36.566Z,1736366556.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:36.761Z,1736366556.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:36.771Z,1736366556.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:36.773Z,1736366556.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:36.776Z,1736366556.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 176.582458 m, bearing: 336.504139 deg, approach rate: -0.381051 m/s, LOS rate: 0.202498 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.248857 deg. 2025-01-08T20:02:36.777Z,1736366556.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821452 target range: 266.799988 and range: 269.50 m. 2025-01-08T20:02:36.816Z,1736366556.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:36.816Z,1736366556.816 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:36.817Z,1736366556.817 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:36.817Z,1736366556.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:37.068Z,1736366557.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:37.068Z,1736366557.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015306 2025-01-08T20:02:37.179Z,1736366557.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:37.193Z,1736366557.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:37.197Z,1736366557.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 176.427948 m, bearing: 336.586735 deg, approach rate: -0.367553 m/s, LOS rate: 0.196653 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.223190 deg. 2025-01-08T20:02:37.198Z,1736366557.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821004 target range: 266.799988 and range: 269.50 m. 2025-01-08T20:02:37.320Z,1736366557.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:37.321Z,1736366557.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267790 2025-01-08T20:02:37.574Z,1736366557.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:37.576Z,1736366557.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522274 2025-01-08T20:02:37.624Z,1736366557.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:37.650Z,1736366557.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:37.658Z,1736366557.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 176.256378 m, bearing: 336.679286 deg, approach rate: -0.376245 m/s, LOS rate: 0.203156 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.253105 deg. 2025-01-08T20:02:37.664Z,1736366557.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821526 target range: 266.799988 and range: 269.50 m. 2025-01-08T20:02:37.824Z,1736366557.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:37.824Z,1736366557.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771274 2025-01-08T20:02:37.989Z,1736366557.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:37.997Z,1736366557.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:38.001Z,1736366558.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 176.122253 m, bearing: 336.753947 deg, approach rate: -0.385540 m/s, LOS rate: 0.214776 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199340 deg. 2025-01-08T20:02:38.002Z,1736366558.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820588 target range: 266.799988 and range: 269.50 m. 2025-01-08T20:02:38.076Z,1736366558.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:38.077Z,1736366558.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024092 2025-01-08T20:02:38.328Z,1736366558.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:38.328Z,1736366558.328 [DAT](INFO): DAT read: Rx Time:20:02:37.1930 2025-01-08T20:02:38.329Z,1736366558.329 [DAT](INFO): Rx dataTimestamp_ set to:1736366558.328595 2025-01-08T20:02:38.329Z,1736366558.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276290 2025-01-08T20:02:38.396Z,1736366558.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:38.406Z,1736366558.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:38.425Z,1736366558.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 175.974808 m, bearing: 336.836353 deg, approach rate: -0.360564 m/s, LOS rate: 0.201684 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222610 deg. 2025-01-08T20:02:38.426Z,1736366558.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820994 target range: 266.799988 and range: 269.50 m. 2025-01-08T20:02:38.582Z,1736366558.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:38.586Z,1736366558.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532615 2025-01-08T20:02:38.809Z,1736366558.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:38.817Z,1736366558.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:38.819Z,1736366558.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m. 2025-01-08T20:02:38.822Z,1736366558.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.799988 m, nav range: 175.829483 m, bearing: 336.917137 deg, approach rate: -0.351821 m/s, LOS rate: 0.195734 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217737 deg. 2025-01-08T20:02:38.823Z,1736366558.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820909 target range: 266.799988 and range: 269.50 m. 2025-01-08T20:02:38.833Z,1736366558.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:38.834Z,1736366558.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780864 2025-01-08T20:02:39.084Z,1736366559.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:39.090Z,1736366559.090 [DAT](INFO): DAT read: 20:02:37.1930 LVL= 21968, 18913, 13410, 23539, AGC= 62, IDX= 455, 0.25,-0.314, 1.969, 0.447, 0.085, PHS=-0.312, 1.931, 0.358, RAW= 313.1, -19.3, CAL= 316.2, -28.0, ROT= 193.8, 28.0 2025-01-08T20:02:39.092Z,1736366559.092 [DAT](INFO): got valid direction response: 20:02:37.1930 LVL= 21968, 18913, 13410, 23539, AGC= 62, IDX= 455, 0.25,-0.314, 1.969, 0.447, 0.085, PHS=-0.312, 1.931, 0.358, RAW= 313.1, -19.3, CAL= 316.2, -28.0, ROT= 193.8, 28.0 2025-01-08T20:02:39.092Z,1736366559.092 [DAT](INFO): DAT read: Bearing 193.8, 28.0 2025-01-08T20:02:39.093Z,1736366559.093 [DAT](INFO): unknown deviceResponse_: Bearing 193.8, 28.0 2025-01-08T20:02:39.094Z,1736366559.094 [DAT](INFO): DAT read: Range 10 to 50 : 271.5 m (Round-trip 362.0 ms) speed -0.8 m/s 2025-01-08T20:02:39.095Z,1736366559.095 [DAT](INFO): DAT read: user:1071> 2025-01-08T20:02:39.096Z,1736366559.096 [DAT](INFO): DAT read: Tx time:20:02:38.2769 2025-01-08T20:02:39.096Z,1736366559.096 [DAT](INFO): Ping request sent. 2025-01-08T20:02:39.096Z,1736366559.096 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:39.097Z,1736366559.097 [DAT](INFO): DAT read: TxSync time:20:02:38.2761 2025-01-08T20:02:39.098Z,1736366559.098 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:02:39.100Z,1736366559.100 [DAT](INFO): direction in FSK: [0.476936,0.548043,-0.687154] 2025-01-08T20:02:39.100Z,1736366559.100 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:39.100Z,1736366559.100 [DAT](INFO): publishing direction and range info 2025-01-08T20:02:39.103Z,1736366559.103 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:39.104Z,1736366559.104 [DAT](INFO): publishing direction and range info 2025-01-08T20:02:39.220Z,1736366559.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:39.271Z,1736366559.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 271.500000 m, deltaT: 4.035504 s, deltaX: 2.000000 m, approachRate: 0.495601 m/s, rangeRepo size: 4 2025-01-08T20:02:39.275Z,1736366559.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 271.500000 m, bearing: 327.725246 deg, lat: 36.906633 deg, lon: -122.122712 deg, deltaT: 11.595589 s, deltaX: 4.700012 m, approachRate: 0.405328 m/s, posRepo size: 4 2025-01-08T20:02:39.280Z,1736366559.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:39.283Z,1736366559.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 198.622955 m, bearing: 326.795429 deg, approach rate: 0.000000 m/s, LOS rate: 0.195734 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.240120 deg. 2025-01-08T20:02:39.302Z,1736366559.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821300 target range: 271.500000 and range: 271.50 m. 2025-01-08T20:02:39.338Z,1736366559.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:39.585Z,1736366559.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:39.590Z,1736366559.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:39.666Z,1736366559.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:39.677Z,1736366559.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 198.459534 m, bearing: 326.851445 deg, approach rate: -0.412680 m/s, LOS rate: 0.141571 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143372 deg. 2025-01-08T20:02:39.679Z,1736366559.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819611 target range: 271.500000 and range: 271.50 m. 2025-01-08T20:02:39.840Z,1736366559.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:40.006Z,1736366560.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:40.014Z,1736366560.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:40.018Z,1736366560.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 198.280579 m, bearing: 326.912888 deg, approach rate: -0.514035 m/s, LOS rate: 0.176651 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159683 deg. 2025-01-08T20:02:40.020Z,1736366560.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819896 target range: 271.500000 and range: 271.50 m. 2025-01-08T20:02:40.093Z,1736366560.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:40.344Z,1736366560.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:40.394Z,1736366560.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:40.403Z,1736366560.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:40.406Z,1736366560.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 198.116241 m, bearing: 326.969696 deg, approach rate: -0.422727 m/s, LOS rate: 0.146249 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145751 deg. 2025-01-08T20:02:40.408Z,1736366560.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819653 target range: 271.500000 and range: 271.50 m. 2025-01-08T20:02:40.599Z,1736366560.599 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:40.829Z,1736366560.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:40.838Z,1736366560.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:40.840Z,1736366560.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:40.843Z,1736366560.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 197.941635 m, bearing: 327.028443 deg, approach rate: -0.399434 m/s, LOS rate: 0.134510 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151583 deg. 2025-01-08T20:02:40.844Z,1736366560.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819754 target range: 271.500000 and range: 271.50 m. 2025-01-08T20:02:40.848Z,1736366560.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:40.850Z,1736366560.850 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:40.850Z,1736366560.850 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:40.850Z,1736366560.850 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:41.100Z,1736366561.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:41.101Z,1736366561.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004464 2025-01-08T20:02:41.204Z,1736366561.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:41.213Z,1736366561.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:41.232Z,1736366561.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 197.791367 m, bearing: 327.079136 deg, approach rate: -0.403617 m/s, LOS rate: 0.136264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127381 deg. 2025-01-08T20:02:41.234Z,1736366561.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819332 target range: 271.500000 and range: 271.50 m. 2025-01-08T20:02:41.353Z,1736366561.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:41.353Z,1736366561.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256943 2025-01-08T20:02:41.605Z,1736366561.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:41.605Z,1736366561.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508910 2025-01-08T20:02:41.614Z,1736366561.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:41.691Z,1736366561.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:41.706Z,1736366561.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 197.627045 m, bearing: 327.134465 deg, approach rate: -0.350228 m/s, LOS rate: 0.118022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141310 deg. 2025-01-08T20:02:41.712Z,1736366561.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819575 target range: 271.500000 and range: 271.50 m. 2025-01-08T20:02:41.856Z,1736366561.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:41.856Z,1736366561.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759888 2025-01-08T20:02:42.037Z,1736366562.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:42.045Z,1736366562.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:42.064Z,1736366562.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 197.462341 m, bearing: 327.190540 deg, approach rate: -0.453253 m/s, LOS rate: 0.154444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143552 deg. 2025-01-08T20:02:42.066Z,1736366562.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819614 target range: 271.500000 and range: 271.50 m. 2025-01-08T20:02:42.109Z,1736366562.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:42.110Z,1736366562.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013336 2025-01-08T20:02:42.360Z,1736366562.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:42.361Z,1736366562.361 [DAT](INFO): DAT read: Rx Time:20:02:41.0471 2025-01-08T20:02:42.362Z,1736366562.362 [DAT](INFO): Rx dataTimestamp_ set to:1736366562.361525 2025-01-08T20:02:42.362Z,1736366562.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265845 2025-01-08T20:02:42.430Z,1736366562.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:42.440Z,1736366562.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:42.444Z,1736366562.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 197.309006 m, bearing: 327.242757 deg, approach rate: -0.389141 m/s, LOS rate: 0.132621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131959 deg. 2025-01-08T20:02:42.445Z,1736366562.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819412 target range: 271.500000 and range: 271.50 m. 2025-01-08T20:02:42.612Z,1736366562.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:42.612Z,1736366562.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515976 2025-01-08T20:02:42.844Z,1736366562.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:42.852Z,1736366562.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:42.854Z,1736366562.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:42.864Z,1736366562.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:42.866Z,1736366562.866 [DAT](INFO): DAT read: Range 10 to 50 : 274.5 m (Round-trip 366.1 ms) speed -0.5 m/s 2025-01-08T20:02:42.867Z,1736366562.867 [DAT](INFO): DAT read: user:1072> 2025-01-08T20:02:42.868Z,1736366562.868 [DAT](INFO): DAT read: Tx time:20:02:42.1269 2025-01-08T20:02:42.868Z,1736366562.868 [DAT](INFO): Ping request sent. 2025-01-08T20:02:42.868Z,1736366562.868 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:42.869Z,1736366562.869 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:02:42.869Z,1736366562.869 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:42.869Z,1736366562.869 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:42.881Z,1736366562.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 197.155029 m, bearing: 327.295853 deg, approach rate: -0.371558 m/s, LOS rate: 0.128226 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134600 deg. 2025-01-08T20:02:42.884Z,1736366562.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819458 target range: 271.500000 and range: 271.50 m. 2025-01-08T20:02:43.117Z,1736366563.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:43.118Z,1736366563.118 [DAT](INFO): DAT read: TxSync time:20:02:42.1261 2025-01-08T20:02:43.297Z,1736366563.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:43.313Z,1736366563.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 274.500000 m, deltaT: 3.779959 s, deltaX: 3.000000 m, approachRate: 0.793659 m/s, rangeRepo size: 4 2025-01-08T20:02:43.313Z,1736366563.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:43.316Z,1736366563.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 196.985977 m, bearing: 327.354130 deg, approach rate: -0.368865 m/s, LOS rate: 0.127268 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150168 deg. 2025-01-08T20:02:43.317Z,1736366563.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819730 target range: 271.500000 and range: 274.50 m. 2025-01-08T20:02:43.369Z,1736366563.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:43.620Z,1736366563.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:43.642Z,1736366563.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:43.706Z,1736366563.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:43.722Z,1736366563.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 196.857285 m, bearing: 327.398560 deg, approach rate: -0.334041 m/s, LOS rate: 0.115398 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108562 deg. 2025-01-08T20:02:43.727Z,1736366563.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819004 target range: 271.500000 and range: 274.50 m. 2025-01-08T20:02:43.873Z,1736366563.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:44.068Z,1736366564.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:44.077Z,1736366564.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:44.080Z,1736366564.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 196.692902 m, bearing: 327.454456 deg, approach rate: -0.433078 m/s, LOS rate: 0.147387 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143017 deg. 2025-01-08T20:02:44.081Z,1736366564.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819605 target range: 271.500000 and range: 274.50 m. 2025-01-08T20:02:44.124Z,1736366564.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:44.377Z,1736366564.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:44.468Z,1736366564.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:44.477Z,1736366564.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:44.480Z,1736366564.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 196.538620 m, bearing: 327.506974 deg, approach rate: -0.385500 m/s, LOS rate: 0.131328 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132864 deg. 2025-01-08T20:02:44.481Z,1736366564.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819427 target range: 271.500000 and range: 274.50 m. 2025-01-08T20:02:44.628Z,1736366564.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:44.864Z,1736366564.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:44.872Z,1736366564.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:44.874Z,1736366564.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:44.880Z,1736366564.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:44.880Z,1736366564.880 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:44.880Z,1736366564.880 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:44.881Z,1736366564.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:44.893Z,1736366564.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 196.386078 m, bearing: 327.561072 deg, approach rate: -0.384359 m/s, LOS rate: 0.136414 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137604 deg. 2025-01-08T20:02:44.894Z,1736366564.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819510 target range: 271.500000 and range: 274.50 m. 2025-01-08T20:02:45.133Z,1736366565.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:45.133Z,1736366565.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264843 2025-01-08T20:02:45.384Z,1736366565.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:45.384Z,1736366565.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515952 2025-01-08T20:02:45.401Z,1736366565.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:45.438Z,1736366565.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:45.441Z,1736366565.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 196.177765 m, bearing: 327.634262 deg, approach rate: -0.369203 m/s, LOS rate: 0.129857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194991 deg. 2025-01-08T20:02:45.442Z,1736366565.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820512 target range: 271.500000 and range: 274.50 m. 2025-01-08T20:02:45.636Z,1736366565.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:45.637Z,1736366565.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768073 2025-01-08T20:02:45.825Z,1736366565.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:45.842Z,1736366565.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:45.850Z,1736366565.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 195.999054 m, bearing: 327.696870 deg, approach rate: -0.441890 m/s, LOS rate: 0.154949 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163181 deg. 2025-01-08T20:02:45.856Z,1736366565.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819957 target range: 271.500000 and range: 274.50 m. 2025-01-08T20:02:45.888Z,1736366565.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:45.889Z,1736366565.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020139 2025-01-08T20:02:46.140Z,1736366566.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:46.140Z,1736366566.140 [DAT](INFO): DAT read: Rx Time:20:02:44.8983 2025-01-08T20:02:46.141Z,1736366566.141 [DAT](INFO): Rx dataTimestamp_ set to:1736366566.140629 2025-01-08T20:02:46.141Z,1736366566.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273011 2025-01-08T20:02:46.296Z,1736366566.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:46.314Z,1736366566.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:46.321Z,1736366566.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 195.801270 m, bearing: 327.766354 deg, approach rate: -0.419112 m/s, LOS rate: 0.147386 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183846 deg. 2025-01-08T20:02:46.323Z,1736366566.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820317 target range: 271.500000 and range: 274.50 m. 2025-01-08T20:02:46.392Z,1736366566.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:46.394Z,1736366566.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525492 2025-01-08T20:02:46.644Z,1736366566.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:46.646Z,1736366566.646 [DAT](INFO): DAT read: Range 10 to 50 : 275.3 m (Round-trip 367.1 ms) speed -0.7 m/s 2025-01-08T20:02:46.660Z,1736366566.660 [DAT](INFO): DAT read: user:1073> 2025-01-08T20:02:46.663Z,1736366566.663 [DAT](INFO): DAT read: Tx time:20:02:45.9770 2025-01-08T20:02:46.665Z,1736366566.665 [DAT](INFO): Ping request sent. 2025-01-08T20:02:46.665Z,1736366566.665 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:46.666Z,1736366566.666 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:02:46.666Z,1736366566.666 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:46.667Z,1736366566.667 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:46.841Z,1736366566.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:46.850Z,1736366566.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 275.299988 m, deltaT: 3.780047 s, deltaX: 0.799988 m, approachRate: 0.211634 m/s, rangeRepo size: 4 2025-01-08T20:02:46.851Z,1736366566.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:46.854Z,1736366566.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 195.567703 m, bearing: 327.850555 deg, approach rate: -0.436169 m/s, LOS rate: 0.157429 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228092 deg. 2025-01-08T20:02:46.860Z,1736366566.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821090 target range: 271.500000 and range: 275.30 m. 2025-01-08T20:02:46.896Z,1736366566.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:46.898Z,1736366566.898 [DAT](INFO): DAT read: TxSync time:20:02:45.9762 2025-01-08T20:02:47.123Z,1736366567.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:47.129Z,1736366567.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:47.133Z,1736366567.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:47.136Z,1736366567.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 195.446640 m, bearing: 327.894255 deg, approach rate: -0.429994 m/s, LOS rate: 0.155309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106367 deg. 2025-01-08T20:02:47.137Z,1736366567.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818965 target range: 271.500000 and range: 275.30 m. 2025-01-08T20:02:47.148Z,1736366567.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:47.149Z,1736366567.149 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:47.149Z,1736366567.149 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:47.149Z,1736366567.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:47.400Z,1736366567.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:47.401Z,1736366567.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.736119 2025-01-08T20:02:47.557Z,1736366567.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:47.577Z,1736366567.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:47.580Z,1736366567.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 195.260269 m, bearing: 327.961683 deg, approach rate: -0.417846 m/s, LOS rate: 0.151319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177663 deg. 2025-01-08T20:02:47.582Z,1736366567.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820210 target range: 271.500000 and range: 275.30 m. 2025-01-08T20:02:47.652Z,1736366567.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:47.654Z,1736366567.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988531 2025-01-08T20:02:47.904Z,1736366567.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:47.904Z,1736366567.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239384 2025-01-08T20:02:47.964Z,1736366567.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:47.973Z,1736366567.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:47.976Z,1736366567.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 195.071762 m, bearing: 328.028283 deg, approach rate: -0.476211 m/s, LOS rate: 0.168409 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175179 deg. 2025-01-08T20:02:47.978Z,1736366567.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820166 target range: 271.500000 and range: 275.30 m. 2025-01-08T20:02:48.156Z,1736366568.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:48.157Z,1736366568.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491610 2025-01-08T20:02:48.353Z,1736366568.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:48.362Z,1736366568.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:48.365Z,1736366568.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 194.892090 m, bearing: 328.092122 deg, approach rate: -0.462018 m/s, LOS rate: 0.164309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166878 deg. 2025-01-08T20:02:48.366Z,1736366568.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820021 target range: 271.500000 and range: 275.30 m. 2025-01-08T20:02:48.409Z,1736366568.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:48.411Z,1736366568.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745462 2025-01-08T20:02:48.660Z,1736366568.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:48.662Z,1736366568.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996489 2025-01-08T20:02:48.676Z,1736366568.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:02:48.814Z,1736366568.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:48.823Z,1736366568.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:48.826Z,1736366568.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 194.676361 m, bearing: 328.168089 deg, approach rate: -0.467849 m/s, LOS rate: 0.164933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.203341 deg. 2025-01-08T20:02:48.852Z,1736366568.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820658 target range: 271.500000 and range: 275.30 m. 2025-01-08T20:02:48.912Z,1736366568.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:48.913Z,1736366568.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247612 2025-01-08T20:02:49.164Z,1736366569.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:49.164Z,1736366569.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499269 2025-01-08T20:02:49.169Z,1736366569.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:49.184Z,1736366569.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:49.186Z,1736366569.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:49.193Z,1736366569.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 194.510834 m, bearing: 328.226725 deg, approach rate: -0.456568 m/s, LOS rate: 0.161871 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151243 deg. 2025-01-08T20:02:49.194Z,1736366569.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819748 target range: 271.500000 and range: 275.30 m. 2025-01-08T20:02:49.416Z,1736366569.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:49.416Z,1736366569.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751484 2025-01-08T20:02:49.575Z,1736366569.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:49.584Z,1736366569.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:49.587Z,1736366569.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 194.321960 m, bearing: 328.293925 deg, approach rate: -0.474162 m/s, LOS rate: 0.168868 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176982 deg. 2025-01-08T20:02:49.588Z,1736366569.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820198 target range: 271.500000 and range: 275.30 m. 2025-01-08T20:02:49.668Z,1736366569.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:49.669Z,1736366569.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004402 2025-01-08T20:02:49.680Z,1736366569.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:02:49.920Z,1736366569.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:49.921Z,1736366569.921 [DAT](INFO): DAT read: Rx Time:20:02:48.7539 2025-01-08T20:02:49.921Z,1736366569.921 [DAT](INFO): Rx dataTimestamp_ set to:1736366569.920781 2025-01-08T20:02:49.922Z,1736366569.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256611 2025-01-08T20:02:50.010Z,1736366570.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:50.038Z,1736366570.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:50.050Z,1736366570.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 194.119720 m, bearing: 328.366669 deg, approach rate: -0.445280 m/s, LOS rate: 0.160330 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193644 deg. 2025-01-08T20:02:50.051Z,1736366570.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820488 target range: 271.500000 and range: 275.30 m. 2025-01-08T20:02:50.176Z,1736366570.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:50.177Z,1736366570.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511825 2025-01-08T20:02:50.360Z,1736366570.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:50.374Z,1736366570.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:50.379Z,1736366570.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 193.957275 m, bearing: 328.425407 deg, approach rate: -0.485102 m/s, LOS rate: 0.175554 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151549 deg. 2025-01-08T20:02:50.396Z,1736366570.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819754 target range: 271.500000 and range: 275.30 m. 2025-01-08T20:02:50.428Z,1736366570.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:50.429Z,1736366570.429 [DAT](INFO): DAT read: Range 10 to 50 : 279.5 m (Round-trip 372.7 ms) speed -0.4 m/s 2025-01-08T20:02:50.430Z,1736366570.430 [DAT](INFO): DAT read: user:1074> 2025-01-08T20:02:50.431Z,1736366570.431 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:02:50.432Z,1736366570.432 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:50.432Z,1736366570.432 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:50.432Z,1736366570.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:50.680Z,1736366570.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:50.682Z,1736366570.682 [DAT](INFO): DAT read: Tx time:20:02:49.8770 2025-01-08T20:02:50.683Z,1736366570.683 [DAT](INFO): Ping request sent. 2025-01-08T20:02:50.683Z,1736366570.683 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:50.684Z,1736366570.684 [DAT](INFO): DAT read: TxSync time:20:02:49.8762 2025-01-08T20:02:50.685Z,1736366570.685 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:50.685Z,1736366570.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002776 2025-01-08T20:02:50.876Z,1736366570.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:50.886Z,1736366570.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 279.500000 m, deltaT: 3.784159 s, deltaX: 4.200012 m, approachRate: 1.109893 m/s, rangeRepo size: 4 2025-01-08T20:02:50.887Z,1736366570.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:50.890Z,1736366570.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 193.722244 m, bearing: 328.507278 deg, approach rate: -0.458479 m/s, LOS rate: 0.159901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221097 deg. 2025-01-08T20:02:50.892Z,1736366570.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820968 target range: 271.500000 and range: 279.50 m. 2025-01-08T20:02:50.932Z,1736366570.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:50.933Z,1736366570.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250490 2025-01-08T20:02:51.174Z,1736366571.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:51.184Z,1736366571.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:51.185Z,1736366571.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502205 2025-01-08T20:02:51.200Z,1736366571.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:51.209Z,1736366571.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 193.587143 m, bearing: 328.554495 deg, approach rate: -0.456283 m/s, LOS rate: 0.159578 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116935 deg. 2025-01-08T20:02:51.210Z,1736366571.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819149 target range: 271.500000 and range: 279.50 m. 2025-01-08T20:02:51.437Z,1736366571.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:51.439Z,1736366571.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755881 2025-01-08T20:02:51.579Z,1736366571.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:51.588Z,1736366571.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:51.590Z,1736366571.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:51.598Z,1736366571.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 193.403183 m, bearing: 328.619065 deg, approach rate: -0.451132 m/s, LOS rate: 0.158499 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169081 deg. 2025-01-08T20:02:51.601Z,1736366571.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820060 target range: 271.500000 and range: 279.50 m. 2025-01-08T20:02:51.688Z,1736366571.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:51.689Z,1736366571.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006256 2025-01-08T20:02:51.940Z,1736366571.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:51.940Z,1736366571.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257652 2025-01-08T20:02:52.022Z,1736366572.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:52.041Z,1736366572.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:52.048Z,1736366572.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 193.209976 m, bearing: 328.687363 deg, approach rate: -0.428532 m/s, LOS rate: 0.151635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180283 deg. 2025-01-08T20:02:52.050Z,1736366572.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820255 target range: 271.500000 and range: 279.50 m. 2025-01-08T20:02:52.192Z,1736366572.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:52.193Z,1736366572.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509814 2025-01-08T20:02:52.380Z,1736366572.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:52.394Z,1736366572.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:52.413Z,1736366572.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 193.053604 m, bearing: 328.742816 deg, approach rate: -0.442751 m/s, LOS rate: 0.157136 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141680 deg. 2025-01-08T20:02:52.414Z,1736366572.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819582 target range: 271.500000 and range: 279.50 m. 2025-01-08T20:02:52.445Z,1736366572.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:52.446Z,1736366572.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763084 2025-01-08T20:02:52.696Z,1736366572.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:52.696Z,1736366572.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013667 2025-01-08T20:02:52.862Z,1736366572.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:52.892Z,1736366572.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:52.900Z,1736366572.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 192.854324 m, bearing: 328.815116 deg, approach rate: -0.399614 m/s, LOS rate: 0.145133 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192312 deg. 2025-01-08T20:02:52.902Z,1736366572.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820465 target range: 271.500000 and range: 279.50 m. 2025-01-08T20:02:52.948Z,1736366572.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:52.949Z,1736366572.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266554 2025-01-08T20:02:53.200Z,1736366573.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:53.201Z,1736366573.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518236 2025-01-08T20:02:53.231Z,1736366573.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:53.260Z,1736366573.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:53.263Z,1736366573.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 192.701889 m, bearing: 328.870534 deg, approach rate: -0.414641 m/s, LOS rate: 0.150861 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141570 deg. 2025-01-08T20:02:53.269Z,1736366573.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819580 target range: 271.500000 and range: 279.50 m. 2025-01-08T20:02:53.452Z,1736366573.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:53.452Z,1736366573.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769617 2025-01-08T20:02:53.633Z,1736366573.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:53.640Z,1736366573.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:53.642Z,1736366573.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:53.645Z,1736366573.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 192.535675 m, bearing: 328.931014 deg, approach rate: -0.435447 m/s, LOS rate: 0.158582 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156783 deg. 2025-01-08T20:02:53.647Z,1736366573.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819845 target range: 271.500000 and range: 279.50 m. 2025-01-08T20:02:53.704Z,1736366573.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:53.705Z,1736366573.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022346 2025-01-08T20:02:53.956Z,1736366573.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:53.957Z,1736366573.957 [DAT](INFO): DAT read: Rx Time:20:02:52.6551 2025-01-08T20:02:53.957Z,1736366573.957 [DAT](INFO): Rx dataTimestamp_ set to:1736366573.956688 2025-01-08T20:02:53.957Z,1736366573.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274808 2025-01-08T20:02:54.064Z,1736366574.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:54.073Z,1736366574.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:54.092Z,1736366574.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 192.361374 m, bearing: 328.992299 deg, approach rate: -0.403902 m/s, LOS rate: 0.142142 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159208 deg. 2025-01-08T20:02:54.093Z,1736366574.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819888 target range: 271.500000 and range: 279.50 m. 2025-01-08T20:02:54.208Z,1736366574.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:54.208Z,1736366574.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525667 2025-01-08T20:02:54.452Z,1736366574.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:54.460Z,1736366574.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:54.462Z,1736366574.462 [DAT](INFO): DAT read: Range 10 to 50 : 280.5 m (Round-trip 374.0 ms) speed -0.4 m/s 2025-01-08T20:02:54.462Z,1736366574.462 [DAT](INFO): DAT read: user:1075> 2025-01-08T20:02:54.463Z,1736366574.463 [DAT](INFO): DAT read: Tx time:20:02:53.7770 2025-01-08T20:02:54.463Z,1736366574.463 [DAT](INFO): Ping request sent. 2025-01-08T20:02:54.464Z,1736366574.464 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:54.464Z,1736366574.464 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:02:54.464Z,1736366574.464 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:54.465Z,1736366574.465 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:54.469Z,1736366574.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 280.500000 m, deltaT: 4.032012 s, deltaX: 1.000000 m, approachRate: 0.248015 m/s, rangeRepo size: 4 2025-01-08T20:02:54.470Z,1736366574.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:54.493Z,1736366574.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 192.204636 m, bearing: 329.047420 deg, approach rate: -0.396322 m/s, LOS rate: 0.139490 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140684 deg. 2025-01-08T20:02:54.494Z,1736366574.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819564 target range: 271.500000 and range: 280.50 m. 2025-01-08T20:02:54.713Z,1736366574.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:54.714Z,1736366574.714 [DAT](INFO): DAT read: TxSync time:20:02:53.7762 2025-01-08T20:02:54.900Z,1736366574.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:54.909Z,1736366574.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:54.912Z,1736366574.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 192.029343 m, bearing: 329.108983 deg, approach rate: -0.398557 m/s, LOS rate: 0.140100 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160042 deg. 2025-01-08T20:02:54.913Z,1736366574.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819902 target range: 271.500000 and range: 280.50 m. 2025-01-08T20:02:54.964Z,1736366574.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:55.216Z,1736366575.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:55.252Z,1736366575.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:55.273Z,1736366575.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:55.288Z,1736366575.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 191.892197 m, bearing: 329.157370 deg, approach rate: -0.376596 m/s, LOS rate: 0.132963 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120451 deg. 2025-01-08T20:02:55.289Z,1736366575.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819211 target range: 271.500000 and range: 280.50 m. 2025-01-08T20:02:55.470Z,1736366575.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:55.657Z,1736366575.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:55.668Z,1736366575.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:55.672Z,1736366575.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:55.677Z,1736366575.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 191.735092 m, bearing: 329.212960 deg, approach rate: -0.394487 m/s, LOS rate: 0.139701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142094 deg. 2025-01-08T20:02:55.679Z,1736366575.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819589 target range: 271.500000 and range: 280.50 m. 2025-01-08T20:02:55.722Z,1736366575.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:55.723Z,1736366575.723 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:02:55.723Z,1736366575.723 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:02:55.723Z,1736366575.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:02:55.972Z,1736366575.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:55.972Z,1736366575.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508713 2025-01-08T20:02:56.081Z,1736366576.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:56.090Z,1736366576.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:56.093Z,1736366576.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 191.581284 m, bearing: 329.270394 deg, approach rate: -0.367092 m/s, LOS rate: 0.137188 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147628 deg. 2025-01-08T20:02:56.094Z,1736366576.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819685 target range: 271.500000 and range: 280.50 m. 2025-01-08T20:02:56.224Z,1736366576.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:56.224Z,1736366576.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760850 2025-01-08T20:02:56.463Z,1736366576.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:56.477Z,1736366576.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:56.478Z,1736366576.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014480 2025-01-08T20:02:56.481Z,1736366576.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:56.486Z,1736366576.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 191.442566 m, bearing: 329.321949 deg, approach rate: -0.355109 m/s, LOS rate: 0.132071 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129961 deg. 2025-01-08T20:02:56.488Z,1736366576.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819377 target range: 271.500000 and range: 280.50 m. 2025-01-08T20:02:56.729Z,1736366576.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:56.730Z,1736366576.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265934 2025-01-08T20:02:56.980Z,1736366576.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:56.981Z,1736366576.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517009 2025-01-08T20:02:56.998Z,1736366576.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:57.007Z,1736366577.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:57.010Z,1736366577.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 191.247314 m, bearing: 329.391982 deg, approach rate: -0.370908 m/s, LOS rate: 0.133173 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185499 deg. 2025-01-08T20:02:57.012Z,1736366577.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820346 target range: 271.500000 and range: 280.50 m. 2025-01-08T20:02:57.232Z,1736366577.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:57.233Z,1736366577.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769304 2025-01-08T20:02:57.337Z,1736366577.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:57.362Z,1736366577.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:57.373Z,1736366577.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 191.123215 m, bearing: 329.436432 deg, approach rate: -0.349376 m/s, LOS rate: 0.125222 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108625 deg. 2025-01-08T20:02:57.374Z,1736366577.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819005 target range: 271.500000 and range: 280.50 m. 2025-01-08T20:02:57.486Z,1736366577.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:57.489Z,1736366577.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024504 2025-01-08T20:02:57.733Z,1736366577.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:57.736Z,1736366577.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:57.737Z,1736366577.737 [DAT](INFO): DAT read: Rx Time:20:02:56.5573 2025-01-08T20:02:57.737Z,1736366577.737 [DAT](INFO): Rx dataTimestamp_ set to:1736366577.736955 2025-01-08T20:02:57.738Z,1736366577.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274187 2025-01-08T20:02:57.743Z,1736366577.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:02:57.745Z,1736366577.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:57.748Z,1736366577.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 190.978271 m, bearing: 329.488192 deg, approach rate: -0.378786 m/s, LOS rate: 0.135368 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130583 deg. 2025-01-08T20:02:57.750Z,1736366577.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819388 target range: 271.500000 and range: 280.50 m. 2025-01-08T20:02:57.988Z,1736366577.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:57.988Z,1736366577.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524706 2025-01-08T20:02:58.136Z,1736366578.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:58.145Z,1736366578.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.50 m. 2025-01-08T20:02:58.164Z,1736366578.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.500000 m, nav range: 190.832397 m, bearing: 329.542906 deg, approach rate: -0.364891 m/s, LOS rate: 0.136968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139455 deg. 2025-01-08T20:02:58.166Z,1736366578.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819543 target range: 271.500000 and range: 280.50 m. 2025-01-08T20:02:58.243Z,1736366578.243 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:58.246Z,1736366578.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781470 2025-01-08T20:02:58.492Z,1736366578.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:58.500Z,1736366578.500 [DAT](INFO): DAT read: 20:02:56.5573 LVL= 25184, 22497, 20290, 32755, AGC= 64, IDX= 439,-0.18, 0.365, 2.821, 1.317, 0.831, PHS=-0.378, 2.037, 0.483, RAW= 309.4, -19.7, CAL= 312.1, -28.6, ROT= 197.9, 28.6 2025-01-08T20:02:58.502Z,1736366578.502 [DAT](INFO): got valid direction response: 20:02:56.5573 LVL= 25184, 22497, 20290, 32755, AGC= 64, IDX= 439,-0.18, 0.365, 2.821, 1.317, 0.831, PHS=-0.378, 2.037, 0.483, RAW= 309.4, -19.7, CAL= 312.1, -28.6, ROT= 197.9, 28.6 2025-01-08T20:02:58.504Z,1736366578.504 [DAT](INFO): DAT read: Bearing 197.9, 28.6 (Local) 2025-01-08T20:02:58.505Z,1736366578.505 [DAT](INFO): Local bearing/azimuth received: Bearing 197.9, 28.6 (Local) 2025-01-08T20:02:58.517Z,1736366578.517 [DAT](INFO): DAT read: Range 10 to 50 : 282.0 m (Round-trip 376.0 ms) speed -0.4 m/s 2025-01-08T20:02:58.559Z,1736366578.559 [DAT](INFO): DAT read: user:1076> 2025-01-08T20:02:58.560Z,1736366578.560 [DAT](INFO): DAT read: Tx time:20:02:57.6771 2025-01-08T20:02:58.561Z,1736366578.561 [DAT](INFO): Ping request sent. 2025-01-08T20:02:58.561Z,1736366578.561 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:02:58.561Z,1736366578.561 [DAT](INFO): DAT read: TxSync time:20:02:57.6763 2025-01-08T20:02:58.562Z,1736366578.562 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:02:58.563Z,1736366578.563 [DAT](INFO): direction in FSK: [0.481814,0.496489,-0.722048] 2025-01-08T20:02:58.563Z,1736366578.563 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:58.572Z,1736366578.572 [DAT](INFO): publishing direction and range info 2025-01-08T20:02:58.585Z,1736366578.585 [DAT](INFO): publishing transmit ping time 2025-01-08T20:02:58.585Z,1736366578.585 [DAT](INFO): publishing direction and range info 2025-01-08T20:02:58.744Z,1736366578.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:58.788Z,1736366578.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:58.846Z,1736366578.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 282.000000 m, deltaT: 4.031976 s, deltaX: 1.500000 m, approachRate: 0.372026 m/s, rangeRepo size: 4 2025-01-08T20:02:58.853Z,1736366578.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 282.000000 m, bearing: 325.665296 deg, lat: 36.906729 deg, lon: -122.122791 deg, deltaT: 19.408153 s, deltaX: 10.500000 m, approachRate: 0.541010 m/s, posRepo size: 4 2025-01-08T20:02:58.854Z,1736366578.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:02:58.871Z,1736366578.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 203.259460 m, bearing: 329.439189 deg, approach rate: 0.000000 m/s, LOS rate: 0.136968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.255774 deg. 2025-01-08T20:02:58.926Z,1736366578.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821573 target range: 282.000000 and range: 282.00 m. 2025-01-08T20:02:58.997Z,1736366578.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:59.247Z,1736366579.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:02:59.247Z,1736366579.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:59.248Z,1736366579.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:59.258Z,1736366579.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:02:59.261Z,1736366579.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 203.092957 m, bearing: 329.497555 deg, approach rate: -0.386651 m/s, LOS rate: 0.135648 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150429 deg. 2025-01-08T20:02:59.262Z,1736366579.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819734 target range: 282.000000 and range: 282.00 m. 2025-01-08T20:02:59.500Z,1736366579.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:02:59.661Z,1736366579.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T20:02:59.661Z,1736366579.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:02:59.677Z,1736366579.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:02:59.682Z,1736366579.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 202.942978 m, bearing: 329.550323 deg, approach rate: -0.358696 m/s, LOS rate: 0.126295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133607 deg. 2025-01-08T20:02:59.684Z,1736366579.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819441 target range: 282.000000 and range: 282.00 m. 2025-01-08T20:02:59.752Z,1736366579.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:00.004Z,1736366580.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:00.078Z,1736366580.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:00.087Z,1736366580.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:00.089Z,1736366580.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:00.095Z,1736366580.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 202.772980 m, bearing: 329.608748 deg, approach rate: -0.411914 m/s, LOS rate: 0.141686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150609 deg. 2025-01-08T20:03:00.096Z,1736366580.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819737 target range: 282.000000 and range: 282.00 m. 2025-01-08T20:03:00.256Z,1736366580.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:00.256Z,1736366580.256 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:00.256Z,1736366580.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:00.257Z,1736366580.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:00.441Z,1736366580.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:00.452Z,1736366580.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:00.456Z,1736366580.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 202.625458 m, bearing: 329.659363 deg, approach rate: -0.405957 m/s, LOS rate: 0.139384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127140 deg. 2025-01-08T20:03:00.457Z,1736366580.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819328 target range: 282.000000 and range: 282.00 m. 2025-01-08T20:03:00.508Z,1736366580.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:00.510Z,1736366580.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948644 2025-01-08T20:03:00.760Z,1736366580.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:00.760Z,1736366580.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.199752 2025-01-08T20:03:00.838Z,1736366580.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:00.847Z,1736366580.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:00.850Z,1736366580.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 202.463959 m, bearing: 329.714791 deg, approach rate: -0.409717 m/s, LOS rate: 0.140733 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141605 deg. 2025-01-08T20:03:00.854Z,1736366580.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819580 target range: 282.000000 and range: 282.00 m. 2025-01-08T20:03:01.012Z,1736366581.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:01.012Z,1736366581.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.451686 2025-01-08T20:03:01.264Z,1736366581.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:01.264Z,1736366581.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703782 2025-01-08T20:03:01.277Z,1736366581.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:01.287Z,1736366581.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:01.290Z,1736366581.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 202.269989 m, bearing: 329.781573 deg, approach rate: -0.440813 m/s, LOS rate: 0.151913 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175723 deg. 2025-01-08T20:03:01.291Z,1736366581.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820176 target range: 282.000000 and range: 282.00 m. 2025-01-08T20:03:01.517Z,1736366581.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:01.518Z,1736366581.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957442 2025-01-08T20:03:01.650Z,1736366581.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:01.691Z,1736366581.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:01.698Z,1736366581.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 202.105911 m, bearing: 329.838239 deg, approach rate: -0.406049 m/s, LOS rate: 0.140346 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145321 deg. 2025-01-08T20:03:01.704Z,1736366581.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819645 target range: 282.000000 and range: 282.00 m. 2025-01-08T20:03:01.768Z,1736366581.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:01.769Z,1736366581.769 [DAT](INFO): DAT read: Rx Time:20:03:00.4617 2025-01-08T20:03:01.770Z,1736366581.770 [DAT](INFO): Rx dataTimestamp_ set to:1736366581.769519 2025-01-08T20:03:01.771Z,1736366581.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.210074 2025-01-08T20:03:02.020Z,1736366582.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:02.020Z,1736366582.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.459775 2025-01-08T20:03:02.097Z,1736366582.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:02.105Z,1736366582.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:02.107Z,1736366582.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:02.120Z,1736366582.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 201.897980 m, bearing: 329.909073 deg, approach rate: -0.499721 m/s, LOS rate: 0.170411 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187907 deg. 2025-01-08T20:03:02.124Z,1736366582.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820388 target range: 282.000000 and range: 282.00 m. 2025-01-08T20:03:02.272Z,1736366582.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:02.274Z,1736366582.274 [DAT](INFO): DAT read: Range 10 to 50 : 285.3 m (Round-trip 380.4 ms) speed -0.4 m/s 2025-01-08T20:03:02.274Z,1736366582.274 [DAT](INFO): DAT read: user:1077> 2025-01-08T20:03:02.276Z,1736366582.276 [DAT](INFO): DAT read: Tx time:20:03:01.5771 2025-01-08T20:03:02.276Z,1736366582.276 [DAT](INFO): Ping request sent. 2025-01-08T20:03:02.276Z,1736366582.276 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:02.277Z,1736366582.277 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:03:02.277Z,1736366582.277 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:02.277Z,1736366582.277 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:02.461Z,1736366582.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:02.473Z,1736366582.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 285.299988 m, deltaT: 3.780098 s, deltaX: 3.299988 m, approachRate: 0.872990 m/s, rangeRepo size: 4 2025-01-08T20:03:02.474Z,1736366582.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:02.477Z,1736366582.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 201.729294 m, bearing: 329.967018 deg, approach rate: -0.461140 m/s, LOS rate: 0.158539 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149168 deg. 2025-01-08T20:03:02.478Z,1736366582.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819712 target range: 282.000000 and range: 285.30 m. 2025-01-08T20:03:02.528Z,1736366582.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:02.530Z,1736366582.530 [DAT](INFO): DAT read: TxSync time:20:03:01.5763 2025-01-08T20:03:02.780Z,1736366582.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:02.856Z,1736366582.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:02.864Z,1736366582.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:02.868Z,1736366582.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 201.547348 m, bearing: 330.030175 deg, approach rate: -0.464427 m/s, LOS rate: 0.161358 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164829 deg. 2025-01-08T20:03:02.869Z,1736366582.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819985 target range: 282.000000 and range: 285.30 m. 2025-01-08T20:03:03.032Z,1736366583.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:03.284Z,1736366583.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:03.292Z,1736366583.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:03.306Z,1736366583.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:03.336Z,1736366583.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 201.333466 m, bearing: 330.103480 deg, approach rate: -0.487894 m/s, LOS rate: 0.167394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195331 deg. 2025-01-08T20:03:03.337Z,1736366583.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820518 target range: 282.000000 and range: 285.30 m. 2025-01-08T20:03:03.536Z,1736366583.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:03.723Z,1736366583.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:03.743Z,1736366583.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:03.746Z,1736366583.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 201.122772 m, bearing: 330.176620 deg, approach rate: -0.482918 m/s, LOS rate: 0.167817 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194837 deg. 2025-01-08T20:03:03.752Z,1736366583.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820509 target range: 282.000000 and range: 285.30 m. 2025-01-08T20:03:03.790Z,1736366583.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:04.040Z,1736366584.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:04.100Z,1736366584.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:04.106Z,1736366584.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:04.109Z,1736366584.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:04.112Z,1736366584.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 200.935883 m, bearing: 330.241421 deg, approach rate: -0.505570 m/s, LOS rate: 0.175461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169769 deg. 2025-01-08T20:03:04.113Z,1736366584.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820072 target range: 282.000000 and range: 285.30 m. 2025-01-08T20:03:04.292Z,1736366584.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:04.292Z,1736366584.292 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:04.293Z,1736366584.293 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:04.293Z,1736366584.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:04.481Z,1736366584.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:04.493Z,1736366584.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:04.496Z,1736366584.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 200.747360 m, bearing: 330.307234 deg, approach rate: -0.491016 m/s, LOS rate: 0.171575 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172812 deg. 2025-01-08T20:03:04.497Z,1736366584.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820125 target range: 282.000000 and range: 285.30 m. 2025-01-08T20:03:04.544Z,1736366584.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:04.545Z,1736366584.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269104 2025-01-08T20:03:04.796Z,1736366584.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:04.796Z,1736366584.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520048 2025-01-08T20:03:04.877Z,1736366584.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:04.886Z,1736366584.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:04.889Z,1736366584.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 200.552490 m, bearing: 330.375698 deg, approach rate: -0.495142 m/s, LOS rate: 0.174127 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180776 deg. 2025-01-08T20:03:04.890Z,1736366584.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820264 target range: 282.000000 and range: 285.30 m. 2025-01-08T20:03:05.048Z,1736366585.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:05.049Z,1736366585.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772520 2025-01-08T20:03:05.301Z,1736366585.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:05.302Z,1736366585.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025753 2025-01-08T20:03:05.328Z,1736366585.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:05.353Z,1736366585.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:05.361Z,1736366585.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 200.336304 m, bearing: 330.452881 deg, approach rate: -0.462616 m/s, LOS rate: 0.165341 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206984 deg. 2025-01-08T20:03:05.362Z,1736366585.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820721 target range: 282.000000 and range: 285.30 m. 2025-01-08T20:03:05.552Z,1736366585.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:05.552Z,1736366585.552 [DAT](INFO): DAT read: Rx Time:20:03:04.3642 2025-01-08T20:03:05.553Z,1736366585.553 [DAT](INFO): Rx dataTimestamp_ set to:1736366585.552561 2025-01-08T20:03:05.553Z,1736366585.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277055 2025-01-08T20:03:05.712Z,1736366585.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:05.725Z,1736366585.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:05.740Z,1736366585.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 200.153397 m, bearing: 330.518882 deg, approach rate: -0.493040 m/s, LOS rate: 0.178074 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173371 deg. 2025-01-08T20:03:05.741Z,1736366585.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820135 target range: 282.000000 and range: 285.30 m. 2025-01-08T20:03:05.807Z,1736366585.807 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:05.808Z,1736366585.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531600 2025-01-08T20:03:06.056Z,1736366586.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:06.057Z,1736366586.057 [DAT](INFO): DAT read: Range 10 to 50 : 287.2 m (Round-trip 383.0 ms) speed -0.3 m/s 2025-01-08T20:03:06.058Z,1736366586.058 [DAT](INFO): DAT read: user:1078> 2025-01-08T20:03:06.059Z,1736366586.059 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:03:06.059Z,1736366586.059 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:06.059Z,1736366586.059 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:06.060Z,1736366586.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:06.159Z,1736366586.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:06.172Z,1736366586.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:06.175Z,1736366586.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 287.200012 m, deltaT: 3.783781 s, deltaX: 1.900024 m, approachRate: 0.502150 m/s, rangeRepo size: 4 2025-01-08T20:03:06.180Z,1736366586.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:06.188Z,1736366586.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 199.950821 m, bearing: 330.593233 deg, approach rate: -0.450321 m/s, LOS rate: 0.165447 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198463 deg. 2025-01-08T20:03:06.189Z,1736366586.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820572 target range: 282.000000 and range: 287.20 m. 2025-01-08T20:03:06.309Z,1736366586.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:06.310Z,1736366586.310 [DAT](INFO): DAT read: Tx time:20:03:05.4787 2025-01-08T20:03:06.310Z,1736366586.310 [DAT](INFO): Ping request sent. 2025-01-08T20:03:06.311Z,1736366586.311 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:06.311Z,1736366586.311 [DAT](INFO): DAT read: TxSync time:20:03:05.4779 2025-01-08T20:03:06.312Z,1736366586.312 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:06.312Z,1736366586.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001895 2025-01-08T20:03:06.494Z,1736366586.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:06.503Z,1736366586.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:06.506Z,1736366586.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 199.799515 m, bearing: 330.649171 deg, approach rate: -0.460701 m/s, LOS rate: 0.170452 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143129 deg. 2025-01-08T20:03:06.507Z,1736366586.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819607 target range: 282.000000 and range: 287.20 m. 2025-01-08T20:03:06.560Z,1736366586.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:06.561Z,1736366586.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250691 2025-01-08T20:03:06.812Z,1736366586.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:06.812Z,1736366586.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501824 2025-01-08T20:03:06.896Z,1736366586.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:06.905Z,1736366586.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:06.908Z,1736366586.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 199.618835 m, bearing: 330.716595 deg, approach rate: -0.449372 m/s, LOS rate: 0.167842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177639 deg. 2025-01-08T20:03:06.909Z,1736366586.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820209 target range: 282.000000 and range: 287.20 m. 2025-01-08T20:03:07.064Z,1736366587.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:07.065Z,1736366587.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753920 2025-01-08T20:03:07.316Z,1736366587.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:07.317Z,1736366587.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006184 2025-01-08T20:03:07.344Z,1736366587.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:07.353Z,1736366587.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:07.356Z,1736366587.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 199.428543 m, bearing: 330.787222 deg, approach rate: -0.424634 m/s, LOS rate: 0.157755 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187271 deg. 2025-01-08T20:03:07.357Z,1736366587.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820377 target range: 282.000000 and range: 287.20 m. 2025-01-08T20:03:07.570Z,1736366587.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:07.572Z,1736366587.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261095 2025-01-08T20:03:07.710Z,1736366587.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:07.719Z,1736366587.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:07.731Z,1736366587.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 199.273773 m, bearing: 330.845133 deg, approach rate: -0.423345 m/s, LOS rate: 0.158527 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149053 deg. 2025-01-08T20:03:07.748Z,1736366587.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819710 target range: 282.000000 and range: 287.20 m. 2025-01-08T20:03:07.822Z,1736366587.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:07.824Z,1736366587.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513021 2025-01-08T20:03:08.073Z,1736366588.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:08.076Z,1736366588.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764844 2025-01-08T20:03:08.219Z,1736366588.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:08.226Z,1736366588.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:08.228Z,1736366588.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:08.231Z,1736366588.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 199.080109 m, bearing: 330.918434 deg, approach rate: -0.380106 m/s, LOS rate: 0.144009 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195304 deg. 2025-01-08T20:03:08.233Z,1736366588.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820518 target range: 282.000000 and range: 287.20 m. 2025-01-08T20:03:08.325Z,1736366588.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:08.326Z,1736366588.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015305 2025-01-08T20:03:08.576Z,1736366588.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:08.576Z,1736366588.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265861 2025-01-08T20:03:08.591Z,1736366588.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:08.633Z,1736366588.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:08.640Z,1736366588.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 198.938477 m, bearing: 330.972038 deg, approach rate: -0.349655 m/s, LOS rate: 0.132429 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136112 deg. 2025-01-08T20:03:08.641Z,1736366588.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819484 target range: 282.000000 and range: 287.20 m. 2025-01-08T20:03:08.828Z,1736366588.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:08.828Z,1736366588.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517865 2025-01-08T20:03:09.080Z,1736366589.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:09.081Z,1736366589.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769970 2025-01-08T20:03:09.143Z,1736366589.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:09.166Z,1736366589.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:09.170Z,1736366589.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 198.766357 m, bearing: 331.035759 deg, approach rate: -0.323481 m/s, LOS rate: 0.119861 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166514 deg. 2025-01-08T20:03:09.171Z,1736366589.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820015 target range: 282.000000 and range: 287.20 m. 2025-01-08T20:03:09.332Z,1736366589.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:09.333Z,1736366589.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022548 2025-01-08T20:03:09.487Z,1736366589.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:09.496Z,1736366589.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:09.499Z,1736366589.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 198.658844 m, bearing: 331.075510 deg, approach rate: -0.325418 m/s, LOS rate: 0.120384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.094506 deg. 2025-01-08T20:03:09.501Z,1736366589.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818758 target range: 282.000000 and range: 287.20 m. 2025-01-08T20:03:09.584Z,1736366589.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:09.585Z,1736366589.585 [DAT](INFO): DAT read: Rx Time:20:03:08.2692 2025-01-08T20:03:09.586Z,1736366589.586 [DAT](INFO): Rx dataTimestamp_ set to:1736366589.585793 2025-01-08T20:03:09.587Z,1736366589.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276449 2025-01-08T20:03:09.836Z,1736366589.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:09.837Z,1736366589.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525921 2025-01-08T20:03:09.891Z,1736366589.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:09.900Z,1736366589.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:09.904Z,1736366589.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 198.532608 m, bearing: 331.122155 deg, approach rate: -0.311815 m/s, LOS rate: 0.115289 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115208 deg. 2025-01-08T20:03:09.905Z,1736366589.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819119 target range: 282.000000 and range: 287.20 m. 2025-01-08T20:03:10.090Z,1736366590.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:10.096Z,1736366590.096 [DAT](INFO): DAT read: Range 10 to 50 : 289.7 m (Round-trip 386.3 ms) speed -0.1 m/s 2025-01-08T20:03:10.105Z,1736366590.105 [DAT](INFO): DAT read: user:1079> 2025-01-08T20:03:10.108Z,1736366590.108 [DAT](INFO): DAT read: Tx time:20:03:09.3772 2025-01-08T20:03:10.108Z,1736366590.108 [DAT](INFO): Ping request sent. 2025-01-08T20:03:10.108Z,1736366590.108 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:10.108Z,1736366590.108 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:03:10.109Z,1736366590.109 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:10.109Z,1736366590.109 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:10.340Z,1736366590.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:10.341Z,1736366590.341 [DAT](INFO): DAT read: TxSync time:20:03:09.3764 2025-01-08T20:03:10.397Z,1736366590.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:10.405Z,1736366590.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:10.408Z,1736366590.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 289.700012 m, deltaT: 4.034475 s, deltaX: 2.500000 m, approachRate: 0.619659 m/s, rangeRepo size: 4 2025-01-08T20:03:10.409Z,1736366590.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:10.412Z,1736366590.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 198.367401 m, bearing: 331.182160 deg, approach rate: -0.325995 m/s, LOS rate: 0.118504 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155351 deg. 2025-01-08T20:03:10.413Z,1736366590.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819820 target range: 282.000000 and range: 289.70 m. 2025-01-08T20:03:10.592Z,1736366590.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:10.592Z,1736366590.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:10.592Z,1736366590.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:10.592Z,1736366590.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:10.731Z,1736366590.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:10.739Z,1736366590.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:10.742Z,1736366590.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 198.258911 m, bearing: 331.221799 deg, approach rate: -0.326892 m/s, LOS rate: 0.119505 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.094171 deg. 2025-01-08T20:03:10.759Z,1736366590.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818752 target range: 282.000000 and range: 289.70 m. 2025-01-08T20:03:10.844Z,1736366590.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:10.844Z,1736366590.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.736296 2025-01-08T20:03:11.098Z,1736366591.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:11.101Z,1736366591.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991980 2025-01-08T20:03:11.167Z,1736366591.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:11.196Z,1736366591.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:11.204Z,1736366591.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 198.118027 m, bearing: 331.271621 deg, approach rate: -0.322907 m/s, LOS rate: 0.114272 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124757 deg. 2025-01-08T20:03:11.212Z,1736366591.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819286 target range: 282.000000 and range: 289.70 m. 2025-01-08T20:03:11.348Z,1736366591.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:11.350Z,1736366591.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241483 2025-01-08T20:03:11.556Z,1736366591.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:11.565Z,1736366591.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:11.569Z,1736366591.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 197.992157 m, bearing: 331.316098 deg, approach rate: -0.323162 m/s, LOS rate: 0.114263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108701 deg. 2025-01-08T20:03:11.570Z,1736366591.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819006 target range: 282.000000 and range: 289.70 m. 2025-01-08T20:03:11.600Z,1736366591.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:11.601Z,1736366591.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493171 2025-01-08T20:03:11.852Z,1736366591.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:11.853Z,1736366591.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744495 2025-01-08T20:03:11.937Z,1736366591.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:11.945Z,1736366591.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:11.949Z,1736366591.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 197.868820 m, bearing: 331.359484 deg, approach rate: -0.324464 m/s, LOS rate: 0.114209 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105427 deg. 2025-01-08T20:03:11.951Z,1736366591.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818949 target range: 282.000000 and range: 289.70 m. 2025-01-08T20:03:12.107Z,1736366592.107 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:12.110Z,1736366592.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000932 2025-01-08T20:03:12.356Z,1736366592.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:12.358Z,1736366592.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249376 2025-01-08T20:03:12.381Z,1736366592.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:12.417Z,1736366592.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:12.424Z,1736366592.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:12.427Z,1736366592.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 197.718704 m, bearing: 331.410609 deg, approach rate: -0.316376 m/s, LOS rate: 0.107829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128676 deg. 2025-01-08T20:03:12.433Z,1736366592.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819355 target range: 282.000000 and range: 289.70 m. 2025-01-08T20:03:12.608Z,1736366592.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:12.608Z,1736366592.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500150 2025-01-08T20:03:12.843Z,1736366592.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:12.860Z,1736366592.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:12.860Z,1736366592.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752187 2025-01-08T20:03:12.877Z,1736366592.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:12.892Z,1736366592.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 197.561935 m, bearing: 331.463504 deg, approach rate: -0.342406 m/s, LOS rate: 0.115623 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133998 deg. 2025-01-08T20:03:12.893Z,1736366592.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819448 target range: 282.000000 and range: 289.70 m. 2025-01-08T20:03:13.113Z,1736366593.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:13.116Z,1736366593.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006858 2025-01-08T20:03:13.364Z,1736366593.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:13.365Z,1736366593.365 [DAT](INFO): DAT read: Rx Time:20:03:12.1695 2025-01-08T20:03:13.366Z,1736366593.366 [DAT](INFO): Rx dataTimestamp_ set to:1736366593.364775 2025-01-08T20:03:13.366Z,1736366593.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258153 2025-01-08T20:03:13.374Z,1736366593.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:13.403Z,1736366593.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:13.410Z,1736366593.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 197.370728 m, bearing: 331.528340 deg, approach rate: -0.363956 m/s, LOS rate: 0.123532 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169883 deg. 2025-01-08T20:03:13.416Z,1736366593.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820074 target range: 282.000000 and range: 289.70 m. 2025-01-08T20:03:13.616Z,1736366593.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:13.617Z,1736366593.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508663 2025-01-08T20:03:13.780Z,1736366593.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:13.790Z,1736366593.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m. 2025-01-08T20:03:13.793Z,1736366593.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.000000 m, nav range: 197.224579 m, bearing: 331.577884 deg, approach rate: -0.376898 m/s, LOS rate: 0.127863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123929 deg. 2025-01-08T20:03:13.795Z,1736366593.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819272 target range: 282.000000 and range: 289.70 m. 2025-01-08T20:03:13.870Z,1736366593.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:13.901Z,1736366593.901 [DAT](INFO): DAT read: 20:03:12.1695 LVL= 22848, 23425, 16930, 27971, AGC= 65, IDX= 451,-0.18, 2.829,-1.218,-2.766,-2.900, PHS=-0.467, 1.729, 0.131, RAW= 314.8, -14.1, CAL= 319.9, -19.1, ROT= 190.1, 19.1 2025-01-08T20:03:13.936Z,1736366593.936 [DAT](INFO): got valid direction response: 20:03:12.1695 LVL= 22848, 23425, 16930, 27971, AGC= 65, IDX= 451,-0.18, 2.829,-1.218,-2.766,-2.900, PHS=-0.467, 1.729, 0.131, RAW= 314.8, -14.1, CAL= 319.9, -19.1, ROT= 190.1, 19.1 2025-01-08T20:03:13.937Z,1736366593.937 [DAT](INFO): DAT read: Bearing 190.1, 19.1 (Local) 2025-01-08T20:03:13.937Z,1736366593.937 [DAT](INFO): Local bearing/azimuth received: Bearing 190.1, 19.1 (Local) 2025-01-08T20:03:13.939Z,1736366593.939 [DAT](INFO): DAT read: Range 10 to 50 : 291.0 m (Round-trip 388.1 ms) speed -0.4 m/s 2025-01-08T20:03:13.953Z,1736366593.953 [DAT](INFO): DAT read: user:1080> 2025-01-08T20:03:13.954Z,1736366593.954 [DAT](INFO): DAT read: Tx time:20:03:13.2772 2025-01-08T20:03:13.954Z,1736366593.954 [DAT](INFO): Ping request sent. 2025-01-08T20:03:13.954Z,1736366593.954 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:13.954Z,1736366593.954 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:03:13.960Z,1736366593.960 [DAT](INFO): direction in FSK: [0.388068,0.597048,-0.702095] 2025-01-08T20:03:13.960Z,1736366593.960 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:13.960Z,1736366593.960 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:13.976Z,1736366593.976 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:13.976Z,1736366593.976 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:14.122Z,1736366594.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:14.125Z,1736366594.125 [DAT](INFO): DAT read: TxSync time:20:03:13.2764 2025-01-08T20:03:14.283Z,1736366594.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:14.318Z,1736366594.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 291.000000 m, deltaT: 3.780775 s, deltaX: 1.299988 m, approachRate: 0.343842 m/s, rangeRepo size: 4 2025-01-08T20:03:14.324Z,1736366594.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 291.000000 m, bearing: 336.581622 deg, lat: 36.906784 deg, lon: -122.122791 deg, deltaT: 15.379129 s, deltaX: 9.000000 m, approachRate: 0.585209 m/s, posRepo size: 4 2025-01-08T20:03:14.325Z,1736366594.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:14.332Z,1736366594.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 202.449265 m, bearing: 332.469469 deg, approach rate: 0.000000 m/s, LOS rate: 0.127863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177191 deg. 2025-01-08T20:03:14.334Z,1736366594.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820201 target range: 291.000000 and range: 291.00 m. 2025-01-08T20:03:14.372Z,1736366594.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:14.624Z,1736366594.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:14.633Z,1736366594.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:14.640Z,1736366594.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:14.642Z,1736366594.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:14.645Z,1736366594.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 202.315994 m, bearing: 332.515971 deg, approach rate: -0.410298 m/s, LOS rate: 0.143259 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114783 deg. 2025-01-08T20:03:14.647Z,1736366594.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819112 target range: 291.000000 and range: 291.00 m. 2025-01-08T20:03:14.878Z,1736366594.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:14.879Z,1736366594.879 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:14.879Z,1736366594.879 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:14.881Z,1736366594.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:15.023Z,1736366595.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:15.031Z,1736366595.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:15.035Z,1736366595.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 202.168381 m, bearing: 332.567606 deg, approach rate: -0.379264 m/s, LOS rate: 0.132765 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130207 deg. 2025-01-08T20:03:15.036Z,1736366595.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819381 target range: 291.000000 and range: 291.00 m. 2025-01-08T20:03:15.129Z,1736366595.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:15.132Z,1736366595.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.177588 2025-01-08T20:03:15.380Z,1736366595.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:15.381Z,1736366595.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.426393 2025-01-08T20:03:15.446Z,1736366595.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:15.456Z,1736366595.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:15.458Z,1736366595.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 201.993805 m, bearing: 332.629725 deg, approach rate: -0.411415 m/s, LOS rate: 0.146518 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161702 deg. 2025-01-08T20:03:15.476Z,1736366595.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819931 target range: 291.000000 and range: 291.00 m. 2025-01-08T20:03:15.632Z,1736366595.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:15.633Z,1736366595.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679030 2025-01-08T20:03:15.830Z,1736366595.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:15.842Z,1736366595.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:15.845Z,1736366595.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 201.835526 m, bearing: 332.686112 deg, approach rate: -0.409194 m/s, LOS rate: 0.145891 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144482 deg. 2025-01-08T20:03:15.846Z,1736366595.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819631 target range: 291.000000 and range: 291.00 m. 2025-01-08T20:03:15.885Z,1736366595.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:15.885Z,1736366595.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931293 2025-01-08T20:03:16.137Z,1736366596.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:16.140Z,1736366596.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.185279 2025-01-08T20:03:16.253Z,1736366596.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:16.261Z,1736366596.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:16.264Z,1736366596.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 201.649124 m, bearing: 332.754574 deg, approach rate: -0.444982 m/s, LOS rate: 0.163584 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180760 deg. 2025-01-08T20:03:16.266Z,1736366596.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820263 target range: 291.000000 and range: 291.00 m. 2025-01-08T20:03:16.388Z,1736366596.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:16.389Z,1736366596.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434477 2025-01-08T20:03:16.630Z,1736366596.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:16.640Z,1736366596.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:16.640Z,1736366596.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.686248 2025-01-08T20:03:16.661Z,1736366596.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:16.669Z,1736366596.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:16.678Z,1736366596.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 201.483032 m, bearing: 332.815838 deg, approach rate: -0.407586 m/s, LOS rate: 0.150464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159130 deg. 2025-01-08T20:03:16.692Z,1736366596.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819886 target range: 291.000000 and range: 291.00 m. 2025-01-08T20:03:16.892Z,1736366596.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:16.893Z,1736366596.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939279 2025-01-08T20:03:17.030Z,1736366597.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:17.040Z,1736366597.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:17.042Z,1736366597.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 201.307449 m, bearing: 332.881124 deg, approach rate: -0.473582 m/s, LOS rate: 0.176244 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171216 deg. 2025-01-08T20:03:17.044Z,1736366597.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820097 target range: 291.000000 and range: 291.00 m. 2025-01-08T20:03:17.154Z,1736366597.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:17.157Z,1736366597.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202199 2025-01-08T20:03:17.404Z,1736366597.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:17.405Z,1736366597.405 [DAT](INFO): DAT read: Rx Time:20:03:16.0733 2025-01-08T20:03:17.405Z,1736366597.405 [DAT](INFO): Rx dataTimestamp_ set to:1736366597.404774 2025-01-08T20:03:17.406Z,1736366597.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451467 2025-01-08T20:03:17.478Z,1736366597.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:17.495Z,1736366597.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:17.502Z,1736366597.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 201.099442 m, bearing: 332.959126 deg, approach rate: -0.456766 m/s, LOS rate: 0.171462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209434 deg. 2025-01-08T20:03:17.507Z,1736366597.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820764 target range: 291.000000 and range: 291.00 m. 2025-01-08T20:03:17.656Z,1736366597.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:17.658Z,1736366597.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.703051 2025-01-08T20:03:17.854Z,1736366597.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:17.862Z,1736366597.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:17.865Z,1736366597.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 200.925934 m, bearing: 333.024836 deg, approach rate: -0.472890 m/s, LOS rate: 0.179245 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172485 deg. 2025-01-08T20:03:17.866Z,1736366597.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820119 target range: 291.000000 and range: 291.00 m. 2025-01-08T20:03:17.908Z,1736366597.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:17.910Z,1736366597.910 [DAT](INFO): DAT read: Range 10 to 50 : 293.9 m (Round-trip 391.9 ms) speed -0.8 m/s 2025-01-08T20:03:17.910Z,1736366597.910 [DAT](INFO): DAT read: user:1081> 2025-01-08T20:03:17.911Z,1736366597.911 [DAT](INFO): DAT read: Tx time:20:03:17.1772 2025-01-08T20:03:17.912Z,1736366597.912 [DAT](INFO): Ping request sent. 2025-01-08T20:03:17.912Z,1736366597.912 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:17.912Z,1736366597.912 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:03:17.912Z,1736366597.912 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:17.913Z,1736366597.913 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:18.162Z,1736366598.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:18.164Z,1736366598.164 [DAT](INFO): DAT read: TxSync time:20:03:17.1764 2025-01-08T20:03:18.310Z,1736366598.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:18.323Z,1736366598.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 293.899994 m, deltaT: 4.036899 s, deltaX: 2.899994 m, approachRate: 0.718372 m/s, rangeRepo size: 4 2025-01-08T20:03:18.323Z,1736366598.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:18.326Z,1736366598.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 200.708176 m, bearing: 333.109125 deg, approach rate: -0.473156 m/s, LOS rate: 0.183345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228326 deg. 2025-01-08T20:03:18.327Z,1736366598.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821094 target range: 291.000000 and range: 293.90 m. 2025-01-08T20:03:18.412Z,1736366598.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:18.664Z,1736366598.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:18.716Z,1736366598.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:18.735Z,1736366598.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:18.741Z,1736366598.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:18.750Z,1736366598.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 200.515274 m, bearing: 333.184083 deg, approach rate: -0.460162 m/s, LOS rate: 0.178982 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200276 deg. 2025-01-08T20:03:18.751Z,1736366598.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820604 target range: 291.000000 and range: 293.90 m. 2025-01-08T20:03:18.917Z,1736366598.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:18.917Z,1736366598.917 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:18.918Z,1736366598.918 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:18.918Z,1736366598.918 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:19.087Z,1736366599.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:19.101Z,1736366599.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:19.107Z,1736366599.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 200.340805 m, bearing: 333.253597 deg, approach rate: -0.487452 m/s, LOS rate: 0.194387 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183910 deg. 2025-01-08T20:03:19.110Z,1736366599.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820319 target range: 291.000000 and range: 293.90 m. 2025-01-08T20:03:19.169Z,1736366599.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:19.172Z,1736366599.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259871 2025-01-08T20:03:19.420Z,1736366599.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:19.420Z,1736366599.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508730 2025-01-08T20:03:19.545Z,1736366599.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:19.556Z,1736366599.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:19.559Z,1736366599.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 200.122269 m, bearing: 333.339230 deg, approach rate: -0.479118 m/s, LOS rate: 0.187947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232365 deg. 2025-01-08T20:03:19.560Z,1736366599.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821164 target range: 291.000000 and range: 293.90 m. 2025-01-08T20:03:19.672Z,1736366599.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:19.674Z,1736366599.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761795 2025-01-08T20:03:19.804Z,1736366599.804 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:03:19.911Z,1736366599.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:19.919Z,1736366599.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:19.922Z,1736366599.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 199.949142 m, bearing: 333.407828 deg, approach rate: -0.475712 m/s, LOS rate: 0.188655 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181158 deg. 2025-01-08T20:03:19.924Z,1736366599.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:19.924Z,1736366599.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012774 2025-01-08T20:03:19.927Z,1736366599.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820271 target range: 291.000000 and range: 293.90 m. 2025-01-08T20:03:20.176Z,1736366600.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:20.176Z,1736366600.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264713 2025-01-08T20:03:20.323Z,1736366600.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:20.357Z,1736366600.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:20.364Z,1736366600.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 199.762360 m, bearing: 333.483530 deg, approach rate: -0.426631 m/s, LOS rate: 0.173073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.202504 deg. 2025-01-08T20:03:20.366Z,1736366600.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820643 target range: 291.000000 and range: 293.90 m. 2025-01-08T20:03:20.431Z,1736366600.431 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:20.432Z,1736366600.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520367 2025-01-08T20:03:20.680Z,1736366600.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:20.681Z,1736366600.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769255 2025-01-08T20:03:20.709Z,1736366600.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:20.718Z,1736366600.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:20.741Z,1736366600.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 199.587753 m, bearing: 333.554614 deg, approach rate: -0.483179 m/s, LOS rate: 0.196877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188623 deg. 2025-01-08T20:03:20.742Z,1736366600.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820401 target range: 291.000000 and range: 293.90 m. 2025-01-08T20:03:20.810Z,1736366600.810 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:03:20.932Z,1736366600.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:20.932Z,1736366600.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020579 2025-01-08T20:03:21.109Z,1736366601.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:21.119Z,1736366601.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:21.122Z,1736366601.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:21.125Z,1736366601.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 199.407562 m, bearing: 333.628429 deg, approach rate: -0.445856 m/s, LOS rate: 0.182811 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196833 deg. 2025-01-08T20:03:21.126Z,1736366601.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820544 target range: 291.000000 and range: 293.90 m. 2025-01-08T20:03:21.185Z,1736366601.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:21.186Z,1736366601.186 [DAT](INFO): DAT read: Rx Time:20:03:19.9779 2025-01-08T20:03:21.187Z,1736366601.187 [DAT](INFO): Rx dataTimestamp_ set to:1736366601.186125 2025-01-08T20:03:21.188Z,1736366601.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276047 2025-01-08T20:03:21.436Z,1736366601.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:21.436Z,1736366601.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524708 2025-01-08T20:03:21.551Z,1736366601.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:21.560Z,1736366601.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m. 2025-01-08T20:03:21.562Z,1736366601.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 291.000000 m, nav range: 199.220459 m, bearing: 333.707005 deg, approach rate: -0.428052 m/s, LOS rate: 0.179933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.211134 deg. 2025-01-08T20:03:21.564Z,1736366601.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820794 target range: 291.000000 and range: 293.90 m. 2025-01-08T20:03:21.690Z,1736366601.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:21.697Z,1736366601.697 [DAT](INFO): DAT read: 20:03:19.9779 LVL= 24544, 23537, 16466, 32291, AGC= 64, IDX= 473,-0.04, 3.077,-0.853,-2.334,-2.699, PHS=-0.419, 1.893, 0.362, RAW= 310.6, -17.7, CAL= 314.5, -25.1, ROT= 195.5, 25.1 2025-01-08T20:03:21.698Z,1736366601.698 [DAT](INFO): got valid direction response: 20:03:19.9779 LVL= 24544, 23537, 16466, 32291, AGC= 64, IDX= 473,-0.04, 3.077,-0.853,-2.334,-2.699, PHS=-0.419, 1.893, 0.362, RAW= 310.6, -17.7, CAL= 314.5, -25.1, ROT= 195.5, 25.1 2025-01-08T20:03:21.699Z,1736366601.699 [DAT](INFO): DAT read: Bearing 195.5, 25.1 (Local) 2025-01-08T20:03:21.700Z,1736366601.700 [DAT](INFO): Local bearing/azimuth received: Bearing 195.5, 25.1 (Local) 2025-01-08T20:03:21.701Z,1736366601.701 [DAT](INFO): DAT read: Range 10 to 50 : 297.3 m (Round-trip 396.5 ms) speed -0.6 m/s 2025-01-08T20:03:21.702Z,1736366601.702 [DAT](INFO): DAT read: user:1082> 2025-01-08T20:03:21.703Z,1736366601.703 [DAT](INFO): DAT read: Tx time:20:03:21.0772 2025-01-08T20:03:21.703Z,1736366601.703 [DAT](INFO): Ping request sent. 2025-01-08T20:03:21.703Z,1736366601.703 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:21.704Z,1736366601.704 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:03:21.705Z,1736366601.705 [DAT](INFO): direction in FSK: [0.449382,0.523207,-0.724093] 2025-01-08T20:03:21.705Z,1736366601.705 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:21.705Z,1736366601.705 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:21.709Z,1736366601.709 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:21.709Z,1736366601.709 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:21.941Z,1736366601.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:21.941Z,1736366601.941 [DAT](INFO): DAT read: TxSync time:20:03:21.0765 2025-01-08T20:03:21.946Z,1736366601.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:21.979Z,1736366601.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 297.299988 m, deltaT: 3.781875 s, deltaX: 3.399994 m, approachRate: 0.899023 m/s, rangeRepo size: 4 2025-01-08T20:03:21.993Z,1736366601.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 297.299988 m, bearing: 329.086705 deg, lat: 36.906787 deg, lon: -122.122821 deg, deltaT: 7.818774 s, deltaX: 6.299988 m, approachRate: 0.805751 m/s, posRepo size: 4 2025-01-08T20:03:21.000Z,1736366602.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:22.011Z,1736366602.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 200.623322 m, bearing: 333.129399 deg, approach rate: 0.000000 m/s, LOS rate: 0.179933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201176 deg. 2025-01-08T20:03:22.020Z,1736366602.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820620 target range: 297.299988 and range: 297.30 m. 2025-01-08T20:03:22.192Z,1736366602.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:22.342Z,1736366602.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:22.352Z,1736366602.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:22.355Z,1736366602.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 200.468811 m, bearing: 333.191080 deg, approach rate: -0.413379 m/s, LOS rate: 0.165149 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160372 deg. 2025-01-08T20:03:22.376Z,1736366602.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819908 target range: 297.299988 and range: 297.30 m. 2025-01-08T20:03:22.445Z,1736366602.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:22.696Z,1736366602.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:22.738Z,1736366602.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:22.747Z,1736366602.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:22.751Z,1736366602.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 200.315247 m, bearing: 333.253089 deg, approach rate: -0.388998 m/s, LOS rate: 0.157197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161355 deg. 2025-01-08T20:03:22.752Z,1736366602.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819925 target range: 297.299988 and range: 297.30 m. 2025-01-08T20:03:22.948Z,1736366602.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:23.123Z,1736366603.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:23.130Z,1736366603.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:23.133Z,1736366603.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:23.153Z,1736366603.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 200.165955 m, bearing: 333.313455 deg, approach rate: -0.387489 m/s, LOS rate: 0.156799 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156421 deg. 2025-01-08T20:03:23.154Z,1736366603.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819839 target range: 297.299988 and range: 297.30 m. 2025-01-08T20:03:23.202Z,1736366603.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:23.204Z,1736366603.204 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:23.205Z,1736366603.205 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:23.205Z,1736366603.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:23.452Z,1736366603.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:23.453Z,1736366603.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749126 2025-01-08T20:03:23.570Z,1736366603.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:23.578Z,1736366603.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:23.585Z,1736366603.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 200.009247 m, bearing: 333.376339 deg, approach rate: -0.351258 m/s, LOS rate: 0.141063 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163985 deg. 2025-01-08T20:03:23.586Z,1736366603.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819971 target range: 297.299988 and range: 297.30 m. 2025-01-08T20:03:23.704Z,1736366603.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:23.705Z,1736366603.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001875 2025-01-08T20:03:23.956Z,1736366603.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:23.956Z,1736366603.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252987 2025-01-08T20:03:24.057Z,1736366604.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:24.067Z,1736366604.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:24.069Z,1736366604.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 199.838348 m, bearing: 333.445143 deg, approach rate: -0.349934 m/s, LOS rate: 0.141004 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181774 deg. 2025-01-08T20:03:24.071Z,1736366604.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820282 target range: 297.299988 and range: 297.30 m. 2025-01-08T20:03:24.208Z,1736366604.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:24.209Z,1736366604.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505515 2025-01-08T20:03:24.413Z,1736366604.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:24.422Z,1736366604.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:24.441Z,1736366604.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 199.723145 m, bearing: 333.489335 deg, approach rate: -0.324045 m/s, LOS rate: 0.124375 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107839 deg. 2025-01-08T20:03:24.442Z,1736366604.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818991 target range: 297.299988 and range: 297.30 m. 2025-01-08T20:03:24.460Z,1736366604.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:24.460Z,1736366604.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757063 2025-01-08T20:03:24.712Z,1736366604.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:24.712Z,1736366604.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008867 2025-01-08T20:03:24.804Z,1736366604.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:24.812Z,1736366604.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:24.831Z,1736366604.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 199.595016 m, bearing: 333.537833 deg, approach rate: -0.328347 m/s, LOS rate: 0.124364 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120774 deg. 2025-01-08T20:03:24.833Z,1736366604.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819217 target range: 297.299988 and range: 297.30 m. 2025-01-08T20:03:24.964Z,1736366604.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:24.965Z,1736366604.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261829 2025-01-08T20:03:25.201Z,1736366605.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:25.208Z,1736366605.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:25.210Z,1736366605.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:25.217Z,1736366605.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:25.217Z,1736366605.217 [DAT](INFO): DAT read: Rx Time:20:03:23.8783 2025-01-08T20:03:25.218Z,1736366605.218 [DAT](INFO): Rx dataTimestamp_ set to:1736366605.217477 2025-01-08T20:03:25.218Z,1736366605.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514895 2025-01-08T20:03:25.239Z,1736366605.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 199.465179 m, bearing: 333.587101 deg, approach rate: -0.326581 m/s, LOS rate: 0.124005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123086 deg. 2025-01-08T20:03:25.241Z,1736366605.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819257 target range: 297.299988 and range: 297.30 m. 2025-01-08T20:03:25.468Z,1736366605.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:25.468Z,1736366605.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764958 2025-01-08T20:03:25.637Z,1736366605.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:25.646Z,1736366605.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:25.652Z,1736366605.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 199.329132 m, bearing: 333.637325 deg, approach rate: -0.312103 m/s, LOS rate: 0.115297 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125962 deg. 2025-01-08T20:03:25.654Z,1736366605.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819307 target range: 297.299988 and range: 297.30 m. 2025-01-08T20:03:25.720Z,1736366605.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:25.722Z,1736366605.722 [DAT](INFO): DAT read: Range 10 to 50 : 297.6 m (Round-trip 396.8 ms) speed -0.4 m/s 2025-01-08T20:03:25.723Z,1736366605.723 [DAT](INFO): DAT read: user:1083> 2025-01-08T20:03:25.723Z,1736366605.723 [DAT](INFO): DAT read: Tx time:20:03:24.9773 2025-01-08T20:03:25.724Z,1736366605.724 [DAT](INFO): Ping request sent. 2025-01-08T20:03:25.724Z,1736366605.724 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:25.724Z,1736366605.724 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:03:25.724Z,1736366605.724 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:25.725Z,1736366605.725 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:25.972Z,1736366605.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:25.973Z,1736366605.973 [DAT](INFO): DAT read: TxSync time:20:03:24.9765 2025-01-08T20:03:26.035Z,1736366606.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:26.044Z,1736366606.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 297.600006 m, deltaT: 4.030308 s, deltaX: 0.300018 m, approachRate: 0.074441 m/s, rangeRepo size: 4 2025-01-08T20:03:26.045Z,1736366606.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:26.048Z,1736366606.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 199.203796 m, bearing: 333.683005 deg, approach rate: -0.315303 m/s, LOS rate: 0.114986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112311 deg. 2025-01-08T20:03:26.049Z,1736366606.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819069 target range: 297.299988 and range: 297.60 m. 2025-01-08T20:03:26.224Z,1736366606.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:26.476Z,1736366606.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:26.506Z,1736366606.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:26.536Z,1736366606.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:26.540Z,1736366606.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 199.052902 m, bearing: 333.736087 deg, approach rate: -0.305957 m/s, LOS rate: 0.107712 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134553 deg. 2025-01-08T20:03:26.541Z,1736366606.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819457 target range: 297.299988 and range: 297.60 m. 2025-01-08T20:03:26.728Z,1736366606.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:26.842Z,1736366606.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:26.854Z,1736366606.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:26.861Z,1736366606.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 198.945648 m, bearing: 333.774070 deg, approach rate: -0.337272 m/s, LOS rate: 0.119508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.089199 deg. 2025-01-08T20:03:26.862Z,1736366606.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818666 target range: 297.299988 and range: 297.60 m. 2025-01-08T20:03:26.980Z,1736366606.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:27.232Z,1736366607.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:27.242Z,1736366607.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:27.249Z,1736366607.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:27.251Z,1736366607.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:27.254Z,1736366607.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 198.817749 m, bearing: 333.819220 deg, approach rate: -0.322482 m/s, LOS rate: 0.113912 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110722 deg. 2025-01-08T20:03:27.275Z,1736366607.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819041 target range: 297.299988 and range: 297.60 m. 2025-01-08T20:03:27.484Z,1736366607.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:27.484Z,1736366607.484 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:27.484Z,1736366607.484 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:27.485Z,1736366607.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:27.664Z,1736366607.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:27.691Z,1736366607.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:27.694Z,1736366607.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 198.673294 m, bearing: 333.868458 deg, approach rate: -0.328379 m/s, LOS rate: 0.112011 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123008 deg. 2025-01-08T20:03:27.704Z,1736366607.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819256 target range: 297.299988 and range: 297.60 m. 2025-01-08T20:03:27.738Z,1736366607.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:27.739Z,1736366607.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015001 2025-01-08T20:03:27.989Z,1736366607.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:27.991Z,1736366607.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266335 2025-01-08T20:03:28.039Z,1736366608.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:28.061Z,1736366608.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:28.069Z,1736366608.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 198.544388 m, bearing: 333.912361 deg, approach rate: -0.348926 m/s, LOS rate: 0.118913 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106979 deg. 2025-01-08T20:03:28.071Z,1736366608.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818976 target range: 297.299988 and range: 297.60 m. 2025-01-08T20:03:28.240Z,1736366608.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:28.240Z,1736366608.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516486 2025-01-08T20:03:28.474Z,1736366608.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:28.484Z,1736366608.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:28.487Z,1736366608.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 198.385757 m, bearing: 333.969410 deg, approach rate: -0.375172 m/s, LOS rate: 0.135035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146472 deg. 2025-01-08T20:03:28.488Z,1736366608.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819665 target range: 297.299988 and range: 297.60 m. 2025-01-08T20:03:28.492Z,1736366608.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:28.492Z,1736366608.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768637 2025-01-08T20:03:28.744Z,1736366608.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:28.744Z,1736366608.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020462 2025-01-08T20:03:28.853Z,1736366608.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:28.865Z,1736366608.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:28.870Z,1736366608.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 198.248062 m, bearing: 334.019146 deg, approach rate: -0.360578 m/s, LOS rate: 0.130332 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124498 deg. 2025-01-08T20:03:28.871Z,1736366608.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819282 target range: 297.299988 and range: 297.60 m. 2025-01-08T20:03:28.996Z,1736366608.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:28.997Z,1736366608.997 [DAT](INFO): DAT read: Rx Time:20:03:27.7818 2025-01-08T20:03:28.997Z,1736366608.997 [DAT](INFO): Rx dataTimestamp_ set to:1736366608.996756 2025-01-08T20:03:28.998Z,1736366608.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273717 2025-01-08T20:03:29.240Z,1736366609.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:29.249Z,1736366609.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:29.251Z,1736366609.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526395 2025-01-08T20:03:29.253Z,1736366609.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:29.258Z,1736366609.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.30 m. 2025-01-08T20:03:29.284Z,1736366609.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 297.299988 m, nav range: 198.107941 m, bearing: 334.070005 deg, approach rate: -0.357795 m/s, LOS rate: 0.129957 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127870 deg. 2025-01-08T20:03:29.285Z,1736366609.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819341 target range: 297.299988 and range: 297.60 m. 2025-01-08T20:03:29.500Z,1736366609.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:29.507Z,1736366609.507 [DAT](INFO): DAT read: 20:03:27.7818 LVL= 26176, 23009, 18578, 28723, AGC= 63, IDX= 464,-0.12, 2.740,-1.188,-2.678, 3.133, PHS=-0.305, 2.009, 0.469, RAW= 310.8, -20.6, CAL= 313.0, -30.3, ROT= 197.0, 30.3 2025-01-08T20:03:29.508Z,1736366609.508 [DAT](INFO): got valid direction response: 20:03:27.7818 LVL= 26176, 23009, 18578, 28723, AGC= 63, IDX= 464,-0.12, 2.740,-1.188,-2.678, 3.133, PHS=-0.305, 2.009, 0.469, RAW= 310.8, -20.6, CAL= 313.0, -30.3, ROT= 197.0, 30.3 2025-01-08T20:03:29.509Z,1736366609.509 [DAT](INFO): DAT read: Bearing 197.0, 30.3 (Local) 2025-01-08T20:03:29.509Z,1736366609.509 [DAT](INFO): Local bearing/azimuth received: Bearing 197.0, 30.3 (Local) 2025-01-08T20:03:29.511Z,1736366609.511 [DAT](INFO): DAT read: Range 10 to 50 : 300.2 m (Round-trip 400.3 ms) speed -0.7 m/s 2025-01-08T20:03:29.512Z,1736366609.512 [DAT](INFO): DAT read: user:1084> 2025-01-08T20:03:29.512Z,1736366609.512 [DAT](INFO): DAT read: Tx time:20:03:28.8773 2025-01-08T20:03:29.513Z,1736366609.513 [DAT](INFO): Ping request sent. 2025-01-08T20:03:29.513Z,1736366609.513 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:29.513Z,1736366609.513 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:03:29.514Z,1736366609.514 [DAT](INFO): direction in FSK: [0.497944,0.510546,-0.700996] 2025-01-08T20:03:29.514Z,1736366609.514 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:29.515Z,1736366609.515 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:29.526Z,1736366609.526 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:29.526Z,1736366609.526 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:29.740Z,1736366609.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:29.752Z,1736366609.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:29.753Z,1736366609.753 [DAT](INFO): DAT read: TxSync time:20:03:28.8765 2025-01-08T20:03:29.767Z,1736366609.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 300.200012 m, deltaT: 3.779988 s, deltaX: 2.600006 m, approachRate: 0.687835 m/s, rangeRepo size: 4 2025-01-08T20:03:29.771Z,1736366609.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 300.200012 m, bearing: 327.448733 deg, lat: 36.906911 deg, lon: -122.123020 deg, deltaT: 7.810296 s, deltaX: 2.900024 m, approachRate: 0.371308 m/s, posRepo size: 4 2025-01-08T20:03:29.780Z,1736366609.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:29.788Z,1736366609.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 218.187012 m, bearing: 331.537825 deg, approach rate: 0.000000 m/s, LOS rate: 0.129957 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173512 deg. 2025-01-08T20:03:29.789Z,1736366609.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820137 target range: 300.200012 and range: 300.20 m. 2025-01-08T20:03:30.004Z,1736366610.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:30.066Z,1736366610.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:30.078Z,1736366610.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:30.081Z,1736366610.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 218.054764 m, bearing: 331.580504 deg, approach rate: -0.423237 m/s, LOS rate: 0.136672 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103303 deg. 2025-01-08T20:03:30.082Z,1736366610.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818912 target range: 300.200012 and range: 300.20 m. 2025-01-08T20:03:30.256Z,1736366610.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:30.477Z,1736366610.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:30.486Z,1736366610.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:30.489Z,1736366610.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 217.881821 m, bearing: 331.639320 deg, approach rate: -0.423545 m/s, LOS rate: 0.144157 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151774 deg. 2025-01-08T20:03:30.490Z,1736366610.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819757 target range: 300.200012 and range: 300.20 m. 2025-01-08T20:03:30.508Z,1736366610.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:30.760Z,1736366610.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:30.869Z,1736366610.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:30.879Z,1736366610.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:30.886Z,1736366610.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 217.717636 m, bearing: 331.695631 deg, approach rate: -0.418112 m/s, LOS rate: 0.143509 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144246 deg. 2025-01-08T20:03:30.891Z,1736366610.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819626 target range: 300.200012 and range: 300.20 m. 2025-01-08T20:03:31.012Z,1736366611.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:31.264Z,1736366611.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:31.265Z,1736366611.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:31.272Z,1736366611.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:31.274Z,1736366611.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:31.277Z,1736366611.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 217.553131 m, bearing: 331.752313 deg, approach rate: -0.416328 m/s, LOS rate: 0.143559 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145361 deg. 2025-01-08T20:03:31.278Z,1736366611.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819646 target range: 300.200012 and range: 300.20 m. 2025-01-08T20:03:31.517Z,1736366611.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:31.518Z,1736366611.518 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:31.518Z,1736366611.518 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:31.518Z,1736366611.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:31.714Z,1736366611.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:31.724Z,1736366611.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:31.727Z,1736366611.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 217.357300 m, bearing: 331.822003 deg, approach rate: -0.435913 m/s, LOS rate: 0.155266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184443 deg. 2025-01-08T20:03:31.728Z,1736366611.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820328 target range: 300.200012 and range: 300.20 m. 2025-01-08T20:03:31.768Z,1736366611.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:31.769Z,1736366611.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256480 2025-01-08T20:03:32.020Z,1736366612.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:32.020Z,1736366612.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507493 2025-01-08T20:03:32.078Z,1736366612.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:32.102Z,1736366612.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:32.109Z,1736366612.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 217.199677 m, bearing: 331.878259 deg, approach rate: -0.416562 m/s, LOS rate: 0.148781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144078 deg. 2025-01-08T20:03:32.110Z,1736366612.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819623 target range: 300.200012 and range: 300.20 m. 2025-01-08T20:03:32.272Z,1736366612.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:32.272Z,1736366612.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759438 2025-01-08T20:03:32.503Z,1736366612.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:32.512Z,1736366612.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:32.516Z,1736366612.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 217.010529 m, bearing: 331.947213 deg, approach rate: -0.460596 m/s, LOS rate: 0.168057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182228 deg. 2025-01-08T20:03:32.518Z,1736366612.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820289 target range: 300.200012 and range: 300.20 m. 2025-01-08T20:03:32.524Z,1736366612.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:32.525Z,1736366612.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011830 2025-01-08T20:03:32.776Z,1736366612.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:32.776Z,1736366612.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263408 2025-01-08T20:03:32.888Z,1736366612.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:32.896Z,1736366612.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:32.901Z,1736366612.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 216.839676 m, bearing: 332.009880 deg, approach rate: -0.444801 m/s, LOS rate: 0.163276 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163334 deg. 2025-01-08T20:03:32.902Z,1736366612.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819960 target range: 300.200012 and range: 300.20 m. 2025-01-08T20:03:33.028Z,1736366613.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:33.028Z,1736366613.028 [DAT](INFO): DAT read: Rx Time:20:03:31.6852 2025-01-08T20:03:33.029Z,1736366613.029 [DAT](INFO): Rx dataTimestamp_ set to:1736366613.028563 2025-01-08T20:03:33.029Z,1736366613.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516541 2025-01-08T20:03:33.280Z,1736366613.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:33.281Z,1736366613.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767625 2025-01-08T20:03:33.285Z,1736366613.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:33.292Z,1736366613.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:33.294Z,1736366613.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:33.297Z,1736366613.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 216.664230 m, bearing: 332.074695 deg, approach rate: -0.441329 m/s, LOS rate: 0.163172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169788 deg. 2025-01-08T20:03:33.298Z,1736366613.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820072 target range: 300.200012 and range: 300.20 m. 2025-01-08T20:03:33.533Z,1736366613.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:33.535Z,1736366613.535 [DAT](INFO): DAT read: Range 10 to 50 : 302.8 m (Round-trip 403.8 ms) speed -0.4 m/s 2025-01-08T20:03:33.536Z,1736366613.536 [DAT](INFO): DAT read: user:1085> 2025-01-08T20:03:33.537Z,1736366613.537 [DAT](INFO): DAT read: Tx time:20:03:32.7773 2025-01-08T20:03:33.537Z,1736366613.537 [DAT](INFO): Ping request sent. 2025-01-08T20:03:33.537Z,1736366613.537 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:33.537Z,1736366613.537 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:03:33.537Z,1736366613.537 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:33.538Z,1736366613.538 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:33.727Z,1736366613.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:33.764Z,1736366613.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 302.799988 m, deltaT: 4.033256 s, deltaX: 2.599976 m, approachRate: 0.644634 m/s, rangeRepo size: 4 2025-01-08T20:03:33.766Z,1736366613.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:33.780Z,1736366613.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 216.475906 m, bearing: 332.148649 deg, approach rate: -0.406689 m/s, LOS rate: 0.159844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197241 deg. 2025-01-08T20:03:33.782Z,1736366613.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820551 target range: 300.200012 and range: 302.80 m. 2025-01-08T20:03:33.784Z,1736366613.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:33.786Z,1736366613.786 [DAT](INFO): DAT read: TxSync time:20:03:32.7765 2025-01-08T20:03:34.036Z,1736366614.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:34.104Z,1736366614.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:34.118Z,1736366614.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:34.141Z,1736366614.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 216.316345 m, bearing: 332.211923 deg, approach rate: -0.443335 m/s, LOS rate: 0.175936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165150 deg. 2025-01-08T20:03:34.143Z,1736366614.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819991 target range: 300.200012 and range: 302.80 m. 2025-01-08T20:03:34.290Z,1736366614.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:34.540Z,1736366614.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:34.541Z,1736366614.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:34.574Z,1736366614.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:34.581Z,1736366614.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 216.127304 m, bearing: 332.285403 deg, approach rate: -0.413890 m/s, LOS rate: 0.161019 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195817 deg. 2025-01-08T20:03:34.588Z,1736366614.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820527 target range: 300.200012 and range: 302.80 m. 2025-01-08T20:03:34.792Z,1736366614.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:34.932Z,1736366614.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:34.941Z,1736366614.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:34.944Z,1736366614.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 215.959854 m, bearing: 332.351210 deg, approach rate: -0.456128 m/s, LOS rate: 0.179395 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172760 deg. 2025-01-08T20:03:34.945Z,1736366614.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820124 target range: 300.200012 and range: 302.80 m. 2025-01-08T20:03:35.044Z,1736366615.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:35.296Z,1736366615.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:35.317Z,1736366615.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:35.324Z,1736366615.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:35.326Z,1736366615.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:35.329Z,1736366615.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 215.794861 m, bearing: 332.416373 deg, approach rate: -0.427877 m/s, LOS rate: 0.169116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170824 deg. 2025-01-08T20:03:35.331Z,1736366615.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820090 target range: 300.200012 and range: 302.80 m. 2025-01-08T20:03:35.548Z,1736366615.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:35.549Z,1736366615.549 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:35.549Z,1736366615.549 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:35.550Z,1736366615.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:35.758Z,1736366615.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:35.767Z,1736366615.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:35.770Z,1736366615.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 215.605148 m, bearing: 332.487497 deg, approach rate: -0.430346 m/s, LOS rate: 0.161481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188746 deg. 2025-01-08T20:03:35.772Z,1736366615.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820403 target range: 300.200012 and range: 302.80 m. 2025-01-08T20:03:35.802Z,1736366615.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:35.805Z,1736366615.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267619 2025-01-08T20:03:36.052Z,1736366616.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:36.053Z,1736366616.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515579 2025-01-08T20:03:36.125Z,1736366616.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:36.137Z,1736366616.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:36.145Z,1736366616.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 215.447144 m, bearing: 332.546951 deg, approach rate: -0.428050 m/s, LOS rate: 0.161185 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153679 deg. 2025-01-08T20:03:36.146Z,1736366616.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819791 target range: 300.200012 and range: 302.80 m. 2025-01-08T20:03:36.304Z,1736366616.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:36.304Z,1736366616.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767478 2025-01-08T20:03:36.545Z,1736366616.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:36.556Z,1736366616.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:36.556Z,1736366616.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019239 2025-01-08T20:03:36.578Z,1736366616.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:36.586Z,1736366616.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 215.266525 m, bearing: 332.610711 deg, approach rate: -0.408824 m/s, LOS rate: 0.144440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166626 deg. 2025-01-08T20:03:36.587Z,1736366616.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820017 target range: 300.200012 and range: 302.80 m. 2025-01-08T20:03:36.808Z,1736366616.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:36.810Z,1736366616.810 [DAT](INFO): DAT read: Rx Time:20:03:35.5878 2025-01-08T20:03:36.810Z,1736366616.810 [DAT](INFO): Rx dataTimestamp_ set to:1736366616.809813 2025-01-08T20:03:36.811Z,1736366616.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273633 2025-01-08T20:03:36.928Z,1736366616.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:36.952Z,1736366616.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.20 m. 2025-01-08T20:03:36.955Z,1736366616.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 300.200012 m, nav range: 215.102219 m, bearing: 332.668820 deg, approach rate: -0.444856 m/s, LOS rate: 0.157448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149646 deg. 2025-01-08T20:03:36.960Z,1736366616.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819721 target range: 300.200012 and range: 302.80 m. 2025-01-08T20:03:37.060Z,1736366617.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:37.060Z,1736366617.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523479 2025-01-08T20:03:37.312Z,1736366617.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:37.319Z,1736366617.319 [DAT](INFO): DAT read: 20:03:35.5878 LVL= 24816, 26337, 19250, 31187, AGC= 65, IDX= 445,-0.02,-2.229, 0.184,-1.396,-1.760, PHS=-0.380, 1.991, 0.361, RAW= 312.2, -18.4, CAL= 315.7, -26.3, ROT= 194.3, 26.3 2025-01-08T20:03:37.321Z,1736366617.321 [DAT](INFO): got valid direction response: 20:03:35.5878 LVL= 24816, 26337, 19250, 31187, AGC= 65, IDX= 445,-0.02,-2.229, 0.184,-1.396,-1.760, PHS=-0.380, 1.991, 0.361, RAW= 312.2, -18.4, CAL= 315.7, -26.3, ROT= 194.3, 26.3 2025-01-08T20:03:37.322Z,1736366617.322 [DAT](INFO): DAT read: Bearing 194.3, 26.3 (Local) 2025-01-08T20:03:37.322Z,1736366617.322 [DAT](INFO): Local bearing/azimuth received: Bearing 194.3, 26.3 (Local) 2025-01-08T20:03:37.323Z,1736366617.323 [DAT](INFO): DAT read: Range 10 to 50 : 304.7 m (Round-trip 406.3 ms) speed -0.6 m/s 2025-01-08T20:03:37.324Z,1736366617.324 [DAT](INFO): DAT read: user:1086> 2025-01-08T20:03:37.325Z,1736366617.325 [DAT](INFO): DAT read: Tx time:20:03:36.6774 2025-01-08T20:03:37.325Z,1736366617.325 [DAT](INFO): Ping request sent. 2025-01-08T20:03:37.325Z,1736366617.325 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:37.326Z,1736366617.326 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:03:37.326Z,1736366617.326 [DAT](INFO): direction in FSK: [0.461080,0.541615,-0.702893] 2025-01-08T20:03:37.327Z,1736366617.327 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:37.327Z,1736366617.327 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:37.330Z,1736366617.330 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:37.331Z,1736366617.331 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:37.564Z,1736366617.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:37.565Z,1736366617.565 [DAT](INFO): DAT read: TxSync time:20:03:36.6766 2025-01-08T20:03:37.630Z,1736366617.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:37.675Z,1736366617.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 304.700012 m, deltaT: 3.778501 s, deltaX: 1.900024 m, approachRate: 0.502851 m/s, rangeRepo size: 4 2025-01-08T20:03:37.688Z,1736366617.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 304.700012 m, bearing: 329.818304 deg, lat: 36.906932 deg, lon: -122.123099 deg, deltaT: 7.811757 s, deltaX: 4.500000 m, approachRate: 0.576055 m/s, posRepo size: 4 2025-01-08T20:03:37.689Z,1736366617.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:37.700Z,1736366617.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 220.154388 m, bearing: 331.421440 deg, approach rate: 0.000000 m/s, LOS rate: 0.157448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.318102 deg. 2025-01-08T20:03:37.701Z,1736366617.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822660 target range: 304.700012 and range: 304.70 m. 2025-01-08T20:03:37.817Z,1736366617.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:38.009Z,1736366618.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:38.020Z,1736366618.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:38.022Z,1736366618.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:38.030Z,1736366618.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 219.990173 m, bearing: 331.474155 deg, approach rate: -0.470656 m/s, LOS rate: 0.151199 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133449 deg. 2025-01-08T20:03:38.039Z,1736366618.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819438 target range: 304.700012 and range: 304.70 m. 2025-01-08T20:03:38.068Z,1736366618.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:38.068Z,1736366618.068 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:38.068Z,1736366618.068 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:38.069Z,1736366618.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:38.320Z,1736366618.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:38.320Z,1736366618.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995096 2025-01-08T20:03:38.404Z,1736366618.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:38.412Z,1736366618.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:38.415Z,1736366618.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 219.819870 m, bearing: 331.529031 deg, approach rate: -0.437122 m/s, LOS rate: 0.140962 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139943 deg. 2025-01-08T20:03:38.443Z,1736366618.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819551 target range: 304.700012 and range: 304.70 m. 2025-01-08T20:03:38.572Z,1736366618.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:38.574Z,1736366618.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248162 2025-01-08T20:03:38.824Z,1736366618.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:38.825Z,1736366618.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499212 2025-01-08T20:03:38.828Z,1736366618.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:38.837Z,1736366618.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:38.842Z,1736366618.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 219.640854 m, bearing: 331.583465 deg, approach rate: -0.421320 m/s, LOS rate: 0.128216 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138621 deg. 2025-01-08T20:03:38.843Z,1736366618.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819528 target range: 304.700012 and range: 304.70 m. 2025-01-08T20:03:39.076Z,1736366619.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:39.076Z,1736366619.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751049 2025-01-08T20:03:39.198Z,1736366619.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:39.210Z,1736366619.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:39.229Z,1736366619.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 219.484344 m, bearing: 331.630985 deg, approach rate: -0.419878 m/s, LOS rate: 0.127577 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117850 deg. 2025-01-08T20:03:39.230Z,1736366619.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819166 target range: 304.700012 and range: 304.70 m. 2025-01-08T20:03:39.328Z,1736366619.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:39.329Z,1736366619.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003678 2025-01-08T20:03:39.580Z,1736366619.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:39.580Z,1736366619.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255124 2025-01-08T20:03:39.710Z,1736366619.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:39.720Z,1736366619.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:39.722Z,1736366619.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 219.268311 m, bearing: 331.694494 deg, approach rate: -0.423958 m/s, LOS rate: 0.124755 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165898 deg. 2025-01-08T20:03:39.724Z,1736366619.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820004 target range: 304.700012 and range: 304.70 m. 2025-01-08T20:03:39.832Z,1736366619.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:39.833Z,1736366619.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507677 2025-01-08T20:03:40.041Z,1736366620.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:40.048Z,1736366620.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:40.051Z,1736366620.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:40.059Z,1736366620.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 219.128799 m, bearing: 331.735541 deg, approach rate: -0.420758 m/s, LOS rate: 0.123877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.098408 deg. 2025-01-08T20:03:40.060Z,1736366620.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818826 target range: 304.700012 and range: 304.70 m. 2025-01-08T20:03:40.084Z,1736366620.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:40.084Z,1736366620.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759133 2025-01-08T20:03:40.336Z,1736366620.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:40.336Z,1736366620.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011094 2025-01-08T20:03:40.482Z,1736366620.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:40.559Z,1736366620.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:40.566Z,1736366620.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 218.943085 m, bearing: 331.790185 deg, approach rate: -0.366684 m/s, LOS rate: 0.107982 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139255 deg. 2025-01-08T20:03:40.572Z,1736366620.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819539 target range: 304.700012 and range: 304.70 m. 2025-01-08T20:03:40.588Z,1736366620.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:40.589Z,1736366620.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263348 2025-01-08T20:03:40.840Z,1736366620.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:40.841Z,1736366620.841 [DAT](INFO): DAT read: Rx Time:20:03:39.4904 2025-01-08T20:03:40.841Z,1736366620.841 [DAT](INFO): Rx dataTimestamp_ set to:1736366620.840782 2025-01-08T20:03:40.842Z,1736366620.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516285 2025-01-08T20:03:40.964Z,1736366620.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:40.981Z,1736366620.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:40.989Z,1736366620.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 218.747131 m, bearing: 331.846121 deg, approach rate: -0.462576 m/s, LOS rate: 0.132163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143144 deg. 2025-01-08T20:03:40.990Z,1736366620.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819607 target range: 304.700012 and range: 304.70 m. 2025-01-08T20:03:41.093Z,1736366621.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:41.094Z,1736366621.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768734 2025-01-08T20:03:41.314Z,1736366621.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:41.322Z,1736366621.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:41.331Z,1736366621.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 218.601822 m, bearing: 331.887697 deg, approach rate: -0.425455 m/s, LOS rate: 0.121815 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100000 deg. 2025-01-08T20:03:41.334Z,1736366621.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818854 target range: 304.700012 and range: 304.70 m. 2025-01-08T20:03:41.344Z,1736366621.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:41.346Z,1736366621.346 [DAT](INFO): DAT read: Range 10 to 50 : 306.6 m (Round-trip 408.8 ms) speed -0.5 m/s 2025-01-08T20:03:41.346Z,1736366621.346 [DAT](INFO): DAT read: user:1087> 2025-01-08T20:03:41.347Z,1736366621.347 [DAT](INFO): DAT read: Tx time:20:03:40.5774 2025-01-08T20:03:41.347Z,1736366621.347 [DAT](INFO): Ping request sent. 2025-01-08T20:03:41.348Z,1736366621.348 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:41.348Z,1736366621.348 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:03:41.348Z,1736366621.348 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:41.349Z,1736366621.349 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:41.596Z,1736366621.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:41.597Z,1736366621.597 [DAT](INFO): DAT read: TxSync time:20:03:40.5766 2025-01-08T20:03:41.741Z,1736366621.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:41.767Z,1736366621.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 306.600006 m, deltaT: 4.032046 s, deltaX: 1.899994 m, approachRate: 0.471223 m/s, rangeRepo size: 4 2025-01-08T20:03:41.768Z,1736366621.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:41.771Z,1736366621.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 218.444901 m, bearing: 331.937508 deg, approach rate: -0.354487 m/s, LOS rate: 0.112604 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124727 deg. 2025-01-08T20:03:41.776Z,1736366621.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819285 target range: 304.700012 and range: 306.60 m. 2025-01-08T20:03:41.849Z,1736366621.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:42.100Z,1736366622.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:42.113Z,1736366622.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:42.125Z,1736366622.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:42.127Z,1736366622.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:42.130Z,1736366622.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 218.308533 m, bearing: 331.981102 deg, approach rate: -0.376900 m/s, LOS rate: 0.120561 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106049 deg. 2025-01-08T20:03:42.133Z,1736366622.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818960 target range: 304.700012 and range: 306.60 m. 2025-01-08T20:03:42.353Z,1736366622.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:42.354Z,1736366622.354 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:42.355Z,1736366622.355 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:42.356Z,1736366622.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:42.575Z,1736366622.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:42.603Z,1736366622.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:42.604Z,1736366622.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:42.605Z,1736366622.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256995 2025-01-08T20:03:42.610Z,1736366622.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 218.139877 m, bearing: 332.034984 deg, approach rate: -0.354376 m/s, LOS rate: 0.113304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136958 deg. 2025-01-08T20:03:42.616Z,1736366622.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819499 target range: 304.700012 and range: 306.60 m. 2025-01-08T20:03:42.856Z,1736366622.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:42.857Z,1736366622.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509230 2025-01-08T20:03:42.953Z,1736366622.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:42.961Z,1736366622.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:42.969Z,1736366622.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 218.011612 m, bearing: 332.078873 deg, approach rate: -0.357896 m/s, LOS rate: 0.122534 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106930 deg. 2025-01-08T20:03:42.970Z,1736366622.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818975 target range: 304.700012 and range: 306.60 m. 2025-01-08T20:03:43.108Z,1736366623.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:43.109Z,1736366623.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760985 2025-01-08T20:03:43.334Z,1736366623.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:43.343Z,1736366623.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:43.346Z,1736366623.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 217.882324 m, bearing: 332.122962 deg, approach rate: -0.338598 m/s, LOS rate: 0.115536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107533 deg. 2025-01-08T20:03:43.347Z,1736366623.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818985 target range: 304.700012 and range: 306.60 m. 2025-01-08T20:03:43.361Z,1736366623.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:43.362Z,1736366623.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014436 2025-01-08T20:03:43.612Z,1736366623.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:43.613Z,1736366623.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265283 2025-01-08T20:03:43.767Z,1736366623.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:43.775Z,1736366623.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:43.778Z,1736366623.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 217.746780 m, bearing: 332.174066 deg, approach rate: -0.313877 m/s, LOS rate: 0.118413 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128593 deg. 2025-01-08T20:03:43.779Z,1736366623.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819353 target range: 304.700012 and range: 306.60 m. 2025-01-08T20:03:43.866Z,1736366623.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:43.867Z,1736366623.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519841 2025-01-08T20:03:44.120Z,1736366624.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:44.120Z,1736366624.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772947 2025-01-08T20:03:44.156Z,1736366624.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:44.162Z,1736366624.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:44.165Z,1736366624.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:44.169Z,1736366624.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 217.624756 m, bearing: 332.220192 deg, approach rate: -0.312832 m/s, LOS rate: 0.118319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113643 deg. 2025-01-08T20:03:44.170Z,1736366624.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819092 target range: 304.700012 and range: 306.60 m. 2025-01-08T20:03:44.374Z,1736366624.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:44.377Z,1736366624.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029338 2025-01-08T20:03:44.622Z,1736366624.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:44.624Z,1736366624.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:44.625Z,1736366624.625 [DAT](INFO): DAT read: Rx Time:20:03:43.3934 2025-01-08T20:03:44.625Z,1736366624.625 [DAT](INFO): Rx dataTimestamp_ set to:1736366624.624730 2025-01-08T20:03:44.626Z,1736366624.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278002 2025-01-08T20:03:44.657Z,1736366624.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:44.670Z,1736366624.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 217.478241 m, bearing: 332.275284 deg, approach rate: -0.303886 m/s, LOS rate: 0.114343 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140574 deg. 2025-01-08T20:03:44.696Z,1736366624.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819562 target range: 304.700012 and range: 306.60 m. 2025-01-08T20:03:44.876Z,1736366624.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:44.876Z,1736366624.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528813 2025-01-08T20:03:45.024Z,1736366625.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:45.033Z,1736366625.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.70 m. 2025-01-08T20:03:45.039Z,1736366625.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.700012 m, nav range: 217.354767 m, bearing: 332.323928 deg, approach rate: -0.320640 m/s, LOS rate: 0.126390 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121200 deg. 2025-01-08T20:03:45.042Z,1736366625.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819224 target range: 304.700012 and range: 306.60 m. 2025-01-08T20:03:45.128Z,1736366625.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:45.137Z,1736366625.137 [DAT](INFO): DAT read: 20:03:43.3935 LVL= 29360, 23153, 17842, 32755, AGC= 60, IDX= 454, 0.03, 1.269,-2.587, 2.112, 1.686, PHS=-0.329, 2.058, 0.423, RAW= 312.1, -19.8, CAL= 314.9, -28.8, ROT= 195.1, 28.8 2025-01-08T20:03:45.139Z,1736366625.139 [DAT](INFO): got valid direction response: 20:03:43.3935 LVL= 29360, 23153, 17842, 32755, AGC= 60, IDX= 454, 0.03, 1.269,-2.587, 2.112, 1.686, PHS=-0.329, 2.058, 0.423, RAW= 312.1, -19.8, CAL= 314.9, -28.8, ROT= 195.1, 28.8 2025-01-08T20:03:45.141Z,1736366625.141 [DAT](INFO): DAT read: Bearing 195.1, 28.8 (Local) 2025-01-08T20:03:45.141Z,1736366625.141 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 28.8 (Local) 2025-01-08T20:03:45.149Z,1736366625.149 [DAT](INFO): DAT read: Range 10 to 50 : 308.9 m (Round-trip 411.9 ms) speed -0.3 m/s 2025-01-08T20:03:45.150Z,1736366625.150 [DAT](INFO): DAT read: user:1088> 2025-01-08T20:03:45.155Z,1736366625.155 [DAT](INFO): DAT read: Tx time:20:03:44.4775 2025-01-08T20:03:45.156Z,1736366625.156 [DAT](INFO): Ping request sent. 2025-01-08T20:03:45.156Z,1736366625.156 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:45.157Z,1736366625.157 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:03:45.158Z,1736366625.158 [DAT](INFO): direction in FSK: [0.484634,0.531724,-0.694550] 2025-01-08T20:03:45.158Z,1736366625.158 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:45.163Z,1736366625.163 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:45.174Z,1736366625.174 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:45.179Z,1736366625.179 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:45.380Z,1736366625.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:45.381Z,1736366625.381 [DAT](INFO): DAT read: TxSync time:20:03:44.4767 2025-01-08T20:03:45.429Z,1736366625.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:45.457Z,1736366625.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 308.899994 m, deltaT: 3.784003 s, deltaX: 2.299988 m, approachRate: 0.607819 m/s, rangeRepo size: 4 2025-01-08T20:03:45.464Z,1736366625.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 308.899994 m, bearing: 329.256136 deg, lat: 36.907030 deg, lon: -122.123244 deg, deltaT: 7.816049 s, deltaX: 4.199982 m, approachRate: 0.537354 m/s, posRepo size: 4 2025-01-08T20:03:45.464Z,1736366625.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T20:03:45.472Z,1736366625.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 232.975784 m, bearing: 330.804003 deg, approach rate: 0.000000 m/s, LOS rate: 0.126390 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136171 deg. 2025-01-08T20:03:45.473Z,1736366625.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819485 target range: 308.899994 and range: 308.90 m. 2025-01-08T20:03:45.632Z,1736366625.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:45.845Z,1736366625.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:45.855Z,1736366625.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T20:03:45.858Z,1736366625.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 232.842621 m, bearing: 330.853809 deg, approach rate: -0.334561 m/s, LOS rate: 0.125205 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124691 deg. 2025-01-08T20:03:45.859Z,1736366625.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819285 target range: 308.899994 and range: 308.90 m. 2025-01-08T20:03:45.884Z,1736366625.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:46.136Z,1736366626.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:46.290Z,1736366626.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:46.297Z,1736366626.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:46.300Z,1736366626.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T20:03:46.307Z,1736366626.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 232.701874 m, bearing: 330.907005 deg, approach rate: -0.316984 m/s, LOS rate: 0.119876 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134868 deg. 2025-01-08T20:03:46.310Z,1736366626.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819463 target range: 308.899994 and range: 308.90 m. 2025-01-08T20:03:46.391Z,1736366626.391 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:46.392Z,1736366626.392 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:46.392Z,1736366626.392 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:46.393Z,1736366626.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:46.645Z,1736366626.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:46.648Z,1736366626.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491364 2025-01-08T20:03:46.710Z,1736366626.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:46.738Z,1736366626.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T20:03:46.745Z,1736366626.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 232.552460 m, bearing: 330.962139 deg, approach rate: -0.339848 m/s, LOS rate: 0.125486 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140695 deg. 2025-01-08T20:03:46.746Z,1736366626.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819564 target range: 308.899994 and range: 308.90 m. 2025-01-08T20:03:46.896Z,1736366626.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:46.896Z,1736366626.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740231 2025-01-08T20:03:47.025Z,1736366627.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:47.056Z,1736366627.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T20:03:47.058Z,1736366627.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 232.440536 m, bearing: 331.003298 deg, approach rate: -0.355305 m/s, LOS rate: 0.130726 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.098725 deg. 2025-01-08T20:03:47.060Z,1736366627.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818832 target range: 308.899994 and range: 308.90 m. 2025-01-08T20:03:47.149Z,1736366627.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:47.150Z,1736366627.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993422 2025-01-08T20:03:47.401Z,1736366627.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:47.401Z,1736366627.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245272 2025-01-08T20:03:47.430Z,1736366627.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:47.444Z,1736366627.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T20:03:47.447Z,1736366627.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 232.296570 m, bearing: 331.056109 deg, approach rate: -0.368359 m/s, LOS rate: 0.135207 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133716 deg. 2025-01-08T20:03:47.464Z,1736366627.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819443 target range: 308.899994 and range: 308.90 m. 2025-01-08T20:03:47.652Z,1736366627.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:47.654Z,1736366627.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497366 2025-01-08T20:03:47.870Z,1736366627.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:47.879Z,1736366627.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T20:03:47.881Z,1736366627.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 232.116959 m, bearing: 331.118159 deg, approach rate: -0.413572 m/s, LOS rate: 0.142986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161480 deg. 2025-01-08T20:03:47.884Z,1736366627.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819927 target range: 308.899994 and range: 308.90 m. 2025-01-08T20:03:47.904Z,1736366627.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:47.904Z,1736366627.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748273 2025-01-08T20:03:48.157Z,1736366628.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:48.157Z,1736366628.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001097 2025-01-08T20:03:48.238Z,1736366628.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:48.246Z,1736366628.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T20:03:48.250Z,1736366628.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 231.967056 m, bearing: 331.170073 deg, approach rate: -0.407644 m/s, LOS rate: 0.141266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131030 deg. 2025-01-08T20:03:48.251Z,1736366628.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819396 target range: 308.899994 and range: 308.90 m. 2025-01-08T20:03:48.409Z,1736366628.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:48.411Z,1736366628.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254354 2025-01-08T20:03:48.662Z,1736366628.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:48.665Z,1736366628.665 [DAT](INFO): DAT read: Rx Time:20:03:47.2964 2025-01-08T20:03:48.667Z,1736366628.667 [DAT](INFO): Rx dataTimestamp_ set to:1736366628.665783 2025-01-08T20:03:48.670Z,1736366628.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513188 2025-01-08T20:03:48.748Z,1736366628.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:48.756Z,1736366628.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:48.758Z,1736366628.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T20:03:48.761Z,1736366628.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 231.737915 m, bearing: 331.248087 deg, approach rate: -0.447341 m/s, LOS rate: 0.152454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209460 deg. 2025-01-08T20:03:48.762Z,1736366628.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820765 target range: 308.899994 and range: 308.90 m. 2025-01-08T20:03:48.912Z,1736366628.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:48.913Z,1736366628.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756377 2025-01-08T20:03:49.164Z,1736366629.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:49.184Z,1736366629.184 [DAT](INFO): DAT read: 20:03:47.2964 LVL= 24992, 23905, 18146, 32755, AGC= 63, IDX= 452,-0.23,-2.693,-0.240,-1.793,-2.210, PHS=-0.395, 2.017, 0.413, RAW= 310.8, -18.7, CAL= 314.1, -26.9, ROT= 195.9, 26.9 2025-01-08T20:03:49.185Z,1736366629.185 [DAT](INFO): got valid direction response: 20:03:47.2964 LVL= 24992, 23905, 18146, 32755, AGC= 63, IDX= 452,-0.23,-2.693,-0.240,-1.793,-2.210, PHS=-0.395, 2.017, 0.413, RAW= 310.8, -18.7, CAL= 314.1, -26.9, ROT= 195.9, 26.9 2025-01-08T20:03:49.186Z,1736366629.186 [DAT](INFO): DAT read: Bearing 195.9, 26.9 (Local) 2025-01-08T20:03:49.186Z,1736366629.186 [DAT](INFO): Local bearing/azimuth received: Bearing 195.9, 26.9 (Local) 2025-01-08T20:03:49.188Z,1736366629.188 [DAT](INFO): DAT read: Range 10 to 50 : 311.1 m (Round-trip 414.8 ms) speed -0.4 m/s 2025-01-08T20:03:49.189Z,1736366629.189 [DAT](INFO): DAT read: user:1089> 2025-01-08T20:03:49.190Z,1736366629.190 [DAT](INFO): DAT read: Tx time:20:03:48.3775 2025-01-08T20:03:49.190Z,1736366629.190 [DAT](INFO): Ping request sent. 2025-01-08T20:03:49.190Z,1736366629.190 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:49.191Z,1736366629.191 [DAT](INFO): DAT read: TxSync time:20:03:48.3767 2025-01-08T20:03:49.228Z,1736366629.228 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:03:49.229Z,1736366629.229 [DAT](INFO): direction in FSK: [0.466345,0.520484,-0.715275] 2025-01-08T20:03:49.229Z,1736366629.229 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:49.229Z,1736366629.229 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:49.248Z,1736366629.248 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:49.249Z,1736366629.249 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:49.269Z,1736366629.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:49.320Z,1736366629.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 311.100006 m, deltaT: 4.036006 s, deltaX: 2.200012 m, approachRate: 0.545096 m/s, rangeRepo size: 4 2025-01-08T20:03:49.322Z,1736366629.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 311.100006 m, bearing: 329.684784 deg, lat: 36.907030 deg, lon: -122.123251 deg, deltaT: 4.036006 s, deltaX: 2.200012 m, approachRate: 0.545096 m/s, posRepo size: 4 2025-01-08T20:03:49.323Z,1736366629.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.10 m. 2025-01-08T20:03:49.330Z,1736366629.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.100006 m, nav range: 231.772903 m, bearing: 331.207393 deg, approach rate: 0.000000 m/s, LOS rate: 0.152454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.227839 deg. 2025-01-08T20:03:49.332Z,1736366629.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821085 target range: 311.100006 and range: 311.10 m. 2025-01-08T20:03:49.416Z,1736366629.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:49.670Z,1736366629.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:49.791Z,1736366629.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:49.801Z,1736366629.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.10 m. 2025-01-08T20:03:49.804Z,1736366629.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.100006 m, nav range: 231.515182 m, bearing: 331.291751 deg, approach rate: -0.525916 m/s, LOS rate: 0.172335 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228539 deg. 2025-01-08T20:03:49.805Z,1736366629.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821097 target range: 311.100006 and range: 311.10 m. 2025-01-08T20:03:49.920Z,1736366629.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:50.159Z,1736366630.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:50.168Z,1736366630.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.10 m. 2025-01-08T20:03:50.172Z,1736366630.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:50.172Z,1736366630.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.100006 m, nav range: 231.335419 m, bearing: 331.351631 deg, approach rate: -0.489129 m/s, LOS rate: 0.163056 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154965 deg. 2025-01-08T20:03:50.174Z,1736366630.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819813 target range: 311.100006 and range: 311.10 m. 2025-01-08T20:03:50.424Z,1736366630.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:50.557Z,1736366630.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:50.567Z,1736366630.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.10 m. 2025-01-08T20:03:50.570Z,1736366630.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.100006 m, nav range: 231.142288 m, bearing: 331.416844 deg, approach rate: -0.486302 m/s, LOS rate: 0.164345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170990 deg. 2025-01-08T20:03:50.571Z,1736366630.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820093 target range: 311.100006 and range: 311.10 m. 2025-01-08T20:03:50.678Z,1736366630.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:50.928Z,1736366630.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:50.929Z,1736366630.929 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:03:51.067Z,1736366631.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:51.073Z,1736366631.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:51.076Z,1736366631.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.10 m. 2025-01-08T20:03:51.078Z,1736366631.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.100006 m, nav range: 230.886459 m, bearing: 331.499223 deg, approach rate: -0.501735 m/s, LOS rate: 0.161741 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222595 deg. 2025-01-08T20:03:51.080Z,1736366631.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820994 target range: 311.100006 and range: 311.10 m. 2025-01-08T20:03:51.181Z,1736366631.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:51.182Z,1736366631.182 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:51.183Z,1736366631.183 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:51.183Z,1736366631.183 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:51.368Z,1736366631.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:51.411Z,1736366631.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.10 m. 2025-01-08T20:03:51.414Z,1736366631.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.100006 m, nav range: 230.735733 m, bearing: 331.548297 deg, approach rate: -0.494423 m/s, LOS rate: 0.161083 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122506 deg. 2025-01-08T20:03:51.421Z,1736366631.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819247 target range: 311.100006 and range: 311.10 m. 2025-01-08T20:03:51.432Z,1736366631.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:51.432Z,1736366631.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242278 2025-01-08T20:03:51.685Z,1736366631.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:51.688Z,1736366631.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497179 2025-01-08T20:03:51.815Z,1736366631.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:51.853Z,1736366631.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.10 m. 2025-01-08T20:03:51.860Z,1736366631.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.100006 m, nav range: 230.508316 m, bearing: 331.618599 deg, approach rate: -0.481414 m/s, LOS rate: 0.148968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186300 deg. 2025-01-08T20:03:51.861Z,1736366631.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820360 target range: 311.100006 and range: 311.10 m. 2025-01-08T20:03:51.932Z,1736366631.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:03:51.936Z,1736366631.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:51.937Z,1736366631.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746725 2025-01-08T20:03:52.188Z,1736366632.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:52.189Z,1736366632.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999002 2025-01-08T20:03:52.210Z,1736366632.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:52.219Z,1736366632.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.10 m. 2025-01-08T20:03:52.222Z,1736366632.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.100006 m, nav range: 230.306870 m, bearing: 331.681075 deg, approach rate: -0.550501 m/s, LOS rate: 0.170880 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162778 deg. 2025-01-08T20:03:52.223Z,1736366632.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819950 target range: 311.100006 and range: 311.10 m. 2025-01-08T20:03:52.440Z,1736366632.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:52.440Z,1736366632.440 [DAT](INFO): DAT read: Rx Time:20:03:51.2006 2025-01-08T20:03:52.441Z,1736366632.441 [DAT](INFO): Rx dataTimestamp_ set to:1736366632.440656 2025-01-08T20:03:52.441Z,1736366632.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251332 2025-01-08T20:03:52.594Z,1736366632.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:52.603Z,1736366632.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.10 m. 2025-01-08T20:03:52.606Z,1736366632.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.100006 m, nav range: 230.112488 m, bearing: 331.742096 deg, approach rate: -0.505485 m/s, LOS rate: 0.158816 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158402 deg. 2025-01-08T20:03:52.608Z,1736366632.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819873 target range: 311.100006 and range: 311.10 m. 2025-01-08T20:03:52.696Z,1736366632.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:52.700Z,1736366632.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508956 2025-01-08T20:03:52.945Z,1736366632.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:52.960Z,1736366632.960 [DAT](INFO): DAT read: 20:03:51.2006 LVL= 28528, 21201, 19298, 32755, AGC= 66, IDX= 463, 0.23, 2.195,-1.730, 2.994, 2.699, PHS=-0.416, 1.900, 0.291, RAW= 312.7, -17.0, CAL= 316.9, -23.9, ROT= 193.1, 23.9 2025-01-08T20:03:52.962Z,1736366632.962 [DAT](INFO): got valid direction response: 20:03:51.2006 LVL= 28528, 21201, 19298, 32755, AGC= 66, IDX= 463, 0.23, 2.195,-1.730, 2.994, 2.699, PHS=-0.416, 1.900, 0.291, RAW= 312.7, -17.0, CAL= 316.9, -23.9, ROT= 193.1, 23.9 2025-01-08T20:03:52.965Z,1736366632.965 [DAT](INFO): DAT read: Bearing 193.1, 23.9 (Local) 2025-01-08T20:03:52.965Z,1736366632.965 [DAT](INFO): Local bearing/azimuth received: Bearing 193.1, 23.9 (Local) 2025-01-08T20:03:52.981Z,1736366632.981 [DAT](INFO): DAT read: Range 10 to 50 : 314.2 m (Round-trip 419.0 ms) speed -0.4 m/s 2025-01-08T20:03:52.983Z,1736366632.983 [DAT](INFO): DAT read: user:1090> 2025-01-08T20:03:53.000Z,1736366633.000 [DAT](INFO): DAT read: Tx time:20:03:52.3275 2025-01-08T20:03:53.000Z,1736366633.000 [DAT](INFO): Ping request sent. 2025-01-08T20:03:53.000Z,1736366633.000 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:53.001Z,1736366633.001 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:03:53.002Z,1736366633.002 [DAT](INFO): direction in FSK: [0.438002,0.554984,-0.707211] 2025-01-08T20:03:53.002Z,1736366633.002 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:53.002Z,1736366633.002 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:53.010Z,1736366633.010 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:53.010Z,1736366633.010 [DAT](INFO): publishing direction and range info 2025-01-08T20:03:53.126Z,1736366633.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:53.158Z,1736366633.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 314.200012 m, deltaT: 3.780876 s, deltaX: 3.100006 m, approachRate: 0.819917 m/s, rangeRepo size: 4 2025-01-08T20:03:53.164Z,1736366633.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 314.200012 m, bearing: 330.956656 deg, lat: 36.907034 deg, lon: -122.123334 deg, deltaT: 3.780876 s, deltaX: 3.100006 m, approachRate: 0.819917 m/s, posRepo size: 4 2025-01-08T20:03:53.166Z,1736366633.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:53.174Z,1736366633.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 233.919144 m, bearing: 330.274562 deg, approach rate: 0.000000 m/s, LOS rate: 0.158816 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.239167 deg. 2025-01-08T20:03:53.180Z,1736366633.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821283 target range: 314.200012 and range: 314.20 m. 2025-01-08T20:03:53.196Z,1736366633.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:53.197Z,1736366633.197 [DAT](INFO): DAT read: TxSync time:20:03:52.3267 2025-01-08T20:03:53.448Z,1736366633.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:53.547Z,1736366633.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:53.555Z,1736366633.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:53.557Z,1736366633.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:53.580Z,1736366633.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 233.708847 m, bearing: 330.333903 deg, approach rate: -0.525805 m/s, LOS rate: 0.148503 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153368 deg. 2025-01-08T20:03:53.581Z,1736366633.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819786 target range: 314.200012 and range: 314.20 m. 2025-01-08T20:03:53.701Z,1736366633.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:53.703Z,1736366633.703 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:53.703Z,1736366633.703 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:53.704Z,1736366633.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:53.952Z,1736366633.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:53.953Z,1736366633.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.952140 2025-01-08T20:03:53.971Z,1736366633.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:54.001Z,1736366634.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:54.008Z,1736366634.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 233.519379 m, bearing: 330.388501 deg, approach rate: -0.427452 m/s, LOS rate: 0.123276 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139113 deg. 2025-01-08T20:03:54.009Z,1736366634.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819537 target range: 314.200012 and range: 314.20 m. 2025-01-08T20:03:54.204Z,1736366634.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:54.204Z,1736366634.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.203806 2025-01-08T20:03:54.317Z,1736366634.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:54.325Z,1736366634.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:54.328Z,1736366634.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 233.365280 m, bearing: 330.433168 deg, approach rate: -0.474660 m/s, LOS rate: 0.137677 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109277 deg. 2025-01-08T20:03:54.329Z,1736366634.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819016 target range: 314.200012 and range: 314.20 m. 2025-01-08T20:03:54.456Z,1736366634.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:54.457Z,1736366634.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.456220 2025-01-08T20:03:54.709Z,1736366634.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:54.712Z,1736366634.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710914 2025-01-08T20:03:54.777Z,1736366634.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:54.793Z,1736366634.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:54.800Z,1736366634.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 233.160721 m, bearing: 330.492613 deg, approach rate: -0.437288 m/s, LOS rate: 0.127188 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153678 deg. 2025-01-08T20:03:54.801Z,1736366634.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819791 target range: 314.200012 and range: 314.20 m. 2025-01-08T20:03:54.960Z,1736366634.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:54.960Z,1736366634.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959818 2025-01-08T20:03:55.128Z,1736366635.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:55.137Z,1736366635.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:55.156Z,1736366635.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 233.023529 m, bearing: 330.532317 deg, approach rate: -0.398839 m/s, LOS rate: 0.115494 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.094369 deg. 2025-01-08T20:03:55.157Z,1736366635.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818756 target range: 314.200012 and range: 314.20 m. 2025-01-08T20:03:55.212Z,1736366635.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:55.214Z,1736366635.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213385 2025-01-08T20:03:55.464Z,1736366635.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:55.465Z,1736366635.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464288 2025-01-08T20:03:55.512Z,1736366635.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:55.549Z,1736366635.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:55.552Z,1736366635.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 232.873199 m, bearing: 330.575742 deg, approach rate: -0.364874 m/s, LOS rate: 0.105468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105546 deg. 2025-01-08T20:03:55.553Z,1736366635.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818951 target range: 314.200012 and range: 314.20 m. 2025-01-08T20:03:55.717Z,1736366635.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:55.720Z,1736366635.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718575 2025-01-08T20:03:55.929Z,1736366635.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:55.964Z,1736366635.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:55.968Z,1736366635.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:55.969Z,1736366635.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968262 2025-01-08T20:03:55.972Z,1736366635.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:55.974Z,1736366635.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 232.733093 m, bearing: 330.618368 deg, approach rate: -0.334870 m/s, LOS rate: 0.101943 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103142 deg. 2025-01-08T20:03:55.984Z,1736366635.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818909 target range: 314.200012 and range: 314.20 m. 2025-01-08T20:03:56.220Z,1736366636.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:56.220Z,1736366636.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219736 2025-01-08T20:03:56.316Z,1736366636.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:56.353Z,1736366636.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:56.360Z,1736366636.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 232.602951 m, bearing: 330.657875 deg, approach rate: -0.337636 m/s, LOS rate: 0.102553 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.093774 deg. 2025-01-08T20:03:56.361Z,1736366636.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818746 target range: 314.200012 and range: 314.20 m. 2025-01-08T20:03:56.473Z,1736366636.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:56.475Z,1736366636.475 [DAT](INFO): DAT read: Rx Time:20:03:55.1528 2025-01-08T20:03:56.476Z,1736366636.476 [DAT](INFO): Rx dataTimestamp_ set to:1736366636.475331 2025-01-08T20:03:56.477Z,1736366636.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476173 2025-01-08T20:03:56.725Z,1736366636.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:56.726Z,1736366636.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.725312 2025-01-08T20:03:56.731Z,1736366636.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:56.797Z,1736366636.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:56.824Z,1736366636.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 232.463135 m, bearing: 330.700184 deg, approach rate: -0.319174 m/s, LOS rate: 0.096640 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102189 deg. 2025-01-08T20:03:56.825Z,1736366636.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818892 target range: 314.200012 and range: 314.20 m. 2025-01-08T20:03:56.976Z,1736366636.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:56.977Z,1736366636.977 [DAT](INFO): DAT read: Range 10 to 50 : 315.8 m (Round-trip 421.1 ms) speed 0.0 m/s 2025-01-08T20:03:56.978Z,1736366636.978 [DAT](INFO): DAT read: user:1091> 2025-01-08T20:03:56.979Z,1736366636.979 [DAT](INFO): DAT read: Tx time:20:03:56.2276 2025-01-08T20:03:56.979Z,1736366636.979 [DAT](INFO): Ping request sent. 2025-01-08T20:03:56.979Z,1736366636.979 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:03:56.980Z,1736366636.980 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:03:56.980Z,1736366636.980 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:56.980Z,1736366636.980 [DAT](INFO): publishing transmit ping time 2025-01-08T20:03:57.196Z,1736366637.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:57.206Z,1736366637.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 315.799988 m, deltaT: 4.030930 s, deltaX: 1.599976 m, approachRate: 0.396925 m/s, rangeRepo size: 4 2025-01-08T20:03:57.207Z,1736366637.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:57.210Z,1736366637.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 232.324173 m, bearing: 330.745135 deg, approach rate: -0.335184 m/s, LOS rate: 0.108491 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110122 deg. 2025-01-08T20:03:57.211Z,1736366637.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819031 target range: 314.200012 and range: 315.80 m. 2025-01-08T20:03:57.229Z,1736366637.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:57.230Z,1736366637.230 [DAT](INFO): DAT read: TxSync time:20:03:56.2268 2025-01-08T20:03:57.480Z,1736366637.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:57.542Z,1736366637.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:57.550Z,1736366637.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:57.553Z,1736366637.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 232.221069 m, bearing: 330.778398 deg, approach rate: -0.299228 m/s, LOS rate: 0.096577 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.075018 deg. 2025-01-08T20:03:57.554Z,1736366637.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818418 target range: 314.200012 and range: 315.80 m. 2025-01-08T20:03:57.734Z,1736366637.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:57.954Z,1736366637.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:57.984Z,1736366637.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:57.984Z,1736366637.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:57.991Z,1736366637.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 232.103622 m, bearing: 330.817982 deg, approach rate: -0.284360 m/s, LOS rate: 0.095889 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.093999 deg. 2025-01-08T20:03:57.993Z,1736366637.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818749 target range: 314.200012 and range: 315.80 m. 2025-01-08T20:03:58.236Z,1736366638.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:58.347Z,1736366638.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:58.355Z,1736366638.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:03:58.357Z,1736366638.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:58.360Z,1736366638.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 231.991333 m, bearing: 330.855681 deg, approach rate: -0.284921 m/s, LOS rate: 0.095703 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.088338 deg. 2025-01-08T20:03:58.361Z,1736366638.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818651 target range: 314.200012 and range: 315.80 m. 2025-01-08T20:03:58.488Z,1736366638.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:58.488Z,1736366638.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:03:58.488Z,1736366638.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:03:58.489Z,1736366638.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:03:58.737Z,1736366638.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:58.741Z,1736366638.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:58.744Z,1736366638.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764321 2025-01-08T20:03:58.752Z,1736366638.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:58.755Z,1736366638.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 231.879608 m, bearing: 330.893049 deg, approach rate: -0.282658 m/s, LOS rate: 0.094585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.087346 deg. 2025-01-08T20:03:58.757Z,1736366638.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818633 target range: 314.200012 and range: 315.80 m. 2025-01-08T20:03:58.992Z,1736366638.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:58.993Z,1736366638.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013568 2025-01-08T20:03:59.171Z,1736366639.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:59.180Z,1736366639.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:59.184Z,1736366639.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 231.751831 m, bearing: 330.938184 deg, approach rate: -0.298762 m/s, LOS rate: 0.105588 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110663 deg. 2025-01-08T20:03:59.185Z,1736366639.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819040 target range: 314.200012 and range: 315.80 m. 2025-01-08T20:03:59.244Z,1736366639.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:59.245Z,1736366639.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265375 2025-01-08T20:03:59.496Z,1736366639.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:59.496Z,1736366639.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517029 2025-01-08T20:03:59.561Z,1736366639.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:59.574Z,1736366639.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:59.577Z,1736366639.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 231.636459 m, bearing: 330.978813 deg, approach rate: -0.293529 m/s, LOS rate: 0.103422 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097137 deg. 2025-01-08T20:03:59.578Z,1736366639.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818804 target range: 314.200012 and range: 315.80 m. 2025-01-08T20:03:59.748Z,1736366639.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:03:59.749Z,1736366639.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769068 2025-01-08T20:03:59.974Z,1736366639.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:03:59.983Z,1736366639.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:03:59.986Z,1736366639.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 231.501892 m, bearing: 331.026749 deg, approach rate: -0.329027 m/s, LOS rate: 0.117275 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119078 deg. 2025-01-08T20:03:59.987Z,1736366639.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819187 target range: 314.200012 and range: 315.80 m. 2025-01-08T20:03:59.000Z,1736366640.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:00.001Z,1736366640.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021225 2025-01-08T20:04:00.252Z,1736366640.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:00.252Z,1736366640.252 [DAT](INFO): DAT read: Rx Time:20:03:59.0542 2025-01-08T20:04:00.253Z,1736366640.253 [DAT](INFO): Rx dataTimestamp_ set to:1736366640.252639 2025-01-08T20:04:00.253Z,1736366640.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274112 2025-01-08T20:04:00.362Z,1736366640.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:00.376Z,1736366640.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:00.378Z,1736366640.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:04:00.386Z,1736366640.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 231.375092 m, bearing: 331.071892 deg, approach rate: -0.319963 m/s, LOS rate: 0.113973 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110688 deg. 2025-01-08T20:04:00.387Z,1736366640.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819041 target range: 314.200012 and range: 315.80 m. 2025-01-08T20:04:00.504Z,1736366640.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:00.506Z,1736366640.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526258 2025-01-08T20:04:00.756Z,1736366640.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:00.757Z,1736366640.757 [DAT](INFO): DAT read: Range 10 to 50 : 316.8 m (Round-trip 422.5 ms) speed -0.8 m/s 2025-01-08T20:04:00.758Z,1736366640.758 [DAT](INFO): DAT read: user:1092> 2025-01-08T20:04:00.759Z,1736366640.759 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:04:00.759Z,1736366640.759 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:00.759Z,1736366640.759 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:00.760Z,1736366640.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:00.778Z,1736366640.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:00.876Z,1736366640.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 316.799988 m, deltaT: 3.780067 s, deltaX: 1.000000 m, approachRate: 0.264546 m/s, rangeRepo size: 4 2025-01-08T20:04:00.876Z,1736366640.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:04:00.883Z,1736366640.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 231.239075 m, bearing: 331.120365 deg, approach rate: -0.280808 m/s, LOS rate: 0.100133 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120693 deg. 2025-01-08T20:04:00.885Z,1736366640.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819215 target range: 314.200012 and range: 316.80 m. 2025-01-08T20:04:01.008Z,1736366641.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:01.009Z,1736366641.009 [DAT](INFO): DAT read: Tx time:20:04:00.1776 2025-01-08T20:04:01.009Z,1736366641.009 [DAT](INFO): Ping request sent. 2025-01-08T20:04:01.009Z,1736366641.009 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:01.010Z,1736366641.010 [DAT](INFO): DAT read: TxSync time:20:04:00.1768 2025-01-08T20:04:01.010Z,1736366641.010 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:01.011Z,1736366641.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001619 2025-01-08T20:04:01.200Z,1736366641.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:01.209Z,1736366641.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:04:01.212Z,1736366641.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 231.082138 m, bearing: 331.176285 deg, approach rate: -0.453791 m/s, LOS rate: 0.161804 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143058 deg. 2025-01-08T20:04:01.213Z,1736366641.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819605 target range: 314.200012 and range: 316.80 m. 2025-01-08T20:04:01.260Z,1736366641.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:01.262Z,1736366641.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252356 2025-01-08T20:04:01.512Z,1736366641.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:01.512Z,1736366641.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503260 2025-01-08T20:04:01.585Z,1736366641.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:01.594Z,1736366641.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:04:01.597Z,1736366641.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 230.939651 m, bearing: 331.227487 deg, approach rate: -0.370039 m/s, LOS rate: 0.133055 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128889 deg. 2025-01-08T20:04:01.598Z,1736366641.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819358 target range: 314.200012 and range: 316.80 m. 2025-01-08T20:04:01.764Z,1736366641.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:01.764Z,1736366641.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755359 2025-01-08T20:04:02.010Z,1736366642.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:02.024Z,1736366642.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:02.025Z,1736366642.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015621 2025-01-08T20:04:02.040Z,1736366642.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:04:02.042Z,1736366642.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 230.761063 m, bearing: 331.288608 deg, approach rate: -0.404374 m/s, LOS rate: 0.138501 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158691 deg. 2025-01-08T20:04:02.048Z,1736366642.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819879 target range: 314.200012 and range: 316.80 m. 2025-01-08T20:04:02.276Z,1736366642.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:02.276Z,1736366642.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267211 2025-01-08T20:04:02.373Z,1736366642.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:02.383Z,1736366642.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:02.401Z,1736366642.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:04:02.408Z,1736366642.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 230.609375 m, bearing: 331.341074 deg, approach rate: -0.414320 m/s, LOS rate: 0.143399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132686 deg. 2025-01-08T20:04:02.409Z,1736366642.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819425 target range: 314.200012 and range: 316.80 m. 2025-01-08T20:04:02.528Z,1736366642.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:02.529Z,1736366642.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519994 2025-01-08T20:04:02.776Z,1736366642.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:02.780Z,1736366642.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:02.781Z,1736366642.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771418 2025-01-08T20:04:02.788Z,1736366642.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:04:02.790Z,1736366642.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 230.441147 m, bearing: 331.399437 deg, approach rate: -0.435768 m/s, LOS rate: 0.151292 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150405 deg. 2025-01-08T20:04:02.792Z,1736366642.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819734 target range: 314.200012 and range: 316.80 m. 2025-01-08T20:04:03.032Z,1736366643.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:03.033Z,1736366643.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023935 2025-01-08T20:04:03.216Z,1736366643.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:03.245Z,1736366643.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:04:03.252Z,1736366643.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 230.238998 m, bearing: 331.467123 deg, approach rate: -0.441760 m/s, LOS rate: 0.148046 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178423 deg. 2025-01-08T20:04:03.253Z,1736366643.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820223 target range: 314.200012 and range: 316.80 m. 2025-01-08T20:04:03.284Z,1736366643.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:03.285Z,1736366643.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275959 2025-01-08T20:04:03.536Z,1736366643.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:03.536Z,1736366643.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527361 2025-01-08T20:04:03.680Z,1736366643.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:03.689Z,1736366643.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:04:03.694Z,1736366643.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 230.025635 m, bearing: 331.538812 deg, approach rate: -0.480355 m/s, LOS rate: 0.161545 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190451 deg. 2025-01-08T20:04:03.698Z,1736366643.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820433 target range: 314.200012 and range: 316.80 m. 2025-01-08T20:04:03.788Z,1736366643.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:03.789Z,1736366643.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780196 2025-01-08T20:04:04.040Z,1736366644.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:04.040Z,1736366644.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031368 2025-01-08T20:04:04.049Z,1736366644.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:04.078Z,1736366644.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:04:04.093Z,1736366644.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 229.844376 m, bearing: 331.597618 deg, approach rate: -0.466004 m/s, LOS rate: 0.151306 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151744 deg. 2025-01-08T20:04:04.094Z,1736366644.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819757 target range: 314.200012 and range: 316.80 m. 2025-01-08T20:04:04.292Z,1736366644.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:04.292Z,1736366644.292 [DAT](INFO): DAT read: Rx Time:20:04:03.0100 2025-01-08T20:04:04.293Z,1736366644.293 [DAT](INFO): Rx dataTimestamp_ set to:1736366644.292637 2025-01-08T20:04:04.293Z,1736366644.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284347 2025-01-08T20:04:04.427Z,1736366644.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:04.451Z,1736366644.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:04.457Z,1736366644.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.20 m. 2025-01-08T20:04:04.460Z,1736366644.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.200012 m, nav range: 229.659927 m, bearing: 331.658216 deg, approach rate: -0.486923 m/s, LOS rate: 0.160098 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157124 deg. 2025-01-08T20:04:04.461Z,1736366644.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819851 target range: 314.200012 and range: 316.80 m. 2025-01-08T20:04:04.545Z,1736366644.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:04.546Z,1736366644.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536552 2025-01-08T20:04:04.796Z,1736366644.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:04.804Z,1736366644.804 [DAT](INFO): DAT read: 20:04:03.0100 LVL= 28912, 23393, 17442, 32483, AGC= 64, IDX= 478,-0.11,-1.497, 0.946,-0.648,-1.006, PHS=-0.403, 1.999, 0.355, RAW= 312.0, -18.0, CAL= 315.8, -25.6, ROT= 194.2, 25.6 2025-01-08T20:04:04.805Z,1736366644.805 [DAT](INFO): got valid direction response: 20:04:03.0100 LVL= 28912, 23393, 17442, 32483, AGC= 64, IDX= 478,-0.11,-1.497, 0.946,-0.648,-1.006, PHS=-0.403, 1.999, 0.355, RAW= 312.0, -18.0, CAL= 315.8, -25.6, ROT= 194.2, 25.6 2025-01-08T20:04:04.806Z,1736366644.806 [DAT](INFO): DAT read: Bearing 194.2, 25.6 (Local) 2025-01-08T20:04:04.806Z,1736366644.806 [DAT](INFO): Local bearing/azimuth received: Bearing 194.2, 25.6 (Local) 2025-01-08T20:04:04.808Z,1736366644.808 [DAT](INFO): DAT read: Range 10 to 50 : 321.2 m (Round-trip 428.3 ms) speed -1.0 m/s 2025-01-08T20:04:04.809Z,1736366644.809 [DAT](INFO): DAT read: user:1093> 2025-01-08T20:04:04.810Z,1736366644.810 [DAT](INFO): DAT read: Tx time:20:04:04.1276 2025-01-08T20:04:04.810Z,1736366644.810 [DAT](INFO): Ping request sent. 2025-01-08T20:04:04.810Z,1736366644.810 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:04.810Z,1736366644.810 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:04:04.812Z,1736366644.812 [DAT](INFO): direction in FSK: [0.454571,0.541061,-0.707544] 2025-01-08T20:04:04.812Z,1736366644.812 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:04.812Z,1736366644.812 [DAT](INFO): publishing direction and range info 2025-01-08T20:04:04.817Z,1736366644.817 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:04.817Z,1736366644.817 [DAT](INFO): publishing direction and range info 2025-01-08T20:04:05.021Z,1736366645.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:05.048Z,1736366645.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:05.050Z,1736366645.050 [DAT](INFO): DAT read: TxSync time:20:04:04.1268 2025-01-08T20:04:05.047Z,1736366645.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 321.200012 m, deltaT: 4.040172 s, deltaX: 4.400024 m, approachRate: 1.089069 m/s, rangeRepo size: 4 2025-01-08T20:04:05.054Z,1736366645.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 321.200012 m, bearing: 329.290992 deg, lat: 36.907056 deg, lon: -122.123347 deg, deltaT: 11.851169 s, deltaX: 7.000000 m, approachRate: 0.590659 m/s, posRepo size: 4 2025-01-08T20:04:05.054Z,1736366645.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:05.061Z,1736366645.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 232.015259 m, bearing: 331.798504 deg, approach rate: 0.000000 m/s, LOS rate: 0.160098 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.258220 deg. 2025-01-08T20:04:05.062Z,1736366645.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821616 target range: 321.200012 and range: 321.20 m. 2025-01-08T20:04:05.300Z,1736366645.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:05.374Z,1736366645.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:05.410Z,1736366645.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:05.413Z,1736366645.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 231.844696 m, bearing: 331.852600 deg, approach rate: -0.484242 m/s, LOS rate: 0.153697 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137595 deg. 2025-01-08T20:04:05.414Z,1736366645.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819510 target range: 321.200012 and range: 321.20 m. 2025-01-08T20:04:05.552Z,1736366645.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:05.772Z,1736366645.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:05.780Z,1736366645.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:05.784Z,1736366645.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 231.652481 m, bearing: 331.913733 deg, approach rate: -0.503473 m/s, LOS rate: 0.160260 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158738 deg. 2025-01-08T20:04:05.785Z,1736366645.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819879 target range: 321.200012 and range: 321.20 m. 2025-01-08T20:04:05.804Z,1736366645.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:06.056Z,1736366646.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:06.243Z,1736366646.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:06.252Z,1736366646.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:06.255Z,1736366646.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 231.425720 m, bearing: 331.982167 deg, approach rate: -0.480276 m/s, LOS rate: 0.145083 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180688 deg. 2025-01-08T20:04:06.257Z,1736366646.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820262 target range: 321.200012 and range: 321.20 m. 2025-01-08T20:04:06.308Z,1736366646.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:06.555Z,1736366646.555 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2025-01-08T20:04:06.557Z,1736366646.557 [BPC1](INFO): Received data from all battery sticks. 2025-01-08T20:04:06.560Z,1736366646.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:06.585Z,1736366646.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:06.609Z,1736366646.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:06.611Z,1736366646.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:06.618Z,1736366646.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 231.261017 m, bearing: 332.032088 deg, approach rate: -0.459778 m/s, LOS rate: 0.139455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125055 deg. 2025-01-08T20:04:06.624Z,1736366646.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819292 target range: 321.200012 and range: 321.20 m. 2025-01-08T20:04:06.812Z,1736366646.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:06.812Z,1736366646.812 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:06.812Z,1736366646.812 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:06.812Z,1736366646.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:07.009Z,1736366647.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:07.018Z,1736366647.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:07.022Z,1736366647.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 231.066727 m, bearing: 332.090936 deg, approach rate: -0.477057 m/s, LOS rate: 0.144616 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151879 deg. 2025-01-08T20:04:07.039Z,1736366647.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819759 target range: 321.200012 and range: 321.20 m. 2025-01-08T20:04:07.064Z,1736366647.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:07.065Z,1736366647.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254435 2025-01-08T20:04:07.316Z,1736366647.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:07.317Z,1736366647.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506748 2025-01-08T20:04:07.384Z,1736366647.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:07.392Z,1736366647.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:07.396Z,1736366647.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 230.894775 m, bearing: 332.143142 deg, approach rate: -0.459139 m/s, LOS rate: 0.139504 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131923 deg. 2025-01-08T20:04:07.397Z,1736366647.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819411 target range: 321.200012 and range: 321.20 m. 2025-01-08T20:04:07.568Z,1736366647.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:07.568Z,1736366647.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758222 2025-01-08T20:04:07.780Z,1736366647.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:07.789Z,1736366647.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:07.792Z,1736366647.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 230.713486 m, bearing: 332.198296 deg, approach rate: -0.457368 m/s, LOS rate: 0.139254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140777 deg. 2025-01-08T20:04:07.793Z,1736366647.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819566 target range: 321.200012 and range: 321.20 m. 2025-01-08T20:04:07.820Z,1736366647.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:07.821Z,1736366647.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010476 2025-01-08T20:04:08.073Z,1736366648.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:08.074Z,1736366648.074 [DAT](INFO): DAT read: Rx Time:20:04:06.9629 2025-01-08T20:04:08.074Z,1736366648.074 [DAT](INFO): Rx dataTimestamp_ set to:1736366648.074059 2025-01-08T20:04:08.075Z,1736366648.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264808 2025-01-08T20:04:08.220Z,1736366648.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:08.229Z,1736366648.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:08.234Z,1736366648.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 230.527283 m, bearing: 332.255252 deg, approach rate: -0.422935 m/s, LOS rate: 0.129472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146192 deg. 2025-01-08T20:04:08.235Z,1736366648.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819660 target range: 321.200012 and range: 321.20 m. 2025-01-08T20:04:08.325Z,1736366648.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:08.325Z,1736366648.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515344 2025-01-08T20:04:08.576Z,1736366648.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:08.577Z,1736366648.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766418 2025-01-08T20:04:08.586Z,1736366648.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:08.594Z,1736366648.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:08.597Z,1736366648.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 230.372757 m, bearing: 332.302492 deg, approach rate: -0.423475 m/s, LOS rate: 0.129547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117002 deg. 2025-01-08T20:04:08.598Z,1736366648.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819151 target range: 321.200012 and range: 321.20 m. 2025-01-08T20:04:08.828Z,1736366648.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:08.831Z,1736366648.831 [DAT](INFO): DAT read: Range 10 to 50 : 323.4 m (Round-trip 431.2 ms) speed -0.4 m/s 2025-01-08T20:04:08.833Z,1736366648.833 [DAT](INFO): DAT read: user:1094> 2025-01-08T20:04:08.834Z,1736366648.834 [DAT](INFO): DAT read: Tx time:20:04:08.0776 2025-01-08T20:04:08.834Z,1736366648.834 [DAT](INFO): Ping request sent. 2025-01-08T20:04:08.834Z,1736366648.834 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:08.835Z,1736366648.835 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:04:08.835Z,1736366648.835 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:08.836Z,1736366648.836 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:09.030Z,1736366649.030 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,3768,V 2025-01-08T20:04:09.038Z,1736366649.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:04:09.038Z,1736366649.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:09.046Z,1736366649.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:09.061Z,1736366649.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 323.399994 m, deltaT: 4.032487 s, deltaX: 2.199982 m, approachRate: 0.545564 m/s, rangeRepo size: 4 2025-01-08T20:04:09.062Z,1736366649.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:09.065Z,1736366649.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 230.181717 m, bearing: 332.361048 deg, approach rate: -0.409620 m/s, LOS rate: 0.125658 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151001 deg. 2025-01-08T20:04:09.072Z,1736366649.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819744 target range: 321.200012 and range: 323.40 m. 2025-01-08T20:04:09.080Z,1736366649.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:09.081Z,1736366649.081 [DAT](INFO): DAT read: TxSync time:20:04:08.0769 2025-01-08T20:04:09.081Z,1736366649.081 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:09.081Z,1736366649.081 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:09.081Z,1736366649.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:09.332Z,1736366649.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:09.334Z,1736366649.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499067 2025-01-08T20:04:09.397Z,1736366649.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:04:09.398Z,1736366649.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:09.409Z,1736366649.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:09.412Z,1736366649.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 230.030640 m, bearing: 332.407691 deg, approach rate: -0.435357 m/s, LOS rate: 0.134499 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115207 deg. 2025-01-08T20:04:09.413Z,1736366649.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819119 target range: 321.200012 and range: 323.40 m. 2025-01-08T20:04:09.584Z,1736366649.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:09.585Z,1736366649.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750164 2025-01-08T20:04:09.788Z,1736366649.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:04:09.788Z,1736366649.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:09.819Z,1736366649.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:09.822Z,1736366649.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 229.866562 m, bearing: 332.458385 deg, approach rate: -0.415833 m/s, LOS rate: 0.128568 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127377 deg. 2025-01-08T20:04:09.827Z,1736366649.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819332 target range: 321.200012 and range: 323.40 m. 2025-01-08T20:04:09.836Z,1736366649.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:09.837Z,1736366649.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002026 2025-01-08T20:04:10.088Z,1736366650.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:10.089Z,1736366650.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253968 2025-01-08T20:04:10.221Z,1736366650.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:10.231Z,1736366650.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:10.235Z,1736366650.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 229.714172 m, bearing: 332.507763 deg, approach rate: -0.355524 m/s, LOS rate: 0.115274 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123418 deg. 2025-01-08T20:04:10.253Z,1736366650.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819263 target range: 321.200012 and range: 323.40 m. 2025-01-08T20:04:10.340Z,1736366650.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:10.341Z,1736366650.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506229 2025-01-08T20:04:10.592Z,1736366650.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:10.592Z,1736366650.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757935 2025-01-08T20:04:10.597Z,1736366650.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:10.627Z,1736366650.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:10.639Z,1736366650.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 229.581940 m, bearing: 332.550381 deg, approach rate: -0.333853 m/s, LOS rate: 0.107662 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103115 deg. 2025-01-08T20:04:10.641Z,1736366650.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818908 target range: 321.200012 and range: 323.40 m. 2025-01-08T20:04:10.844Z,1736366650.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:10.844Z,1736366650.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009870 2025-01-08T20:04:11.072Z,1736366651.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:11.079Z,1736366651.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:11.081Z,1736366651.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:11.086Z,1736366651.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 229.425766 m, bearing: 332.603816 deg, approach rate: -0.343578 m/s, LOS rate: 0.117636 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135600 deg. 2025-01-08T20:04:11.087Z,1736366651.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819475 target range: 321.200012 and range: 323.40 m. 2025-01-08T20:04:11.096Z,1736366651.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:11.096Z,1736366651.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261818 2025-01-08T20:04:11.348Z,1736366651.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:11.349Z,1736366651.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513852 2025-01-08T20:04:11.410Z,1736366651.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:11.435Z,1736366651.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:11.438Z,1736366651.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 229.314224 m, bearing: 332.641634 deg, approach rate: -0.315347 m/s, LOS rate: 0.106969 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.088695 deg. 2025-01-08T20:04:11.440Z,1736366651.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818657 target range: 321.200012 and range: 323.40 m. 2025-01-08T20:04:11.600Z,1736366651.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:11.601Z,1736366651.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766637 2025-01-08T20:04:11.830Z,1736366651.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:11.852Z,1736366651.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:11.853Z,1736366651.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018081 2025-01-08T20:04:11.864Z,1736366651.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:11.873Z,1736366651.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 229.175644 m, bearing: 332.688719 deg, approach rate: -0.322635 m/s, LOS rate: 0.109688 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116529 deg. 2025-01-08T20:04:11.874Z,1736366651.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819142 target range: 321.200012 and range: 323.40 m. 2025-01-08T20:04:12.104Z,1736366652.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:12.105Z,1736366652.105 [DAT](INFO): DAT read: Rx Time:20:04:10.9155 2025-01-08T20:04:12.106Z,1736366652.106 [DAT](INFO): Rx dataTimestamp_ set to:1736366652.105343 2025-01-08T20:04:12.107Z,1736366652.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272466 2025-01-08T20:04:12.258Z,1736366652.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:12.268Z,1736366652.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:12.271Z,1736366652.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 229.031372 m, bearing: 332.737550 deg, approach rate: -0.357946 m/s, LOS rate: 0.121227 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121769 deg. 2025-01-08T20:04:12.272Z,1736366652.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819234 target range: 321.200012 and range: 323.40 m. 2025-01-08T20:04:12.357Z,1736366652.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:12.358Z,1736366652.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523658 2025-01-08T20:04:12.608Z,1736366652.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:12.609Z,1736366652.609 [DAT](INFO): DAT read: Range 10 to 50 : 325.2 m (Round-trip 433.6 ms) speed -0.9 m/s 2025-01-08T20:04:12.610Z,1736366652.610 [DAT](INFO): DAT read: user:1095> 2025-01-08T20:04:12.610Z,1736366652.610 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:04:12.611Z,1736366652.611 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:12.611Z,1736366652.611 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:12.612Z,1736366652.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:12.668Z,1736366652.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:12.701Z,1736366652.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 325.200012 m, deltaT: 3.779240 s, deltaX: 1.800018 m, approachRate: 0.476291 m/s, rangeRepo size: 4 2025-01-08T20:04:12.702Z,1736366652.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:12.709Z,1736366652.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 228.893936 m, bearing: 332.783572 deg, approach rate: -0.321071 m/s, LOS rate: 0.107579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113336 deg. 2025-01-08T20:04:12.710Z,1736366652.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819087 target range: 321.200012 and range: 325.20 m. 2025-01-08T20:04:12.860Z,1736366652.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:12.861Z,1736366652.861 [DAT](INFO): DAT read: Tx time:20:04:12.0277 2025-01-08T20:04:12.861Z,1736366652.861 [DAT](INFO): Ping request sent. 2025-01-08T20:04:12.861Z,1736366652.861 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:12.862Z,1736366652.862 [DAT](INFO): DAT read: TxSync time:20:04:12.0269 2025-01-08T20:04:12.862Z,1736366652.862 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:12.863Z,1736366652.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001602 2025-01-08T20:04:13.112Z,1736366653.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:13.113Z,1736366653.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251260 2025-01-08T20:04:13.121Z,1736366653.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:13.137Z,1736366653.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:13.139Z,1736366653.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:13.146Z,1736366653.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 228.737457 m, bearing: 332.837717 deg, approach rate: -0.353172 m/s, LOS rate: 0.122288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137732 deg. 2025-01-08T20:04:13.147Z,1736366653.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819513 target range: 321.200012 and range: 325.20 m. 2025-01-08T20:04:13.364Z,1736366653.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:13.364Z,1736366653.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503163 2025-01-08T20:04:13.437Z,1736366653.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:13.445Z,1736366653.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:13.449Z,1736366653.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 228.630157 m, bearing: 332.875092 deg, approach rate: -0.349993 m/s, LOS rate: 0.121970 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.087367 deg. 2025-01-08T20:04:13.450Z,1736366653.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818634 target range: 321.200012 and range: 325.20 m. 2025-01-08T20:04:13.616Z,1736366653.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:13.617Z,1736366653.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755820 2025-01-08T20:04:13.829Z,1736366653.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:13.840Z,1736366653.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:13.842Z,1736366653.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 228.497131 m, bearing: 332.921525 deg, approach rate: -0.337478 m/s, LOS rate: 0.117865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114566 deg. 2025-01-08T20:04:13.844Z,1736366653.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819108 target range: 321.200012 and range: 325.20 m. 2025-01-08T20:04:13.875Z,1736366653.875 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:13.876Z,1736366653.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014682 2025-01-08T20:04:14.128Z,1736366654.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:14.129Z,1736366654.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267884 2025-01-08T20:04:14.258Z,1736366654.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:14.268Z,1736366654.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:14.271Z,1736366654.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 228.342896 m, bearing: 332.975259 deg, approach rate: -0.360260 m/s, LOS rate: 0.125595 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136498 deg. 2025-01-08T20:04:14.272Z,1736366654.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819491 target range: 321.200012 and range: 325.20 m. 2025-01-08T20:04:14.380Z,1736366654.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:14.382Z,1736366654.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520362 2025-01-08T20:04:14.633Z,1736366654.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:14.633Z,1736366654.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771987 2025-01-08T20:04:14.636Z,1736366654.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:14.644Z,1736366654.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:14.648Z,1736366654.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 228.206924 m, bearing: 333.022407 deg, approach rate: -0.361610 m/s, LOS rate: 0.125463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116715 deg. 2025-01-08T20:04:14.650Z,1736366654.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819146 target range: 321.200012 and range: 325.20 m. 2025-01-08T20:04:14.884Z,1736366654.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:14.887Z,1736366654.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024957 2025-01-08T20:04:15.117Z,1736366655.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:15.125Z,1736366655.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:15.129Z,1736366655.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 228.022446 m, bearing: 333.087534 deg, approach rate: -0.382882 m/s, LOS rate: 0.135278 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170723 deg. 2025-01-08T20:04:15.130Z,1736366655.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820088 target range: 321.200012 and range: 325.20 m. 2025-01-08T20:04:15.136Z,1736366655.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:15.136Z,1736366655.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275117 2025-01-08T20:04:15.388Z,1736366655.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:15.389Z,1736366655.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527432 2025-01-08T20:04:15.455Z,1736366655.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:15.462Z,1736366655.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:15.464Z,1736366655.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:15.469Z,1736366655.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 227.892685 m, bearing: 333.133403 deg, approach rate: -0.382627 m/s, LOS rate: 0.135332 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112873 deg. 2025-01-08T20:04:15.470Z,1736366655.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819079 target range: 321.200012 and range: 325.20 m. 2025-01-08T20:04:15.640Z,1736366655.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:15.640Z,1736366655.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779127 2025-01-08T20:04:15.842Z,1736366655.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:15.873Z,1736366655.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:15.880Z,1736366655.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 227.744507 m, bearing: 333.185967 deg, approach rate: -0.363132 m/s, LOS rate: 0.128898 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132980 deg. 2025-01-08T20:04:15.881Z,1736366655.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819430 target range: 321.200012 and range: 325.20 m. 2025-01-08T20:04:15.893Z,1736366655.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:15.895Z,1736366655.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033240 2025-01-08T20:04:16.144Z,1736366656.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:16.144Z,1736366656.144 [DAT](INFO): DAT read: Rx Time:20:04:14.8683 2025-01-08T20:04:16.145Z,1736366656.145 [DAT](INFO): Rx dataTimestamp_ set to:1736366656.144634 2025-01-08T20:04:16.146Z,1736366656.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284181 2025-01-08T20:04:16.292Z,1736366656.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:16.302Z,1736366656.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.20 m. 2025-01-08T20:04:16.305Z,1736366656.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.200012 m, nav range: 227.565353 m, bearing: 333.249867 deg, approach rate: -0.417249 m/s, LOS rate: 0.148942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167039 deg. 2025-01-08T20:04:16.306Z,1736366656.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820024 target range: 321.200012 and range: 325.20 m. 2025-01-08T20:04:16.397Z,1736366656.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:16.397Z,1736366656.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536075 2025-01-08T20:04:16.649Z,1736366656.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:16.660Z,1736366656.660 [DAT](INFO): DAT read: 20:04:14.8683 LVL= 26320, 24753, 18402, 31891, AGC= 69, IDX= 450,-0.19, 0.476, 2.892, 1.258, 0.909, PHS=-0.345, 2.030, 0.346, RAW= 313.6, -18.7, CAL= 317.0, -26.9, ROT= 193.0, 26.9 2025-01-08T20:04:16.662Z,1736366656.662 [DAT](INFO): got valid direction response: 20:04:14.8683 LVL= 26320, 24753, 18402, 31891, AGC= 69, IDX= 450,-0.19, 0.476, 2.892, 1.258, 0.909, PHS=-0.345, 2.030, 0.346, RAW= 313.6, -18.7, CAL= 317.0, -26.9, ROT= 193.0, 26.9 2025-01-08T20:04:16.663Z,1736366656.663 [DAT](INFO): DAT read: Bearing 193.0, 26.9 (Local) 2025-01-08T20:04:16.664Z,1736366656.664 [DAT](INFO): Local bearing/azimuth received: Bearing 193.0, 26.9 (Local) 2025-01-08T20:04:16.667Z,1736366656.667 [DAT](INFO): DAT read: Range 10 to 50 : 327.3 m (Round-trip 436.5 ms) speed -0.4 m/s 2025-01-08T20:04:16.684Z,1736366656.684 [DAT](INFO): DAT read: user:1096> 2025-01-08T20:04:16.685Z,1736366656.685 [DAT](INFO): DAT read: Tx time:20:04:15.9777 2025-01-08T20:04:16.685Z,1736366656.685 [DAT](INFO): Ping request sent. 2025-01-08T20:04:16.685Z,1736366656.685 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:16.686Z,1736366656.686 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:04:16.687Z,1736366656.687 [DAT](INFO): direction in FSK: [0.467633,0.557598,-0.685860] 2025-01-08T20:04:16.687Z,1736366656.687 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:16.687Z,1736366656.687 [DAT](INFO): publishing direction and range info 2025-01-08T20:04:16.690Z,1736366656.690 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:16.690Z,1736366656.690 [DAT](INFO): publishing direction and range info 2025-01-08T20:04:16.760Z,1736366656.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:16.792Z,1736366656.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 327.299988 m, deltaT: 4.041728 s, deltaX: 2.099976 m, approachRate: 0.519574 m/s, rangeRepo size: 4 2025-01-08T20:04:16.795Z,1736366656.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 327.299988 m, bearing: 329.588206 deg, lat: 36.907124 deg, lon: -122.123361 deg, deltaT: 11.853455 s, deltaX: 6.099976 m, approachRate: 0.514616 m/s, posRepo size: 4 2025-01-08T20:04:16.804Z,1736366656.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:16.813Z,1736366656.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 234.657211 m, bearing: 333.867520 deg, approach rate: 0.000000 m/s, LOS rate: 0.148942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192142 deg. 2025-01-08T20:04:16.814Z,1736366656.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820462 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:04:16.900Z,1736366656.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:16.901Z,1736366656.901 [DAT](INFO): DAT read: TxSync time:20:04:15.9769 2025-01-08T20:04:17.152Z,1736366657.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:17.212Z,1736366657.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:17.230Z,1736366657.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:17.238Z,1736366657.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 234.476776 m, bearing: 333.931888 deg, approach rate: -0.407398 m/s, LOS rate: 0.145445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168438 deg. 2025-01-08T20:04:17.245Z,1736366657.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820048 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:04:17.404Z,1736366657.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:17.514Z,1736366657.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:17.541Z,1736366657.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:17.548Z,1736366657.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:17.556Z,1736366657.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 234.357300 m, bearing: 333.974940 deg, approach rate: -0.382047 m/s, LOS rate: 0.137737 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.104409 deg. 2025-01-08T20:04:17.558Z,1736366657.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818931 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:04:17.657Z,1736366657.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:17.657Z,1736366657.657 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:17.657Z,1736366657.657 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:17.658Z,1736366657.658 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:17.909Z,1736366657.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:17.910Z,1736366657.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224601 2025-01-08T20:04:17.922Z,1736366657.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:17.960Z,1736366657.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:17.962Z,1736366657.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 234.196411 m, bearing: 334.033457 deg, approach rate: -0.394063 m/s, LOS rate: 0.143421 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150855 deg. 2025-01-08T20:04:17.968Z,1736366657.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819742 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:04:18.162Z,1736366658.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:18.167Z,1736366658.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477775 2025-01-08T20:04:18.350Z,1736366658.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:18.358Z,1736366658.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:18.361Z,1736366658.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 234.026917 m, bearing: 334.095547 deg, approach rate: -0.416610 m/s, LOS rate: 0.152726 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161592 deg. 2025-01-08T20:04:18.362Z,1736366658.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819929 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:04:18.412Z,1736366658.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:18.413Z,1736366658.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727403 2025-01-08T20:04:18.664Z,1736366658.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:18.666Z,1736366658.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980267 2025-01-08T20:04:18.733Z,1736366658.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:18.742Z,1736366658.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:18.745Z,1736366658.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 233.874649 m, bearing: 334.151417 deg, approach rate: -0.396964 m/s, LOS rate: 0.145748 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142904 deg. 2025-01-08T20:04:18.747Z,1736366658.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819603 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:04:18.917Z,1736366658.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:18.918Z,1736366658.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232392 2025-01-08T20:04:19.168Z,1736366659.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:19.168Z,1736366659.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483167 2025-01-08T20:04:19.201Z,1736366659.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:19.209Z,1736366659.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:19.212Z,1736366659.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 233.686615 m, bearing: 334.218585 deg, approach rate: -0.402135 m/s, LOS rate: 0.143764 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176853 deg. 2025-01-08T20:04:19.213Z,1736366659.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820195 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:04:19.420Z,1736366659.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:19.420Z,1736366659.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735100 2025-01-08T20:04:19.538Z,1736366659.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:19.545Z,1736366659.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:19.548Z,1736366659.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:19.552Z,1736366659.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 233.551147 m, bearing: 334.267156 deg, approach rate: -0.400686 m/s, LOS rate: 0.143748 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120985 deg. 2025-01-08T20:04:19.554Z,1736366659.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819221 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:04:19.673Z,1736366659.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:19.674Z,1736366659.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988270 2025-01-08T20:04:19.924Z,1736366659.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:19.925Z,1736366659.925 [DAT](INFO): DAT read: Rx Time:20:04:18.8214 2025-01-08T20:04:19.927Z,1736366659.927 [DAT](INFO): Rx dataTimestamp_ set to:1736366659.925894 2025-01-08T20:04:19.929Z,1736366659.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242876 2025-01-08T20:04:19.979Z,1736366659.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:20.001Z,1736366660.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:20.019Z,1736366660.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 233.374268 m, bearing: 334.330641 deg, approach rate: -0.389659 m/s, LOS rate: 0.139961 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165786 deg. 2025-01-08T20:04:20.026Z,1736366660.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820002 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:04:20.176Z,1736366660.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:20.176Z,1736366660.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491122 2025-01-08T20:04:20.381Z,1736366660.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:20.390Z,1736366660.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:20.393Z,1736366660.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 233.220230 m, bearing: 334.385479 deg, approach rate: -0.396575 m/s, LOS rate: 0.141275 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139808 deg. 2025-01-08T20:04:20.394Z,1736366660.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819549 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:04:20.428Z,1736366660.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:20.429Z,1736366660.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743269 2025-01-08T20:04:20.680Z,1736366660.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:20.683Z,1736366660.683 [DAT](INFO): DAT read: Range 10 to 50 : 329.7 m (Round-trip 439.6 ms) speed -0.4 m/s 2025-01-08T20:04:20.684Z,1736366660.684 [DAT](INFO): DAT read: user:1097> 2025-01-08T20:04:20.685Z,1736366660.685 [DAT](INFO): DAT read: Tx time:20:04:19.9277 2025-01-08T20:04:20.685Z,1736366660.685 [DAT](INFO): Ping request sent. 2025-01-08T20:04:20.685Z,1736366660.685 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:20.685Z,1736366660.685 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:04:20.685Z,1736366660.685 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:20.686Z,1736366660.686 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:20.777Z,1736366660.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:20.787Z,1736366660.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 329.700012 m, deltaT: 4.031061 s, deltaX: 2.400024 m, approachRate: 0.595383 m/s, rangeRepo size: 4 2025-01-08T20:04:20.788Z,1736366660.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:20.791Z,1736366660.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 233.068375 m, bearing: 334.439685 deg, approach rate: -0.383128 m/s, LOS rate: 0.136850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137911 deg. 2025-01-08T20:04:20.792Z,1736366660.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819516 target range: 327.299988 and range: 329.70 m. 2025-01-08T20:04:20.932Z,1736366660.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:20.933Z,1736366660.933 [DAT](INFO): DAT read: TxSync time:20:04:19.9269 2025-01-08T20:04:21.185Z,1736366661.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:21.227Z,1736366661.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:21.252Z,1736366661.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:21.255Z,1736366661.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 232.898682 m, bearing: 334.499993 deg, approach rate: -0.364054 m/s, LOS rate: 0.129477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156242 deg. 2025-01-08T20:04:21.262Z,1736366661.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819836 target range: 327.299988 and range: 329.70 m. 2025-01-08T20:04:21.436Z,1736366661.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:21.563Z,1736366661.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:21.571Z,1736366661.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:21.573Z,1736366661.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:21.576Z,1736366661.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 232.772690 m, bearing: 334.545210 deg, approach rate: -0.392936 m/s, LOS rate: 0.141096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110910 deg. 2025-01-08T20:04:21.577Z,1736366661.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819045 target range: 327.299988 and range: 329.70 m. 2025-01-08T20:04:21.688Z,1736366661.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:21.688Z,1736366661.688 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:21.688Z,1736366661.688 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:21.689Z,1736366661.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:21.941Z,1736366661.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:21.941Z,1736366661.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256194 2025-01-08T20:04:21.986Z,1736366661.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:22.016Z,1736366662.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:22.019Z,1736366662.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 232.613998 m, bearing: 334.602266 deg, approach rate: -0.372512 m/s, LOS rate: 0.134024 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146470 deg. 2025-01-08T20:04:22.024Z,1736366662.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819665 target range: 327.299988 and range: 329.70 m. 2025-01-08T20:04:22.052Z,1736366662.052 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:04:22.193Z,1736366662.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:22.196Z,1736366662.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510268 2025-01-08T20:04:22.401Z,1736366662.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:22.434Z,1736366662.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:22.438Z,1736366662.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 232.454468 m, bearing: 334.655172 deg, approach rate: -0.366409 m/s, LOS rate: 0.121597 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134013 deg. 2025-01-08T20:04:22.439Z,1736366662.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819448 target range: 327.299988 and range: 329.70 m. 2025-01-08T20:04:22.444Z,1736366662.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:22.445Z,1736366662.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759450 2025-01-08T20:04:22.696Z,1736366662.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:22.696Z,1736366662.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011346 2025-01-08T20:04:22.768Z,1736366662.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:22.802Z,1736366662.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:22.805Z,1736366662.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 232.313232 m, bearing: 334.701867 deg, approach rate: -0.384324 m/s, LOS rate: 0.127143 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115358 deg. 2025-01-08T20:04:22.806Z,1736366662.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819122 target range: 327.299988 and range: 329.70 m. 2025-01-08T20:04:22.948Z,1736366662.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:22.949Z,1736366662.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263529 2025-01-08T20:04:23.056Z,1736366663.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:04:23.201Z,1736366663.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:23.202Z,1736366663.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516616 2025-01-08T20:04:23.237Z,1736366663.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:23.245Z,1736366663.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:23.273Z,1736366663.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 232.133087 m, bearing: 334.760757 deg, approach rate: -0.406125 m/s, LOS rate: 0.132866 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151993 deg. 2025-01-08T20:04:23.274Z,1736366663.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819762 target range: 327.299988 and range: 329.70 m. 2025-01-08T20:04:23.452Z,1736366663.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:23.452Z,1736366663.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767326 2025-01-08T20:04:23.583Z,1736366663.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:23.590Z,1736366663.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:23.592Z,1736366663.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:23.595Z,1736366663.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 232.000214 m, bearing: 334.804021 deg, approach rate: -0.383595 m/s, LOS rate: 0.124971 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105052 deg. 2025-01-08T20:04:23.596Z,1736366663.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818942 target range: 327.299988 and range: 329.70 m. 2025-01-08T20:04:23.704Z,1736366663.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:23.705Z,1736366663.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019495 2025-01-08T20:04:23.958Z,1736366663.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:23.960Z,1736366663.960 [DAT](INFO): DAT read: Rx Time:20:04:22.7746 2025-01-08T20:04:23.960Z,1736366663.960 [DAT](INFO): Rx dataTimestamp_ set to:1736366663.960159 2025-01-08T20:04:23.961Z,1736366663.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275886 2025-01-08T20:04:24.035Z,1736366664.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:24.046Z,1736366664.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:24.050Z,1736366664.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 231.825912 m, bearing: 334.860799 deg, approach rate: -0.383763 m/s, LOS rate: 0.125103 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145647 deg. 2025-01-08T20:04:24.051Z,1736366664.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819651 target range: 327.299988 and range: 329.70 m. 2025-01-08T20:04:24.210Z,1736366664.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:24.212Z,1736366664.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526549 2025-01-08T20:04:24.406Z,1736366664.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:24.417Z,1736366664.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:24.425Z,1736366664.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 231.680145 m, bearing: 334.906545 deg, approach rate: -0.392828 m/s, LOS rate: 0.123360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112513 deg. 2025-01-08T20:04:24.431Z,1736366664.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819072 target range: 327.299988 and range: 329.70 m. 2025-01-08T20:04:24.460Z,1736366664.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:24.462Z,1736366664.462 [DAT](INFO): DAT read: Range 10 to 50 : 331.9 m (Round-trip 442.6 ms) speed -0.7 m/s 2025-01-08T20:04:24.462Z,1736366664.462 [DAT](INFO): DAT read: user:1098> 2025-01-08T20:04:24.463Z,1736366664.463 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:04:24.464Z,1736366664.464 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:24.464Z,1736366664.464 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:24.464Z,1736366664.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:24.712Z,1736366664.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:24.713Z,1736366664.713 [DAT](INFO): DAT read: Tx time:20:04:23.8778 2025-01-08T20:04:24.713Z,1736366664.713 [DAT](INFO): Ping request sent. 2025-01-08T20:04:24.713Z,1736366664.713 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:24.714Z,1736366664.714 [DAT](INFO): DAT read: TxSync time:20:04:23.8770 2025-01-08T20:04:24.714Z,1736366664.714 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:24.715Z,1736366664.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001569 2025-01-08T20:04:24.793Z,1736366664.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:24.806Z,1736366664.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 331.899994 m, deltaT: 3.779633 s, deltaX: 2.199982 m, approachRate: 0.582062 m/s, rangeRepo size: 4 2025-01-08T20:04:24.807Z,1736366664.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:24.810Z,1736366664.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 231.528381 m, bearing: 334.954272 deg, approach rate: -0.390569 m/s, LOS rate: 0.122908 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118461 deg. 2025-01-08T20:04:24.811Z,1736366664.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819176 target range: 327.299988 and range: 331.90 m. 2025-01-08T20:04:24.964Z,1736366664.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:24.964Z,1736366664.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251461 2025-01-08T20:04:25.217Z,1736366665.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:25.219Z,1736366665.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505892 2025-01-08T20:04:25.274Z,1736366665.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:25.288Z,1736366665.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:25.290Z,1736366665.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 231.339615 m, bearing: 335.015015 deg, approach rate: -0.391877 m/s, LOS rate: 0.126204 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157563 deg. 2025-01-08T20:04:25.292Z,1736366665.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819859 target range: 327.299988 and range: 331.90 m. 2025-01-08T20:04:25.468Z,1736366665.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:25.468Z,1736366665.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755454 2025-01-08T20:04:25.596Z,1736366665.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:25.622Z,1736366665.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:25.626Z,1736366665.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:25.629Z,1736366665.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 231.213333 m, bearing: 335.055835 deg, approach rate: -0.373335 m/s, LOS rate: 0.120746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097715 deg. 2025-01-08T20:04:25.630Z,1736366665.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818814 target range: 327.299988 and range: 331.90 m. 2025-01-08T20:04:25.720Z,1736366665.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:25.721Z,1736366665.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008308 2025-01-08T20:04:25.972Z,1736366665.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:25.973Z,1736366665.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259700 2025-01-08T20:04:26.018Z,1736366666.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:26.031Z,1736366666.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:26.047Z,1736366666.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 231.048416 m, bearing: 335.109374 deg, approach rate: -0.408110 m/s, LOS rate: 0.132584 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135918 deg. 2025-01-08T20:04:26.048Z,1736366666.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819481 target range: 327.299988 and range: 331.90 m. 2025-01-08T20:04:26.225Z,1736366666.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:26.228Z,1736366666.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514596 2025-01-08T20:04:26.431Z,1736366666.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:26.441Z,1736366666.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:26.444Z,1736366666.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 230.884598 m, bearing: 335.161915 deg, approach rate: -0.398160 m/s, LOS rate: 0.127792 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132921 deg. 2025-01-08T20:04:26.445Z,1736366666.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819428 target range: 327.299988 and range: 331.90 m. 2025-01-08T20:04:26.476Z,1736366666.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:26.477Z,1736366666.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763915 2025-01-08T20:04:26.728Z,1736366666.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:26.729Z,1736366666.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015603 2025-01-08T20:04:26.825Z,1736366666.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:26.834Z,1736366666.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:26.838Z,1736366666.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 230.727798 m, bearing: 335.212148 deg, approach rate: -0.398548 m/s, LOS rate: 0.127766 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125986 deg. 2025-01-08T20:04:26.840Z,1736366666.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819308 target range: 327.299988 and range: 331.90 m. 2025-01-08T20:04:26.980Z,1736366666.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:26.981Z,1736366666.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267669 2025-01-08T20:04:27.234Z,1736366667.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:27.236Z,1736366667.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522737 2025-01-08T20:04:27.278Z,1736366667.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:27.287Z,1736366667.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:27.290Z,1736366667.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 230.548141 m, bearing: 335.269900 deg, approach rate: -0.397114 m/s, LOS rate: 0.127755 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148578 deg. 2025-01-08T20:04:27.291Z,1736366667.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819702 target range: 327.299988 and range: 331.90 m. 2025-01-08T20:04:27.484Z,1736366667.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:27.485Z,1736366667.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771592 2025-01-08T20:04:27.632Z,1736366667.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:27.640Z,1736366667.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:27.642Z,1736366667.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:27.666Z,1736366667.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 230.412796 m, bearing: 335.316187 deg, approach rate: -0.381383 m/s, LOS rate: 0.130507 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114130 deg. 2025-01-08T20:04:27.672Z,1736366667.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819101 target range: 327.299988 and range: 331.90 m. 2025-01-08T20:04:27.737Z,1736366667.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:27.738Z,1736366667.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025064 2025-01-08T20:04:27.989Z,1736366667.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:27.991Z,1736366667.991 [DAT](INFO): DAT read: Rx Time:20:04:26.7286 2025-01-08T20:04:27.996Z,1736366667.996 [DAT](INFO): Rx dataTimestamp_ set to:1736366667.995808 2025-01-08T20:04:27.997Z,1736366667.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283736 2025-01-08T20:04:28.043Z,1736366668.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:28.060Z,1736366668.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:28.069Z,1736366668.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 230.255814 m, bearing: 335.369990 deg, approach rate: -0.379736 m/s, LOS rate: 0.130236 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136705 deg. 2025-01-08T20:04:28.070Z,1736366668.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819495 target range: 327.299988 and range: 331.90 m. 2025-01-08T20:04:28.242Z,1736366668.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:28.244Z,1736366668.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530780 2025-01-08T20:04:28.456Z,1736366668.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:28.465Z,1736366668.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:28.469Z,1736366668.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 230.098846 m, bearing: 335.424109 deg, approach rate: -0.382965 m/s, LOS rate: 0.132129 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137655 deg. 2025-01-08T20:04:28.470Z,1736366668.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819511 target range: 327.299988 and range: 331.90 m. 2025-01-08T20:04:28.492Z,1736366668.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:28.494Z,1736366668.494 [DAT](INFO): DAT read: Range 10 to 50 : 334.9 m (Round-trip 446.6 ms) speed -0.5 m/s 2025-01-08T20:04:28.494Z,1736366668.494 [DAT](INFO): DAT read: user:1099> 2025-01-08T20:04:28.495Z,1736366668.495 [DAT](INFO): DAT read: Tx time:20:04:27.8278 2025-01-08T20:04:28.495Z,1736366668.495 [DAT](INFO): Ping request sent. 2025-01-08T20:04:28.496Z,1736366668.496 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:28.496Z,1736366668.496 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:04:28.496Z,1736366668.496 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:28.497Z,1736366668.497 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:28.744Z,1736366668.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:28.745Z,1736366668.745 [DAT](INFO): DAT read: TxSync time:20:04:27.8270 2025-01-08T20:04:28.829Z,1736366668.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:28.840Z,1736366668.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 334.899994 m, deltaT: 4.031816 s, deltaX: 3.000000 m, approachRate: 0.744082 m/s, rangeRepo size: 4 2025-01-08T20:04:28.840Z,1736366668.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:28.843Z,1736366668.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 229.957321 m, bearing: 335.472997 deg, approach rate: -0.378837 m/s, LOS rate: 0.130945 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121941 deg. 2025-01-08T20:04:28.845Z,1736366668.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819237 target range: 327.299988 and range: 334.90 m. 2025-01-08T20:04:28.996Z,1736366668.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:29.250Z,1736366669.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:29.380Z,1736366669.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:29.389Z,1736366669.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:29.393Z,1736366669.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 229.754868 m, bearing: 335.545543 deg, approach rate: -0.367591 m/s, LOS rate: 0.131836 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193015 deg. 2025-01-08T20:04:29.394Z,1736366669.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820477 target range: 327.299988 and range: 334.90 m. 2025-01-08T20:04:29.500Z,1736366669.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:29.670Z,1736366669.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:29.683Z,1736366669.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:29.685Z,1736366669.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:29.689Z,1736366669.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 229.648590 m, bearing: 335.583786 deg, approach rate: -0.358912 m/s, LOS rate: 0.129210 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.089968 deg. 2025-01-08T20:04:29.690Z,1736366669.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818679 target range: 327.299988 and range: 334.90 m. 2025-01-08T20:04:29.752Z,1736366669.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:29.755Z,1736366669.755 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:29.756Z,1736366669.756 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:29.756Z,1736366669.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:30.004Z,1736366670.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:30.004Z,1736366670.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508793 2025-01-08T20:04:30.061Z,1736366670.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:30.081Z,1736366670.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:30.088Z,1736366670.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 229.505569 m, bearing: 335.635415 deg, approach rate: -0.361315 m/s, LOS rate: 0.130512 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130170 deg. 2025-01-08T20:04:30.090Z,1736366670.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819381 target range: 327.299988 and range: 334.90 m. 2025-01-08T20:04:30.257Z,1736366670.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:30.261Z,1736366670.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764296 2025-01-08T20:04:30.503Z,1736366670.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:30.508Z,1736366670.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:30.509Z,1736366670.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013022 2025-01-08T20:04:30.513Z,1736366670.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:30.517Z,1736366670.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 229.355713 m, bearing: 335.695539 deg, approach rate: -0.346950 m/s, LOS rate: 0.139290 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155675 deg. 2025-01-08T20:04:30.518Z,1736366670.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819826 target range: 327.299988 and range: 334.90 m. 2025-01-08T20:04:30.760Z,1736366670.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:30.760Z,1736366670.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264815 2025-01-08T20:04:30.873Z,1736366670.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:30.881Z,1736366670.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:30.885Z,1736366670.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 229.230453 m, bearing: 335.745872 deg, approach rate: -0.340901 m/s, LOS rate: 0.137061 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126270 deg. 2025-01-08T20:04:30.886Z,1736366670.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819313 target range: 327.299988 and range: 334.90 m. 2025-01-08T20:04:31.012Z,1736366671.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:31.012Z,1736366671.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516855 2025-01-08T20:04:31.266Z,1736366671.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:31.268Z,1736366671.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771905 2025-01-08T20:04:31.365Z,1736366671.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:31.374Z,1736366671.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:31.380Z,1736366671.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 229.060303 m, bearing: 335.811661 deg, approach rate: -0.344792 m/s, LOS rate: 0.133413 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172700 deg. 2025-01-08T20:04:31.381Z,1736366671.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820123 target range: 327.299988 and range: 334.90 m. 2025-01-08T20:04:31.516Z,1736366671.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:31.517Z,1736366671.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021565 2025-01-08T20:04:31.686Z,1736366671.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:31.693Z,1736366671.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:31.695Z,1736366671.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:31.698Z,1736366671.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 228.949402 m, bearing: 335.854526 deg, approach rate: -0.345598 m/s, LOS rate: 0.133642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103842 deg. 2025-01-08T20:04:31.701Z,1736366671.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818921 target range: 327.299988 and range: 334.90 m. 2025-01-08T20:04:31.768Z,1736366671.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:31.770Z,1736366671.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273895 2025-01-08T20:04:32.020Z,1736366672.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:32.021Z,1736366672.021 [DAT](INFO): DAT read: Rx Time:20:04:30.6810 2025-01-08T20:04:32.021Z,1736366672.021 [DAT](INFO): Rx dataTimestamp_ set to:1736366672.020872 2025-01-08T20:04:32.022Z,1736366672.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526095 2025-01-08T20:04:32.121Z,1736366672.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:32.139Z,1736366672.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:32.152Z,1736366672.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 228.799240 m, bearing: 335.912702 deg, approach rate: -0.338551 m/s, LOS rate: 0.131249 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149830 deg. 2025-01-08T20:04:32.154Z,1736366672.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819724 target range: 327.299988 and range: 334.90 m. 2025-01-08T20:04:32.272Z,1736366672.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:32.273Z,1736366672.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777730 2025-01-08T20:04:32.524Z,1736366672.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:32.526Z,1736366672.526 [DAT](INFO): DAT read: Range 10 to 50 : 336.8 m (Round-trip 449.1 ms) speed -0.3 m/s 2025-01-08T20:04:32.526Z,1736366672.526 [DAT](INFO): DAT read: user:1100> 2025-01-08T20:04:32.527Z,1736366672.527 [DAT](INFO): DAT read: Tx time:20:04:31.7778 2025-01-08T20:04:32.528Z,1736366672.528 [DAT](INFO): Ping request sent. 2025-01-08T20:04:32.528Z,1736366672.528 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:32.528Z,1736366672.528 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:04:32.528Z,1736366672.528 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:32.529Z,1736366672.529 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:32.530Z,1736366672.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:32.540Z,1736366672.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 336.799988 m, deltaT: 4.032164 s, deltaX: 1.899994 m, approachRate: 0.471209 m/s, rangeRepo size: 4 2025-01-08T20:04:32.541Z,1736366672.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:32.544Z,1736366672.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 228.657867 m, bearing: 335.968326 deg, approach rate: -0.352635 m/s, LOS rate: 0.138833 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142162 deg. 2025-01-08T20:04:32.545Z,1736366672.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819590 target range: 327.299988 and range: 336.80 m. 2025-01-08T20:04:32.776Z,1736366672.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:32.776Z,1736366672.776 [DAT](INFO): DAT read: TxSync time:20:04:31.7770 2025-01-08T20:04:32.902Z,1736366672.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:32.910Z,1736366672.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:32.914Z,1736366672.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 228.529922 m, bearing: 336.018758 deg, approach rate: -0.345032 m/s, LOS rate: 0.136077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126567 deg. 2025-01-08T20:04:32.915Z,1736366672.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819318 target range: 327.299988 and range: 336.80 m. 2025-01-08T20:04:33.030Z,1736366673.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:33.285Z,1736366673.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:33.409Z,1736366673.409 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +55.62, +724.46, 00 2025-01-08T20:04:33.417Z,1736366673.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:04:33.417Z,1736366673.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:33.436Z,1736366673.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:33.439Z,1736366673.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 228.353912 m, bearing: 336.088921 deg, approach rate: -0.338235 m/s, LOS rate: 0.134935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185837 deg. 2025-01-08T20:04:33.440Z,1736366673.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820352 target range: 327.299988 and range: 336.80 m. 2025-01-08T20:04:33.536Z,1736366673.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:33.708Z,1736366673.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:04:33.708Z,1736366673.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:33.731Z,1736366673.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:33.734Z,1736366673.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:33.741Z,1736366673.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 228.254578 m, bearing: 336.128594 deg, approach rate: -0.327373 m/s, LOS rate: 0.130805 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.094257 deg. 2025-01-08T20:04:33.742Z,1736366673.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818754 target range: 327.299988 and range: 336.80 m. 2025-01-08T20:04:33.788Z,1736366673.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:33.788Z,1736366673.788 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:33.788Z,1736366673.788 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:33.789Z,1736366673.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:34.041Z,1736366674.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:34.042Z,1736366674.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514064 2025-01-08T20:04:34.137Z,1736366674.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:04:34.137Z,1736366674.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:34.146Z,1736366674.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:34.149Z,1736366674.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 228.108093 m, bearing: 336.187293 deg, approach rate: -0.355798 m/s, LOS rate: 0.142666 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151395 deg. 2025-01-08T20:04:34.150Z,1736366674.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819751 target range: 327.299988 and range: 336.80 m. 2025-01-08T20:04:34.294Z,1736366674.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:34.295Z,1736366674.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767575 2025-01-08T20:04:34.542Z,1736366674.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:34.544Z,1736366674.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:34.545Z,1736366674.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016799 2025-01-08T20:04:34.553Z,1736366674.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:34.557Z,1736366674.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 227.971863 m, bearing: 336.245262 deg, approach rate: -0.334292 m/s, LOS rate: 0.142335 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149199 deg. 2025-01-08T20:04:34.558Z,1736366674.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819713 target range: 327.299988 and range: 336.80 m. 2025-01-08T20:04:34.796Z,1736366674.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:34.797Z,1736366674.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268988 2025-01-08T20:04:34.926Z,1736366674.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:34.936Z,1736366674.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:34.939Z,1736366674.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 227.843018 m, bearing: 336.300164 deg, approach rate: -0.337196 m/s, LOS rate: 0.143762 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139985 deg. 2025-01-08T20:04:34.940Z,1736366674.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819552 target range: 327.299988 and range: 336.80 m. 2025-01-08T20:04:35.048Z,1736366675.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:35.049Z,1736366675.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520777 2025-01-08T20:04:35.301Z,1736366675.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:35.301Z,1736366675.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773729 2025-01-08T20:04:35.424Z,1736366675.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:35.434Z,1736366675.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:35.437Z,1736366675.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 227.665512 m, bearing: 336.372116 deg, approach rate: -0.356416 m/s, LOS rate: 0.144585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191209 deg. 2025-01-08T20:04:35.438Z,1736366675.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820446 target range: 327.299988 and range: 336.80 m. 2025-01-08T20:04:35.552Z,1736366675.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:35.553Z,1736366675.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024786 2025-01-08T20:04:35.733Z,1736366675.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:35.760Z,1736366675.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:35.762Z,1736366675.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:35.769Z,1736366675.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 227.555725 m, bearing: 336.416726 deg, approach rate: -0.334687 m/s, LOS rate: 0.136061 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109082 deg. 2025-01-08T20:04:35.775Z,1736366675.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819013 target range: 327.299988 and range: 336.80 m. 2025-01-08T20:04:35.804Z,1736366675.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:35.806Z,1736366675.806 [DAT](INFO): DAT read: Rx Time:20:04:34.6334 2025-01-08T20:04:35.806Z,1736366675.806 [DAT](INFO): Rx dataTimestamp_ set to:1736366675.806086 2025-01-08T20:04:35.807Z,1736366675.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279173 2025-01-08T20:04:36.056Z,1736366676.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:36.057Z,1736366676.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529438 2025-01-08T20:04:36.146Z,1736366676.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:36.159Z,1736366676.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:36.162Z,1736366676.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 227.409164 m, bearing: 336.476410 deg, approach rate: -0.368843 m/s, LOS rate: 0.150301 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154353 deg. 2025-01-08T20:04:36.163Z,1736366676.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819803 target range: 327.299988 and range: 336.80 m. 2025-01-08T20:04:36.308Z,1736366676.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:36.310Z,1736366676.310 [DAT](INFO): DAT read: Range 10 to 50 : 338.5 m (Round-trip 451.4 ms) speed -0.4 m/s 2025-01-08T20:04:36.312Z,1736366676.312 [DAT](INFO): DAT read: user:1101> 2025-01-08T20:04:36.312Z,1736366676.312 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:04:36.313Z,1736366676.313 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:36.313Z,1736366676.313 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:36.313Z,1736366676.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:36.560Z,1736366676.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:36.561Z,1736366676.561 [DAT](INFO): DAT read: Tx time:20:04:35.7279 2025-01-08T20:04:36.561Z,1736366676.561 [DAT](INFO): Ping request sent. 2025-01-08T20:04:36.561Z,1736366676.561 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:36.562Z,1736366676.562 [DAT](INFO): DAT read: TxSync time:20:04:35.7271 2025-01-08T20:04:36.562Z,1736366676.562 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:36.563Z,1736366676.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001562 2025-01-08T20:04:36.601Z,1736366676.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:36.629Z,1736366676.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 338.500000 m, deltaT: 3.784125 s, deltaX: 1.700012 m, approachRate: 0.449248 m/s, rangeRepo size: 4 2025-01-08T20:04:36.630Z,1736366676.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:36.637Z,1736366676.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 227.245331 m, bearing: 336.540282 deg, approach rate: -0.348982 m/s, LOS rate: 0.136153 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166941 deg. 2025-01-08T20:04:36.638Z,1736366676.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820023 target range: 327.299988 and range: 338.50 m. 2025-01-08T20:04:36.812Z,1736366676.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:36.813Z,1736366676.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251547 2025-01-08T20:04:36.971Z,1736366676.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:36.982Z,1736366676.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:37.003Z,1736366677.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 227.112305 m, bearing: 336.592361 deg, approach rate: -0.378945 m/s, LOS rate: 0.148443 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131516 deg. 2025-01-08T20:04:37.005Z,1736366677.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819404 target range: 327.299988 and range: 338.50 m. 2025-01-08T20:04:37.065Z,1736366677.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:37.066Z,1736366677.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505099 2025-01-08T20:04:37.316Z,1736366677.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:37.317Z,1736366677.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755832 2025-01-08T20:04:37.459Z,1736366677.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:37.473Z,1736366677.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:37.480Z,1736366677.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 226.935028 m, bearing: 336.658499 deg, approach rate: -0.359515 m/s, LOS rate: 0.134231 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173754 deg. 2025-01-08T20:04:37.481Z,1736366677.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820141 target range: 327.299988 and range: 338.50 m. 2025-01-08T20:04:37.568Z,1736366677.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:37.570Z,1736366677.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008338 2025-01-08T20:04:37.791Z,1736366677.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:37.798Z,1736366677.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:37.801Z,1736366677.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:37.820Z,1736366677.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:37.820Z,1736366677.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259304 2025-01-08T20:04:37.822Z,1736366677.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 226.804718 m, bearing: 336.707391 deg, approach rate: -0.396671 m/s, LOS rate: 0.148916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121947 deg. 2025-01-08T20:04:37.823Z,1736366677.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819237 target range: 327.299988 and range: 338.50 m. 2025-01-08T20:04:38.073Z,1736366678.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:38.074Z,1736366678.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512447 2025-01-08T20:04:38.201Z,1736366678.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:38.210Z,1736366678.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:38.213Z,1736366678.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 226.651199 m, bearing: 336.764966 deg, approach rate: -0.375719 m/s, LOS rate: 0.141003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148027 deg. 2025-01-08T20:04:38.214Z,1736366678.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819692 target range: 327.299988 and range: 338.50 m. 2025-01-08T20:04:38.324Z,1736366678.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:38.325Z,1736366678.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763678 2025-01-08T20:04:38.576Z,1736366678.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:38.576Z,1736366678.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015472 2025-01-08T20:04:38.630Z,1736366678.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:38.642Z,1736366678.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:38.645Z,1736366678.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 226.484406 m, bearing: 336.821982 deg, approach rate: -0.385697 m/s, LOS rate: 0.131942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146361 deg. 2025-01-08T20:04:38.668Z,1736366678.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819663 target range: 327.299988 and range: 338.50 m. 2025-01-08T20:04:38.828Z,1736366678.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:38.828Z,1736366678.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267362 2025-01-08T20:04:39.038Z,1736366679.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:39.049Z,1736366679.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:39.053Z,1736366679.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 226.326126 m, bearing: 336.876234 deg, approach rate: -0.389267 m/s, LOS rate: 0.133518 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138055 deg. 2025-01-08T20:04:39.054Z,1736366679.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819518 target range: 327.299988 and range: 338.50 m. 2025-01-08T20:04:39.092Z,1736366679.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:39.093Z,1736366679.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532508 2025-01-08T20:04:39.344Z,1736366679.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:39.344Z,1736366679.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783379 2025-01-08T20:04:39.502Z,1736366679.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:39.510Z,1736366679.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:39.513Z,1736366679.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 226.144287 m, bearing: 336.937587 deg, approach rate: -0.393780 m/s, LOS rate: 0.132971 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159396 deg. 2025-01-08T20:04:39.515Z,1736366679.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819890 target range: 327.299988 and range: 338.50 m. 2025-01-08T20:04:39.597Z,1736366679.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:39.598Z,1736366679.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036628 2025-01-08T20:04:39.809Z,1736366679.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:39.833Z,1736366679.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:39.841Z,1736366679.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:39.848Z,1736366679.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:39.850Z,1736366679.850 [DAT](INFO): DAT read: Rx Time:20:04:38.5875 2025-01-08T20:04:39.850Z,1736366679.850 [DAT](INFO): Rx dataTimestamp_ set to:1736366679.850027 2025-01-08T20:04:39.851Z,1736366679.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289876 2025-01-08T20:04:39.860Z,1736366679.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 226.023514 m, bearing: 336.978201 deg, approach rate: -0.371730 m/s, LOS rate: 0.125072 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097092 deg. 2025-01-08T20:04:39.861Z,1736366679.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818803 target range: 327.299988 and range: 338.50 m. 2025-01-08T20:04:40.100Z,1736366680.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:40.101Z,1736366680.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540169 2025-01-08T20:04:40.223Z,1736366680.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:40.231Z,1736366680.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:40.234Z,1736366680.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 225.861221 m, bearing: 337.032891 deg, approach rate: -0.410150 m/s, LOS rate: 0.138313 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139374 deg. 2025-01-08T20:04:40.235Z,1736366680.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819541 target range: 327.299988 and range: 338.50 m. 2025-01-08T20:04:40.352Z,1736366680.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:40.354Z,1736366680.354 [DAT](INFO): DAT read: Range 10 to 50 : 341.6 m (Round-trip 455.5 ms) speed -0.4 m/s 2025-01-08T20:04:40.354Z,1736366680.354 [DAT](INFO): DAT read: user:1102> 2025-01-08T20:04:40.355Z,1736366680.355 [DAT](INFO): DAT read: Tx time:20:04:39.6779 2025-01-08T20:04:40.356Z,1736366680.356 [DAT](INFO): Ping request sent. 2025-01-08T20:04:40.356Z,1736366680.356 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:40.356Z,1736366680.356 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:04:40.356Z,1736366680.356 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:40.357Z,1736366680.357 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:40.604Z,1736366680.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:40.605Z,1736366680.605 [DAT](INFO): DAT read: TxSync time:20:04:39.6771 2025-01-08T20:04:40.670Z,1736366680.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:40.704Z,1736366680.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 341.600006 m, deltaT: 4.043848 s, deltaX: 3.100006 m, approachRate: 0.766598 m/s, rangeRepo size: 4 2025-01-08T20:04:40.705Z,1736366680.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:40.717Z,1736366680.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 225.682968 m, bearing: 337.090908 deg, approach rate: -0.381477 m/s, LOS rate: 0.124260 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149375 deg. 2025-01-08T20:04:40.718Z,1736366680.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819716 target range: 327.299988 and range: 341.60 m. 2025-01-08T20:04:40.856Z,1736366680.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:41.023Z,1736366681.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:41.031Z,1736366681.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:41.035Z,1736366681.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 225.542664 m, bearing: 337.136873 deg, approach rate: -0.421890 m/s, LOS rate: 0.138302 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113168 deg. 2025-01-08T20:04:41.036Z,1736366681.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819084 target range: 327.299988 and range: 341.60 m. 2025-01-08T20:04:41.109Z,1736366681.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:41.360Z,1736366681.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:41.518Z,1736366681.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:41.527Z,1736366681.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:41.529Z,1736366681.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 225.345749 m, bearing: 337.201760 deg, approach rate: -0.397268 m/s, LOS rate: 0.131020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170015 deg. 2025-01-08T20:04:41.531Z,1736366681.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820076 target range: 327.299988 and range: 341.60 m. 2025-01-08T20:04:41.613Z,1736366681.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:41.829Z,1736366681.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:41.857Z,1736366681.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:41.864Z,1736366681.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:41.864Z,1736366681.864 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:41.864Z,1736366681.864 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:41.865Z,1736366681.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:41.859Z,1736366681.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:41.880Z,1736366681.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 225.222855 m, bearing: 337.242509 deg, approach rate: -0.369744 m/s, LOS rate: 0.122668 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097502 deg. 2025-01-08T20:04:41.882Z,1736366681.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818810 target range: 327.299988 and range: 341.60 m. 2025-01-08T20:04:42.117Z,1736366682.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:42.118Z,1736366682.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761926 2025-01-08T20:04:42.252Z,1736366682.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:42.262Z,1736366682.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:42.265Z,1736366682.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 225.055420 m, bearing: 337.298165 deg, approach rate: -0.415474 m/s, LOS rate: 0.138207 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142277 deg. 2025-01-08T20:04:42.266Z,1736366682.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819592 target range: 327.299988 and range: 341.60 m. 2025-01-08T20:04:42.368Z,1736366682.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:42.369Z,1736366682.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012781 2025-01-08T20:04:42.620Z,1736366682.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:42.621Z,1736366682.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265228 2025-01-08T20:04:42.705Z,1736366682.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:42.713Z,1736366682.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:42.717Z,1736366682.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 224.878860 m, bearing: 337.359129 deg, approach rate: -0.391235 m/s, LOS rate: 0.135196 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158222 deg. 2025-01-08T20:04:42.718Z,1736366682.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819870 target range: 327.299988 and range: 341.60 m. 2025-01-08T20:04:42.872Z,1736366682.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:42.872Z,1736366682.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516648 2025-01-08T20:04:43.046Z,1736366683.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:43.055Z,1736366683.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:43.058Z,1736366683.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 224.745834 m, bearing: 337.404957 deg, approach rate: -0.389536 m/s, LOS rate: 0.134277 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112753 deg. 2025-01-08T20:04:43.059Z,1736366683.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819077 target range: 327.299988 and range: 341.60 m. 2025-01-08T20:04:43.124Z,1736366683.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:43.125Z,1736366683.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769689 2025-01-08T20:04:43.376Z,1736366683.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:43.376Z,1736366683.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020585 2025-01-08T20:04:43.527Z,1736366683.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:43.557Z,1736366683.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:43.560Z,1736366683.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 224.564682 m, bearing: 337.472884 deg, approach rate: -0.360870 m/s, LOS rate: 0.135425 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179131 deg. 2025-01-08T20:04:43.561Z,1736366683.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820235 target range: 327.299988 and range: 341.60 m. 2025-01-08T20:04:43.628Z,1736366683.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:43.628Z,1736366683.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272702 2025-01-08T20:04:43.858Z,1736366683.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:43.865Z,1736366683.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:43.868Z,1736366683.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:43.870Z,1736366683.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 224.440262 m, bearing: 337.519705 deg, approach rate: -0.400298 m/s, LOS rate: 0.150720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115726 deg. 2025-01-08T20:04:43.872Z,1736366683.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819129 target range: 327.299988 and range: 341.60 m. 2025-01-08T20:04:43.880Z,1736366683.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:43.881Z,1736366683.881 [DAT](INFO): DAT read: Rx Time:20:04:42.5424 2025-01-08T20:04:43.881Z,1736366683.881 [DAT](INFO): Rx dataTimestamp_ set to:1736366683.880685 2025-01-08T20:04:43.881Z,1736366683.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525770 2025-01-08T20:04:44.132Z,1736366684.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:44.133Z,1736366684.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777731 2025-01-08T20:04:44.261Z,1736366684.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:44.277Z,1736366684.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:44.280Z,1736366684.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 224.288773 m, bearing: 337.576886 deg, approach rate: -0.370660 m/s, LOS rate: 0.140005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146847 deg. 2025-01-08T20:04:44.281Z,1736366684.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819672 target range: 327.299988 and range: 341.60 m. 2025-01-08T20:04:44.385Z,1736366684.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:44.390Z,1736366684.390 [DAT](INFO): DAT read: Range 10 to 50 : 345.3 m (Round-trip 460.4 ms) speed -0.4 m/s 2025-01-08T20:04:44.391Z,1736366684.391 [DAT](INFO): DAT read: user:1103> 2025-01-08T20:04:44.392Z,1736366684.392 [DAT](INFO): DAT read: Tx time:20:04:43.6279 2025-01-08T20:04:44.393Z,1736366684.393 [DAT](INFO): Ping request sent. 2025-01-08T20:04:44.393Z,1736366684.393 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:44.393Z,1736366684.393 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:04:44.394Z,1736366684.394 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:44.395Z,1736366684.395 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:44.636Z,1736366684.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:44.637Z,1736366684.637 [DAT](INFO): DAT read: TxSync time:20:04:43.6271 2025-01-08T20:04:44.735Z,1736366684.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:44.757Z,1736366684.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 345.299988 m, deltaT: 4.033951 s, deltaX: 3.699982 m, approachRate: 0.917210 m/s, rangeRepo size: 4 2025-01-08T20:04:44.758Z,1736366684.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:44.765Z,1736366684.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 224.121033 m, bearing: 337.645372 deg, approach rate: -0.349305 m/s, LOS rate: 0.142723 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180797 deg. 2025-01-08T20:04:44.767Z,1736366684.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820264 target range: 327.299988 and range: 345.30 m. 2025-01-08T20:04:44.888Z,1736366684.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:45.060Z,1736366685.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:45.069Z,1736366685.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:45.073Z,1736366685.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 224.006714 m, bearing: 337.692650 deg, approach rate: -0.365354 m/s, LOS rate: 0.151172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117091 deg. 2025-01-08T20:04:45.074Z,1736366685.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819152 target range: 327.299988 and range: 345.30 m. 2025-01-08T20:04:45.140Z,1736366685.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:45.232Z,1736366685.232 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T20:04:45.393Z,1736366685.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:45.644Z,1736366685.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:45.695Z,1736366685.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:45.705Z,1736366685.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:45.708Z,1736366685.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 223.798096 m, bearing: 337.787864 deg, approach rate: -0.328219 m/s, LOS rate: 0.149940 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.261093 deg. 2025-01-08T20:04:45.709Z,1736366685.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821666 target range: 327.299988 and range: 345.30 m. 2025-01-08T20:04:45.896Z,1736366685.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:46.017Z,1736366686.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:46.024Z,1736366686.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:46.026Z,1736366686.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:46.029Z,1736366686.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 223.692688 m, bearing: 337.836154 deg, approach rate: -0.328293 m/s, LOS rate: 0.150471 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120125 deg. 2025-01-08T20:04:46.030Z,1736366686.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819205 target range: 327.299988 and range: 345.30 m. 2025-01-08T20:04:46.148Z,1736366686.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:46.148Z,1736366686.148 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:46.148Z,1736366686.148 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:46.149Z,1736366686.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:46.399Z,1736366686.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:46.400Z,1736366686.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:46.400Z,1736366686.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007545 2025-01-08T20:04:46.411Z,1736366686.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:46.433Z,1736366686.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 223.567535 m, bearing: 337.893570 deg, approach rate: -0.326099 m/s, LOS rate: 0.149686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147529 deg. 2025-01-08T20:04:46.434Z,1736366686.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819684 target range: 327.299988 and range: 345.30 m. 2025-01-08T20:04:46.652Z,1736366686.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:46.653Z,1736366686.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260026 2025-01-08T20:04:46.816Z,1736366686.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:46.841Z,1736366686.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:46.844Z,1736366686.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 223.436295 m, bearing: 337.956486 deg, approach rate: -0.304587 m/s, LOS rate: 0.146105 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164048 deg. 2025-01-08T20:04:46.845Z,1736366686.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819972 target range: 327.299988 and range: 345.30 m. 2025-01-08T20:04:46.904Z,1736366686.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:46.906Z,1736366686.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512706 2025-01-08T20:04:47.156Z,1736366687.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:47.156Z,1736366687.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763484 2025-01-08T20:04:47.227Z,1736366687.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:47.236Z,1736366687.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:47.239Z,1736366687.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 223.306747 m, bearing: 338.018799 deg, approach rate: -0.327443 m/s, LOS rate: 0.157593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162232 deg. 2025-01-08T20:04:47.256Z,1736366687.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819940 target range: 327.299988 and range: 345.30 m. 2025-01-08T20:04:47.408Z,1736366687.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:47.409Z,1736366687.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016149 2025-01-08T20:04:47.643Z,1736366687.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:47.656Z,1736366687.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:47.661Z,1736366687.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:47.662Z,1736366687.662 [DAT](INFO): DAT read: Rx Time:20:04:46.4947 2025-01-08T20:04:47.663Z,1736366687.663 [DAT](INFO): Rx dataTimestamp_ set to:1736366687.661973 2025-01-08T20:04:47.669Z,1736366687.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275748 2025-01-08T20:04:47.684Z,1736366687.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 223.182297 m, bearing: 338.082988 deg, approach rate: -0.297062 m/s, LOS rate: 0.153304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167861 deg. 2025-01-08T20:04:47.685Z,1736366687.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820038 target range: 327.299988 and range: 345.30 m. 2025-01-08T20:04:47.912Z,1736366687.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:47.912Z,1736366687.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519511 2025-01-08T20:04:48.022Z,1736366688.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:48.039Z,1736366688.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:48.061Z,1736366688.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:04:48.072Z,1736366688.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 223.068817 m, bearing: 338.141616 deg, approach rate: -0.279808 m/s, LOS rate: 0.144632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151158 deg. 2025-01-08T20:04:48.073Z,1736366688.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819747 target range: 327.299988 and range: 345.30 m. 2025-01-08T20:04:48.166Z,1736366688.166 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:48.169Z,1736366688.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775271 2025-01-08T20:04:48.416Z,1736366688.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:48.424Z,1736366688.424 [DAT](INFO): DAT read: 20:04:46.4947 LVL= 21328, 23281, 14786, 28211, AGC= 69, IDX= 445,-0.01, 2.761,-1.087,-2.698,-3.069, PHS=-0.365, 2.029, 0.368, RAW= 312.6, -18.7, CAL= 316.0, -26.8, ROT= 194.0, 26.8 2025-01-08T20:04:48.425Z,1736366688.425 [DAT](INFO): got valid direction response: 20:04:46.4947 LVL= 21328, 23281, 14786, 28211, AGC= 69, IDX= 445,-0.01, 2.761,-1.087,-2.698,-3.069, PHS=-0.365, 2.029, 0.368, RAW= 312.6, -18.7, CAL= 316.0, -26.8, ROT= 194.0, 26.8 2025-01-08T20:04:48.429Z,1736366688.429 [DAT](INFO): DAT read: Bearing 194.0, 26.8 (Local) 2025-01-08T20:04:48.431Z,1736366688.431 [DAT](INFO): Local bearing/azimuth received: Bearing 194.0, 26.8 (Local) 2025-01-08T20:04:48.437Z,1736366688.437 [DAT](INFO): DAT read: Range 10 to 50 : 346.8 m (Round-trip 462.5 ms) speed -0.4 m/s 2025-01-08T20:04:48.438Z,1736366688.438 [DAT](INFO): DAT read: user:1104> 2025-01-08T20:04:48.439Z,1736366688.439 [DAT](INFO): DAT read: Tx time:20:04:47.5780 2025-01-08T20:04:48.439Z,1736366688.439 [DAT](INFO): Ping request sent. 2025-01-08T20:04:48.439Z,1736366688.439 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:48.440Z,1736366688.440 [DAT](INFO): DAT read: TxSync time:20:04:47.5772 2025-01-08T20:04:48.440Z,1736366688.440 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:04:48.442Z,1736366688.442 [DAT](INFO): direction in FSK: [0.466497,0.545254,-0.696476] 2025-01-08T20:04:48.442Z,1736366688.442 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:48.443Z,1736366688.443 [DAT](INFO): publishing direction and range info 2025-01-08T20:04:48.453Z,1736366688.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:48.469Z,1736366688.469 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:48.469Z,1736366688.469 [DAT](INFO): publishing direction and range info 2025-01-08T20:04:48.488Z,1736366688.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 346.799988 m, deltaT: 4.030337 s, deltaX: 1.500000 m, approachRate: 0.372177 m/s, rangeRepo size: 4 2025-01-08T20:04:48.490Z,1736366688.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 346.799988 m, bearing: 328.548442 deg, lat: 36.907154 deg, lon: -122.123552 deg, deltaT: 31.766935 s, deltaX: 19.500000 m, approachRate: 0.613846 m/s, posRepo size: 4 2025-01-08T20:04:48.490Z,1736366688.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:48.553Z,1736366688.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 232.900024 m, bearing: 334.624345 deg, approach rate: 0.000000 m/s, LOS rate: 0.144632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157884 deg. 2025-01-08T20:04:48.562Z,1736366688.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819864 target range: 346.799988 and range: 346.80 m. 2025-01-08T20:04:48.668Z,1736366688.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:48.920Z,1736366688.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:48.937Z,1736366688.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:48.954Z,1736366688.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:48.962Z,1736366688.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 232.738541 m, bearing: 334.692911 deg, approach rate: -0.341727 m/s, LOS rate: 0.145198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181026 deg. 2025-01-08T20:04:48.963Z,1736366688.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820268 target range: 346.799988 and range: 346.80 m. 2025-01-08T20:04:49.172Z,1736366689.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:49.276Z,1736366689.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:49.286Z,1736366689.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:49.289Z,1736366689.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 232.626083 m, bearing: 334.740843 deg, approach rate: -0.339473 m/s, LOS rate: 0.144760 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119051 deg. 2025-01-08T20:04:49.290Z,1736366689.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819187 target range: 346.799988 and range: 346.80 m. 2025-01-08T20:04:49.424Z,1736366689.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:49.676Z,1736366689.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:49.722Z,1736366689.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:49.731Z,1736366689.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:49.734Z,1736366689.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 232.476379 m, bearing: 334.801309 deg, approach rate: -0.336522 m/s, LOS rate: 0.136011 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156702 deg. 2025-01-08T20:04:49.736Z,1736366689.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819844 target range: 346.799988 and range: 346.80 m. 2025-01-08T20:04:49.928Z,1736366689.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:50.095Z,1736366690.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:50.104Z,1736366690.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:50.106Z,1736366690.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:50.109Z,1736366690.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 232.350937 m, bearing: 334.851878 deg, approach rate: -0.333857 m/s, LOS rate: 0.134659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126975 deg. 2025-01-08T20:04:50.110Z,1736366690.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819325 target range: 346.799988 and range: 346.80 m. 2025-01-08T20:04:50.180Z,1736366690.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:50.180Z,1736366690.180 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:50.180Z,1736366690.180 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:50.181Z,1736366690.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:50.432Z,1736366690.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:50.432Z,1736366690.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992958 2025-01-08T20:04:50.515Z,1736366690.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:50.543Z,1736366690.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:50.546Z,1736366690.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 232.209595 m, bearing: 334.908764 deg, approach rate: -0.326427 m/s, LOS rate: 0.131457 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145948 deg. 2025-01-08T20:04:50.554Z,1736366690.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819656 target range: 346.799988 and range: 346.80 m. 2025-01-08T20:04:50.684Z,1736366690.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:50.684Z,1736366690.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245041 2025-01-08T20:04:50.917Z,1736366690.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:50.926Z,1736366690.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:50.929Z,1736366690.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 232.068405 m, bearing: 334.961548 deg, approach rate: -0.365476 m/s, LOS rate: 0.136716 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133633 deg. 2025-01-08T20:04:50.930Z,1736366690.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819441 target range: 346.799988 and range: 346.80 m. 2025-01-08T20:04:50.936Z,1736366690.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:50.936Z,1736366690.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497081 2025-01-08T20:04:51.188Z,1736366691.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:51.188Z,1736366691.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748911 2025-01-08T20:04:51.297Z,1736366691.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:51.305Z,1736366691.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:51.309Z,1736366691.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 231.935257 m, bearing: 335.011378 deg, approach rate: -0.350533 m/s, LOS rate: 0.131262 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124764 deg. 2025-01-08T20:04:51.310Z,1736366691.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819286 target range: 346.799988 and range: 346.80 m. 2025-01-08T20:04:51.441Z,1736366691.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:51.442Z,1736366691.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002139 2025-01-08T20:04:51.692Z,1736366691.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:51.692Z,1736366691.692 [DAT](INFO): DAT read: Rx Time:20:04:50.4477 2025-01-08T20:04:51.693Z,1736366691.693 [DAT](INFO): Rx dataTimestamp_ set to:1736366691.692605 2025-01-08T20:04:51.693Z,1736366691.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253996 2025-01-08T20:04:51.768Z,1736366691.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:51.777Z,1736366691.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:51.780Z,1736366691.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 231.761063 m, bearing: 335.071535 deg, approach rate: -0.369531 m/s, LOS rate: 0.127711 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155793 deg. 2025-01-08T20:04:51.781Z,1736366691.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819828 target range: 346.799988 and range: 346.80 m. 2025-01-08T20:04:51.944Z,1736366691.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:51.945Z,1736366691.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505116 2025-01-08T20:04:52.117Z,1736366692.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:52.128Z,1736366692.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:52.129Z,1736366692.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:52.133Z,1736366692.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 231.632370 m, bearing: 335.116026 deg, approach rate: -0.364900 m/s, LOS rate: 0.126219 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108731 deg. 2025-01-08T20:04:52.134Z,1736366692.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819006 target range: 346.799988 and range: 346.80 m. 2025-01-08T20:04:52.196Z,1736366692.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:52.199Z,1736366692.199 [DAT](INFO): DAT read: Range 10 to 50 : 349.2 m (Round-trip 465.6 ms) speed -0.7 m/s 2025-01-08T20:04:52.201Z,1736366692.201 [DAT](INFO): DAT read: user:1105> 2025-01-08T20:04:52.202Z,1736366692.202 [DAT](INFO): DAT read: Tx time:20:04:51.5280 2025-01-08T20:04:52.203Z,1736366692.203 [DAT](INFO): Ping request sent. 2025-01-08T20:04:52.203Z,1736366692.203 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:04:52.204Z,1736366692.204 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:04:52.204Z,1736366692.204 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:52.205Z,1736366692.205 [DAT](INFO): publishing transmit ping time 2025-01-08T20:04:52.448Z,1736366692.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:52.448Z,1736366692.448 [DAT](INFO): DAT read: TxSync time:20:04:51.5272 2025-01-08T20:04:52.536Z,1736366692.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:52.545Z,1736366692.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 349.200012 m, deltaT: 3.780064 s, deltaX: 2.400024 m, approachRate: 0.634916 m/s, rangeRepo size: 4 2025-01-08T20:04:52.546Z,1736366692.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:52.569Z,1736366692.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 231.477798 m, bearing: 335.169534 deg, approach rate: -0.372610 m/s, LOS rate: 0.129073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135819 deg. 2025-01-08T20:04:52.570Z,1736366692.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819479 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:52.701Z,1736366692.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:52.952Z,1736366692.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:52.971Z,1736366692.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:52.979Z,1736366692.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:52.983Z,1736366692.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 231.314056 m, bearing: 335.225436 deg, approach rate: -0.376524 m/s, LOS rate: 0.128637 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143010 deg. 2025-01-08T20:04:52.985Z,1736366692.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819605 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:53.177Z,1736366693.177 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:04:53.204Z,1736366693.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:53.332Z,1736366693.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:53.363Z,1736366693.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:53.366Z,1736366693.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 231.178482 m, bearing: 335.271887 deg, approach rate: -0.357020 m/s, LOS rate: 0.122395 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114621 deg. 2025-01-08T20:04:53.367Z,1736366693.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819109 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:53.457Z,1736366693.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:53.708Z,1736366693.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:53.769Z,1736366693.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:53.777Z,1736366693.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:53.797Z,1736366693.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 231.011063 m, bearing: 335.327254 deg, approach rate: -0.400111 m/s, LOS rate: 0.132417 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141409 deg. 2025-01-08T20:04:53.798Z,1736366693.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819577 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:53.960Z,1736366693.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:54.153Z,1736366694.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:54.161Z,1736366694.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:54.162Z,1736366694.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:54.166Z,1736366694.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 230.863251 m, bearing: 335.375977 deg, approach rate: -0.383822 m/s, LOS rate: 0.126600 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121450 deg. 2025-01-08T20:04:54.168Z,1736366694.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819229 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:54.180Z,1736366694.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:04:54.212Z,1736366694.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:54.212Z,1736366694.212 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:04:54.213Z,1736366694.213 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:04:54.213Z,1736366694.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:04:54.464Z,1736366694.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:54.464Z,1736366694.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261553 2025-01-08T20:04:54.546Z,1736366694.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:54.561Z,1736366694.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:54.564Z,1736366694.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 230.712631 m, bearing: 335.425635 deg, approach rate: -0.377773 m/s, LOS rate: 0.124629 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124256 deg. 2025-01-08T20:04:54.565Z,1736366694.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819277 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:54.717Z,1736366694.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:54.717Z,1736366694.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514433 2025-01-08T20:04:54.968Z,1736366694.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:54.970Z,1736366694.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766925 2025-01-08T20:04:55.001Z,1736366695.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:55.026Z,1736366695.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:55.038Z,1736366695.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 230.533981 m, bearing: 335.483373 deg, approach rate: -0.384393 m/s, LOS rate: 0.124329 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148535 deg. 2025-01-08T20:04:55.039Z,1736366695.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819701 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:55.220Z,1736366695.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:55.220Z,1736366695.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017611 2025-01-08T20:04:55.354Z,1736366695.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:55.362Z,1736366695.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:55.366Z,1736366695.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 230.395386 m, bearing: 335.528262 deg, approach rate: -0.412423 m/s, LOS rate: 0.133656 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109933 deg. 2025-01-08T20:04:55.368Z,1736366695.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819027 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:55.472Z,1736366695.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:55.473Z,1736366695.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270333 2025-01-08T20:04:55.724Z,1736366695.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:55.724Z,1736366695.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521561 2025-01-08T20:04:55.791Z,1736366695.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:55.800Z,1736366695.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:55.806Z,1736366695.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 230.221375 m, bearing: 335.583760 deg, approach rate: -0.398204 m/s, LOS rate: 0.127096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141806 deg. 2025-01-08T20:04:55.828Z,1736366695.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819584 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:55.976Z,1736366695.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:55.977Z,1736366695.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773968 2025-01-08T20:04:56.172Z,1736366696.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:56.179Z,1736366696.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:56.181Z,1736366696.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:56.185Z,1736366696.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 230.069397 m, bearing: 335.632277 deg, approach rate: -0.397641 m/s, LOS rate: 0.127028 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120836 deg. 2025-01-08T20:04:56.186Z,1736366696.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819218 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:56.228Z,1736366696.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:56.229Z,1736366696.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026512 2025-01-08T20:04:56.480Z,1736366696.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:56.480Z,1736366696.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277503 2025-01-08T20:04:56.578Z,1736366696.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:56.613Z,1736366696.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:56.628Z,1736366696.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 229.908463 m, bearing: 335.683807 deg, approach rate: -0.372559 m/s, LOS rate: 0.119373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129883 deg. 2025-01-08T20:04:56.629Z,1736366696.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819376 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:56.732Z,1736366696.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:56.733Z,1736366696.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530551 2025-01-08T20:04:56.984Z,1736366696.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:56.984Z,1736366696.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781653 2025-01-08T20:04:56.991Z,1736366696.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:57.032Z,1736366697.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:57.052Z,1736366697.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 229.744736 m, bearing: 335.738096 deg, approach rate: -0.403126 m/s, LOS rate: 0.133766 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138171 deg. 2025-01-08T20:04:57.064Z,1736366697.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819520 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:57.236Z,1736366697.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:57.237Z,1736366697.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034646 2025-01-08T20:04:57.377Z,1736366697.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:57.406Z,1736366697.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:57.409Z,1736366697.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 229.592178 m, bearing: 335.788789 deg, approach rate: -0.394209 m/s, LOS rate: 0.131076 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127364 deg. 2025-01-08T20:04:57.410Z,1736366697.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819332 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:57.489Z,1736366697.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:57.490Z,1736366697.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287107 2025-01-08T20:04:57.740Z,1736366697.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:57.740Z,1736366697.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537526 2025-01-08T20:04:57.804Z,1736366697.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:57.839Z,1736366697.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:57.849Z,1736366697.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 229.423050 m, bearing: 335.845413 deg, approach rate: -0.391246 m/s, LOS rate: 0.131086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145184 deg. 2025-01-08T20:04:57.850Z,1736366697.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819643 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:57.992Z,1736366697.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:57.993Z,1736366697.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.789733 2025-01-08T20:04:58.185Z,1736366698.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:58.192Z,1736366698.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:04:58.194Z,1736366698.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:58.197Z,1736366698.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 229.271957 m, bearing: 335.896105 deg, approach rate: -0.425434 m/s, LOS rate: 0.142829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127363 deg. 2025-01-08T20:04:58.199Z,1736366698.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819332 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:58.244Z,1736366698.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:58.245Z,1736366698.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042362 2025-01-08T20:04:58.496Z,1736366698.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:58.496Z,1736366698.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293671 2025-01-08T20:04:58.591Z,1736366698.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:58.600Z,1736366698.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:58.602Z,1736366698.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 229.111252 m, bearing: 335.950184 deg, approach rate: -0.396202 m/s, LOS rate: 0.133419 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137537 deg. 2025-01-08T20:04:58.604Z,1736366698.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819509 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:58.748Z,1736366698.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:58.749Z,1736366698.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.545836 2025-01-08T20:04:58.000Z,1736366699.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:59.001Z,1736366699.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797770 2025-01-08T20:04:59.069Z,1736366699.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:59.077Z,1736366699.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:59.101Z,1736366699.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 228.928513 m, bearing: 336.015254 deg, approach rate: -0.382439 m/s, LOS rate: 0.136288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170552 deg. 2025-01-08T20:04:59.102Z,1736366699.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820086 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:59.252Z,1736366699.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:59.252Z,1736366699.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.049481 2025-01-08T20:04:59.393Z,1736366699.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:59.422Z,1736366699.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:59.430Z,1736366699.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 228.804428 m, bearing: 336.059505 deg, approach rate: -0.360075 m/s, LOS rate: 0.128480 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108011 deg. 2025-01-08T20:04:59.444Z,1736366699.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818994 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:04:59.504Z,1736366699.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:59.506Z,1736366699.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302550 2025-01-08T20:04:59.756Z,1736366699.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:04:59.756Z,1736366699.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553604 2025-01-08T20:04:59.828Z,1736366699.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:04:59.837Z,1736366699.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:04:59.856Z,1736366699.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 228.641068 m, bearing: 336.118915 deg, approach rate: -0.393651 m/s, LOS rate: 0.143263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153544 deg. 2025-01-08T20:04:59.857Z,1736366699.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819788 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:00.008Z,1736366700.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:00.008Z,1736366700.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805540 2025-01-08T20:05:00.201Z,1736366700.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:00.228Z,1736366700.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:00.230Z,1736366700.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:00.237Z,1736366700.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 228.501099 m, bearing: 336.170021 deg, approach rate: -0.355902 m/s, LOS rate: 0.130027 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128597 deg. 2025-01-08T20:05:00.239Z,1736366700.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819353 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:00.260Z,1736366700.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:00.261Z,1736366700.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.057884 2025-01-08T20:05:00.512Z,1736366700.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:00.513Z,1736366700.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.310612 2025-01-08T20:05:00.618Z,1736366700.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:00.673Z,1736366700.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:00.688Z,1736366700.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 228.344986 m, bearing: 336.227168 deg, approach rate: -0.352527 m/s, LOS rate: 0.129136 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146746 deg. 2025-01-08T20:05:00.689Z,1736366700.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819670 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:00.766Z,1736366700.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:00.769Z,1736366700.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565300 2025-01-08T20:05:01.017Z,1736366701.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:01.018Z,1736366701.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815039 2025-01-08T20:05:01.091Z,1736366701.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:01.125Z,1736366701.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:01.132Z,1736366701.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 228.172470 m, bearing: 336.293843 deg, approach rate: -0.382035 m/s, LOS rate: 0.147761 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175360 deg. 2025-01-08T20:05:01.134Z,1736366701.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820169 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:01.268Z,1736366701.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:01.268Z,1736366701.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.065680 2025-01-08T20:05:01.428Z,1736366701.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:01.438Z,1736366701.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:01.441Z,1736366701.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 228.049667 m, bearing: 336.341555 deg, approach rate: -0.392033 m/s, LOS rate: 0.152397 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118399 deg. 2025-01-08T20:05:01.442Z,1736366701.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819175 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:01.521Z,1736366701.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:01.522Z,1736366701.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319204 2025-01-08T20:05:01.772Z,1736366701.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:01.773Z,1736366701.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.569747 2025-01-08T20:05:01.873Z,1736366701.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:01.881Z,1736366701.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:01.885Z,1736366701.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 227.889923 m, bearing: 336.404955 deg, approach rate: -0.360278 m/s, LOS rate: 0.143091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165522 deg. 2025-01-08T20:05:01.886Z,1736366701.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819998 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:02.024Z,1736366702.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:02.024Z,1736366702.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.821688 2025-01-08T20:05:02.237Z,1736366702.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:02.268Z,1736366702.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:02.270Z,1736366702.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:02.276Z,1736366702.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:02.276Z,1736366702.276 [DAT](INFO): Reached modem response timeout 2025-01-08T20:05:02.277Z,1736366702.277 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:05:02.277Z,1736366702.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:02.285Z,1736366702.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 227.759476 m, bearing: 336.456931 deg, approach rate: -0.335763 m/s, LOS rate: 0.133857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131201 deg. 2025-01-08T20:05:02.286Z,1736366702.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819398 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:02.528Z,1736366702.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:02.528Z,1736366702.528 [DAT](INFO): Reached modem response timeout 2025-01-08T20:05:02.529Z,1736366702.529 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:05:02.529Z,1736366702.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:02.656Z,1736366702.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:02.672Z,1736366702.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:02.677Z,1736366702.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 227.609772 m, bearing: 336.516891 deg, approach rate: -0.372489 m/s, LOS rate: 0.149289 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155185 deg. 2025-01-08T20:05:02.679Z,1736366702.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819817 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:02.782Z,1736366702.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:02.784Z,1736366702.784 [DAT](INFO): Reached modem response timeout 2025-01-08T20:05:02.784Z,1736366702.784 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:05:02.785Z,1736366702.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:03.034Z,1736366703.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:03.036Z,1736366703.036 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:05:03.037Z,1736366703.037 [DAT](INFO): response not received 2025-01-08T20:05:03.037Z,1736366703.037 [DAT](INFO): DAT read: user:1106> 2025-01-08T20:05:03.037Z,1736366703.037 [DAT](ERROR): No response from remote modem. 2025-01-08T20:05:03.038Z,1736366703.038 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:05:03.038Z,1736366703.038 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:03.159Z,1736366703.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:03.169Z,1736366703.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:03.172Z,1736366703.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 227.437424 m, bearing: 336.589197 deg, approach rate: -0.346694 m/s, LOS rate: 0.145561 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192269 deg. 2025-01-08T20:05:03.173Z,1736366703.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820465 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:03.284Z,1736366703.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:03.285Z,1736366703.285 [DAT](INFO): DAT read: Tx time:20:05:02.4781 2025-01-08T20:05:03.286Z,1736366703.286 [DAT](INFO): Ping request sent. 2025-01-08T20:05:03.286Z,1736366703.286 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:03.287Z,1736366703.287 [DAT](INFO): DAT read: TxSync time:20:05:02.4773 2025-01-08T20:05:03.288Z,1736366703.288 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:03.289Z,1736366703.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002867 2025-01-08T20:05:03.479Z,1736366703.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:03.488Z,1736366703.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:03.491Z,1736366703.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 227.328293 m, bearing: 336.635257 deg, approach rate: -0.341516 m/s, LOS rate: 0.144210 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113433 deg. 2025-01-08T20:05:03.492Z,1736366703.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819088 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:03.536Z,1736366703.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:03.537Z,1736366703.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250959 2025-01-08T20:05:03.789Z,1736366703.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:03.792Z,1736366703.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505996 2025-01-08T20:05:03.891Z,1736366703.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:03.917Z,1736366703.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:03.924Z,1736366703.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 227.191971 m, bearing: 336.694733 deg, approach rate: -0.318027 m/s, LOS rate: 0.138835 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153720 deg. 2025-01-08T20:05:03.926Z,1736366703.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819792 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:04.040Z,1736366704.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:04.041Z,1736366704.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754654 2025-01-08T20:05:04.276Z,1736366704.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:04.283Z,1736366704.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:04.285Z,1736366704.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:04.289Z,1736366704.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 227.065826 m, bearing: 336.750348 deg, approach rate: -0.342354 m/s, LOS rate: 0.151024 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142126 deg. 2025-01-08T20:05:04.290Z,1736366704.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819589 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:04.292Z,1736366704.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:04.293Z,1736366704.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006691 2025-01-08T20:05:04.544Z,1736366704.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:04.544Z,1736366704.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258522 2025-01-08T20:05:04.690Z,1736366704.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:04.704Z,1736366704.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:04.706Z,1736366704.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 226.929993 m, bearing: 336.810342 deg, approach rate: -0.324915 m/s, LOS rate: 0.143590 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155274 deg. 2025-01-08T20:05:04.708Z,1736366704.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819819 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:04.798Z,1736366704.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:04.801Z,1736366704.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514506 2025-01-08T20:05:05.048Z,1736366705.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:05.048Z,1736366705.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762588 2025-01-08T20:05:05.108Z,1736366705.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:05.135Z,1736366705.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:05.150Z,1736366705.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 226.797729 m, bearing: 336.869703 deg, approach rate: -0.307348 m/s, LOS rate: 0.138023 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153375 deg. 2025-01-08T20:05:05.156Z,1736366705.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819786 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:05.300Z,1736366705.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:05.301Z,1736366705.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014908 2025-01-08T20:05:05.481Z,1736366705.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:05.490Z,1736366705.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:05.493Z,1736366705.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 226.680130 m, bearing: 336.922554 deg, approach rate: -0.329702 m/s, LOS rate: 0.148248 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133819 deg. 2025-01-08T20:05:05.494Z,1736366705.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819444 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:05.552Z,1736366705.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:05.553Z,1736366705.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266702 2025-01-08T20:05:05.806Z,1736366705.806 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:05.808Z,1736366705.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521874 2025-01-08T20:05:05.923Z,1736366705.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:05.952Z,1736366705.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:05.955Z,1736366705.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 226.540634 m, bearing: 336.983510 deg, approach rate: -0.302234 m/s, LOS rate: 0.132150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158168 deg. 2025-01-08T20:05:05.956Z,1736366705.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819870 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:06.056Z,1736366706.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:06.057Z,1736366706.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771290 2025-01-08T20:05:06.308Z,1736366706.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:06.308Z,1736366706.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022498 2025-01-08T20:05:06.314Z,1736366706.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:06.321Z,1736366706.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:06.324Z,1736366706.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:06.327Z,1736366706.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 226.417480 m, bearing: 337.037480 deg, approach rate: -0.331476 m/s, LOS rate: 0.145342 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137184 deg. 2025-01-08T20:05:06.328Z,1736366706.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819503 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:06.560Z,1736366706.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:06.561Z,1736366706.561 [DAT](INFO): DAT read: Rx Time:20:05:05.3596 2025-01-08T20:05:06.562Z,1736366706.562 [DAT](INFO): Rx dataTimestamp_ set to:1736366706.561761 2025-01-08T20:05:06.563Z,1736366706.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276861 2025-01-08T20:05:06.713Z,1736366706.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:06.736Z,1736366706.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:06.739Z,1736366706.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 226.291946 m, bearing: 337.092552 deg, approach rate: -0.304231 m/s, LOS rate: 0.133541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140495 deg. 2025-01-08T20:05:06.744Z,1736366706.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819561 target range: 346.799988 and range: 349.20 m. 2025-01-08T20:05:06.814Z,1736366706.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:06.816Z,1736366706.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529862 2025-01-08T20:05:07.064Z,1736366707.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:07.066Z,1736366707.066 [DAT](INFO): DAT read: Range 10 to 50 : 358.0 m (Round-trip 477.4 ms) speed -0.5 m/s 2025-01-08T20:05:07.067Z,1736366707.067 [DAT](INFO): DAT read: user:1107> 2025-01-08T20:05:07.067Z,1736366707.067 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:05:07.068Z,1736366707.068 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:07.068Z,1736366707.068 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:07.068Z,1736366707.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:07.177Z,1736366707.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:07.187Z,1736366707.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 358.000000 m, deltaT: 14.867369 s, deltaX: 8.799988 m, approachRate: 0.591899 m/s, rangeRepo size: 4 2025-01-08T20:05:07.188Z,1736366707.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:07.191Z,1736366707.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 226.146576 m, bearing: 337.155745 deg, approach rate: -0.323005 m/s, LOS rate: 0.140502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164888 deg. 2025-01-08T20:05:07.204Z,1736366707.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819987 target range: 346.799988 and range: 358.00 m. 2025-01-08T20:05:07.317Z,1736366707.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:07.319Z,1736366707.319 [DAT](INFO): DAT read: Txtime:20:05:06.4781 2025-01-08T20:05:07.319Z,1736366707.319 [DAT](INFO): Ping request sent. 2025-01-08T20:05:07.319Z,1736366707.319 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:07.320Z,1736366707.320 [DAT](INFO): DAT read: TxSync time:20:05:06.4773 2025-01-08T20:05:07.321Z,1736366707.321 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:07.322Z,1736366707.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002522 2025-01-08T20:05:07.500Z,1736366707.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:07.508Z,1736366707.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:07.511Z,1736366707.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 226.045593 m, bearing: 337.199651 deg, approach rate: -0.313418 m/s, LOS rate: 0.136330 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106962 deg. 2025-01-08T20:05:07.513Z,1736366707.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818975 target range: 346.799988 and range: 358.00 m. 2025-01-08T20:05:07.568Z,1736366707.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:07.569Z,1736366707.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249475 2025-01-08T20:05:07.820Z,1736366707.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:07.820Z,1736366707.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501370 2025-01-08T20:05:07.940Z,1736366707.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:07.949Z,1736366707.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:07.973Z,1736366707.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 225.903152 m, bearing: 337.258722 deg, approach rate: -0.323512 m/s, LOS rate: 0.134248 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152512 deg. 2025-01-08T20:05:07.974Z,1736366707.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819770 target range: 346.799988 and range: 358.00 m. 2025-01-08T20:05:08.072Z,1736366708.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:08.073Z,1736366708.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754251 2025-01-08T20:05:08.311Z,1736366708.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:08.324Z,1736366708.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:08.324Z,1736366708.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005264 2025-01-08T20:05:08.341Z,1736366708.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:08.348Z,1736366708.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 225.783600 m, bearing: 337.308359 deg, approach rate: -0.304920 m/s, LOS rate: 0.126666 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124175 deg. 2025-01-08T20:05:08.350Z,1736366708.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819276 target range: 346.799988 and range: 358.00 m. 2025-01-08T20:05:08.576Z,1736366708.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:08.577Z,1736366708.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257589 2025-01-08T20:05:08.743Z,1736366708.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:08.750Z,1736366708.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:08.753Z,1736366708.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:08.756Z,1736366708.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 225.644531 m, bearing: 337.366255 deg, approach rate: -0.337288 m/s, LOS rate: 0.140503 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148980 deg. 2025-01-08T20:05:08.757Z,1736366708.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819709 target range: 346.799988 and range: 358.00 m. 2025-01-08T20:05:08.828Z,1736366708.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:08.830Z,1736366708.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510268 2025-01-08T20:05:09.080Z,1736366709.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:09.080Z,1736366709.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761387 2025-01-08T20:05:09.154Z,1736366709.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:09.163Z,1736366709.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:09.167Z,1736366709.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 225.511322 m, bearing: 337.420037 deg, approach rate: -0.325281 m/s, LOS rate: 0.131408 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136629 deg. 2025-01-08T20:05:09.168Z,1736366709.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819493 target range: 346.799988 and range: 358.00 m. 2025-01-08T20:05:09.332Z,1736366709.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:09.333Z,1736366709.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014045 2025-01-08T20:05:09.538Z,1736366709.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:09.547Z,1736366709.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:09.552Z,1736366709.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 225.386551 m, bearing: 337.470553 deg, approach rate: -0.324754 m/s, LOS rate: 0.131555 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126817 deg. 2025-01-08T20:05:09.553Z,1736366709.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819322 target range: 346.799988 and range: 358.00 m. 2025-01-08T20:05:09.585Z,1736366709.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:09.586Z,1736366709.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266437 2025-01-08T20:05:09.836Z,1736366709.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:09.836Z,1736366709.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517340 2025-01-08T20:05:09.973Z,1736366709.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:09.982Z,1736366709.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:10.002Z,1736366710.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 225.231186 m, bearing: 337.526746 deg, approach rate: -0.357129 m/s, LOS rate: 0.129257 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143882 deg. 2025-01-08T20:05:10.008Z,1736366710.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819620 target range: 346.799988 and range: 358.00 m. 2025-01-08T20:05:10.088Z,1736366710.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:10.089Z,1736366710.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769441 2025-01-08T20:05:10.328Z,1736366710.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:10.337Z,1736366710.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:10.340Z,1736366710.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:10.341Z,1736366710.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021679 2025-01-08T20:05:10.342Z,1736366710.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 225.104233 m, bearing: 337.572641 deg, approach rate: -0.356959 m/s, LOS rate: 0.129116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112948 deg. 2025-01-08T20:05:10.344Z,1736366710.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819080 target range: 346.799988 and range: 358.00 m. 2025-01-08T20:05:10.592Z,1736366710.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:10.593Z,1736366710.593 [DAT](INFO): DAT read: Rx Time:20:05:09.3630 2025-01-08T20:05:10.594Z,1736366710.594 [DAT](INFO): Rx dataTimestamp_ set to:1736366710.593513 2025-01-08T20:05:10.595Z,1736366710.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275644 2025-01-08T20:05:10.768Z,1736366710.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:10.783Z,1736366710.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:10.788Z,1736366710.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:10.796Z,1736366710.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 224.951599 m, bearing: 337.627953 deg, approach rate: -0.339773 m/s, LOS rate: 0.123213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141237 deg. 2025-01-08T20:05:10.798Z,1736366710.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819574 target range: 346.799988 and range: 358.00 m. 2025-01-08T20:05:10.846Z,1736366710.846 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:10.846Z,1736366710.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527271 2025-01-08T20:05:11.096Z,1736366711.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:11.097Z,1736366711.097 [DAT](INFO): DAT read: Range 10 to 50 : 360.5 m (Round-trip 480.7 ms) speed -0.3 m/s 2025-01-08T20:05:11.098Z,1736366711.098 [DAT](INFO): DAT read: user:1108> 2025-01-08T20:05:11.100Z,1736366711.100 [DAT](INFO): DAT read: Tx time:20:05:10.4782 2025-01-08T20:05:11.100Z,1736366711.100 [DAT](INFO): Ping request sent. 2025-01-08T20:05:11.100Z,1736366711.100 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:11.101Z,1736366711.101 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:05:11.101Z,1736366711.101 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:11.101Z,1736366711.101 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:11.189Z,1736366711.189 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +7, +6,A 2025-01-08T20:05:11.218Z,1736366711.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:05:11.218Z,1736366711.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:11.243Z,1736366711.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 360.500000 m, deltaT: 4.031998 s, deltaX: 2.500000 m, approachRate: 0.620040 m/s, rangeRepo size: 4 2025-01-08T20:05:11.244Z,1736366711.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:11.247Z,1736366711.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 224.786697 m, bearing: 337.687888 deg, approach rate: -0.364945 m/s, LOS rate: 0.132739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155122 deg. 2025-01-08T20:05:11.253Z,1736366711.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819816 target range: 346.799988 and range: 360.50 m. 2025-01-08T20:05:11.348Z,1736366711.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:11.349Z,1736366711.349 [DAT](INFO): DAT read: TxSync time:20:05:10.4774 2025-01-08T20:05:11.544Z,1736366711.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:05:11.544Z,1736366711.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:11.553Z,1736366711.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:11.556Z,1736366711.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 224.670547 m, bearing: 337.730222 deg, approach rate: -0.368855 m/s, LOS rate: 0.134508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102254 deg. 2025-01-08T20:05:11.557Z,1736366711.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818893 target range: 346.799988 and range: 360.50 m. 2025-01-08T20:05:11.600Z,1736366711.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:11.853Z,1736366711.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:11.997Z,1736366711.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:12.006Z,1736366712.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:12.009Z,1736366712.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 224.505051 m, bearing: 337.791556 deg, approach rate: -0.365696 m/s, LOS rate: 0.135628 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159323 deg. 2025-01-08T20:05:12.010Z,1736366712.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819890 target range: 346.799988 and range: 360.50 m. 2025-01-08T20:05:12.104Z,1736366712.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:12.347Z,1736366712.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:12.356Z,1736366712.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:12.376Z,1736366712.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:12.383Z,1736366712.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 224.377991 m, bearing: 337.838994 deg, approach rate: -0.343044 m/s, LOS rate: 0.128150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117583 deg. 2025-01-08T20:05:12.385Z,1736366712.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819161 target range: 346.799988 and range: 360.50 m. 2025-01-08T20:05:12.608Z,1736366712.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:12.760Z,1736366712.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:12.772Z,1736366712.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:12.776Z,1736366712.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 224.228729 m, bearing: 337.895001 deg, approach rate: -0.376850 m/s, LOS rate: 0.141498 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143318 deg. 2025-01-08T20:05:12.777Z,1736366712.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819610 target range: 346.799988 and range: 360.50 m. 2025-01-08T20:05:12.862Z,1736366712.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:13.112Z,1736366713.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:13.214Z,1736366713.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:13.222Z,1736366713.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:13.225Z,1736366713.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:13.228Z,1736366713.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 224.059692 m, bearing: 337.958020 deg, approach rate: -0.373879 m/s, LOS rate: 0.139492 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164386 deg. 2025-01-08T20:05:13.229Z,1736366713.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819978 target range: 346.799988 and range: 360.50 m. 2025-01-08T20:05:13.364Z,1736366713.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:13.364Z,1736366713.364 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:13.364Z,1736366713.364 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:13.365Z,1736366713.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:13.575Z,1736366713.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:13.585Z,1736366713.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:13.588Z,1736366713.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 223.925507 m, bearing: 338.007928 deg, approach rate: -0.372291 m/s, LOS rate: 0.138550 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125000 deg. 2025-01-08T20:05:13.589Z,1736366713.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819291 target range: 346.799988 and range: 360.50 m. 2025-01-08T20:05:13.616Z,1736366713.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:13.617Z,1736366713.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516915 2025-01-08T20:05:13.868Z,1736366713.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:13.868Z,1736366713.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768045 2025-01-08T20:05:14.052Z,1736366714.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:14.060Z,1736366714.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:14.063Z,1736366714.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 223.750900 m, bearing: 338.075307 deg, approach rate: -0.367699 m/s, LOS rate: 0.142003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177481 deg. 2025-01-08T20:05:14.064Z,1736366714.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820206 target range: 346.799988 and range: 360.50 m. 2025-01-08T20:05:14.120Z,1736366714.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:14.121Z,1736366714.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020389 2025-01-08T20:05:14.372Z,1736366714.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:14.372Z,1736366714.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272178 2025-01-08T20:05:14.374Z,1736366714.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:14.384Z,1736366714.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:14.387Z,1736366714.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 223.632858 m, bearing: 338.120919 deg, approach rate: -0.364056 m/s, LOS rate: 0.140746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112094 deg. 2025-01-08T20:05:14.404Z,1736366714.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819065 target range: 346.799988 and range: 360.50 m. 2025-01-08T20:05:14.625Z,1736366714.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:14.626Z,1736366714.626 [DAT](INFO): DAT read: Rx Time:20:05:13.3661 2025-01-08T20:05:14.627Z,1736366714.627 [DAT](INFO): Rx dataTimestamp_ set to:1736366714.626429 2025-01-08T20:05:14.627Z,1736366714.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527076 2025-01-08T20:05:14.779Z,1736366714.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:14.796Z,1736366714.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:14.799Z,1736366714.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 223.484772 m, bearing: 338.178262 deg, approach rate: -0.359952 m/s, LOS rate: 0.139477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147331 deg. 2025-01-08T20:05:14.802Z,1736366714.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819680 target range: 346.799988 and range: 360.50 m. 2025-01-08T20:05:14.878Z,1736366714.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:14.878Z,1736366714.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778131 2025-01-08T20:05:15.128Z,1736366715.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:15.129Z,1736366715.129 [DAT](INFO): DAT read: Range 10 to 50 : 362.7 m (Round-trip 483.7 ms) speed -0.5 m/s 2025-01-08T20:05:15.130Z,1736366715.130 [DAT](INFO): DAT read: user:1109> 2025-01-08T20:05:15.131Z,1736366715.131 [DAT](INFO): DAT read: Tx time:20:05:14.4782 2025-01-08T20:05:15.131Z,1736366715.131 [DAT](INFO): Ping request sent. 2025-01-08T20:05:15.132Z,1736366715.132 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:15.132Z,1736366715.132 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:05:15.132Z,1736366715.132 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:15.133Z,1736366715.133 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:15.264Z,1736366715.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:15.295Z,1736366715.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:15.309Z,1736366715.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 362.700012 m, deltaT: 4.032102 s, deltaX: 2.200012 m, approachRate: 0.545624 m/s, rangeRepo size: 4 2025-01-08T20:05:15.310Z,1736366715.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:15.318Z,1736366715.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 223.302933 m, bearing: 338.247102 deg, approach rate: -0.354629 m/s, LOS rate: 0.134363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181874 deg. 2025-01-08T20:05:15.319Z,1736366715.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820283 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:15.380Z,1736366715.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:15.382Z,1736366715.382 [DAT](INFO): DAT read: TxSync time:20:05:14.4774 2025-01-08T20:05:15.383Z,1736366715.383 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:15.383Z,1736366715.383 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:15.384Z,1736366715.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:15.597Z,1736366715.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:15.606Z,1736366715.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:15.609Z,1736366715.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 223.178024 m, bearing: 338.294496 deg, approach rate: -0.419159 m/s, LOS rate: 0.159129 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117447 deg. 2025-01-08T20:05:15.610Z,1736366715.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819159 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:15.632Z,1736366715.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:15.633Z,1736366715.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501692 2025-01-08T20:05:15.885Z,1736366715.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:15.885Z,1736366715.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753791 2025-01-08T20:05:16.053Z,1736366716.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:16.068Z,1736366716.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:16.070Z,1736366716.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 223.016251 m, bearing: 338.361733 deg, approach rate: -0.351095 m/s, LOS rate: 0.146030 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177045 deg. 2025-01-08T20:05:16.088Z,1736366716.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820199 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:16.137Z,1736366716.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:16.138Z,1736366716.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006418 2025-01-08T20:05:16.388Z,1736366716.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:16.389Z,1736366716.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257016 2025-01-08T20:05:16.419Z,1736366716.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:16.454Z,1736366716.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:16.466Z,1736366716.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 222.887146 m, bearing: 338.415814 deg, approach rate: -0.350600 m/s, LOS rate: 0.146948 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137522 deg. 2025-01-08T20:05:16.468Z,1736366716.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819509 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:16.640Z,1736366716.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:16.640Z,1736366716.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508705 2025-01-08T20:05:16.802Z,1736366716.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:16.810Z,1736366716.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:16.830Z,1736366716.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 222.752716 m, bearing: 338.472679 deg, approach rate: -0.358552 m/s, LOS rate: 0.151761 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145883 deg. 2025-01-08T20:05:16.831Z,1736366716.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819655 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:16.893Z,1736366716.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:16.895Z,1736366716.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763358 2025-01-08T20:05:17.144Z,1736366717.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:17.144Z,1736366717.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012887 2025-01-08T20:05:17.268Z,1736366717.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:17.276Z,1736366717.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:17.279Z,1736366717.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 222.591095 m, bearing: 338.542797 deg, approach rate: -0.346957 m/s, LOS rate: 0.150635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185694 deg. 2025-01-08T20:05:17.281Z,1736366717.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820350 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:17.396Z,1736366717.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:17.397Z,1736366717.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265585 2025-01-08T20:05:17.616Z,1736366717.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:17.623Z,1736366717.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:17.625Z,1736366717.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:17.648Z,1736366717.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:17.650Z,1736366717.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518116 2025-01-08T20:05:17.657Z,1736366717.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 222.469818 m, bearing: 338.595180 deg, approach rate: -0.346998 m/s, LOS rate: 0.149960 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132420 deg. 2025-01-08T20:05:17.659Z,1736366717.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819420 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:17.900Z,1736366717.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:17.900Z,1736366717.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768878 2025-01-08T20:05:18.098Z,1736366718.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:18.108Z,1736366718.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:18.111Z,1736366718.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 222.307526 m, bearing: 338.669016 deg, approach rate: -0.336553 m/s, LOS rate: 0.153229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196855 deg. 2025-01-08T20:05:18.112Z,1736366718.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820545 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:18.152Z,1736366718.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:18.153Z,1736366718.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020962 2025-01-08T20:05:18.404Z,1736366718.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:18.405Z,1736366718.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273076 2025-01-08T20:05:18.455Z,1736366718.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:18.480Z,1736366718.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:18.488Z,1736366718.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 222.187775 m, bearing: 338.723474 deg, approach rate: -0.321686 m/s, LOS rate: 0.146368 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138648 deg. 2025-01-08T20:05:18.489Z,1736366718.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819529 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:18.657Z,1736366718.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:18.659Z,1736366718.659 [DAT](INFO): DAT read: Rx Time:20:05:17.3693 2025-01-08T20:05:18.661Z,1736366718.661 [DAT](INFO): Rx dataTimestamp_ set to:1736366718.659606 2025-01-08T20:05:18.662Z,1736366718.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530290 2025-01-08T20:05:18.843Z,1736366718.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:18.873Z,1736366718.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:18.880Z,1736366718.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 222.057541 m, bearing: 338.782772 deg, approach rate: -0.331127 m/s, LOS rate: 0.150857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153185 deg. 2025-01-08T20:05:18.884Z,1736366718.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819782 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:18.908Z,1736366718.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:18.909Z,1736366718.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777301 2025-01-08T20:05:19.160Z,1736366719.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:19.161Z,1736366719.161 [DAT](INFO): DAT read: Range 10 to5.2 m (Round-trip 487.0 ms) speed -0.6 m/s 2025-01-08T20:05:19.162Z,1736366719.162 [DAT](INFO): unknown deviceResponse_: Range 10 to5.2 m (Round-trip 487.0 ms) speed -0.6 m/s 2025-01-08T20:05:19.162Z,1736366719.162 [DAT](INFO): DAT read: user:1110> 2025-01-08T20:05:19.163Z,1736366719.163 [DAT](INFO): DAT read: Tx time:20:05:18.4782 2025-01-08T20:05:19.163Z,1736366719.163 [DAT](INFO): Ping request sent. 2025-01-08T20:05:19.163Z,1736366719.163 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:19.163Z,1736366719.163 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:19.164Z,1736366719.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000795 2025-01-08T20:05:19.318Z,1736366719.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:05:19.318Z,1736366719.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:19.340Z,1736366719.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:19.343Z,1736366719.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 221.898163 m, bearing: 338.855488 deg, approach rate: -0.344823 m/s, LOS rate: 0.157439 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193491 deg. 2025-01-08T20:05:19.348Z,1736366719.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820486 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:19.413Z,1736366719.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:19.414Z,1736366719.414 [DAT](INFO): DAT read: TxSync time:20:05:18.4774 2025-01-08T20:05:19.416Z,1736366719.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252565 2025-01-08T20:05:19.654Z,1736366719.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:05:19.654Z,1736366719.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:19.664Z,1736366719.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:19.665Z,1736366719.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501983 2025-01-08T20:05:19.669Z,1736366719.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:19.673Z,1736366719.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:19.678Z,1736366719.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 221.786179 m, bearing: 338.906931 deg, approach rate: -0.331893 m/s, LOS rate: 0.152541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129593 deg. 2025-01-08T20:05:19.700Z,1736366719.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819371 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:19.916Z,1736366719.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:19.916Z,1736366719.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753210 2025-01-08T20:05:20.108Z,1736366720.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:20.136Z,1736366720.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:20.151Z,1736366720.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 221.644073 m, bearing: 338.976402 deg, approach rate: -0.306626 m/s, LOS rate: 0.149996 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183732 deg. 2025-01-08T20:05:20.152Z,1736366720.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820315 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:20.168Z,1736366720.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:20.169Z,1736366720.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005352 2025-01-08T20:05:20.420Z,1736366720.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:20.420Z,1736366720.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257064 2025-01-08T20:05:20.491Z,1736366720.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:20.502Z,1736366720.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:20.505Z,1736366720.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 221.524704 m, bearing: 339.034951 deg, approach rate: -0.326765 m/s, LOS rate: 0.160360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150928 deg. 2025-01-08T20:05:20.506Z,1736366720.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819743 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:20.672Z,1736366720.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:20.673Z,1736366720.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510126 2025-01-08T20:05:20.862Z,1736366720.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:20.892Z,1736366720.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:20.897Z,1736366720.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 221.408936 m, bearing: 339.091741 deg, approach rate: -0.297131 m/s, LOS rate: 0.145834 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145646 deg. 2025-01-08T20:05:20.898Z,1736366720.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819651 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:20.924Z,1736366720.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:20.926Z,1736366720.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761914 2025-01-08T20:05:21.176Z,1736366721.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:21.176Z,1736366721.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013140 2025-01-08T20:05:21.294Z,1736366721.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:21.321Z,1736366721.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:21.328Z,1736366721.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 221.275848 m, bearing: 339.157814 deg, approach rate: -0.309828 m/s, LOS rate: 0.153909 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173522 deg. 2025-01-08T20:05:21.329Z,1736366721.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820137 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:21.428Z,1736366721.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:21.429Z,1736366721.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265962 2025-01-08T20:05:21.680Z,1736366721.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:21.682Z,1736366721.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518102 2025-01-08T20:05:21.703Z,1736366721.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:21.710Z,1736366721.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:21.712Z,1736366721.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:21.714Z,1736366721.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 221.150421 m, bearing: 339.220276 deg, approach rate: -0.320853 m/s, LOS rate: 0.159875 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162680 deg. 2025-01-08T20:05:21.717Z,1736366721.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819948 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:21.932Z,1736366721.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:21.933Z,1736366721.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769965 2025-01-08T20:05:22.143Z,1736366722.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:22.157Z,1736366722.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:22.160Z,1736366722.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 221.019333 m, bearing: 339.283692 deg, approach rate: -0.294577 m/s, LOS rate: 0.142590 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165546 deg. 2025-01-08T20:05:22.161Z,1736366722.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819998 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:22.184Z,1736366722.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:22.185Z,1736366722.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021638 2025-01-08T20:05:22.436Z,1736366722.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:22.436Z,1736366722.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273241 2025-01-08T20:05:22.494Z,1736366722.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:22.505Z,1736366722.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:22.508Z,1736366722.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 220.914917 m, bearing: 339.334392 deg, approach rate: -0.299443 m/s, LOS rate: 0.145466 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127359 deg. 2025-01-08T20:05:22.510Z,1736366722.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819332 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:22.688Z,1736366722.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:22.688Z,1736366722.688 [DAT](INFO): DAT read: Rx Time:20:05:21.3719 2025-01-08T20:05:22.689Z,1736366722.689 [DAT](INFO): Rx dataTimestamp_ set to:1736366722.688610 2025-01-08T20:05:22.689Z,1736366722.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526196 2025-01-08T20:05:22.885Z,1736366722.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:22.893Z,1736366722.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:22.896Z,1736366722.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 220.799164 m, bearing: 339.390712 deg, approach rate: -0.298859 m/s, LOS rate: 0.145487 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144235 deg. 2025-01-08T20:05:22.897Z,1736366722.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819626 target range: 346.799988 and range: 362.70 m. 2025-01-08T20:05:22.940Z,1736366722.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:22.940Z,1736366722.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777237 2025-01-08T20:05:23.192Z,1736366723.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:23.196Z,1736366723.196 [DAT](INFO): DAT read: Range 10 to 50 : 367.1 m (Round-trip 489.5 ms) speed -0.4 m/s 2025-01-08T20:05:23.197Z,1736366723.197 [DAT](INFO): DAT read: user:1111> 2025-01-08T20:05:23.200Z,1736366723.200 [DAT](INFO): DAT read: Tx time:20:05:22.4783 2025-01-08T20:05:23.200Z,1736366723.200 [DAT](INFO): Ping request sent. 2025-01-08T20:05:23.200Z,1736366723.200 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:23.200Z,1736366723.200 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:05:23.200Z,1736366723.200 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:23.201Z,1736366723.201 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:23.320Z,1736366723.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:23.329Z,1736366723.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 367.100006 m, deltaT: 8.065059 s, deltaX: 4.399994 m, approachRate: 0.545563 m/s, rangeRepo size: 4 2025-01-08T20:05:23.330Z,1736366723.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:23.334Z,1736366723.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 220.667053 m, bearing: 339.451578 deg, approach rate: -0.303222 m/s, LOS rate: 0.139784 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157893 deg. 2025-01-08T20:05:23.335Z,1736366723.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819864 target range: 346.799988 and range: 367.10 m. 2025-01-08T20:05:23.444Z,1736366723.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:23.446Z,1736366723.446 [DAT](INFO): DAT read: TxSync time:20:05:22.4775 2025-01-08T20:05:23.696Z,1736366723.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:23.701Z,1736366723.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:23.709Z,1736366723.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:23.712Z,1736366723.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 220.552017 m, bearing: 339.504822 deg, approach rate: -0.302270 m/s, LOS rate: 0.139977 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135002 deg. 2025-01-08T20:05:23.713Z,1736366723.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819465 target range: 346.799988 and range: 367.10 m. 2025-01-08T20:05:23.948Z,1736366723.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:24.200Z,1736366724.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:24.243Z,1736366724.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:24.250Z,1736366724.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:24.252Z,1736366724.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:24.255Z,1736366724.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 220.391312 m, bearing: 339.573241 deg, approach rate: -0.295746 m/s, LOS rate: 0.126003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180593 deg. 2025-01-08T20:05:24.256Z,1736366724.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820261 target range: 346.799988 and range: 367.10 m. 2025-01-08T20:05:24.312Z,1736366724.312 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:05:24.452Z,1736366724.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:24.452Z,1736366724.452 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:24.452Z,1736366724.452 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:24.452Z,1736366724.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:24.545Z,1736366724.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:24.555Z,1736366724.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:24.558Z,1736366724.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 220.301620 m, bearing: 339.611533 deg, approach rate: -0.296629 m/s, LOS rate: 0.126692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.090109 deg. 2025-01-08T20:05:24.559Z,1736366724.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818681 target range: 346.799988 and range: 367.10 m. 2025-01-08T20:05:24.704Z,1736366724.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:24.705Z,1736366724.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504544 2025-01-08T20:05:24.934Z,1736366724.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:24.942Z,1736366724.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:24.945Z,1736366724.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 220.186523 m, bearing: 339.660602 deg, approach rate: -0.297361 m/s, LOS rate: 0.126838 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122469 deg. 2025-01-08T20:05:24.946Z,1736366724.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819246 target range: 346.799988 and range: 367.10 m. 2025-01-08T20:05:24.964Z,1736366724.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:24.965Z,1736366724.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764429 2025-01-08T20:05:25.216Z,1736366725.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:25.217Z,1736366725.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017013 2025-01-08T20:05:25.316Z,1736366725.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:05:25.365Z,1736366725.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:25.374Z,1736366725.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:25.378Z,1736366725.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 220.059723 m, bearing: 339.712795 deg, approach rate: -0.293192 m/s, LOS rate: 0.120752 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131856 deg. 2025-01-08T20:05:25.379Z,1736366725.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819410 target range: 346.799988 and range: 367.10 m. 2025-01-08T20:05:25.468Z,1736366725.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:25.469Z,1736366725.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268775 2025-01-08T20:05:25.720Z,1736366725.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:25.720Z,1736366725.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520259 2025-01-08T20:05:25.745Z,1736366725.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:25.774Z,1736366725.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:25.781Z,1736366725.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 219.947556 m, bearing: 339.758816 deg, approach rate: -0.280688 m/s, LOS rate: 0.115223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113322 deg. 2025-01-08T20:05:25.783Z,1736366725.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819087 target range: 346.799988 and range: 367.10 m. 2025-01-08T20:05:25.972Z,1736366725.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:25.974Z,1736366725.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773687 2025-01-08T20:05:26.220Z,1736366726.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:26.224Z,1736366726.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:26.225Z,1736366726.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024442 2025-01-08T20:05:26.237Z,1736366726.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:26.244Z,1736366726.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 219.805481 m, bearing: 339.814362 deg, approach rate: -0.306952 m/s, LOS rate: 0.120083 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141930 deg. 2025-01-08T20:05:26.245Z,1736366726.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819586 target range: 346.799988 and range: 367.10 m. 2025-01-08T20:05:26.476Z,1736366726.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:26.477Z,1736366726.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276290 2025-01-08T20:05:26.578Z,1736366726.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:26.588Z,1736366726.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:26.590Z,1736366726.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:26.593Z,1736366726.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 219.698761 m, bearing: 339.856184 deg, approach rate: -0.302099 m/s, LOS rate: 0.118445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100713 deg. 2025-01-08T20:05:26.594Z,1736366726.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818867 target range: 346.799988 and range: 367.10 m. 2025-01-08T20:05:26.728Z,1736366726.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:26.729Z,1736366726.729 [DAT](INFO): DAT read: Rx Time:20:05:25.3746 2025-01-08T20:05:26.729Z,1736366726.729 [DAT](INFO): Rx dataTimestamp_ set to:1736366726.728958 2025-01-08T20:05:26.730Z,1736366726.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529710 2025-01-08T20:05:26.960Z,1736366726.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:26.968Z,1736366726.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:26.971Z,1736366726.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 219.583908 m, bearing: 339.900878 deg, approach rate: -0.303981 m/s, LOS rate: 0.118354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109340 deg. 2025-01-08T20:05:26.972Z,1736366726.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819017 target range: 346.799988 and range: 367.10 m. 2025-01-08T20:05:26.980Z,1736366726.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:26.980Z,1736366726.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780432 2025-01-08T20:05:27.232Z,1736366727.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:27.235Z,1736366727.235 [DAT](INFO): DAT read: Range 10 to 50 : 369.0 m (Round-trip 492.1 ms) speed -0.5 m/s 2025-01-08T20:05:27.236Z,1736366727.236 [DAT](INFO): DAT read: user:1112> 2025-01-08T20:05:27.238Z,1736366727.238 [DAT](INFO): DAT read: Tx time:20:05:26.4783 2025-01-08T20:05:27.238Z,1736366727.238 [DAT](INFO): Ping request sent. 2025-01-08T20:05:27.238Z,1736366727.238 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:27.239Z,1736366727.239 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:05:27.239Z,1736366727.239 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:27.240Z,1736366727.240 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:27.402Z,1736366727.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:27.412Z,1736366727.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 369.000000 m, deltaT: 4.039542 s, deltaX: 1.899994 m, approachRate: 0.470349 m/s, rangeRepo size: 4 2025-01-08T20:05:27.413Z,1736366727.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:27.417Z,1736366727.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 219.444702 m, bearing: 339.952356 deg, approach rate: -0.314025 m/s, LOS rate: 0.116200 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129718 deg. 2025-01-08T20:05:27.418Z,1736366727.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819373 target range: 346.799988 and range: 369.00 m. 2025-01-08T20:05:27.485Z,1736366727.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:27.486Z,1736366727.486 [DAT](INFO): DAT read: TxSync time:20:05:26.4775 2025-01-08T20:05:27.736Z,1736366727.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:27.780Z,1736366727.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:27.790Z,1736366727.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:27.793Z,1736366727.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 219.325729 m, bearing: 339.996344 deg, approach rate: -0.313867 m/s, LOS rate: 0.116109 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107222 deg. 2025-01-08T20:05:27.794Z,1736366727.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818980 target range: 346.799988 and range: 369.00 m. 2025-01-08T20:05:27.988Z,1736366727.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:28.239Z,1736366728.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:28.248Z,1736366728.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:28.267Z,1736366728.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:28.270Z,1736366728.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 219.172729 m, bearing: 340.053088 deg, approach rate: -0.323633 m/s, LOS rate: 0.120112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145538 deg. 2025-01-08T20:05:28.276Z,1736366728.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819649 target range: 346.799988 and range: 369.00 m. 2025-01-08T20:05:28.500Z,1736366728.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:28.579Z,1736366728.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:28.589Z,1736366728.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:28.592Z,1736366728.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 219.059387 m, bearing: 340.095322 deg, approach rate: -0.347980 m/s, LOS rate: 0.129733 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101954 deg. 2025-01-08T20:05:28.593Z,1736366728.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818888 target range: 346.799988 and range: 369.00 m. 2025-01-08T20:05:28.752Z,1736366728.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:28.978Z,1736366728.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:28.985Z,1736366728.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:28.987Z,1736366728.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:28.990Z,1736366728.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 218.926712 m, bearing: 340.144777 deg, approach rate: -0.333106 m/s, LOS rate: 0.124241 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123641 deg. 2025-01-08T20:05:28.991Z,1736366728.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819267 target range: 346.799988 and range: 369.00 m. 2025-01-08T20:05:29.005Z,1736366729.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:29.005Z,1736366729.005 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:29.005Z,1736366729.005 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:29.005Z,1736366729.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:29.256Z,1736366729.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:29.257Z,1736366729.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018543 2025-01-08T20:05:29.414Z,1736366729.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:29.423Z,1736366729.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:29.426Z,1736366729.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 218.771805 m, bearing: 340.205417 deg, approach rate: -0.355179 m/s, LOS rate: 0.139136 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157233 deg. 2025-01-08T20:05:29.427Z,1736366729.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819853 target range: 346.799988 and range: 369.00 m. 2025-01-08T20:05:29.508Z,1736366729.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:29.509Z,1736366729.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270653 2025-01-08T20:05:29.760Z,1736366729.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:29.760Z,1736366729.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522349 2025-01-08T20:05:29.797Z,1736366729.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:29.807Z,1736366729.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:29.810Z,1736366729.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 218.635727 m, bearing: 340.258694 deg, approach rate: -0.354870 m/s, LOS rate: 0.139025 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135117 deg. 2025-01-08T20:05:29.811Z,1736366729.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819467 target range: 346.799988 and range: 369.00 m. 2025-01-08T20:05:30.013Z,1736366730.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:30.014Z,1736366730.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776021 2025-01-08T20:05:30.263Z,1736366730.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:30.264Z,1736366730.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:30.264Z,1736366730.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026455 2025-01-08T20:05:30.278Z,1736366730.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:30.297Z,1736366730.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 218.458725 m, bearing: 340.330280 deg, approach rate: -0.375753 m/s, LOS rate: 0.152092 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190119 deg. 2025-01-08T20:05:30.298Z,1736366730.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820427 target range: 346.799988 and range: 369.00 m. 2025-01-08T20:05:30.518Z,1736366730.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:30.519Z,1736366730.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281042 2025-01-08T20:05:30.634Z,1736366730.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:30.643Z,1736366730.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:30.647Z,1736366730.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 218.317764 m, bearing: 340.387462 deg, approach rate: -0.386015 m/s, LOS rate: 0.156690 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146842 deg. 2025-01-08T20:05:30.649Z,1736366730.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819672 target range: 346.799988 and range: 369.00 m. 2025-01-08T20:05:30.768Z,1736366730.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:30.769Z,1736366730.769 [DAT](INFO): DAT read: Rx Time:20:05:29.3778 2025-01-08T20:05:30.769Z,1736366730.769 [DAT](INFO): Rx dataTimestamp_ set to:1736366730.768762 2025-01-08T20:05:30.770Z,1736366730.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531831 2025-01-08T20:05:31.008Z,1736366731.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:31.016Z,1736366731.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:31.018Z,1736366731.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:31.020Z,1736366731.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:31.020Z,1736366731.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782504 2025-01-08T20:05:31.029Z,1736366731.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 218.176407 m, bearing: 340.445127 deg, approach rate: -0.376515 m/s, LOS rate: 0.153694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148293 deg. 2025-01-08T20:05:31.033Z,1736366731.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819697 target range: 346.799988 and range: 369.00 m. 2025-01-08T20:05:31.273Z,1736366731.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:31.278Z,1736366731.278 [DAT](INFO): DAT read: Range 10 to 50 : 371.5 m (Round-trip 495.4 ms) speed -1.1 m/s 2025-01-08T20:05:31.279Z,1736366731.279 [DAT](INFO): DAT read: user:1113> 2025-01-08T20:05:31.280Z,1736366731.280 [DAT](INFO): DAT read: Tx time:20:05:30.4783 2025-01-08T20:05:31.280Z,1736366731.280 [DAT](INFO): Ping request sent. 2025-01-08T20:05:31.280Z,1736366731.280 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:31.281Z,1736366731.281 [DAT](INFO): DAT read: TxSync time:20:05:30.4775 2025-01-08T20:05:31.281Z,1736366731.281 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:05:31.281Z,1736366731.281 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:31.282Z,1736366731.282 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:31.433Z,1736366731.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:31.442Z,1736366731.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 371.500000 m, deltaT: 4.041197 s, deltaX: 2.500000 m, approachRate: 0.618629 m/s, rangeRepo size: 4 2025-01-08T20:05:31.443Z,1736366731.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:31.462Z,1736366731.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 218.013397 m, bearing: 340.516996 deg, approach rate: -0.385274 m/s, LOS rate: 0.169991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190955 deg. 2025-01-08T20:05:31.463Z,1736366731.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820442 target range: 346.799988 and range: 371.50 m. 2025-01-08T20:05:31.524Z,1736366731.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:31.776Z,1736366731.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:31.808Z,1736366731.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:31.817Z,1736366731.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:31.836Z,1736366731.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 217.870056 m, bearing: 340.580766 deg, approach rate: -0.381368 m/s, LOS rate: 0.169776 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166622 deg. 2025-01-08T20:05:31.837Z,1736366731.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820017 target range: 346.799988 and range: 371.50 m. 2025-01-08T20:05:32.028Z,1736366732.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:32.280Z,1736366732.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:32.308Z,1736366732.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:32.341Z,1736366732.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:32.348Z,1736366732.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 217.672668 m, bearing: 340.670691 deg, approach rate: -0.376954 m/s, LOS rate: 0.171887 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.245205 deg. 2025-01-08T20:05:32.350Z,1736366732.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821388 target range: 346.799988 and range: 371.50 m. 2025-01-08T20:05:32.532Z,1736366732.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:32.641Z,1736366732.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:32.653Z,1736366732.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:32.659Z,1736366732.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 217.541321 m, bearing: 340.730758 deg, approach rate: -0.421120 m/s, LOS rate: 0.192701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155497 deg. 2025-01-08T20:05:32.661Z,1736366732.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819823 target range: 346.799988 and range: 371.50 m. 2025-01-08T20:05:32.784Z,1736366732.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:33.019Z,1736366733.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:33.025Z,1736366733.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:33.029Z,1736366733.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:33.036Z,1736366733.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:33.036Z,1736366733.036 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:33.036Z,1736366733.036 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:33.037Z,1736366733.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:33.041Z,1736366733.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 217.394547 m, bearing: 340.799177 deg, approach rate: -0.391749 m/s, LOS rate: 0.182737 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180581 deg. 2025-01-08T20:05:33.042Z,1736366733.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820261 target range: 346.799988 and range: 371.50 m. 2025-01-08T20:05:33.288Z,1736366733.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:33.288Z,1736366733.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008316 2025-01-08T20:05:33.464Z,1736366733.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:33.475Z,1736366733.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:33.478Z,1736366733.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 217.227264 m, bearing: 340.881354 deg, approach rate: -0.373930 m/s, LOS rate: 0.183832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221904 deg. 2025-01-08T20:05:33.479Z,1736366733.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820982 target range: 346.799988 and range: 371.50 m. 2025-01-08T20:05:33.540Z,1736366733.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:33.541Z,1736366733.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260622 2025-01-08T20:05:33.792Z,1736366733.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:33.792Z,1736366733.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512379 2025-01-08T20:05:33.843Z,1736366733.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:33.864Z,1736366733.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:33.873Z,1736366733.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 217.086243 m, bearing: 340.951502 deg, approach rate: -0.361954 m/s, LOS rate: 0.180165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185769 deg. 2025-01-08T20:05:33.874Z,1736366733.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820351 target range: 346.799988 and range: 371.50 m. 2025-01-08T20:05:34.044Z,1736366734.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:34.044Z,1736366734.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764379 2025-01-08T20:05:34.296Z,1736366734.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:34.296Z,1736366734.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016385 2025-01-08T20:05:34.332Z,1736366734.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:34.341Z,1736366734.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:34.344Z,1736366734.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 216.919769 m, bearing: 341.038273 deg, approach rate: -0.349167 m/s, LOS rate: 0.182134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.235695 deg. 2025-01-08T20:05:34.345Z,1736366734.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821222 target range: 346.799988 and range: 371.50 m. 2025-01-08T20:05:34.548Z,1736366734.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:34.548Z,1736366734.548 [DAT](INFO): DAT read: Rx Time:20:05:33.3821 2025-01-08T20:05:34.550Z,1736366734.550 [DAT](INFO): Rx dataTimestamp_ set to:1736366734.548872 2025-01-08T20:05:34.550Z,1736366734.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270199 2025-01-08T20:05:34.649Z,1736366734.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:34.663Z,1736366734.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:34.668Z,1736366734.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 216.813141 m, bearing: 341.094926 deg, approach rate: -0.331897 m/s, LOS rate: 0.176428 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145229 deg. 2025-01-08T20:05:34.670Z,1736366734.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819643 target range: 346.799988 and range: 371.50 m. 2025-01-08T20:05:34.800Z,1736366734.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:34.801Z,1736366734.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520862 2025-01-08T20:05:35.052Z,1736366735.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:35.053Z,1736366735.053 [DAT](INFO): DAT read: Range 10 to 50 : 374.7 m (Round-trip 499.7 ms) speed -0.6 m/s 2025-01-08T20:05:35.054Z,1736366735.054 [DAT](INFO): DAT read: user:1114> 2025-01-08T20:05:35.055Z,1736366735.055 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:05:35.055Z,1736366735.055 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:35.056Z,1736366735.056 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:35.056Z,1736366735.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:35.065Z,1736366735.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:35.105Z,1736366735.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:35.117Z,1736366735.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 374.700012 m, deltaT: 3.778238 s, deltaX: 3.200012 m, approachRate: 0.846959 m/s, rangeRepo size: 4 2025-01-08T20:05:35.124Z,1736366735.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:35.139Z,1736366735.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 216.673859 m, bearing: 341.169471 deg, approach rate: -0.313577 m/s, LOS rate: 0.167938 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198965 deg. 2025-01-08T20:05:35.141Z,1736366735.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820581 target range: 346.799988 and range: 374.70 m. 2025-01-08T20:05:35.304Z,1736366735.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:35.305Z,1736366735.305 [DAT](INFO): DAT read: Tx time:20:05:34.4783 2025-01-08T20:05:35.305Z,1736366735.305 [DAT](INFO): Ping request sent. 2025-01-08T20:05:35.305Z,1736366735.305 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:35.306Z,1736366735.306 [DAT](INFO): DAT read: TxSync time:20:05:34.4775 2025-01-08T20:05:35.306Z,1736366735.306 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:35.308Z,1736366735.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001582 2025-01-08T20:05:35.492Z,1736366735.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:35.501Z,1736366735.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:35.504Z,1736366735.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 216.543106 m, bearing: 341.239974 deg, approach rate: -0.331989 m/s, LOS rate: 0.179119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186822 deg. 2025-01-08T20:05:35.505Z,1736366735.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820369 target range: 346.799988 and range: 374.70 m. 2025-01-08T20:05:35.557Z,1736366735.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:35.558Z,1736366735.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252317 2025-01-08T20:05:35.808Z,1736366735.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:35.809Z,1736366735.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503206 2025-01-08T20:05:35.847Z,1736366735.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:35.857Z,1736366735.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:35.860Z,1736366735.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 216.434265 m, bearing: 341.298967 deg, approach rate: -0.305661 m/s, LOS rate: 0.165754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152253 deg. 2025-01-08T20:05:35.861Z,1736366735.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819766 target range: 346.799988 and range: 374.70 m. 2025-01-08T20:05:36.061Z,1736366736.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:36.062Z,1736366736.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756455 2025-01-08T20:05:36.314Z,1736366736.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:36.317Z,1736366736.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010698 2025-01-08T20:05:36.331Z,1736366736.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:36.348Z,1736366736.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:36.353Z,1736366736.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 216.287994 m, bearing: 341.378653 deg, approach rate: -0.297354 m/s, LOS rate: 0.162105 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.214407 deg. 2025-01-08T20:05:36.354Z,1736366736.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820851 target range: 346.799988 and range: 374.70 m. 2025-01-08T20:05:36.564Z,1736366736.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:36.564Z,1736366736.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259007 2025-01-08T20:05:36.708Z,1736366736.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:36.728Z,1736366736.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:36.735Z,1736366736.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 216.186981 m, bearing: 341.433992 deg, approach rate: -0.266981 m/s, LOS rate: 0.146331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141281 deg. 2025-01-08T20:05:36.737Z,1736366736.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819574 target range: 346.799988 and range: 374.70 m. 2025-01-08T20:05:36.817Z,1736366736.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:36.818Z,1736366736.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512451 2025-01-08T20:05:37.062Z,1736366737.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:37.068Z,1736366737.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:37.068Z,1736366737.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763119 2025-01-08T20:05:37.073Z,1736366737.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:37.076Z,1736366737.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 216.091919 m, bearing: 341.485938 deg, approach rate: -0.274394 m/s, LOS rate: 0.150005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131091 deg. 2025-01-08T20:05:37.077Z,1736366737.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819396 target range: 346.799988 and range: 374.70 m. 2025-01-08T20:05:37.320Z,1736366737.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:37.322Z,1736366737.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016053 2025-01-08T20:05:37.556Z,1736366737.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:37.563Z,1736366737.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:37.565Z,1736366737.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:37.569Z,1736366737.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 215.970596 m, bearing: 341.551347 deg, approach rate: -0.246702 m/s, LOS rate: 0.133080 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171524 deg. 2025-01-08T20:05:37.570Z,1736366737.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820102 target range: 346.799988 and range: 374.70 m. 2025-01-08T20:05:37.572Z,1736366737.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:37.573Z,1736366737.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267498 2025-01-08T20:05:37.825Z,1736366737.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:37.826Z,1736366737.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520250 2025-01-08T20:05:37.898Z,1736366737.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:37.926Z,1736366737.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:37.929Z,1736366737.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 215.886017 m, bearing: 341.596659 deg, approach rate: -0.234187 m/s, LOS rate: 0.125511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.111176 deg. 2025-01-08T20:05:37.930Z,1736366737.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819049 target range: 346.799988 and range: 374.70 m. 2025-01-08T20:05:38.076Z,1736366738.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:38.076Z,1736366738.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771043 2025-01-08T20:05:38.329Z,1736366738.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:38.332Z,1736366738.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025615 2025-01-08T20:05:38.412Z,1736366738.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:38.422Z,1736366738.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:38.425Z,1736366738.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 215.763916 m, bearing: 341.657347 deg, approach rate: -0.246493 m/s, LOS rate: 0.122584 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157354 deg. 2025-01-08T20:05:38.426Z,1736366738.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819855 target range: 346.799988 and range: 374.70 m. 2025-01-08T20:05:38.580Z,1736366738.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:38.581Z,1736366738.580 [DAT](INFO): DAT read: Rx Time:20:05:37.3857 2025-01-08T20:05:38.581Z,1736366738.581 [DAT](INFO): Rx dataTimestamp_ set to:1736366738.580680 2025-01-08T20:05:38.581Z,1736366738.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276136 2025-01-08T20:05:38.794Z,1736366738.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:38.804Z,1736366738.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:38.807Z,1736366738.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 215.672806 m, bearing: 341.702402 deg, approach rate: -0.238215 m/s, LOS rate: 0.117850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110409 deg. 2025-01-08T20:05:38.808Z,1736366738.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819036 target range: 346.799988 and range: 374.70 m. 2025-01-08T20:05:38.845Z,1736366738.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:38.846Z,1736366738.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540500 2025-01-08T20:05:39.096Z,1736366739.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:39.098Z,1736366739.098 [DAT](INFO): DAT read: Range 10 to 50 : 377.4 m (Round-trip 503.2 ms) speed -0.9 m/s 2025-01-08T20:05:39.098Z,1736366739.098 [DAT](INFO): DAT read: user:1115> 2025-01-08T20:05:39.100Z,1736366739.100 [DAT](INFO): DAT read: Tx time:20:05:38.4784 2025-01-08T20:05:39.101Z,1736366739.101 [DAT](INFO): Ping request sent. 2025-01-08T20:05:39.101Z,1736366739.101 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:39.101Z,1736366739.101 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:05:39.102Z,1736366739.102 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:39.102Z,1736366739.102 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:39.206Z,1736366739.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:39.227Z,1736366739.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 377.399994 m, deltaT: 4.044110 s, deltaX: 2.699982 m, approachRate: 0.667633 m/s, rangeRepo size: 4 2025-01-08T20:05:39.228Z,1736366739.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:39.231Z,1736366739.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 215.574738 m, bearing: 341.751022 deg, approach rate: -0.238998 m/s, LOS rate: 0.118542 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121111 deg. 2025-01-08T20:05:39.238Z,1736366739.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819222 target range: 346.799988 and range: 377.40 m. 2025-01-08T20:05:39.350Z,1736366739.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:39.351Z,1736366739.351 [DAT](INFO): DAT read: TxSync time:20:05:38.4776 2025-01-08T20:05:39.600Z,1736366739.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:39.634Z,1736366739.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:39.641Z,1736366739.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:39.644Z,1736366739.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:39.647Z,1736366739.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 215.473633 m, bearing: 341.798918 deg, approach rate: -0.235834 m/s, LOS rate: 0.111775 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118944 deg. 2025-01-08T20:05:39.650Z,1736366739.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819185 target range: 346.799988 and range: 377.40 m. 2025-01-08T20:05:39.852Z,1736366739.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:39.853Z,1736366739.853 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:39.853Z,1736366739.853 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:39.853Z,1736366739.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:39.999Z,1736366739.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:40.009Z,1736366740.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:40.012Z,1736366740.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 215.387451 m, bearing: 341.839674 deg, approach rate: -0.235416 m/s, LOS rate: 0.111372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097501 deg. 2025-01-08T20:05:40.014Z,1736366740.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818810 target range: 346.799988 and range: 377.40 m. 2025-01-08T20:05:40.105Z,1736366740.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:40.106Z,1736366740.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004871 2025-01-08T20:05:40.358Z,1736366740.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:40.360Z,1736366740.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258590 2025-01-08T20:05:40.452Z,1736366740.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:40.465Z,1736366740.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:40.473Z,1736366740.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 215.271652 m, bearing: 341.891472 deg, approach rate: -0.254311 m/s, LOS rate: 0.113819 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130667 deg. 2025-01-08T20:05:40.474Z,1736366740.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819389 target range: 346.799988 and range: 377.40 m. 2025-01-08T20:05:40.608Z,1736366740.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:40.608Z,1736366740.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507333 2025-01-08T20:05:40.806Z,1736366740.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:40.831Z,1736366740.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:40.835Z,1736366740.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 215.181137 m, bearing: 341.931962 deg, approach rate: -0.247258 m/s, LOS rate: 0.110650 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.096705 deg. 2025-01-08T20:05:40.836Z,1736366740.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818797 target range: 346.799988 and range: 377.40 m. 2025-01-08T20:05:40.872Z,1736366740.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:40.873Z,1736366740.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772321 2025-01-08T20:05:41.124Z,1736366741.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:41.124Z,1736366741.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023210 2025-01-08T20:05:41.254Z,1736366741.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:41.262Z,1736366741.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:41.265Z,1736366741.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 215.066818 m, bearing: 341.983215 deg, approach rate: -0.265102 m/s, LOS rate: 0.118917 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129027 deg. 2025-01-08T20:05:41.266Z,1736366741.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819361 target range: 346.799988 and range: 377.40 m. 2025-01-08T20:05:41.379Z,1736366741.379 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:41.380Z,1736366741.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278724 2025-01-08T20:05:41.628Z,1736366741.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:41.628Z,1736366741.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527359 2025-01-08T20:05:41.646Z,1736366741.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:41.658Z,1736366741.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:41.661Z,1736366741.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:41.689Z,1736366741.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 214.956192 m, bearing: 342.030961 deg, approach rate: -0.277050 m/s, LOS rate: 0.119638 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118501 deg. 2025-01-08T20:05:41.690Z,1736366741.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819177 target range: 346.799988 and range: 377.40 m. 2025-01-08T20:05:41.880Z,1736366741.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:41.880Z,1736366741.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779221 2025-01-08T20:05:42.021Z,1736366742.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:42.030Z,1736366742.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:42.034Z,1736366742.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 214.848770 m, bearing: 342.076514 deg, approach rate: -0.291274 m/s, LOS rate: 0.123577 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.111912 deg. 2025-01-08T20:05:42.036Z,1736366742.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819062 target range: 346.799988 and range: 377.40 m. 2025-01-08T20:05:42.132Z,1736366742.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:42.134Z,1736366742.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033010 2025-01-08T20:05:42.386Z,1736366742.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:42.389Z,1736366742.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286873 2025-01-08T20:05:42.476Z,1736366742.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:42.496Z,1736366742.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:42.499Z,1736366742.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 214.702820 m, bearing: 342.137933 deg, approach rate: -0.313191 m/s, LOS rate: 0.131888 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159570 deg. 2025-01-08T20:05:42.509Z,1736366742.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819894 target range: 346.799988 and range: 377.40 m. 2025-01-08T20:05:42.636Z,1736366742.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:42.637Z,1736366742.637 [DAT](INFO): DAT read: Rx Time:20:05:41.3869 2025-01-08T20:05:42.637Z,1736366742.637 [DAT](INFO): Rx dataTimestamp_ set to:1736366742.636713 2025-01-08T20:05:42.637Z,1736366742.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536431 2025-01-08T20:05:42.840Z,1736366742.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:42.849Z,1736366742.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:42.873Z,1736366742.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 214.585861 m, bearing: 342.187290 deg, approach rate: -0.331568 m/s, LOS rate: 0.139998 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123337 deg. 2025-01-08T20:05:42.875Z,1736366742.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819262 target range: 346.799988 and range: 377.40 m. 2025-01-08T20:05:42.888Z,1736366742.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:42.889Z,1736366742.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787445 2025-01-08T20:05:43.140Z,1736366743.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:43.141Z,1736366743.141 [DAT](INFO): DAT read: Range 10 to 50 : 378.2 m (Round-trip 504.3 ms) speed -0.4 m/s 2025-01-08T20:05:43.142Z,1736366743.142 [DAT](INFO): DAT read: user:1116> 2025-01-08T20:05:43.143Z,1736366743.143 [DAT](INFO): DAT read: Tx time:20:05:42.4784 2025-01-08T20:05:43.143Z,1736366743.143 [DAT](INFO): Ping request sent. 2025-01-08T20:05:43.143Z,1736366743.143 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:43.144Z,1736366743.144 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:05:43.144Z,1736366743.144 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:43.144Z,1736366743.144 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:43.240Z,1736366743.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:43.265Z,1736366743.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 378.200012 m, deltaT: 4.043713 s, deltaX: 0.800018 m, approachRate: 0.197843 m/s, rangeRepo size: 4 2025-01-08T20:05:43.266Z,1736366743.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:43.281Z,1736366743.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 214.459198 m, bearing: 342.240771 deg, approach rate: -0.304477 m/s, LOS rate: 0.128635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135723 deg. 2025-01-08T20:05:43.282Z,1736366743.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819478 target range: 346.799988 and range: 378.20 m. 2025-01-08T20:05:43.395Z,1736366743.395 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:43.397Z,1736366743.397 [DAT](INFO): DAT read: TxSync time:20:05:42.4776 2025-01-08T20:05:43.644Z,1736366743.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:43.665Z,1736366743.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:43.697Z,1736366743.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:43.703Z,1736366743.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:43.706Z,1736366743.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 214.310318 m, bearing: 342.304279 deg, approach rate: -0.342840 m/s, LOS rate: 0.146349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165844 deg. 2025-01-08T20:05:43.712Z,1736366743.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820003 target range: 346.799988 and range: 378.20 m. 2025-01-08T20:05:43.896Z,1736366743.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:43.896Z,1736366743.896 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:43.896Z,1736366743.896 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:43.896Z,1736366743.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:44.072Z,1736366744.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:44.091Z,1736366744.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:44.098Z,1736366744.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 214.170609 m, bearing: 342.364537 deg, approach rate: -0.356392 m/s, LOS rate: 0.153815 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156077 deg. 2025-01-08T20:05:44.108Z,1736366744.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819833 target range: 346.799988 and range: 378.20 m. 2025-01-08T20:05:44.148Z,1736366744.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:44.149Z,1736366744.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005374 2025-01-08T20:05:44.401Z,1736366744.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:44.406Z,1736366744.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262435 2025-01-08T20:05:44.509Z,1736366744.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:44.540Z,1736366744.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:44.542Z,1736366744.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 214.008728 m, bearing: 342.435993 deg, approach rate: -0.377744 m/s, LOS rate: 0.166867 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189717 deg. 2025-01-08T20:05:44.548Z,1736366744.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820420 target range: 346.799988 and range: 378.20 m. 2025-01-08T20:05:44.652Z,1736366744.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:44.654Z,1736366744.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510077 2025-01-08T20:05:44.863Z,1736366744.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:44.878Z,1736366744.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:44.881Z,1736366744.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 213.877670 m, bearing: 342.494032 deg, approach rate: -0.365853 m/s, LOS rate: 0.162115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149407 deg. 2025-01-08T20:05:44.882Z,1736366744.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819716 target range: 346.799988 and range: 378.20 m. 2025-01-08T20:05:44.904Z,1736366744.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:44.904Z,1736366744.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760938 2025-01-08T20:05:45.156Z,1736366745.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:45.156Z,1736366745.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012996 2025-01-08T20:05:45.260Z,1736366745.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:45.274Z,1736366745.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:45.277Z,1736366745.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 213.732681 m, bearing: 342.559525 deg, approach rate: -0.366132 m/s, LOS rate: 0.165499 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171800 deg. 2025-01-08T20:05:45.278Z,1736366745.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820107 target range: 346.799988 and range: 378.20 m. 2025-01-08T20:05:45.414Z,1736366745.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:45.416Z,1736366745.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272069 2025-01-08T20:05:45.665Z,1736366745.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:45.666Z,1736366745.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522166 2025-01-08T20:05:45.698Z,1736366745.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:45.734Z,1736366745.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:45.742Z,1736366745.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:45.756Z,1736366745.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 213.571289 m, bearing: 342.635517 deg, approach rate: -0.344877 m/s, LOS rate: 0.162508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.203332 deg. 2025-01-08T20:05:45.759Z,1736366745.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820658 target range: 346.799988 and range: 378.20 m. 2025-01-08T20:05:45.916Z,1736366745.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:45.918Z,1736366745.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774441 2025-01-08T20:05:46.074Z,1736366746.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:46.100Z,1736366746.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:46.108Z,1736366746.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 213.434357 m, bearing: 342.701063 deg, approach rate: -0.401674 m/s, LOS rate: 0.192395 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171951 deg. 2025-01-08T20:05:46.109Z,1736366746.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820110 target range: 346.799988 and range: 378.20 m. 2025-01-08T20:05:46.169Z,1736366746.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:46.170Z,1736366746.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026207 2025-01-08T20:05:46.422Z,1736366746.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:46.425Z,1736366746.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280774 2025-01-08T20:05:46.551Z,1736366746.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:46.559Z,1736366746.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:46.562Z,1736366746.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 213.266342 m, bearing: 342.784566 deg, approach rate: -0.352798 m/s, LOS rate: 0.175479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225892 deg. 2025-01-08T20:05:46.563Z,1736366746.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821051 target range: 346.799988 and range: 378.20 m. 2025-01-08T20:05:46.672Z,1736366746.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:46.673Z,1736366746.673 [DAT](INFO): DAT read: Rx Time:20:05:45.3917 2025-01-08T20:05:46.674Z,1736366746.674 [DAT](INFO): Rx dataTimestamp_ set to:1736366746.673879 2025-01-08T20:05:46.676Z,1736366746.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531479 2025-01-08T20:05:46.897Z,1736366746.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:46.906Z,1736366746.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:46.909Z,1736366746.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 213.140854 m, bearing: 342.847711 deg, approach rate: -0.361542 m/s, LOS rate: 0.182033 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164733 deg. 2025-01-08T20:05:46.910Z,1736366746.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819984 target range: 346.799988 and range: 378.20 m. 2025-01-08T20:05:46.924Z,1736366746.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:46.924Z,1736366746.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780963 2025-01-08T20:05:47.176Z,1736366747.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:47.178Z,1736366747.178 [DAT](INFO): DAT read: Range 10 to 50 : 381.9 m (Round-trip 509.2 ms) speed -0.3 m/s 2025-01-08T20:05:47.178Z,1736366747.178 [DAT](INFO): DAT read: user:1117> 2025-01-08T20:05:47.179Z,1736366747.179 [DAT](INFO): DAT read: Tx time:20:05:46.4784 2025-01-08T20:05:47.179Z,1736366747.180 [DAT](INFO): Ping request sent. 2025-01-08T20:05:47.180Z,1736366747.180 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:47.180Z,1736366747.180 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:05:47.180Z,1736366747.180 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:47.181Z,1736366747.181 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:47.296Z,1736366747.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:47.332Z,1736366747.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 381.899994 m, deltaT: 4.036260 s, deltaX: 3.699982 m, approachRate: 0.916686 m/s, rangeRepo size: 4 2025-01-08T20:05:47.336Z,1736366747.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:47.341Z,1736366747.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 212.999817 m, bearing: 342.919283 deg, approach rate: -0.342945 m/s, LOS rate: 0.174148 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190042 deg. 2025-01-08T20:05:47.342Z,1736366747.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820426 target range: 346.799988 and range: 381.90 m. 2025-01-08T20:05:47.434Z,1736366747.434 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:47.437Z,1736366747.437 [DAT](INFO): DAT read: TxSync time:20:05:46.4776 2025-01-08T20:05:47.684Z,1736366747.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:47.726Z,1736366747.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:47.734Z,1736366747.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:47.736Z,1736366747.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:47.739Z,1736366747.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 212.857101 m, bearing: 342.995977 deg, approach rate: -0.340558 m/s, LOS rate: 0.183137 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205424 deg. 2025-01-08T20:05:47.740Z,1736366747.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820694 target range: 346.799988 and range: 381.90 m. 2025-01-08T20:05:47.936Z,1736366747.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:47.936Z,1736366747.936 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:47.936Z,1736366747.936 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:47.937Z,1736366747.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:48.107Z,1736366748.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:48.116Z,1736366748.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:48.119Z,1736366748.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 212.730865 m, bearing: 343.064080 deg, approach rate: -0.332994 m/s, LOS rate: 0.179752 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179615 deg. 2025-01-08T20:05:48.120Z,1736366748.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820244 target range: 346.799988 and range: 381.90 m. 2025-01-08T20:05:48.188Z,1736366748.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:48.189Z,1736366748.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009716 2025-01-08T20:05:48.442Z,1736366748.442 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:48.445Z,1736366748.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264457 2025-01-08T20:05:48.561Z,1736366748.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:48.572Z,1736366748.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:48.574Z,1736366748.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 212.583099 m, bearing: 343.142213 deg, approach rate: -0.323988 m/s, LOS rate: 0.171431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209747 deg. 2025-01-08T20:05:48.576Z,1736366748.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820769 target range: 346.799988 and range: 381.90 m. 2025-01-08T20:05:48.692Z,1736366748.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:48.692Z,1736366748.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512798 2025-01-08T20:05:48.904Z,1736366748.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:48.932Z,1736366748.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:48.936Z,1736366748.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 212.471756 m, bearing: 343.201478 deg, approach rate: -0.309347 m/s, LOS rate: 0.164745 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153076 deg. 2025-01-08T20:05:48.937Z,1736366748.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819780 target range: 346.799988 and range: 381.90 m. 2025-01-08T20:05:48.944Z,1736366748.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:48.945Z,1736366748.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764903 2025-01-08T20:05:49.196Z,1736366749.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:49.196Z,1736366749.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016709 2025-01-08T20:05:49.307Z,1736366749.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:49.340Z,1736366749.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:49.342Z,1736366749.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 212.340652 m, bearing: 343.271075 deg, approach rate: -0.324593 m/s, LOS rate: 0.172418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184105 deg. 2025-01-08T20:05:49.344Z,1736366749.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820322 target range: 346.799988 and range: 381.90 m. 2025-01-08T20:05:49.449Z,1736366749.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:49.452Z,1736366749.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271812 2025-01-08T20:05:49.700Z,1736366749.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:49.701Z,1736366749.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521083 2025-01-08T20:05:49.755Z,1736366749.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:49.770Z,1736366749.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:49.782Z,1736366749.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:49.790Z,1736366749.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 212.209961 m, bearing: 343.344086 deg, approach rate: -0.299533 m/s, LOS rate: 0.167436 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194351 deg. 2025-01-08T20:05:49.791Z,1736366749.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820501 target range: 346.799988 and range: 381.90 m. 2025-01-08T20:05:49.952Z,1736366749.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:49.952Z,1736366749.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772666 2025-01-08T20:05:50.113Z,1736366750.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:50.122Z,1736366750.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:50.125Z,1736366750.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 212.105377 m, bearing: 343.402587 deg, approach rate: -0.298200 m/s, LOS rate: 0.166887 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150777 deg. 2025-01-08T20:05:50.126Z,1736366750.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819740 target range: 346.799988 and range: 381.90 m. 2025-01-08T20:05:50.204Z,1736366750.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:50.205Z,1736366750.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025817 2025-01-08T20:05:50.456Z,1736366750.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:50.456Z,1736366750.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276789 2025-01-08T20:05:50.590Z,1736366750.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:50.623Z,1736366750.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:50.626Z,1736366750.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 211.972244 m, bearing: 343.476171 deg, approach rate: -0.267932 m/s, LOS rate: 0.148181 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196075 deg. 2025-01-08T20:05:50.636Z,1736366750.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820531 target range: 346.799988 and range: 381.90 m. 2025-01-08T20:05:50.709Z,1736366750.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:50.710Z,1736366750.710 [DAT](INFO): DAT read: Rx Time:20:05:49.3951 2025-01-08T20:05:50.711Z,1736366750.711 [DAT](INFO): Rx dataTimestamp_ set to:1736366750.709836 2025-01-08T20:05:50.717Z,1736366750.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531429 2025-01-08T20:05:50.937Z,1736366750.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:50.945Z,1736366750.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:50.960Z,1736366750.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:50.960Z,1736366750.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780846 2025-01-08T20:05:50.969Z,1736366750.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 211.875443 m, bearing: 343.529923 deg, approach rate: -0.296667 m/s, LOS rate: 0.164810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136518 deg. 2025-01-08T20:05:50.970Z,1736366750.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819491 target range: 346.799988 and range: 381.90 m. 2025-01-08T20:05:51.212Z,1736366751.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:51.215Z,1736366751.215 [DAT](INFO): DAT read: Range 10 to 50 : 384.3 m (Round-trip 512.5 ms) speed -0.3 m/s 2025-01-08T20:05:51.217Z,1736366751.217 [DAT](INFO): DAT read: user:1118> 2025-01-08T20:05:51.218Z,1736366751.218 [DAT](INFO): DAT read: Tx time:20:05:50.4785 2025-01-08T20:05:51.218Z,1736366751.218 [DAT](INFO): Ping request sent. 2025-01-08T20:05:51.219Z,1736366751.219 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:51.219Z,1736366751.219 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:05:51.220Z,1736366751.220 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:51.220Z,1736366751.220 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:51.346Z,1736366751.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:51.355Z,1736366751.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 384.299988 m, deltaT: 4.036441 s, deltaX: 2.399994 m, approachRate: 0.594582 m/s, rangeRepo size: 4 2025-01-08T20:05:51.356Z,1736366751.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:51.358Z,1736366751.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 211.761765 m, bearing: 343.593164 deg, approach rate: -0.278217 m/s, LOS rate: 0.154860 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165011 deg. 2025-01-08T20:05:51.360Z,1736366751.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819989 target range: 346.799988 and range: 384.30 m. 2025-01-08T20:05:51.465Z,1736366751.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:51.474Z,1736366751.474 [DAT](INFO): DAT read: TxSync time:20:05:50.4777 2025-01-08T20:05:51.716Z,1736366751.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:51.785Z,1736366751.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:51.792Z,1736366751.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:51.794Z,1736366751.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:51.813Z,1736366751.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 211.649887 m, bearing: 343.658453 deg, approach rate: -0.254388 m/s, LOS rate: 0.148533 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171156 deg. 2025-01-08T20:05:51.814Z,1736366751.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820096 target range: 346.799988 and range: 384.30 m. 2025-01-08T20:05:51.968Z,1736366751.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:51.969Z,1736366751.969 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:51.969Z,1736366751.969 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:51.969Z,1736366751.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:52.148Z,1736366752.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:52.158Z,1736366752.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:52.177Z,1736366752.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 211.557449 m, bearing: 343.712563 deg, approach rate: -0.253659 m/s, LOS rate: 0.148549 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137588 deg. 2025-01-08T20:05:52.178Z,1736366752.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819510 target range: 346.799988 and range: 384.30 m. 2025-01-08T20:05:52.220Z,1736366752.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:52.221Z,1736366752.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002350 2025-01-08T20:05:52.473Z,1736366752.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:52.476Z,1736366752.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257583 2025-01-08T20:05:52.629Z,1736366752.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:52.639Z,1736366752.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:52.642Z,1736366752.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 211.438889 m, bearing: 343.779476 deg, approach rate: -0.246720 m/s, LOS rate: 0.139319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176035 deg. 2025-01-08T20:05:52.643Z,1736366752.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820181 target range: 346.799988 and range: 384.30 m. 2025-01-08T20:05:52.726Z,1736366752.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:52.727Z,1736366752.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508236 2025-01-08T20:05:52.976Z,1736366752.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:52.980Z,1736366752.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:52.980Z,1736366752.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762139 2025-01-08T20:05:52.987Z,1736366752.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:52.990Z,1736366752.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 211.352997 m, bearing: 343.827813 deg, approach rate: -0.246634 m/s, LOS rate: 0.138854 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120257 deg. 2025-01-08T20:05:52.991Z,1736366752.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819208 target range: 346.799988 and range: 384.30 m. 2025-01-08T20:05:53.232Z,1736366753.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:53.233Z,1736366753.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015058 2025-01-08T20:05:53.376Z,1736366753.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:53.404Z,1736366753.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:53.406Z,1736366753.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 211.253937 m, bearing: 343.883331 deg, approach rate: -0.237700 m/s, LOS rate: 0.133281 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141819 deg. 2025-01-08T20:05:53.408Z,1736366753.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819584 target range: 346.799988 and range: 384.30 m. 2025-01-08T20:05:53.486Z,1736366753.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:53.486Z,1736366753.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268003 2025-01-08T20:05:53.736Z,1736366753.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:53.736Z,1736366753.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518116 2025-01-08T20:05:53.826Z,1736366753.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:53.834Z,1736366753.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:53.837Z,1736366753.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:53.840Z,1736366753.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 211.140717 m, bearing: 343.945389 deg, approach rate: -0.261598 m/s, LOS rate: 0.143463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161460 deg. 2025-01-08T20:05:53.841Z,1736366753.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819927 target range: 346.799988 and range: 384.30 m. 2025-01-08T20:05:53.988Z,1736366753.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:53.988Z,1736366753.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770150 2025-01-08T20:05:54.193Z,1736366754.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:54.218Z,1736366754.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:54.222Z,1736366754.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 211.048264 m, bearing: 343.995823 deg, approach rate: -0.242122 m/s, LOS rate: 0.132137 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126554 deg. 2025-01-08T20:05:54.223Z,1736366754.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819317 target range: 346.799988 and range: 384.30 m. 2025-01-08T20:05:54.240Z,1736366754.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:54.241Z,1736366754.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022221 2025-01-08T20:05:54.494Z,1736366754.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:54.495Z,1736366754.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276303 2025-01-08T20:05:54.634Z,1736366754.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:54.642Z,1736366754.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:54.645Z,1736366754.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 210.937988 m, bearing: 344.057349 deg, approach rate: -0.260437 m/s, LOS rate: 0.145383 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159862 deg. 2025-01-08T20:05:54.647Z,1736366754.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819899 target range: 346.799988 and range: 384.30 m. 2025-01-08T20:05:54.752Z,1736366754.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:54.754Z,1736366754.754 [DAT](INFO): DAT read: Rx Time:20:05:53.3983 2025-01-08T20:05:54.757Z,1736366754.757 [DAT](INFO): Rx dataTimestamp_ set to:1736366754.754280 2025-01-08T20:05:54.758Z,1736366754.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539986 2025-01-08T20:05:54.985Z,1736366754.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:54.994Z,1736366754.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:55.004Z,1736366755.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:55.004Z,1736366755.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786092 2025-01-08T20:05:55.012Z,1736366755.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 210.849930 m, bearing: 344.106500 deg, approach rate: -0.250431 m/s, LOS rate: 0.139841 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122702 deg. 2025-01-08T20:05:55.014Z,1736366755.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819250 target range: 346.799988 and range: 384.30 m. 2025-01-08T20:05:55.256Z,1736366755.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:55.258Z,1736366755.258 [DAT](INFO): DAT read: Range 10 to 50 : 386.7 m (Round-trip 515.7 ms) speed -0.4 m/s 2025-01-08T20:05:55.259Z,1736366755.259 [DAT](INFO): DAT read: user:1119> 2025-01-08T20:05:55.260Z,1736366755.260 [DAT](INFO): DAT read: Tx time:20:05:54.4785 2025-01-08T20:05:55.260Z,1736366755.260 [DAT](INFO): Ping request sent. 2025-01-08T20:05:55.260Z,1736366755.260 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:05:55.261Z,1736366755.261 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:05:55.261Z,1736366755.261 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:55.261Z,1736366755.261 [DAT](INFO): publishing transmit ping time 2025-01-08T20:05:55.402Z,1736366755.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:55.411Z,1736366755.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 386.700012 m, deltaT: 4.044070 s, deltaX: 2.400024 m, approachRate: 0.593468 m/s, rangeRepo size: 4 2025-01-08T20:05:55.411Z,1736366755.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:55.414Z,1736366755.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 210.745575 m, bearing: 344.164764 deg, approach rate: -0.250590 m/s, LOS rate: 0.139979 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150064 deg. 2025-01-08T20:05:55.415Z,1736366755.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819728 target range: 346.799988 and range: 386.70 m. 2025-01-08T20:05:55.464Z,1736366755.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:05:55.509Z,1736366755.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:55.509Z,1736366755.509 [DAT](INFO): DAT read: TxSync time:20:05:54.4777 2025-01-08T20:05:55.760Z,1736366755.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:55.828Z,1736366755.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:55.836Z,1736366755.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:55.838Z,1736366755.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:55.841Z,1736366755.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 210.632019 m, bearing: 344.226247 deg, approach rate: -0.265347 m/s, LOS rate: 0.143746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159736 deg. 2025-01-08T20:05:55.842Z,1736366755.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819897 target range: 346.799988 and range: 386.70 m. 2025-01-08T20:05:56.012Z,1736366756.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:56.012Z,1736366756.012 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:56.012Z,1736366756.012 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:56.013Z,1736366756.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:56.201Z,1736366756.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:56.209Z,1736366756.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:56.212Z,1736366756.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 210.533554 m, bearing: 344.279977 deg, approach rate: -0.265341 m/s, LOS rate: 0.144858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136451 deg. 2025-01-08T20:05:56.214Z,1736366756.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819490 target range: 346.799988 and range: 386.70 m. 2025-01-08T20:05:56.265Z,1736366756.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:56.266Z,1736366756.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005362 2025-01-08T20:05:56.464Z,1736366756.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:05:56.516Z,1736366756.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:56.516Z,1736366756.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256225 2025-01-08T20:05:56.661Z,1736366756.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:56.695Z,1736366756.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:56.698Z,1736366756.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 210.408524 m, bearing: 344.349546 deg, approach rate: -0.268535 m/s, LOS rate: 0.149505 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184015 deg. 2025-01-08T20:05:56.704Z,1736366756.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820321 target range: 346.799988 and range: 386.70 m. 2025-01-08T20:05:56.768Z,1736366756.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:56.768Z,1736366756.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508274 2025-01-08T20:05:57.005Z,1736366757.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:57.021Z,1736366757.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:57.022Z,1736366757.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761649 2025-01-08T20:05:57.047Z,1736366757.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:57.058Z,1736366757.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 210.314972 m, bearing: 344.401604 deg, approach rate: -0.251323 m/s, LOS rate: 0.139915 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131431 deg. 2025-01-08T20:05:57.059Z,1736366757.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819403 target range: 346.799988 and range: 386.70 m. 2025-01-08T20:05:57.272Z,1736366757.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:57.274Z,1736366757.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013041 2025-01-08T20:05:57.416Z,1736366757.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:57.425Z,1736366757.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:57.430Z,1736366757.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 210.203110 m, bearing: 344.463780 deg, approach rate: -0.295972 m/s, LOS rate: 0.164595 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161811 deg. 2025-01-08T20:05:57.431Z,1736366757.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819933 target range: 346.799988 and range: 386.70 m. 2025-01-08T20:05:57.524Z,1736366757.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:57.524Z,1736366757.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264266 2025-01-08T20:05:57.776Z,1736366757.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:57.777Z,1736366757.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516570 2025-01-08T20:05:57.846Z,1736366757.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:57.853Z,1736366757.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:57.856Z,1736366757.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:57.858Z,1736366757.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 210.076614 m, bearing: 344.531919 deg, approach rate: -0.293739 m/s, LOS rate: 0.158324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179728 deg. 2025-01-08T20:05:57.860Z,1736366757.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820246 target range: 346.799988 and range: 386.70 m. 2025-01-08T20:05:58.028Z,1736366758.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:58.028Z,1736366758.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768164 2025-01-08T20:05:58.225Z,1736366758.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:58.234Z,1736366758.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:58.237Z,1736366758.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 209.965561 m, bearing: 344.591992 deg, approach rate: -0.293694 m/s, LOS rate: 0.158953 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155499 deg. 2025-01-08T20:05:58.238Z,1736366758.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819823 target range: 346.799988 and range: 386.70 m. 2025-01-08T20:05:58.280Z,1736366758.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:58.282Z,1736366758.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021357 2025-01-08T20:05:58.532Z,1736366758.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:58.533Z,1736366758.533 [DAT](INFO): DAT read: Rx Time:20:05:57.4019 2025-01-08T20:05:58.533Z,1736366758.533 [DAT](INFO): Rx dataTimestamp_ set to:1736366758.532685 2025-01-08T20:05:58.533Z,1736366758.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273307 2025-01-08T20:05:58.738Z,1736366758.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:58.755Z,1736366758.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:58.762Z,1736366758.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 209.809464 m, bearing: 344.675387 deg, approach rate: -0.299416 m/s, LOS rate: 0.160082 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225556 deg. 2025-01-08T20:05:58.763Z,1736366758.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821045 target range: 346.799988 and range: 386.70 m. 2025-01-08T20:05:58.784Z,1736366758.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:58.785Z,1736366758.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524513 2025-01-08T20:05:59.036Z,1736366759.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:59.036Z,1736366759.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776277 2025-01-08T20:05:59.172Z,1736366759.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:59.180Z,1736366759.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m. 2025-01-08T20:05:59.184Z,1736366759.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.799988 m, nav range: 209.678101 m, bearing: 344.745853 deg, approach rate: -0.308884 m/s, LOS rate: 0.165796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186717 deg. 2025-01-08T20:05:59.185Z,1736366759.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820367 target range: 346.799988 and range: 386.70 m. 2025-01-08T20:05:59.288Z,1736366759.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:59.317Z,1736366759.317 [DAT](INFO): DAT read: 20:05:57.4019 LVL= 29536, 23777, 19794, 32755, AGC= 72, IDX= 455,-0.11, 2.608,-1.257,-2.736,-3.036, PHS=-0.551, 1.826, 0.296, RAW= 309.4, -14.9, CAL= 314.8, -20.4, ROT= 195.2, 20.4 2025-01-08T20:05:59.319Z,1736366759.319 [DAT](INFO): got valid direction response: 20:05:57.4019 LVL= 29536, 23777, 19794, 32755, AGC= 72, IDX= 455,-0.11, 2.608,-1.257,-2.736,-3.036, PHS=-0.551, 1.826, 0.296, RAW= 309.4, -14.9, CAL= 314.8, -20.4, ROT= 195.2, 20.4 2025-01-08T20:05:59.321Z,1736366759.321 [DAT](INFO): DAT read: Bearing 195.2, 20.4 (Local) 2025-01-08T20:05:59.321Z,1736366759.321 [DAT](INFO): Local bearing/azimuth received: Bearing 195.2, 20.4 (Local) 2025-01-08T20:05:59.322Z,1736366759.322 [DAT](INFO): DAT read: Range 10 to 50 : 389.4 m (Round-5 2025-01-08T20:05:59.329Z,1736366759.329 [DAT](INFO): DAT read: TxSync time:20:05:58.5277 2025-01-08T20:05:59.330Z,1736366759.330 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:05:59.330Z,1736366759.330 [DAT](INFO): direction in FSK: [0.401908,0.519534,-0.754025] 2025-01-08T20:05:59.331Z,1736366759.331 [DAT](INFO): publishing direction and range info 2025-01-08T20:05:59.342Z,1736366759.342 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:05:59.342Z,1736366759.342 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:05:59.343Z,1736366759.343 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:05:59.496Z,1736366759.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:59.510Z,1736366759.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 389.399994 m, deltaT: 4.032222 s, deltaX: 2.699982 m, approachRate: 0.669601 m/s, rangeRepo size: 4 2025-01-08T20:05:59.540Z,1736366759.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:59.540Z,1736366759.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280277 2025-01-08T20:05:59.552Z,1736366759.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 389.399994 m, bearing: 332.997430 deg, lat: 36.907257 deg, lon: -122.123687 deg, deltaT: 70.872385 s, deltaX: 42.600006 m, approachRate: 0.601080 m/s, posRepo size: 4 2025-01-08T20:05:59.553Z,1736366759.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:05:59.566Z,1736366759.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 223.887787 m, bearing: 342.610743 deg, approach rate: 0.000000 m/s, LOS rate: 0.165796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138949 deg. 2025-01-08T20:05:59.573Z,1736366759.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819534 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:05:59.792Z,1736366759.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:05:59.792Z,1736366759.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532208 2025-01-08T20:05:59.924Z,1736366759.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:05:59.930Z,1736366759.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:05:59.948Z,1736366759.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:05:59.953Z,1736366759.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 223.748947 m, bearing: 342.676214 deg, approach rate: -0.316276 m/s, LOS rate: 0.149235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171721 deg. 2025-01-08T20:05:59.954Z,1736366759.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820106 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:00.044Z,1736366760.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:00.044Z,1736366760.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784270 2025-01-08T20:06:00.296Z,1736366760.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:00.297Z,1736366760.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036480 2025-01-08T20:06:00.303Z,1736366760.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:00.342Z,1736366760.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:00.350Z,1736366760.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 223.626511 m, bearing: 342.734546 deg, approach rate: -0.310771 m/s, LOS rate: 0.148139 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150276 deg. 2025-01-08T20:06:00.356Z,1736366760.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819732 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:00.548Z,1736366760.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:00.548Z,1736366760.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288210 2025-01-08T20:06:00.753Z,1736366760.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:00.761Z,1736366760.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:00.764Z,1736366760.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 223.478699 m, bearing: 342.804645 deg, approach rate: -0.353244 m/s, LOS rate: 0.167636 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185624 deg. 2025-01-08T20:06:00.765Z,1736366760.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820348 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:00.800Z,1736366760.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:00.801Z,1736366760.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541129 2025-01-08T20:06:01.052Z,1736366761.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:01.054Z,1736366761.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793531 2025-01-08T20:06:01.123Z,1736366761.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:01.141Z,1736366761.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:01.152Z,1736366761.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 223.357346 m, bearing: 342.862376 deg, approach rate: -0.327727 m/s, LOS rate: 0.155993 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148473 deg. 2025-01-08T20:06:01.153Z,1736366761.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819700 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:01.304Z,1736366761.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:01.305Z,1736366761.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044447 2025-01-08T20:06:01.526Z,1736366761.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:01.549Z,1736366761.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:01.556Z,1736366761.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:01.558Z,1736366761.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297763 2025-01-08T20:06:01.580Z,1736366761.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 223.225250 m, bearing: 342.925395 deg, approach rate: -0.317576 m/s, LOS rate: 0.151595 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164353 deg. 2025-01-08T20:06:01.581Z,1736366761.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819977 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:01.808Z,1736366761.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:01.808Z,1736366761.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548177 2025-01-08T20:06:01.981Z,1736366761.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:01.989Z,1736366761.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:01.991Z,1736366761.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:01.994Z,1736366761.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 223.078888 m, bearing: 342.996699 deg, approach rate: -0.329758 m/s, LOS rate: 0.160757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189241 deg. 2025-01-08T20:06:01.995Z,1736366761.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820412 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:02.062Z,1736366762.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:02.063Z,1736366762.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802829 2025-01-08T20:06:02.316Z,1736366762.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:02.317Z,1736366762.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057208 2025-01-08T20:06:02.346Z,1736366762.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:02.373Z,1736366762.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:02.384Z,1736366762.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 222.961716 m, bearing: 343.054068 deg, approach rate: -0.306836 m/s, LOS rate: 0.150310 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147384 deg. 2025-01-08T20:06:02.385Z,1736366762.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819681 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:02.568Z,1736366762.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:02.570Z,1736366762.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309753 2025-01-08T20:06:02.781Z,1736366762.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:02.791Z,1736366762.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:02.793Z,1736366762.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 222.826492 m, bearing: 343.121956 deg, approach rate: -0.323663 m/s, LOS rate: 0.162590 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178971 deg. 2025-01-08T20:06:02.795Z,1736366762.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820232 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:02.820Z,1736366762.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:02.821Z,1736366762.821 [DAT](INFO): DAT read: Rx Time:20:06:01.4537 2025-01-08T20:06:02.821Z,1736366762.821 [DAT](INFO): Rx dataTimestamp_ set to:1736366762.820731 2025-01-08T20:06:02.822Z,1736366762.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561332 2025-01-08T20:06:03.072Z,1736366763.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:03.073Z,1736366763.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812422 2025-01-08T20:06:03.209Z,1736366763.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:03.219Z,1736366763.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:03.222Z,1736366763.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 222.693710 m, bearing: 343.188803 deg, approach rate: -0.310186 m/s, LOS rate: 0.156253 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175848 deg. 2025-01-08T20:06:03.223Z,1736366763.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820178 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:03.324Z,1736366763.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:03.333Z,1736366763.333 [DAT](INFO): DAT read: 20:06:01.4537 LVL= 30496, 32753, 20850, 32755, AGC= 68, IDX= 451,-0.42,-1.410, 1.057,-0.592,-0.803, PHS=-0.519, 1.907, 0.208, RAW= 313.0, -14.7, CAL= 318.4, -19.9, ROT= 191.6, 19.9 2025-01-08T20:06:03.334Z,1736366763.334 [DAT](INFO): got valid direction response: 20:06:01.4537 LVL= 30496, 32753, 20850, 32755, AGC= 68, IDX= 451,-0.42,-1.410, 1.057,-0.592,-0.803, PHS=-0.519, 1.907, 0.208, RAW= 313.0, -14.7, CAL= 318.4, -19.9, ROT= 191.6, 19.9 2025-01-08T20:06:03.335Z,1736366763.335 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:06:03.336Z,1736366763.336 [DAT](INFO): Received a bad header 2025-01-08T20:06:03.347Z,1736366763.347 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T20:06:03.348Z,1736366763.348 [DAT](INFO): direction in FSK: [0.398446,0.571118,-0.717680] 2025-01-08T20:06:03.352Z,1736366763.352 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:06:03.352Z,1736366763.352 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:06:03.352Z,1736366763.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:06:03.553Z,1736366763.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:03.570Z,1736366763.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:03.573Z,1736366763.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 222.587448 m, bearing: 343.242500 deg, approach rate: -0.302363 m/s, LOS rate: 0.152864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136353 deg. 2025-01-08T20:06:03.574Z,1736366763.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819489 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:03.576Z,1736366763.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:03.576Z,1736366763.576 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:06:03.576Z,1736366763.576 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:06:03.576Z,1736366763.576 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:06:03.828Z,1736366763.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:03.828Z,1736366763.828 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:06:03.828Z,1736366763.828 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:06:03.828Z,1736366763.828 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:06:03.992Z,1736366763.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:03.998Z,1736366763.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:04.001Z,1736366764.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:04.004Z,1736366764.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 222.454712 m, bearing: 343.308384 deg, approach rate: -0.307812 m/s, LOS rate: 0.152875 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172956 deg. 2025-01-08T20:06:04.006Z,1736366764.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820127 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:04.080Z,1736366764.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:04.080Z,1736366764.080 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:06:04.080Z,1736366764.080 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:06:04.080Z,1736366764.080 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:06:04.332Z,1736366764.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:04.333Z,1736366764.333 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:06:04.333Z,1736366764.333 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:06:04.333Z,1736366764.333 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:06:04.396Z,1736366764.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:04.405Z,1736366764.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:04.420Z,1736366764.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 222.332916 m, bearing: 343.369031 deg, approach rate: -0.301568 m/s, LOS rate: 0.150246 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157228 deg. 2025-01-08T20:06:04.421Z,1736366764.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819853 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:04.584Z,1736366764.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:04.584Z,1736366764.584 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:06:04.584Z,1736366764.584 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:06:04.584Z,1736366764.584 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:06:04.792Z,1736366764.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:04.821Z,1736366764.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:04.828Z,1736366764.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 222.217987 m, bearing: 343.427659 deg, approach rate: -0.276485 m/s, LOS rate: 0.141113 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151159 deg. 2025-01-08T20:06:04.836Z,1736366764.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:04.836Z,1736366764.836 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:06:04.836Z,1736366764.836 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:06:04.837Z,1736366764.837 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:06:04.838Z,1736366764.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819747 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:05.088Z,1736366765.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:05.089Z,1736366765.089 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:06:05.089Z,1736366765.089 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:06:05.089Z,1736366765.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:06:05.185Z,1736366765.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:05.194Z,1736366765.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:05.196Z,1736366765.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 222.104004 m, bearing: 343.486016 deg, approach rate: -0.305814 m/s, LOS rate: 0.156653 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150349 deg. 2025-01-08T20:06:05.198Z,1736366765.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819733 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:05.340Z,1736366765.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:05.340Z,1736366765.340 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:05.340Z,1736366765.340 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:05.340Z,1736366765.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:05.590Z,1736366765.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:05.592Z,1736366765.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:05.592Z,1736366765.592 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:05.592Z,1736366765.592 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:05.593Z,1736366765.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:05.649Z,1736366765.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:05.659Z,1736366765.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 221.986938 m, bearing: 343.546063 deg, approach rate: -0.257448 m/s, LOS rate: 0.132123 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155421 deg. 2025-01-08T20:06:05.670Z,1736366765.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819821 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:05.844Z,1736366765.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:05.845Z,1736366765.845 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:05.845Z,1736366765.845 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:05.845Z,1736366765.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:06.060Z,1736366766.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:06.075Z,1736366766.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:06.077Z,1736366766.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:06.085Z,1736366766.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 221.859940 m, bearing: 343.613936 deg, approach rate: -0.296149 m/s, LOS rate: 0.158363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178921 deg. 2025-01-08T20:06:06.087Z,1736366766.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820231 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:06.096Z,1736366766.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:06.096Z,1736366766.096 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:06.097Z,1736366766.097 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:06.097Z,1736366766.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:06.348Z,1736366766.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:06.349Z,1736366766.349 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:06.350Z,1736366766.350 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:06.350Z,1736366766.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:06.447Z,1736366766.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:06.457Z,1736366766.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:06.460Z,1736366766.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 221.753296 m, bearing: 343.671128 deg, approach rate: -0.280461 m/s, LOS rate: 0.150481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146845 deg. 2025-01-08T20:06:06.461Z,1736366766.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819672 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:06.600Z,1736366766.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:06.600Z,1736366766.600 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:06.600Z,1736366766.600 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:06.600Z,1736366766.600 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:06.844Z,1736366766.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:06.852Z,1736366766.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:06.852Z,1736366766.852 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:06.852Z,1736366766.852 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:06.853Z,1736366766.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:06.858Z,1736366766.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:06.861Z,1736366766.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 221.646851 m, bearing: 343.729219 deg, approach rate: -0.265654 m/s, LOS rate: 0.145048 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149544 deg. 2025-01-08T20:06:06.862Z,1736366766.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819719 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:07.104Z,1736366767.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:07.104Z,1736366767.104 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:07.104Z,1736366767.104 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:07.105Z,1736366767.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:07.256Z,1736366767.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:07.268Z,1736366767.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:07.271Z,1736366767.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 221.537018 m, bearing: 343.789404 deg, approach rate: -0.267983 m/s, LOS rate: 0.146917 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155828 deg. 2025-01-08T20:06:07.276Z,1736366767.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819829 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:07.356Z,1736366767.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:07.356Z,1736366767.356 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:07.356Z,1736366767.356 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:07.357Z,1736366767.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:07.608Z,1736366767.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:07.608Z,1736366767.608 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:07.608Z,1736366767.608 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:07.609Z,1736366767.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:07.693Z,1736366767.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:07.751Z,1736366767.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:07.774Z,1736366767.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 221.420410 m, bearing: 343.853469 deg, approach rate: -0.242119 m/s, LOS rate: 0.133093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167484 deg. 2025-01-08T20:06:07.781Z,1736366767.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820032 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:07.860Z,1736366767.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:07.860Z,1736366767.860 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:07.861Z,1736366767.861 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:07.861Z,1736366767.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:08.097Z,1736366768.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:08.104Z,1736366768.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:08.106Z,1736366768.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:08.109Z,1736366768.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 221.314575 m, bearing: 343.911510 deg, approach rate: -0.296678 m/s, LOS rate: 0.162779 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149392 deg. 2025-01-08T20:06:08.110Z,1736366768.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819716 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:08.112Z,1736366768.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:08.112Z,1736366768.112 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:08.112Z,1736366768.112 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:08.113Z,1736366768.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:08.364Z,1736366768.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:08.364Z,1736366768.364 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:08.364Z,1736366768.364 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:08.364Z,1736366768.364 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:08.461Z,1736366768.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:08.471Z,1736366768.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:08.474Z,1736366768.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 221.219345 m, bearing: 343.963834 deg, approach rate: -0.261197 m/s, LOS rate: 0.143574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132224 deg. 2025-01-08T20:06:08.475Z,1736366768.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819417 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:08.616Z,1736366768.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:08.616Z,1736366768.616 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:08.616Z,1736366768.616 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:08.617Z,1736366768.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:08.868Z,1736366768.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:08.868Z,1736366768.868 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:08.868Z,1736366768.868 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:08.869Z,1736366768.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:08.905Z,1736366768.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:08.914Z,1736366768.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:08.917Z,1736366768.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 221.099121 m, bearing: 344.028807 deg, approach rate: -0.271481 m/s, LOS rate: 0.146798 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170213 deg. 2025-01-08T20:06:08.918Z,1736366768.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820079 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:09.122Z,1736366769.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:09.123Z,1736366769.123 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:09.124Z,1736366769.124 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:09.124Z,1736366769.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:09.277Z,1736366769.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:09.286Z,1736366769.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:09.289Z,1736366769.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 220.998901 m, bearing: 344.083094 deg, approach rate: -0.269147 m/s, LOS rate: 0.145857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138121 deg. 2025-01-08T20:06:09.290Z,1736366769.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819520 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:09.373Z,1736366769.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:09.373Z,1736366769.373 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:09.374Z,1736366769.374 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:09.374Z,1736366769.374 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:09.624Z,1736366769.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:09.624Z,1736366769.624 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:09.624Z,1736366769.624 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:09.625Z,1736366769.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:09.733Z,1736366769.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:09.805Z,1736366769.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:09.813Z,1736366769.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 220.876221 m, bearing: 344.149725 deg, approach rate: -0.238994 m/s, LOS rate: 0.129876 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175189 deg. 2025-01-08T20:06:09.814Z,1736366769.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820167 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:09.877Z,1736366769.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:09.877Z,1736366769.877 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:09.877Z,1736366769.877 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:09.878Z,1736366769.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:10.128Z,1736366770.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:10.129Z,1736366770.129 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:06:10.129Z,1736366770.129 [DAT](INFO): response not received 2025-01-08T20:06:10.129Z,1736366770.129 [DAT](INFO): DAT read: user:1122> 2025-01-08T20:06:10.130Z,1736366770.130 [DAT](INFO): DAT read: Tx time:20:06:09.4786 2025-01-08T20:06:10.131Z,1736366770.131 [DAT](INFO): Ping request sent. 2025-01-08T20:06:10.132Z,1736366770.132 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:06:10.133Z,1736366770.133 [DAT](INFO): publishing transmit ping time 2025-01-08T20:06:10.139Z,1736366770.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003736 2025-01-08T20:06:10.212Z,1736366770.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:10.220Z,1736366770.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:10.222Z,1736366770.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:10.225Z,1736366770.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 220.748856 m, bearing: 344.220153 deg, approach rate: -0.301328 m/s, LOS rate: 0.166720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186593 deg. 2025-01-08T20:06:10.226Z,1736366770.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820365 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:10.380Z,1736366770.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:10.380Z,1736366770.380 [DAT](INFO): DAT read: TxSync time:20:06:09.4778 2025-01-08T20:06:10.381Z,1736366770.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250364 2025-01-08T20:06:10.505Z,1736366770.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:10.539Z,1736366770.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:10.554Z,1736366770.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 220.671280 m, bearing: 344.263257 deg, approach rate: -0.244860 m/s, LOS rate: 0.136099 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.104542 deg. 2025-01-08T20:06:10.576Z,1736366770.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818933 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:10.633Z,1736366770.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:10.634Z,1736366770.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503171 2025-01-08T20:06:10.884Z,1736366770.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:10.885Z,1736366770.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753717 2025-01-08T20:06:10.953Z,1736366770.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:10.965Z,1736366770.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:10.973Z,1736366770.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 220.553192 m, bearing: 344.328181 deg, approach rate: -0.277043 m/s, LOS rate: 0.152399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170063 deg. 2025-01-08T20:06:10.974Z,1736366770.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820077 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:11.136Z,1736366771.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:11.136Z,1736366771.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005675 2025-01-08T20:06:11.312Z,1736366771.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:11.326Z,1736366771.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:11.329Z,1736366771.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 220.458786 m, bearing: 344.380378 deg, approach rate: -0.261773 m/s, LOS rate: 0.144797 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131845 deg. 2025-01-08T20:06:11.330Z,1736366771.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819410 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:11.389Z,1736366771.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:11.389Z,1736366771.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258443 2025-01-08T20:06:11.640Z,1736366771.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:11.640Z,1736366771.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509557 2025-01-08T20:06:11.754Z,1736366771.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:11.790Z,1736366771.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:11.814Z,1736366771.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 220.343124 m, bearing: 344.444535 deg, approach rate: -0.249799 m/s, LOS rate: 0.138635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167757 deg. 2025-01-08T20:06:11.822Z,1736366771.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820037 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:11.892Z,1736366771.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:11.894Z,1736366771.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762730 2025-01-08T20:06:12.144Z,1736366772.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:12.145Z,1736366772.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013983 2025-01-08T20:06:12.150Z,1736366772.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:12.158Z,1736366772.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:12.197Z,1736366772.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 220.240417 m, bearing: 344.502413 deg, approach rate: -0.277860 m/s, LOS rate: 0.156654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148902 deg. 2025-01-08T20:06:12.199Z,1736366772.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819707 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:12.396Z,1736366772.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:12.396Z,1736366772.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265643 2025-01-08T20:06:12.529Z,1736366772.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:12.537Z,1736366772.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:12.539Z,1736366772.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:12.542Z,1736366772.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 220.141678 m, bearing: 344.558003 deg, approach rate: -0.259517 m/s, LOS rate: 0.146172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142030 deg. 2025-01-08T20:06:12.543Z,1736366772.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819588 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:12.648Z,1736366772.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:12.650Z,1736366772.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518659 2025-01-08T20:06:12.900Z,1736366772.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:12.901Z,1736366772.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770078 2025-01-08T20:06:12.960Z,1736366772.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:12.969Z,1736366772.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:12.972Z,1736366772.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 220.024384 m, bearing: 344.621222 deg, approach rate: -0.272491 m/s, LOS rate: 0.146946 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164946 deg. 2025-01-08T20:06:12.973Z,1736366772.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819988 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:13.152Z,1736366773.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:13.152Z,1736366773.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021598 2025-01-08T20:06:13.331Z,1736366773.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:13.341Z,1736366773.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:13.344Z,1736366773.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 219.923798 m, bearing: 344.675638 deg, approach rate: -0.270839 m/s, LOS rate: 0.146587 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138507 deg. 2025-01-08T20:06:13.345Z,1736366773.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819526 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:13.404Z,1736366773.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:13.405Z,1736366773.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274136 2025-01-08T20:06:13.657Z,1736366773.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:13.658Z,1736366773.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526892 2025-01-08T20:06:13.734Z,1736366773.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:13.742Z,1736366773.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:13.745Z,1736366773.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 219.814636 m, bearing: 344.734706 deg, approach rate: -0.272043 m/s, LOS rate: 0.147278 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152479 deg. 2025-01-08T20:06:13.746Z,1736366773.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819770 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:13.908Z,1736366773.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:13.908Z,1736366773.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777661 2025-01-08T20:06:14.160Z,1736366774.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:14.161Z,1736366774.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029810 2025-01-08T20:06:14.162Z,1736366774.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:14.188Z,1736366774.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:14.190Z,1736366774.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 219.698486 m, bearing: 344.796790 deg, approach rate: -0.270415 m/s, LOS rate: 0.144617 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161535 deg. 2025-01-08T20:06:14.192Z,1736366774.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819928 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:14.412Z,1736366774.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:14.412Z,1736366774.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281542 2025-01-08T20:06:14.559Z,1736366774.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:14.566Z,1736366774.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:14.571Z,1736366774.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:14.574Z,1736366774.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 219.591095 m, bearing: 344.854280 deg, approach rate: -0.268987 m/s, LOS rate: 0.144069 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147743 deg. 2025-01-08T20:06:14.575Z,1736366774.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819687 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:14.665Z,1736366774.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:14.666Z,1736366774.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534567 2025-01-08T20:06:14.916Z,1736366774.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:14.917Z,1736366774.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786236 2025-01-08T20:06:14.994Z,1736366774.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:15.003Z,1736366775.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:15.006Z,1736366775.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 219.471436 m, bearing: 344.918635 deg, approach rate: -0.276977 m/s, LOS rate: 0.149044 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168357 deg. 2025-01-08T20:06:15.007Z,1736366775.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820047 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:15.168Z,1736366775.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:15.169Z,1736366775.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037720 2025-01-08T20:06:15.357Z,1736366775.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:15.365Z,1736366775.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:15.369Z,1736366775.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 219.371490 m, bearing: 344.972376 deg, approach rate: -0.275724 m/s, LOS rate: 0.148324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136481 deg. 2025-01-08T20:06:15.370Z,1736366775.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819491 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:15.420Z,1736366775.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:15.421Z,1736366775.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290599 2025-01-08T20:06:15.672Z,1736366775.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:15.673Z,1736366775.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542066 2025-01-08T20:06:15.759Z,1736366775.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:15.768Z,1736366775.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:15.770Z,1736366775.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 219.260986 m, bearing: 345.031988 deg, approach rate: -0.274752 m/s, LOS rate: 0.148292 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154113 deg. 2025-01-08T20:06:15.772Z,1736366775.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819798 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:15.924Z,1736366775.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:15.924Z,1736366775.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793683 2025-01-08T20:06:16.176Z,1736366776.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:16.176Z,1736366776.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045675 2025-01-08T20:06:16.229Z,1736366776.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:16.242Z,1736366776.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:16.249Z,1736366776.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 219.126465 m, bearing: 345.101699 deg, approach rate: -0.283485 m/s, LOS rate: 0.146995 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184446 deg. 2025-01-08T20:06:16.251Z,1736366776.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820328 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:16.428Z,1736366776.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:16.428Z,1736366776.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297516 2025-01-08T20:06:16.573Z,1736366776.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:16.580Z,1736366776.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:16.582Z,1736366776.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:16.585Z,1736366776.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 219.027969 m, bearing: 345.152832 deg, approach rate: -0.290012 m/s, LOS rate: 0.150626 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128656 deg. 2025-01-08T20:06:16.586Z,1736366776.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819354 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:16.681Z,1736366776.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:16.682Z,1736366776.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551169 2025-01-08T20:06:16.932Z,1736366776.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:16.933Z,1736366776.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801982 2025-01-08T20:06:16.996Z,1736366776.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:17.005Z,1736366777.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:17.024Z,1736366777.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 218.906174 m, bearing: 345.217232 deg, approach rate: -0.287790 m/s, LOS rate: 0.152255 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168493 deg. 2025-01-08T20:06:17.025Z,1736366777.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820049 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:17.184Z,1736366777.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:17.184Z,1736366777.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053561 2025-01-08T20:06:17.376Z,1736366777.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:17.386Z,1736366777.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:17.389Z,1736366777.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 218.796768 m, bearing: 345.275140 deg, approach rate: -0.287086 m/s, LOS rate: 0.152029 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148997 deg. 2025-01-08T20:06:17.390Z,1736366777.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819709 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:17.436Z,1736366777.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:17.437Z,1736366777.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305849 2025-01-08T20:06:17.688Z,1736366777.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:17.688Z,1736366777.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557608 2025-01-08T20:06:17.789Z,1736366777.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:17.798Z,1736366777.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:17.801Z,1736366777.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 218.678253 m, bearing: 345.338063 deg, approach rate: -0.287854 m/s, LOS rate: 0.152911 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164055 deg. 2025-01-08T20:06:17.802Z,1736366777.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819972 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:17.940Z,1736366777.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:17.941Z,1736366777.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810102 2025-01-08T20:06:18.192Z,1736366778.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:18.192Z,1736366778.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061594 2025-01-08T20:06:18.205Z,1736366778.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:18.234Z,1736366778.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:18.241Z,1736366778.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 218.558228 m, bearing: 345.402863 deg, approach rate: -0.274938 m/s, LOS rate: 0.148518 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169695 deg. 2025-01-08T20:06:18.242Z,1736366778.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820070 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:18.445Z,1736366778.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:18.446Z,1736366778.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314706 2025-01-08T20:06:18.604Z,1736366778.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:18.610Z,1736366778.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:18.613Z,1736366778.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:18.617Z,1736366778.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 218.443451 m, bearing: 345.465048 deg, approach rate: -0.302997 m/s, LOS rate: 0.164248 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161840 deg. 2025-01-08T20:06:18.618Z,1736366778.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819933 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:18.696Z,1736366778.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:18.696Z,1736366778.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565667 2025-01-08T20:06:18.950Z,1736366778.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:18.951Z,1736366778.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819820 2025-01-08T20:06:19.019Z,1736366779.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:19.072Z,1736366779.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:19.074Z,1736366779.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 218.320892 m, bearing: 345.531018 deg, approach rate: -0.269755 m/s, LOS rate: 0.145283 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173206 deg. 2025-01-08T20:06:19.080Z,1736366779.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820132 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:19.200Z,1736366779.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:19.201Z,1736366779.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070251 2025-01-08T20:06:19.399Z,1736366779.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:19.413Z,1736366779.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:19.417Z,1736366779.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 218.209030 m, bearing: 345.591526 deg, approach rate: -0.323567 m/s, LOS rate: 0.175112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156803 deg. 2025-01-08T20:06:19.419Z,1736366779.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819846 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:19.452Z,1736366779.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:19.453Z,1736366779.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322052 2025-01-08T20:06:19.704Z,1736366779.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:19.704Z,1736366779.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573588 2025-01-08T20:06:19.810Z,1736366779.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:19.826Z,1736366779.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:19.834Z,1736366779.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 218.088547 m, bearing: 345.657095 deg, approach rate: -0.291388 m/s, LOS rate: 0.158664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172000 deg. 2025-01-08T20:06:19.839Z,1736366779.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820111 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:19.956Z,1736366779.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:19.957Z,1736366779.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825768 2025-01-08T20:06:20.208Z,1736366780.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:20.208Z,1736366780.208 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:20.208Z,1736366780.208 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:20.209Z,1736366780.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:20.248Z,1736366780.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:20.258Z,1736366780.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:20.261Z,1736366780.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 217.964630 m, bearing: 345.728012 deg, approach rate: -0.287414 m/s, LOS rate: 0.164579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188057 deg. 2025-01-08T20:06:20.262Z,1736366780.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820391 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:20.460Z,1736366780.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:20.460Z,1736366780.460 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:20.460Z,1736366780.460 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:20.460Z,1736366780.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:20.618Z,1736366780.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:20.625Z,1736366780.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:20.627Z,1736366780.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:20.630Z,1736366780.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 217.860535 m, bearing: 345.787975 deg, approach rate: -0.281759 m/s, LOS rate: 0.162384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155163 deg. 2025-01-08T20:06:20.631Z,1736366780.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819817 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:20.713Z,1736366780.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:20.714Z,1736366780.714 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:20.715Z,1736366780.715 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:20.715Z,1736366780.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:20.965Z,1736366780.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:20.966Z,1736366780.966 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:20.967Z,1736366780.967 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:20.968Z,1736366780.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:21.059Z,1736366781.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:21.068Z,1736366781.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:21.071Z,1736366781.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 217.741653 m, bearing: 345.859409 deg, approach rate: -0.269473 m/s, LOS rate: 0.162011 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189605 deg. 2025-01-08T20:06:21.074Z,1736366781.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820418 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:21.216Z,1736366781.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:21.218Z,1736366781.218 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:06:21.218Z,1736366781.218 [DAT](INFO): response not received 2025-01-08T20:06:21.218Z,1736366781.218 [DAT](INFO): DAT read: user:1123> 2025-01-08T20:06:21.223Z,1736366781.223 [DAT](INFO): DAT read: Tx time:20:06:20.4288 2025-01-08T20:06:21.225Z,1736366781.225 [DAT](INFO): Ping request sent. 2025-01-08T20:06:21.225Z,1736366781.225 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:06:21.226Z,1736366781.226 [DAT](INFO): publishing transmit ping time 2025-01-08T20:06:21.228Z,1736366781.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002826 2025-01-08T20:06:21.424Z,1736366781.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:21.453Z,1736366781.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:21.460Z,1736366781.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 217.643478 m, bearing: 345.918755 deg, approach rate: -0.255275 m/s, LOS rate: 0.154381 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153304 deg. 2025-01-08T20:06:21.461Z,1736366781.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819784 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:21.468Z,1736366781.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:21.469Z,1736366781.469 [DAT](INFO): DAT read: TxSync time:20:06:20.4280 2025-01-08T20:06:21.469Z,1736366781.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244632 2025-01-08T20:06:21.720Z,1736366781.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:21.720Z,1736366781.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495624 2025-01-08T20:06:21.841Z,1736366781.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:21.863Z,1736366781.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:21.866Z,1736366781.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 217.532608 m, bearing: 345.986346 deg, approach rate: -0.272905 m/s, LOS rate: 0.166458 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178062 deg. 2025-01-08T20:06:21.872Z,1736366781.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820217 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:21.980Z,1736366781.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:21.980Z,1736366781.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755372 2025-01-08T20:06:22.232Z,1736366782.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:22.233Z,1736366782.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007886 2025-01-08T20:06:22.284Z,1736366782.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:22.301Z,1736366782.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:22.308Z,1736366782.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 217.415558 m, bearing: 346.058490 deg, approach rate: -0.264748 m/s, LOS rate: 0.163264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191733 deg. 2025-01-08T20:06:22.310Z,1736366782.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820455 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:22.484Z,1736366782.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:22.484Z,1736366782.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259544 2025-01-08T20:06:22.640Z,1736366782.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:22.648Z,1736366782.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:22.652Z,1736366782.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:22.657Z,1736366782.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 217.322723 m, bearing: 346.116412 deg, approach rate: -0.265185 m/s, LOS rate: 0.165528 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149028 deg. 2025-01-08T20:06:22.659Z,1736366782.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819710 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:22.737Z,1736366782.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:22.738Z,1736366782.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513289 2025-01-08T20:06:22.989Z,1736366782.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:22.992Z,1736366782.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766267 2025-01-08T20:06:23.078Z,1736366783.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:23.088Z,1736366783.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:23.091Z,1736366783.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 217.212952 m, bearing: 346.186339 deg, approach rate: -0.251314 m/s, LOS rate: 0.160174 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185073 deg. 2025-01-08T20:06:23.092Z,1736366783.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820339 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:23.240Z,1736366783.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:23.240Z,1736366783.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015480 2025-01-08T20:06:23.460Z,1736366783.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:23.473Z,1736366783.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:23.480Z,1736366783.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 217.117584 m, bearing: 346.247212 deg, approach rate: -0.247643 m/s, LOS rate: 0.158140 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157885 deg. 2025-01-08T20:06:23.481Z,1736366783.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819864 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:23.496Z,1736366783.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:23.497Z,1736366783.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271765 2025-01-08T20:06:23.748Z,1736366783.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:23.748Z,1736366783.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523596 2025-01-08T20:06:23.848Z,1736366783.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:23.860Z,1736366783.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:23.863Z,1736366783.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 217.020325 m, bearing: 346.309267 deg, approach rate: -0.251385 m/s, LOS rate: 0.160464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161434 deg. 2025-01-08T20:06:23.864Z,1736366783.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819926 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:23.869Z,1736366783.869 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T19:56:23.6Z 2025-01-08T20:06:23.869Z,1736366783.869 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T20:06:23.869Z,1736366783.869 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T20:06:23.869Z,1736366783.869 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T20:06:23.869Z,1736366783.869 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T20:06:23.869Z,1736366783.869 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T20:06:24.002Z,1736366784.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:24.004Z,1736366784.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778957 2025-01-08T20:06:24.252Z,1736366784.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:24.252Z,1736366784.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027377 2025-01-08T20:06:24.297Z,1736366784.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:24.306Z,1736366784.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:24.309Z,1736366784.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 216.911850 m, bearing: 346.378118 deg, approach rate: -0.243399 m/s, LOS rate: 0.154568 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181843 deg. 2025-01-08T20:06:24.310Z,1736366784.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820282 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:24.314Z,1736366784.314 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T20:06:24.314Z,1736366784.314 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T20:06:24.314Z,1736366784.314 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T20:06:24.314Z,1736366784.314 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T20:06:24.314Z,1736366784.314 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T20:06:24.504Z,1736366784.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:24.504Z,1736366784.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279626 2025-01-08T20:06:24.756Z,1736366784.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:24.756Z,1736366784.756 [DAT](INFO): DAT read: Rx Time:20:06:23.3729 2025-01-08T20:06:24.757Z,1736366784.757 [DAT](INFO): Rx dataTimestamp_ set to:1736366784.756647 2025-01-08T20:06:24.757Z,1736366784.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532600 2025-01-08T20:06:24.845Z,1736366784.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:24.853Z,1736366784.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:24.855Z,1736366784.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:24.858Z,1736366784.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 216.779266 m, bearing: 346.462297 deg, approach rate: -0.241381 m/s, LOS rate: 0.153350 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.227877 deg. 2025-01-08T20:06:24.860Z,1736366784.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821086 target range: 389.399994 and range: 389.40 m. 2025-01-08T20:06:25.010Z,1736366785.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:25.013Z,1736366785.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787341 2025-01-08T20:06:25.260Z,1736366785.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:25.261Z,1736366785.261 [DAT](INFO): DAT read: Range 10 to 50 : 405.0 m (Round-trip 540.0 ms) speed -0.3 m/s 2025-01-08T20:06:25.262Z,1736366785.262 [DAT](INFO): DAT read: user:1124> 2025-01-08T20:06:25.264Z,1736366785.264 [DAT](INFO): DAT read: Tx time:20:06:24.4788 2025-01-08T20:06:25.264Z,1736366785.264 [DAT](INFO): Ping request sent. 2025-01-08T20:06:25.264Z,1736366785.264 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:06:25.264Z,1736366785.264 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:06:25.265Z,1736366785.265 [DAT](INFO): publishing transmit ping time 2025-01-08T20:06:25.265Z,1736366785.265 [DAT](INFO): publishing transmit ping time 2025-01-08T20:06:25.287Z,1736366785.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:25.340Z,1736366785.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 405.000000 m, deltaT: 25.971128 s, deltaX: 15.600006 m, approachRate: 0.600667 m/s, rangeRepo size: 4 2025-01-08T20:06:25.341Z,1736366785.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:25.348Z,1736366785.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 216.671661 m, bearing: 346.529882 deg, approach rate: -0.226018 m/s, LOS rate: 0.142029 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178041 deg. 2025-01-08T20:06:25.350Z,1736366785.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820216 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:25.512Z,1736366785.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:25.513Z,1736366785.513 [DAT](INFO): DAT read: TxSync time:20:06:24.4780 2025-01-08T20:06:25.680Z,1736366785.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:25.690Z,1736366785.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:25.693Z,1736366785.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 216.576202 m, bearing: 346.589945 deg, approach rate: -0.266255 m/s, LOS rate: 0.167602 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155454 deg. 2025-01-08T20:06:25.694Z,1736366785.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819822 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:25.764Z,1736366785.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:26.018Z,1736366786.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:26.102Z,1736366786.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:26.110Z,1736366786.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:26.113Z,1736366786.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 216.472229 m, bearing: 346.652956 deg, approach rate: -0.247063 m/s, LOS rate: 0.149799 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164309 deg. 2025-01-08T20:06:26.114Z,1736366786.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819976 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:26.268Z,1736366786.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:26.460Z,1736366786.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:26.469Z,1736366786.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:26.492Z,1736366786.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 216.384171 m, bearing: 346.706300 deg, approach rate: -0.245256 m/s, LOS rate: 0.148632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135284 deg. 2025-01-08T20:06:26.494Z,1736366786.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819470 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:26.520Z,1736366786.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:26.604Z,1736366786.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:06:26.772Z,1736366786.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:26.881Z,1736366786.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:26.888Z,1736366786.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:26.890Z,1736366786.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:26.893Z,1736366786.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 216.280624 m, bearing: 346.768899 deg, approach rate: -0.246019 m/s, LOS rate: 0.148802 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163072 deg. 2025-01-08T20:06:26.895Z,1736366786.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819955 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:27.026Z,1736366787.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:27.028Z,1736366787.028 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:06:27.028Z,1736366787.028 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:06:27.029Z,1736366787.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:27.276Z,1736366787.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:27.276Z,1736366787.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012292 2025-01-08T20:06:27.302Z,1736366787.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:27.310Z,1736366787.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:27.317Z,1736366787.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 216.174011 m, bearing: 346.830177 deg, approach rate: -0.254096 m/s, LOS rate: 0.146119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159111 deg. 2025-01-08T20:06:27.318Z,1736366787.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819886 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:27.528Z,1736366787.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:27.529Z,1736366787.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265033 2025-01-08T20:06:27.604Z,1736366787.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:06:27.688Z,1736366787.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:27.698Z,1736366787.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:27.702Z,1736366787.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 216.075851 m, bearing: 346.886466 deg, approach rate: -0.253105 m/s, LOS rate: 0.145207 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144130 deg. 2025-01-08T20:06:27.704Z,1736366787.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819624 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:27.781Z,1736366787.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:27.782Z,1736366787.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517326 2025-01-08T20:06:28.033Z,1736366788.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:28.036Z,1736366788.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770640 2025-01-08T20:06:28.138Z,1736366788.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:28.146Z,1736366788.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:28.150Z,1736366788.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 215.957169 m, bearing: 346.954210 deg, approach rate: -0.264520 m/s, LOS rate: 0.151070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178529 deg. 2025-01-08T20:06:28.168Z,1736366788.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820225 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:28.284Z,1736366788.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:28.285Z,1736366788.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020495 2025-01-08T20:06:28.502Z,1736366788.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:28.511Z,1736366788.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:28.514Z,1736366788.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 215.861252 m, bearing: 347.009018 deg, approach rate: -0.263331 m/s, LOS rate: 0.150538 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139684 deg. 2025-01-08T20:06:28.515Z,1736366788.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819547 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:28.553Z,1736366788.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:28.554Z,1736366788.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289275 2025-01-08T20:06:28.796Z,1736366788.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:28.797Z,1736366788.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532643 2025-01-08T20:06:28.895Z,1736366788.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:28.903Z,1736366788.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:28.906Z,1736366788.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:28.909Z,1736366788.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 215.757828 m, bearing: 347.068330 deg, approach rate: -0.261685 m/s, LOS rate: 0.150144 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153208 deg. 2025-01-08T20:06:28.910Z,1736366788.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819783 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:29.050Z,1736366789.050 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:29.052Z,1736366789.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787625 2025-01-08T20:06:29.301Z,1736366789.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:29.301Z,1736366789.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037012 2025-01-08T20:06:29.318Z,1736366789.318 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-32:WE,-32768,-32768, 2025-01-08T20:06:29.325Z,1736366789.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:06:29.326Z,1736366789.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:29.336Z,1736366789.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:29.339Z,1736366789.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 215.645020 m, bearing: 347.133243 deg, approach rate: -0.262242 m/s, LOS rate: 0.150979 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170025 deg. 2025-01-08T20:06:29.340Z,1736366789.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820076 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:29.552Z,1736366789.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:29.552Z,1736366789.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288172 2025-01-08T20:06:29.724Z,1736366789.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:06:29.724Z,1736366789.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:29.742Z,1736366789.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:29.748Z,1736366789.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 215.540710 m, bearing: 347.193468 deg, approach rate: -0.257366 m/s, LOS rate: 0.148669 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155950 deg. 2025-01-08T20:06:29.750Z,1736366789.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819830 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:29.804Z,1736366789.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:29.805Z,1736366789.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540565 2025-01-08T20:06:30.057Z,1736366790.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:30.059Z,1736366790.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794545 2025-01-08T20:06:30.168Z,1736366790.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:30.192Z,1736366790.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:30.195Z,1736366790.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 215.420502 m, bearing: 347.262119 deg, approach rate: -0.266761 m/s, LOS rate: 0.152431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181253 deg. 2025-01-08T20:06:30.201Z,1736366790.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820272 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:30.308Z,1736366790.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:30.309Z,1736366790.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044619 2025-01-08T20:06:30.522Z,1736366790.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:30.530Z,1736366790.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:30.535Z,1736366790.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 215.327850 m, bearing: 347.315300 deg, approach rate: -0.273744 m/s, LOS rate: 0.157194 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134798 deg. 2025-01-08T20:06:30.536Z,1736366790.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819461 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:30.560Z,1736366790.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:30.560Z,1736366790.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296287 2025-01-08T20:06:30.812Z,1736366790.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:30.812Z,1736366790.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548160 2025-01-08T20:06:30.928Z,1736366790.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:30.935Z,1736366790.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:30.938Z,1736366790.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:30.941Z,1736366790.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 215.215988 m, bearing: 347.379794 deg, approach rate: -0.274696 m/s, LOS rate: 0.158458 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168769 deg. 2025-01-08T20:06:30.942Z,1736366790.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820055 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:31.065Z,1736366791.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:31.068Z,1736366791.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803328 2025-01-08T20:06:31.317Z,1736366791.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:31.317Z,1736366791.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.053150 2025-01-08T20:06:31.361Z,1736366791.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:31.374Z,1736366791.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:31.389Z,1736366791.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 215.095291 m, bearing: 347.448774 deg, approach rate: -0.276624 m/s, LOS rate: 0.158184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182244 deg. 2025-01-08T20:06:31.390Z,1736366791.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820290 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:31.568Z,1736366791.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:31.568Z,1736366791.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304163 2025-01-08T20:06:31.727Z,1736366791.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:31.756Z,1736366791.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:31.759Z,1736366791.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 214.993851 m, bearing: 347.507103 deg, approach rate: -0.265932 m/s, LOS rate: 0.152983 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150254 deg. 2025-01-08T20:06:31.760Z,1736366791.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819731 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:31.820Z,1736366791.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:31.821Z,1736366791.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556435 2025-01-08T20:06:32.073Z,1736366792.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:32.076Z,1736366792.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811354 2025-01-08T20:06:32.193Z,1736366792.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:32.201Z,1736366792.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:32.204Z,1736366792.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 214.875397 m, bearing: 347.579249 deg, approach rate: -0.265719 m/s, LOS rate: 0.161930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191744 deg. 2025-01-08T20:06:32.205Z,1736366792.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820455 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:32.324Z,1736366792.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:32.324Z,1736366792.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060327 2025-01-08T20:06:32.531Z,1736366792.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:32.540Z,1736366792.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:32.543Z,1736366792.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 214.789688 m, bearing: 347.631745 deg, approach rate: -0.252893 m/s, LOS rate: 0.154955 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132736 deg. 2025-01-08T20:06:32.544Z,1736366792.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819426 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:32.576Z,1736366792.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:32.576Z,1736366792.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312343 2025-01-08T20:06:32.828Z,1736366792.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:32.828Z,1736366792.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.564226 2025-01-08T20:06:32.945Z,1736366792.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:32.952Z,1736366792.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:32.954Z,1736366792.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:32.958Z,1736366792.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 214.685028 m, bearing: 347.696065 deg, approach rate: -0.252677 m/s, LOS rate: 0.155362 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168242 deg. 2025-01-08T20:06:32.960Z,1736366792.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820045 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:33.080Z,1736366793.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:33.081Z,1736366793.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816574 2025-01-08T20:06:33.332Z,1736366793.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:33.332Z,1736366793.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068083 2025-01-08T20:06:33.378Z,1736366793.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:33.388Z,1736366793.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:33.391Z,1736366793.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 214.582428 m, bearing: 347.762724 deg, approach rate: -0.236556 m/s, LOS rate: 0.153763 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175259 deg. 2025-01-08T20:06:33.392Z,1736366793.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820168 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:33.584Z,1736366793.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:33.585Z,1736366793.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320403 2025-01-08T20:06:33.744Z,1736366793.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:33.753Z,1736366793.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:33.776Z,1736366793.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 214.496231 m, bearing: 347.818865 deg, approach rate: -0.236076 m/s, LOS rate: 0.153820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143676 deg. 2025-01-08T20:06:33.777Z,1736366793.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819616 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:33.836Z,1736366793.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:33.837Z,1736366793.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.573309 2025-01-08T20:06:34.089Z,1736366794.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:34.099Z,1736366794.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826992 2025-01-08T20:06:34.229Z,1736366794.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:34.248Z,1736366794.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:34.255Z,1736366794.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 214.388290 m, bearing: 347.891658 deg, approach rate: -0.218614 m/s, LOS rate: 0.147502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193673 deg. 2025-01-08T20:06:34.257Z,1736366794.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820489 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:34.340Z,1736366794.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:34.341Z,1736366794.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077226 2025-01-08T20:06:34.568Z,1736366794.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:34.578Z,1736366794.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:34.581Z,1736366794.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 214.312714 m, bearing: 347.942752 deg, approach rate: -0.228473 m/s, LOS rate: 0.154515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128523 deg. 2025-01-08T20:06:34.582Z,1736366794.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819352 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:34.592Z,1736366794.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:34.592Z,1736366794.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328302 2025-01-08T20:06:34.844Z,1736366794.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:34.845Z,1736366794.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.580444 2025-01-08T20:06:34.975Z,1736366794.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:34.982Z,1736366794.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:34.985Z,1736366794.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:34.988Z,1736366794.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 214.222580 m, bearing: 348.003875 deg, approach rate: -0.221196 m/s, LOS rate: 0.150064 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158632 deg. 2025-01-08T20:06:34.989Z,1736366794.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819877 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:35.097Z,1736366795.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:35.098Z,1736366795.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833942 2025-01-08T20:06:35.348Z,1736366795.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:35.348Z,1736366795.348 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:35.348Z,1736366795.348 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:35.349Z,1736366795.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:35.436Z,1736366795.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:35.444Z,1736366795.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:35.447Z,1736366795.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 214.125427 m, bearing: 348.072193 deg, approach rate: -0.211744 m/s, LOS rate: 0.148967 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180233 deg. 2025-01-08T20:06:35.448Z,1736366795.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820254 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:35.601Z,1736366795.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:35.601Z,1736366795.601 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:35.601Z,1736366795.601 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:35.602Z,1736366795.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:35.776Z,1736366795.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:35.786Z,1736366795.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:35.793Z,1736366795.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 214.056488 m, bearing: 348.120760 deg, approach rate: -0.201811 m/s, LOS rate: 0.142219 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120934 deg. 2025-01-08T20:06:35.795Z,1736366795.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819220 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:35.852Z,1736366795.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:35.852Z,1736366795.852 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:35.853Z,1736366795.853 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:35.853Z,1736366795.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:36.105Z,1736366796.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:36.106Z,1736366796.106 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:06:36.107Z,1736366796.107 [DAT](INFO): response not received 2025-01-08T20:06:36.107Z,1736366796.107 [DAT](INFO): DAT read: user:1125> 2025-01-08T20:06:36.108Z,1736366796.108 [DAT](INFO): DAT read: Tx time:20:06:35.4289 2025-01-08T20:06:36.108Z,1736366796.108 [DAT](INFO): Ping request sent. 2025-01-08T20:06:36.108Z,1736366796.108 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:06:36.108Z,1736366796.108 [DAT](INFO): publishing transmit ping time 2025-01-08T20:06:36.109Z,1736366796.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000713 2025-01-08T20:06:36.313Z,1736366796.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:36.323Z,1736366796.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:36.325Z,1736366796.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 213.940201 m, bearing: 348.204352 deg, approach rate: -0.216598 m/s, LOS rate: 0.155785 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226099 deg. 2025-01-08T20:06:36.327Z,1736366796.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821055 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:36.368Z,1736366796.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:36.369Z,1736366796.369 [DAT](INFO): DAT read: TxSync time:20:06:35.4281 2025-01-08T20:06:36.370Z,1736366796.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.261525 2025-01-08T20:06:36.620Z,1736366796.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:36.621Z,1736366796.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.512756 2025-01-08T20:06:36.721Z,1736366796.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:36.750Z,1736366796.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:36.753Z,1736366796.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 213.854919 m, bearing: 348.266431 deg, approach rate: -0.199959 m/s, LOS rate: 0.145613 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161496 deg. 2025-01-08T20:06:36.754Z,1736366796.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819927 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:36.872Z,1736366796.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:36.872Z,1736366796.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.764138 2025-01-08T20:06:37.124Z,1736366797.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:37.124Z,1736366797.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016207 2025-01-08T20:06:37.225Z,1736366797.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:37.240Z,1736366797.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:37.242Z,1736366797.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:37.257Z,1736366797.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 213.750107 m, bearing: 348.343241 deg, approach rate: -0.212700 m/s, LOS rate: 0.155950 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205729 deg. 2025-01-08T20:06:37.258Z,1736366797.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820699 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:37.377Z,1736366797.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:37.378Z,1736366797.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.269289 2025-01-08T20:06:37.589Z,1736366797.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:37.598Z,1736366797.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:37.602Z,1736366797.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 213.670929 m, bearing: 348.400738 deg, approach rate: -0.222149 m/s, LOS rate: 0.161381 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147743 deg. 2025-01-08T20:06:37.603Z,1736366797.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819687 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:37.629Z,1736366797.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:37.630Z,1736366797.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521681 2025-01-08T20:06:37.880Z,1736366797.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:37.880Z,1736366797.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772169 2025-01-08T20:06:37.972Z,1736366797.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:37.993Z,1736366797.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:37.996Z,1736366797.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 213.587341 m, bearing: 348.461210 deg, approach rate: -0.211940 m/s, LOS rate: 0.153389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156672 deg. 2025-01-08T20:06:37.997Z,1736366797.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819843 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:38.133Z,1736366798.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:38.136Z,1736366798.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027378 2025-01-08T20:06:38.384Z,1736366798.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:38.385Z,1736366798.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276403 2025-01-08T20:06:38.398Z,1736366798.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:38.407Z,1736366798.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:38.410Z,1736366798.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 213.487152 m, bearing: 348.531136 deg, approach rate: -0.241977 m/s, LOS rate: 0.168964 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185062 deg. 2025-01-08T20:06:38.412Z,1736366798.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820339 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:38.636Z,1736366798.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:38.636Z,1736366798.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528124 2025-01-08T20:06:38.781Z,1736366798.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:38.790Z,1736366798.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:38.793Z,1736366798.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 213.397110 m, bearing: 348.594112 deg, approach rate: -0.234993 m/s, LOS rate: 0.164424 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164193 deg. 2025-01-08T20:06:38.794Z,1736366798.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819974 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:38.888Z,1736366798.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:38.889Z,1736366798.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780312 2025-01-08T20:06:39.140Z,1736366799.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:39.141Z,1736366799.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032320 2025-01-08T20:06:39.288Z,1736366799.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:39.317Z,1736366799.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:39.319Z,1736366799.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:39.333Z,1736366799.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 213.266663 m, bearing: 348.682703 deg, approach rate: -0.246669 m/s, LOS rate: 0.167625 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.241122 deg. 2025-01-08T20:06:39.334Z,1736366799.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821317 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:39.392Z,1736366799.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:39.393Z,1736366799.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284915 2025-01-08T20:06:39.644Z,1736366799.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:39.644Z,1736366799.644 [DAT](INFO): DAT read: Rx Time:20:06:38.3844 2025-01-08T20:06:39.645Z,1736366799.645 [DAT](INFO): Rx dataTimestamp_ set to:1736366799.644741 2025-01-08T20:06:39.646Z,1736366799.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537336 2025-01-08T20:06:39.701Z,1736366799.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:39.722Z,1736366799.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:39.725Z,1736366799.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 213.160248 m, bearing: 348.755308 deg, approach rate: -0.264073 m/s, LOS rate: 0.180262 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193109 deg. 2025-01-08T20:06:39.726Z,1736366799.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820479 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:39.896Z,1736366799.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:39.898Z,1736366799.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789205 2025-01-08T20:06:40.027Z,1736366800.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:40.060Z,1736366800.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:40.063Z,1736366800.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 213.077515 m, bearing: 348.812514 deg, approach rate: -0.244681 m/s, LOS rate: 0.169251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146871 deg. 2025-01-08T20:06:40.068Z,1736366800.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819672 target range: 389.399994 and range: 405.00 m. 2025-01-08T20:06:40.149Z,1736366800.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:40.151Z,1736366800.151 [DAT](INFO): DAT read: Range 10 to 50 : 413.5 m (Round-trip 551.4 ms) speed -0.4 m/s 2025-01-08T20:06:40.152Z,1736366800.152 [DAT](INFO): DAT read: user:1126> 2025-01-08T20:06:40.153Z,1736366800.153 [DAT](INFO): DAT read: Tx time:20:06:39.4789 2025-01-08T20:06:40.153Z,1736366800.153 [DAT](INFO): Ping request sent. 2025-01-08T20:06:40.153Z,1736366800.153 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:06:40.153Z,1736366800.153 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:06:40.153Z,1736366800.153 [DAT](INFO): publishing transmit ping time 2025-01-08T20:06:40.154Z,1736366800.154 [DAT](INFO): publishing transmit ping time 2025-01-08T20:06:40.400Z,1736366800.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:40.401Z,1736366800.401 [DAT](INFO): DAT read: TxSync time:20:06:39.4781 2025-01-08T20:06:40.557Z,1736366800.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:40.567Z,1736366800.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 413.500000 m, deltaT: 14.888906 s, deltaX: 8.500000 m, approachRate: 0.570895 m/s, rangeRepo size: 4 2025-01-08T20:06:40.568Z,1736366800.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:40.571Z,1736366800.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 212.934525 m, bearing: 348.908279 deg, approach rate: -0.282891 m/s, LOS rate: 0.189588 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.262672 deg. 2025-01-08T20:06:40.572Z,1736366800.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821693 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:40.652Z,1736366800.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:40.853Z,1736366800.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:40.881Z,1736366800.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:40.885Z,1736366800.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 212.855225 m, bearing: 348.961898 deg, approach rate: -0.250848 m/s, LOS rate: 0.169675 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136103 deg. 2025-01-08T20:06:40.886Z,1736366800.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819484 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:40.905Z,1736366800.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:41.156Z,1736366801.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:41.318Z,1736366801.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:41.328Z,1736366801.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:41.330Z,1736366801.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:41.369Z,1736366801.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 212.728271 m, bearing: 349.046955 deg, approach rate: -0.283142 m/s, LOS rate: 0.189813 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.230506 deg. 2025-01-08T20:06:41.370Z,1736366801.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821132 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:41.408Z,1736366801.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:41.408Z,1736366801.408 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:06:41.408Z,1736366801.408 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:06:41.409Z,1736366801.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:41.660Z,1736366801.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:41.662Z,1736366801.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508176 2025-01-08T20:06:41.698Z,1736366801.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:41.715Z,1736366801.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:41.722Z,1736366801.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 212.624908 m, bearing: 349.116983 deg, approach rate: -0.268360 m/s, LOS rate: 0.181903 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185374 deg. 2025-01-08T20:06:41.727Z,1736366801.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820344 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:41.912Z,1736366801.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:41.912Z,1736366801.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759354 2025-01-08T20:06:42.072Z,1736366802.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:42.081Z,1736366802.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:42.084Z,1736366802.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 212.523880 m, bearing: 349.185941 deg, approach rate: -0.276202 m/s, LOS rate: 0.188612 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182156 deg. 2025-01-08T20:06:42.086Z,1736366802.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820288 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:42.165Z,1736366802.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:42.166Z,1736366802.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012503 2025-01-08T20:06:42.416Z,1736366802.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:42.417Z,1736366802.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264051 2025-01-08T20:06:42.514Z,1736366802.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:42.539Z,1736366802.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:42.542Z,1736366802.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 212.402100 m, bearing: 349.265614 deg, approach rate: -0.267951 m/s, LOS rate: 0.175404 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.214343 deg. 2025-01-08T20:06:42.545Z,1736366802.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820850 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:42.668Z,1736366802.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:42.669Z,1736366802.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516152 2025-01-08T20:06:42.875Z,1736366802.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:42.901Z,1736366802.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:42.904Z,1736366802.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 212.302979 m, bearing: 349.330768 deg, approach rate: -0.270926 m/s, LOS rate: 0.178168 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170740 deg. 2025-01-08T20:06:42.905Z,1736366802.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820089 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:42.920Z,1736366802.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:42.921Z,1736366802.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767458 2025-01-08T20:06:43.172Z,1736366803.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:43.172Z,1736366803.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019256 2025-01-08T20:06:43.367Z,1736366803.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:43.373Z,1736366803.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:43.396Z,1736366803.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:43.398Z,1736366803.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 212.176468 m, bearing: 349.415959 deg, approach rate: -0.266731 m/s, LOS rate: 0.179721 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.230910 deg. 2025-01-08T20:06:43.404Z,1736366803.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821139 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:43.424Z,1736366803.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:43.425Z,1736366803.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271490 2025-01-08T20:06:43.676Z,1736366803.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:43.677Z,1736366803.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524379 2025-01-08T20:06:43.710Z,1736366803.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:43.747Z,1736366803.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:43.751Z,1736366803.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 212.089005 m, bearing: 349.475602 deg, approach rate: -0.254386 m/s, LOS rate: 0.173541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154188 deg. 2025-01-08T20:06:43.761Z,1736366803.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819800 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:43.928Z,1736366803.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:43.928Z,1736366803.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775233 2025-01-08T20:06:44.131Z,1736366804.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:44.141Z,1736366804.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:44.144Z,1736366804.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 211.981979 m, bearing: 349.548855 deg, approach rate: -0.253638 m/s, LOS rate: 0.173689 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195056 deg. 2025-01-08T20:06:44.145Z,1736366804.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820513 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:44.180Z,1736366804.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:44.181Z,1736366804.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027598 2025-01-08T20:06:44.432Z,1736366804.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:44.432Z,1736366804.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279314 2025-01-08T20:06:44.547Z,1736366804.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:44.556Z,1736366804.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:44.559Z,1736366804.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 211.880463 m, bearing: 349.616539 deg, approach rate: -0.244527 m/s, LOS rate: 0.163113 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178337 deg. 2025-01-08T20:06:44.560Z,1736366804.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820221 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:44.684Z,1736366804.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:44.685Z,1736366804.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531569 2025-01-08T20:06:44.915Z,1736366804.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:44.936Z,1736366804.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:44.937Z,1736366804.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783510 2025-01-08T20:06:44.946Z,1736366804.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:44.960Z,1736366804.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 211.790634 m, bearing: 349.676588 deg, approach rate: -0.230646 m/s, LOS rate: 0.154247 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155408 deg. 2025-01-08T20:06:44.962Z,1736366804.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819821 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:45.188Z,1736366805.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:45.188Z,1736366805.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035162 2025-01-08T20:06:45.374Z,1736366805.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:45.408Z,1736366805.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:45.410Z,1736366805.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:45.414Z,1736366805.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 211.684387 m, bearing: 349.746264 deg, approach rate: -0.228745 m/s, LOS rate: 0.150085 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184320 deg. 2025-01-08T20:06:45.415Z,1736366805.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820326 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:45.440Z,1736366805.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:45.441Z,1736366805.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287598 2025-01-08T20:06:45.692Z,1736366805.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:45.692Z,1736366805.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539363 2025-01-08T20:06:45.737Z,1736366805.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:45.745Z,1736366805.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:45.748Z,1736366805.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 211.600433 m, bearing: 349.801441 deg, approach rate: -0.250719 m/s, LOS rate: 0.164844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140782 deg. 2025-01-08T20:06:45.750Z,1736366805.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819566 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:45.946Z,1736366805.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:45.948Z,1736366805.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794068 2025-01-08T20:06:46.131Z,1736366806.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:46.141Z,1736366806.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:46.144Z,1736366806.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 211.509109 m, bearing: 349.861429 deg, approach rate: -0.230718 m/s, LOS rate: 0.151617 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155228 deg. 2025-01-08T20:06:46.145Z,1736366806.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819818 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:46.197Z,1736366806.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:46.198Z,1736366806.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044782 2025-01-08T20:06:46.450Z,1736366806.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:46.451Z,1736366806.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297593 2025-01-08T20:06:46.546Z,1736366806.546 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, , 242.37 2025-01-08T20:06:46.554Z,1736366806.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:06:46.554Z,1736366806.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:46.591Z,1736366806.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:46.594Z,1736366806.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 211.411209 m, bearing: 349.925709 deg, approach rate: -0.219328 m/s, LOS rate: 0.144076 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168117 deg. 2025-01-08T20:06:46.600Z,1736366806.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820043 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:46.700Z,1736366806.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:46.701Z,1736366806.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547958 2025-01-08T20:06:46.944Z,1736366806.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:06:46.944Z,1736366806.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:46.952Z,1736366806.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:46.953Z,1736366806.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799717 2025-01-08T20:06:46.956Z,1736366806.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:46.959Z,1736366806.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 211.320816 m, bearing: 349.984900 deg, approach rate: -0.245532 m/s, LOS rate: 0.160846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152833 deg. 2025-01-08T20:06:46.961Z,1736366806.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819776 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:47.204Z,1736366807.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:47.204Z,1736366807.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051420 2025-01-08T20:06:47.425Z,1736366807.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:47.441Z,1736366807.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:47.443Z,1736366807.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:47.450Z,1736366807.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 211.227325 m, bearing: 350.048311 deg, approach rate: -0.191822 m/s, LOS rate: 0.130163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165504 deg. 2025-01-08T20:06:47.456Z,1736366807.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:47.457Z,1736366807.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303535 2025-01-08T20:06:47.458Z,1736366807.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819997 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:47.708Z,1736366807.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:47.709Z,1736366807.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555748 2025-01-08T20:06:47.755Z,1736366807.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:47.768Z,1736366807.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:47.774Z,1736366807.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 211.162994 m, bearing: 350.091717 deg, approach rate: -0.198800 m/s, LOS rate: 0.134178 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105446 deg. 2025-01-08T20:06:47.796Z,1736366807.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818949 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:47.960Z,1736366807.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:47.961Z,1736366807.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807451 2025-01-08T20:06:48.153Z,1736366808.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:48.162Z,1736366808.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:48.165Z,1736366808.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 211.084717 m, bearing: 350.144185 deg, approach rate: -0.197985 m/s, LOS rate: 0.132753 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132647 deg. 2025-01-08T20:06:48.167Z,1736366808.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819424 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:48.212Z,1736366808.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:48.213Z,1736366808.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059872 2025-01-08T20:06:48.464Z,1736366808.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:48.464Z,1736366808.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311417 2025-01-08T20:06:48.568Z,1736366808.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:48.596Z,1736366808.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:48.603Z,1736366808.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 211.004715 m, bearing: 350.197212 deg, approach rate: -0.184068 m/s, LOS rate: 0.122051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134328 deg. 2025-01-08T20:06:48.605Z,1736366808.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819453 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:48.716Z,1736366808.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:48.717Z,1736366808.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564138 2025-01-08T20:06:48.954Z,1736366808.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:48.963Z,1736366808.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:48.965Z,1736366808.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 210.929794 m, bearing: 350.246570 deg, approach rate: -0.204620 m/s, LOS rate: 0.134853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123314 deg. 2025-01-08T20:06:48.968Z,1736366808.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:48.969Z,1736366808.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815905 2025-01-08T20:06:48.970Z,1736366808.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819261 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:49.220Z,1736366809.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:49.221Z,1736366809.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067481 2025-01-08T20:06:49.446Z,1736366809.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:49.470Z,1736366809.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:49.472Z,1736366809.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:49.472Z,1736366809.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319392 2025-01-08T20:06:49.477Z,1736366809.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:49.484Z,1736366809.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 210.840591 m, bearing: 350.309827 deg, approach rate: -0.173513 m/s, LOS rate: 0.123096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165037 deg. 2025-01-08T20:06:49.485Z,1736366809.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819989 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:49.724Z,1736366809.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:49.725Z,1736366809.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571640 2025-01-08T20:06:49.775Z,1736366809.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:49.785Z,1736366809.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:49.788Z,1736366809.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 210.780380 m, bearing: 350.352312 deg, approach rate: -0.195508 m/s, LOS rate: 0.137992 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102680 deg. 2025-01-08T20:06:49.789Z,1736366809.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818901 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:49.976Z,1736366809.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:49.977Z,1736366809.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823536 2025-01-08T20:06:50.165Z,1736366810.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:50.174Z,1736366810.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:50.177Z,1736366810.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 210.708847 m, bearing: 350.402563 deg, approach rate: -0.183503 m/s, LOS rate: 0.128952 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125990 deg. 2025-01-08T20:06:50.179Z,1736366810.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819308 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:50.229Z,1736366810.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:50.230Z,1736366810.230 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:50.230Z,1736366810.230 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:50.230Z,1736366810.230 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:50.480Z,1736366810.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:50.480Z,1736366810.480 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:50.480Z,1736366810.480 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:50.480Z,1736366810.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:50.613Z,1736366810.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:50.622Z,1736366810.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:50.625Z,1736366810.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 210.626907 m, bearing: 350.464652 deg, approach rate: -0.182942 m/s, LOS rate: 0.138676 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161525 deg. 2025-01-08T20:06:50.626Z,1736366810.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819928 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:50.732Z,1736366810.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:50.732Z,1736366810.732 [DAT](INFO): Reached modem response timeout 2025-01-08T20:06:50.733Z,1736366810.733 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:50.733Z,1736366810.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:50.982Z,1736366810.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:50.984Z,1736366810.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:50.985Z,1736366810.985 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:06:50.985Z,1736366810.985 [DAT](INFO): response not received 2025-01-08T20:06:50.986Z,1736366810.986 [DAT](INFO): DAT read: user:1127> 2025-01-08T20:06:50.986Z,1736366810.986 [DAT](ERROR): No response from remote modem. 2025-01-08T20:06:50.986Z,1736366810.986 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:06:50.986Z,1736366810.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:50.997Z,1736366810.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:51.000Z,1736366811.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 210.558334 m, bearing: 350.516252 deg, approach rate: -0.183155 m/s, LOS rate: 0.137865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130036 deg. 2025-01-08T20:06:51.002Z,1736366811.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819378 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:51.236Z,1736366811.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:51.236Z,1736366811.236 [DAT](INFO): DAT read: Tx time:20:06:50.4290 2025-01-08T20:06:51.237Z,1736366811.237 [DAT](INFO): Ping request sent. 2025-01-08T20:06:51.237Z,1736366811.237 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:06:51.237Z,1736366811.237 [DAT](INFO): DAT read: TxSync time:20:06:50.4282 2025-01-08T20:06:51.238Z,1736366811.238 [DAT](INFO): publishing transmit ping time 2025-01-08T20:06:51.238Z,1736366811.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001539 2025-01-08T20:06:51.489Z,1736366811.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:51.491Z,1736366811.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253679 2025-01-08T20:06:51.554Z,1736366811.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:51.561Z,1736366811.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:51.563Z,1736366811.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:51.566Z,1736366811.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 210.448654 m, bearing: 350.603466 deg, approach rate: -0.193809 m/s, LOS rate: 0.154192 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.236964 deg. 2025-01-08T20:06:51.580Z,1736366811.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821245 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:51.740Z,1736366811.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:51.740Z,1736366811.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503535 2025-01-08T20:06:51.853Z,1736366811.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:51.862Z,1736366811.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:51.864Z,1736366811.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 210.391815 m, bearing: 350.649127 deg, approach rate: -0.190164 m/s, LOS rate: 0.152807 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112206 deg. 2025-01-08T20:06:51.866Z,1736366811.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819067 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:51.992Z,1736366811.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:51.992Z,1736366811.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755557 2025-01-08T20:06:52.244Z,1736366812.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:52.244Z,1736366812.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007564 2025-01-08T20:06:52.254Z,1736366812.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:52.293Z,1736366812.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:52.303Z,1736366812.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 210.315826 m, bearing: 350.710309 deg, approach rate: -0.178631 m/s, LOS rate: 0.143876 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158798 deg. 2025-01-08T20:06:52.308Z,1736366812.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819880 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:52.497Z,1736366812.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:52.499Z,1736366812.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261871 2025-01-08T20:06:52.700Z,1736366812.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:52.709Z,1736366812.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:52.712Z,1736366812.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 210.223831 m, bearing: 350.786811 deg, approach rate: -0.218101 m/s, LOS rate: 0.181448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204790 deg. 2025-01-08T20:06:52.713Z,1736366812.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820683 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:52.748Z,1736366812.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:52.749Z,1736366812.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512344 2025-01-08T20:06:53.000Z,1736366813.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:53.001Z,1736366813.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764461 2025-01-08T20:06:53.070Z,1736366813.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:53.078Z,1736366813.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:53.081Z,1736366813.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 210.147644 m, bearing: 350.850646 deg, approach rate: -0.206137 m/s, LOS rate: 0.172779 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166760 deg. 2025-01-08T20:06:53.084Z,1736366813.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820019 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:53.252Z,1736366813.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:53.252Z,1736366813.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015546 2025-01-08T20:06:53.504Z,1736366813.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:53.504Z,1736366813.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267576 2025-01-08T20:06:53.507Z,1736366813.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:53.525Z,1736366813.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:53.528Z,1736366813.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 210.048401 m, bearing: 350.934069 deg, approach rate: -0.222166 m/s, LOS rate: 0.186841 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225575 deg. 2025-01-08T20:06:53.529Z,1736366813.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821046 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:53.756Z,1736366813.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:53.756Z,1736366813.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519444 2025-01-08T20:06:53.873Z,1736366813.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:53.879Z,1736366813.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:53.881Z,1736366813.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:53.885Z,1736366813.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 209.965942 m, bearing: 351.004076 deg, approach rate: -0.231410 m/s, LOS rate: 0.196543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185289 deg. 2025-01-08T20:06:53.886Z,1736366813.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820343 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:54.009Z,1736366814.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:54.010Z,1736366814.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772860 2025-01-08T20:06:54.260Z,1736366814.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:54.261Z,1736366814.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024378 2025-01-08T20:06:54.311Z,1736366814.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:54.321Z,1736366814.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:54.324Z,1736366814.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 209.868179 m, bearing: 351.088084 deg, approach rate: -0.222469 m/s, LOS rate: 0.191257 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.227326 deg. 2025-01-08T20:06:54.325Z,1736366814.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821076 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:54.512Z,1736366814.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:54.513Z,1736366814.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275764 2025-01-08T20:06:54.722Z,1736366814.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:54.764Z,1736366814.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:54.765Z,1736366814.765 [DAT](INFO): DAT read: Rx Time:20:06:53.3974 2025-01-08T20:06:54.765Z,1736366814.765 [DAT](INFO): Rx dataTimestamp_ set to:1736366814.764759 2025-01-08T20:06:54.766Z,1736366814.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528690 2025-01-08T20:06:54.776Z,1736366814.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:54.779Z,1736366814.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 209.766479 m, bearing: 351.173225 deg, approach rate: -0.231969 m/s, LOS rate: 0.194294 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.230733 deg. 2025-01-08T20:06:54.788Z,1736366814.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821136 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:55.017Z,1736366815.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:55.018Z,1736366815.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780685 2025-01-08T20:06:55.192Z,1736366815.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:55.202Z,1736366815.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:55.205Z,1736366815.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 209.652542 m, bearing: 351.271005 deg, approach rate: -0.257449 m/s, LOS rate: 0.221060 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.268683 deg. 2025-01-08T20:06:55.206Z,1736366815.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821798 target range: 389.399994 and range: 413.50 m. 2025-01-08T20:06:55.271Z,1736366815.271 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:55.275Z,1736366815.275 [DAT](INFO): DAT read: Range 10 to 50 : 423.2 m (Round-trip 564.3 ms) speed -0.8 m/s 2025-01-08T20:06:55.280Z,1736366815.280 [DAT](INFO): DAT read: user:1128> 2025-01-08T20:06:55.282Z,1736366815.282 [DAT](INFO): DAT read: Tx time:20:06:54.4790 2025-01-08T20:06:55.282Z,1736366815.282 [DAT](INFO): Ping request sent. 2025-01-08T20:06:55.282Z,1736366815.282 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:06:55.304Z,1736366815.304 [DAT](INFO): DAT read: TxSync time:20:06:54.4782 2025-01-08T20:06:55.304Z,1736366815.304 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:06:55.304Z,1736366815.304 [DAT](INFO): publishing transmit ping time 2025-01-08T20:06:55.305Z,1736366815.305 [DAT](INFO): publishing transmit ping time 2025-01-08T20:06:55.520Z,1736366815.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:55.629Z,1736366815.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:55.647Z,1736366815.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 423.200012 m, deltaT: 15.123077 s, deltaX: 9.700012 m, approachRate: 0.641405 m/s, rangeRepo size: 4 2025-01-08T20:06:55.650Z,1736366815.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:55.670Z,1736366815.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 209.546219 m, bearing: 351.365991 deg, approach rate: -0.239642 m/s, LOS rate: 0.214197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.260287 deg. 2025-01-08T20:06:55.677Z,1736366815.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821651 target range: 389.399994 and range: 423.20 m. 2025-01-08T20:06:55.772Z,1736366815.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:56.020Z,1736366816.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:56.024Z,1736366816.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:56.028Z,1736366816.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:56.030Z,1736366816.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:56.034Z,1736366816.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 209.452530 m, bearing: 351.451353 deg, approach rate: -0.243516 m/s, LOS rate: 0.221973 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.231387 deg. 2025-01-08T20:06:56.035Z,1736366816.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821147 target range: 389.399994 and range: 423.20 m. 2025-01-08T20:06:56.276Z,1736366816.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:56.276Z,1736366816.276 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:06:56.276Z,1736366816.276 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:06:56.277Z,1736366816.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:06:56.441Z,1736366816.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:56.498Z,1736366816.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:56.512Z,1736366816.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 209.353928 m, bearing: 351.543047 deg, approach rate: -0.210966 m/s, LOS rate: 0.196277 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.250396 deg. 2025-01-08T20:06:56.513Z,1736366816.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821479 target range: 389.399994 and range: 423.20 m. 2025-01-08T20:06:56.529Z,1736366816.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:56.530Z,1736366816.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247685 2025-01-08T20:06:56.780Z,1736366816.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:56.780Z,1736366816.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498073 2025-01-08T20:06:56.876Z,1736366816.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:56.885Z,1736366816.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:56.888Z,1736366816.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 209.239960 m, bearing: 351.638052 deg, approach rate: -0.293914 m/s, LOS rate: 0.245143 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.260354 deg. 2025-01-08T20:06:56.889Z,1736366816.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821653 target range: 389.399994 and range: 423.20 m. 2025-01-08T20:06:57.032Z,1736366817.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:57.034Z,1736366817.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751299 2025-01-08T20:06:57.241Z,1736366817.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:57.249Z,1736366817.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:57.253Z,1736366817.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 209.145020 m, bearing: 351.717651 deg, approach rate: -0.261291 m/s, LOS rate: 0.219168 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.214089 deg. 2025-01-08T20:06:57.254Z,1736366817.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820845 target range: 389.399994 and range: 423.20 m. 2025-01-08T20:06:57.300Z,1736366817.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:57.301Z,1736366817.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018626 2025-01-08T20:06:57.552Z,1736366817.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:57.553Z,1736366817.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270243 2025-01-08T20:06:57.653Z,1736366817.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:57.668Z,1736366817.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:57.688Z,1736366817.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 209.040329 m, bearing: 351.803515 deg, approach rate: -0.250078 m/s, LOS rate: 0.205209 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232907 deg. 2025-01-08T20:06:57.689Z,1736366817.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821174 target range: 389.399994 and range: 423.20 m. 2025-01-08T20:06:57.728Z,1736366817.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:06:57.804Z,1736366817.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:57.804Z,1736366817.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522194 2025-01-08T20:06:58.031Z,1736366818.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:58.056Z,1736366818.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:58.056Z,1736366818.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774158 2025-01-08T20:06:58.059Z,1736366818.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:06:58.061Z,1736366818.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:58.064Z,1736366818.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 208.945084 m, bearing: 351.882539 deg, approach rate: -0.241938 m/s, LOS rate: 0.200824 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212365 deg. 2025-01-08T20:06:58.065Z,1736366818.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820815 target range: 389.399994 and range: 423.20 m. 2025-01-08T20:06:58.308Z,1736366818.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:58.308Z,1736366818.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026201 2025-01-08T20:06:58.441Z,1736366818.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:58.453Z,1736366818.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:58.463Z,1736366818.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 208.843216 m, bearing: 351.968108 deg, approach rate: -0.261199 m/s, LOS rate: 0.219516 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232019 deg. 2025-01-08T20:06:58.469Z,1736366818.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821158 target range: 389.399994 and range: 423.20 m. 2025-01-08T20:06:58.562Z,1736366818.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:58.564Z,1736366818.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281589 2025-01-08T20:06:58.732Z,1736366818.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:06:58.812Z,1736366818.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:58.812Z,1736366818.812 [DAT](INFO): DAT read: Rx Time:20:06:57.4498 2025-01-08T20:06:58.813Z,1736366818.813 [DAT](INFO): Rx dataTimestamp_ set to:1736366818.812594 2025-01-08T20:06:58.813Z,1736366818.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531117 2025-01-08T20:06:58.887Z,1736366818.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:58.895Z,1736366818.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:58.898Z,1736366818.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 208.736862 m, bearing: 352.050826 deg, approach rate: -0.239529 m/s, LOS rate: 0.186391 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.223464 deg. 2025-01-08T20:06:58.900Z,1736366818.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821009 target range: 389.399994 and range: 423.20 m. 2025-01-08T20:06:59.064Z,1736366819.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:59.066Z,1736366819.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782849 2025-01-08T20:06:59.256Z,1736366819.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:59.265Z,1736366819.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:59.269Z,1736366819.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 208.649002 m, bearing: 352.119470 deg, approach rate: -0.237457 m/s, LOS rate: 0.185601 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181206 deg. 2025-01-08T20:06:59.270Z,1736366819.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820271 target range: 389.399994 and range: 423.20 m. 2025-01-08T20:06:59.316Z,1736366819.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:59.324Z,1736366819.324 [DAT](INFO): DAT read: Range 10 to 50 : 424.9 m (Round-trip 566.6 ms) speed -0.4 m/s 2025-01-08T20:06:59.325Z,1736366819.325 [DAT](INFO): DAT read: user:1129> 2025-01-08T20:06:59.326Z,1736366819.326 [DAT](INFO): DAT read: Tx time:20:06:58.5291 2025-01-08T20:06:59.327Z,1736366819.327 [DAT](INFO): Ping request sent. 2025-01-08T20:06:59.327Z,1736366819.327 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:06:59.328Z,1736366819.328 [DAT](INFO): DAT read: TxSync time:20:06:58.5283 2025-01-08T20:06:59.329Z,1736366819.329 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:06:59.329Z,1736366819.329 [DAT](INFO): publishing transmit ping time 2025-01-08T20:06:59.330Z,1736366819.330 [DAT](INFO): publishing transmit ping time 2025-01-08T20:06:59.568Z,1736366819.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:06:59.697Z,1736366819.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:06:59.707Z,1736366819.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 424.899994 m, deltaT: 4.044830 s, deltaX: 1.699982 m, approachRate: 0.420285 m/s, rangeRepo size: 4 2025-01-08T20:06:59.708Z,1736366819.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:06:59.710Z,1736366819.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 208.549728 m, bearing: 352.192624 deg, approach rate: -0.225009 m/s, LOS rate: 0.165886 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194751 deg. 2025-01-08T20:06:59.712Z,1736366819.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820508 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:06:59.820Z,1736366819.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:00.056Z,1736366820.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:00.062Z,1736366820.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:00.065Z,1736366820.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:00.068Z,1736366820.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 208.468933 m, bearing: 352.252165 deg, approach rate: -0.225440 m/s, LOS rate: 0.166199 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153878 deg. 2025-01-08T20:07:00.070Z,1736366820.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819794 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:00.072Z,1736366820.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:00.072Z,1736366820.072 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:07:00.072Z,1736366820.072 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:07:00.073Z,1736366820.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:00.324Z,1736366820.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:00.324Z,1736366820.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997562 2025-01-08T20:07:00.452Z,1736366820.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:00.468Z,1736366820.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:00.471Z,1736366820.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 208.379669 m, bearing: 352.318011 deg, approach rate: -0.221129 m/s, LOS rate: 0.163186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172808 deg. 2025-01-08T20:07:00.472Z,1736366820.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820125 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:00.576Z,1736366820.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:00.578Z,1736366820.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251259 2025-01-08T20:07:00.828Z,1736366820.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:00.828Z,1736366820.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501611 2025-01-08T20:07:00.894Z,1736366820.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:00.903Z,1736366820.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:00.906Z,1736366820.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 208.292953 m, bearing: 352.379515 deg, approach rate: -0.199468 m/s, LOS rate: 0.141536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159778 deg. 2025-01-08T20:07:00.907Z,1736366820.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819897 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:01.080Z,1736366821.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:01.081Z,1736366821.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754492 2025-01-08T20:07:01.327Z,1736366821.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:01.332Z,1736366821.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:01.333Z,1736366821.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005774 2025-01-08T20:07:01.339Z,1736366821.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:01.342Z,1736366821.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 208.208115 m, bearing: 352.439917 deg, approach rate: -0.194566 m/s, LOS rate: 0.138580 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156466 deg. 2025-01-08T20:07:01.344Z,1736366821.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819839 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:01.584Z,1736366821.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:01.586Z,1736366821.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258877 2025-01-08T20:07:01.729Z,1736366821.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:01.738Z,1736366821.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:01.741Z,1736366821.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 208.139587 m, bearing: 352.486661 deg, approach rate: -0.171607 m/s, LOS rate: 0.117096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115465 deg. 2025-01-08T20:07:01.742Z,1736366821.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819124 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:01.836Z,1736366821.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:01.836Z,1736366821.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509636 2025-01-08T20:07:02.088Z,1736366822.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:02.088Z,1736366822.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761555 2025-01-08T20:07:02.159Z,1736366822.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:02.165Z,1736366822.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:02.171Z,1736366822.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:02.186Z,1736366822.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 208.066360 m, bearing: 352.536571 deg, approach rate: -0.169457 m/s, LOS rate: 0.115539 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124968 deg. 2025-01-08T20:07:02.187Z,1736366822.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819290 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:02.340Z,1736366822.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:02.341Z,1736366822.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013794 2025-01-08T20:07:02.592Z,1736366822.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:02.592Z,1736366822.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265459 2025-01-08T20:07:02.690Z,1736366822.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:02.706Z,1736366822.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:02.713Z,1736366822.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.985916 m, bearing: 352.591480 deg, approach rate: -0.150182 m/s, LOS rate: 0.102550 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139977 deg. 2025-01-08T20:07:02.714Z,1736366822.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819552 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:02.844Z,1736366822.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:02.844Z,1736366822.844 [DAT](INFO): DAT read: Rx Time:20:07:01.5028 2025-01-08T20:07:02.845Z,1736366822.845 [DAT](INFO): Rx dataTimestamp_ set to:1736366822.844595 2025-01-08T20:07:02.845Z,1736366822.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518642 2025-01-08T20:07:02.978Z,1736366822.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:03.008Z,1736366823.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:03.011Z,1736366823.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.941956 m, bearing: 352.621269 deg, approach rate: -0.146148 m/s, LOS rate: 0.099055 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.064572 deg. 2025-01-08T20:07:03.013Z,1736366823.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818236 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:03.096Z,1736366823.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:03.097Z,1736366823.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770713 2025-01-08T20:07:03.348Z,1736366823.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:03.348Z,1736366823.348 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:07:03.349Z,1736366823.349 [DAT](INFO): Received a bad header 2025-01-08T20:07:03.360Z,1736366823.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032835 2025-01-08T20:07:03.412Z,1736366823.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:03.430Z,1736366823.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:03.437Z,1736366823.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.875168 m, bearing: 352.666037 deg, approach rate: -0.157690 m/s, LOS rate: 0.105734 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109534 deg. 2025-01-08T20:07:03.439Z,1736366823.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819020 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:03.601Z,1736366823.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:03.604Z,1736366823.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276656 2025-01-08T20:07:03.824Z,1736366823.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:03.833Z,1736366823.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:03.836Z,1736366823.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.820328 m, bearing: 352.708401 deg, approach rate: -0.136455 m/s, LOS rate: 0.105440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102312 deg. 2025-01-08T20:07:03.837Z,1736366823.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818894 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:03.852Z,1736366823.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:03.853Z,1736366823.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525775 2025-01-08T20:07:04.104Z,1736366824.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:04.105Z,1736366824.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778145 2025-01-08T20:07:04.194Z,1736366824.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:04.220Z,1736366824.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:04.222Z,1736366824.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:04.230Z,1736366824.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.770599 m, bearing: 352.746331 deg, approach rate: -0.127531 m/s, LOS rate: 0.097295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.089003 deg. 2025-01-08T20:07:04.231Z,1736366824.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818662 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:04.356Z,1736366824.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:04.357Z,1736366824.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029834 2025-01-08T20:07:04.609Z,1736366824.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:04.610Z,1736366824.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.283540 2025-01-08T20:07:04.730Z,1736366824.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:04.740Z,1736366824.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:04.743Z,1736366824.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.696732 m, bearing: 352.807070 deg, approach rate: -0.142692 m/s, LOS rate: 0.117373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157470 deg. 2025-01-08T20:07:04.744Z,1736366824.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819857 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:04.860Z,1736366824.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:04.860Z,1736366824.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533539 2025-01-08T20:07:05.014Z,1736366825.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:05.023Z,1736366825.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:05.026Z,1736366825.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.655441 m, bearing: 352.841128 deg, approach rate: -0.145785 m/s, LOS rate: 0.120273 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.077381 deg. 2025-01-08T20:07:05.028Z,1736366825.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818460 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:05.113Z,1736366825.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:05.114Z,1736366825.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.786829 2025-01-08T20:07:05.364Z,1736366825.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:05.364Z,1736366825.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037649 2025-01-08T20:07:05.412Z,1736366825.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:05.438Z,1736366825.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:05.445Z,1736366825.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.596725 m, bearing: 352.886993 deg, approach rate: -0.141615 m/s, LOS rate: 0.110650 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112818 deg. 2025-01-08T20:07:05.446Z,1736366825.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819078 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:05.617Z,1736366825.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:05.633Z,1736366825.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305852 2025-01-08T20:07:05.856Z,1736366825.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:05.864Z,1736366825.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:05.869Z,1736366825.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:05.869Z,1736366825.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.542420 2025-01-08T20:07:05.884Z,1736366825.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.523560 m, bearing: 352.948386 deg, approach rate: -0.171767 m/s, LOS rate: 0.144180 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159431 deg. 2025-01-08T20:07:05.885Z,1736366825.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819891 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:06.120Z,1736366826.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:06.120Z,1736366826.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793709 2025-01-08T20:07:06.220Z,1736366826.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:06.226Z,1736366826.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:06.229Z,1736366826.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:06.232Z,1736366826.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.463135 m, bearing: 352.998991 deg, approach rate: -0.165468 m/s, LOS rate: 0.138618 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127046 deg. 2025-01-08T20:07:06.234Z,1736366826.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819326 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:06.372Z,1736366826.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:06.372Z,1736366826.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045629 2025-01-08T20:07:06.637Z,1736366826.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:06.655Z,1736366826.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.327981 2025-01-08T20:07:06.725Z,1736366826.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:06.743Z,1736366826.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:06.746Z,1736366826.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.362625 m, bearing: 353.083987 deg, approach rate: -0.195728 m/s, LOS rate: 0.165599 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.230298 deg. 2025-01-08T20:07:06.747Z,1736366826.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821128 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:06.880Z,1736366826.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:06.880Z,1736366826.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553603 2025-01-08T20:07:07.039Z,1736366827.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:07.062Z,1736366827.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:07.065Z,1736366827.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.300705 m, bearing: 353.136881 deg, approach rate: -0.194051 m/s, LOS rate: 0.165811 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133914 deg. 2025-01-08T20:07:07.067Z,1736366827.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819446 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:07.134Z,1736366827.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:07.135Z,1736366827.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807945 2025-01-08T20:07:07.388Z,1736366827.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:07.389Z,1736366827.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061747 2025-01-08T20:07:07.466Z,1736366827.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:07.475Z,1736366827.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:07.478Z,1736366827.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.217590 m, bearing: 353.209005 deg, approach rate: -0.201181 m/s, LOS rate: 0.174648 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191645 deg. 2025-01-08T20:07:07.479Z,1736366827.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820454 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:07.642Z,1736366827.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:07.645Z,1736366827.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317783 2025-01-08T20:07:07.871Z,1736366827.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:07.879Z,1736366827.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:07.882Z,1736366827.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.126877 m, bearing: 353.290465 deg, approach rate: -0.224367 m/s, LOS rate: 0.201569 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.219674 deg. 2025-01-08T20:07:07.884Z,1736366827.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820943 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:07.892Z,1736366827.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:07.892Z,1736366827.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565573 2025-01-08T20:07:08.144Z,1736366828.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:08.145Z,1736366828.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817980 2025-01-08T20:07:08.256Z,1736366828.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:08.262Z,1736366828.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:08.265Z,1736366828.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:08.268Z,1736366828.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 207.042252 m, bearing: 353.368078 deg, approach rate: -0.219491 m/s, LOS rate: 0.201384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208118 deg. 2025-01-08T20:07:08.269Z,1736366828.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820741 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:08.396Z,1736366828.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:08.397Z,1736366828.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069875 2025-01-08T20:07:08.650Z,1736366828.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:08.653Z,1736366828.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325760 2025-01-08T20:07:08.748Z,1736366828.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:08.757Z,1736366828.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:08.761Z,1736366828.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 206.920059 m, bearing: 353.479852 deg, approach rate: -0.248339 m/s, LOS rate: 0.227299 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.310703 deg. 2025-01-08T20:07:08.765Z,1736366828.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822532 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:08.900Z,1736366828.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:08.901Z,1736366828.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574252 2025-01-08T20:07:09.088Z,1736366829.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:09.114Z,1736366829.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:09.139Z,1736366829.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 206.836578 m, bearing: 353.556687 deg, approach rate: -0.233280 m/s, LOS rate: 0.214796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205784 deg. 2025-01-08T20:07:09.149Z,1736366829.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820700 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:09.152Z,1736366829.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:09.153Z,1736366829.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826039 2025-01-08T20:07:09.404Z,1736366829.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:09.404Z,1736366829.404 [DAT](INFO): Reached modem response timeout 2025-01-08T20:07:09.404Z,1736366829.404 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:07:09.405Z,1736366829.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:09.479Z,1736366829.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:09.489Z,1736366829.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:09.492Z,1736366829.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 206.743271 m, bearing: 353.646309 deg, approach rate: -0.249282 m/s, LOS rate: 0.239545 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.244174 deg. 2025-01-08T20:07:09.493Z,1736366829.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821371 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:09.658Z,1736366829.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:09.659Z,1736366829.659 [DAT](INFO): Reached modem response timeout 2025-01-08T20:07:09.660Z,1736366829.660 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:07:09.661Z,1736366829.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:09.908Z,1736366829.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:09.908Z,1736366829.908 [DAT](INFO): Reached modem response timeout 2025-01-08T20:07:09.908Z,1736366829.908 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:07:09.909Z,1736366829.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:09.965Z,1736366829.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:09.975Z,1736366829.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:09.989Z,1736366829.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 206.614105 m, bearing: 353.766418 deg, approach rate: -0.265930 m/s, LOS rate: 0.247437 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.335733 deg. 2025-01-08T20:07:09.991Z,1736366829.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822968 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:10.160Z,1736366830.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:10.161Z,1736366830.161 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:07:10.161Z,1736366830.161 [DAT](INFO): response not received 2025-01-08T20:07:10.161Z,1736366830.161 [DAT](INFO): DAT read: user:1131> 2025-01-08T20:07:10.162Z,1736366830.162 [DAT](INFO): DAT read: Tx time:20:07:09.4791 2025-01-08T20:07:10.162Z,1736366830.162 [DAT](INFO): Ping request sent. 2025-01-08T20:07:10.162Z,1736366830.162 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:07:10.162Z,1736366830.162 [DAT](INFO): publishing transmit ping time 2025-01-08T20:07:10.163Z,1736366830.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000712 2025-01-08T20:07:10.350Z,1736366830.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:10.366Z,1736366830.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:10.373Z,1736366830.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:10.380Z,1736366830.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 206.514420 m, bearing: 353.861664 deg, approach rate: -0.250465 m/s, LOS rate: 0.239426 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.261061 deg. 2025-01-08T20:07:10.381Z,1736366830.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821665 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:10.412Z,1736366830.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:10.413Z,1736366830.413 [DAT](INFO): DAT read: TxSync time:20:07:09.4784 2025-01-08T20:07:10.413Z,1736366830.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251192 2025-01-08T20:07:10.665Z,1736366830.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:10.668Z,1736366830.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505338 2025-01-08T20:07:10.836Z,1736366830.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:10.861Z,1736366830.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:10.868Z,1736366830.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 206.380630 m, bearing: 353.982928 deg, approach rate: -0.274079 m/s, LOS rate: 0.248580 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.339208 deg. 2025-01-08T20:07:10.869Z,1736366830.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823029 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:10.918Z,1736366830.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:10.921Z,1736366830.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758184 2025-01-08T20:07:11.169Z,1736366831.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:11.170Z,1736366831.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007574 2025-01-08T20:07:11.211Z,1736366831.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:11.221Z,1736366831.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:11.224Z,1736366831.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 206.279984 m, bearing: 354.076527 deg, approach rate: -0.279457 m/s, LOS rate: 0.260013 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.256117 deg. 2025-01-08T20:07:11.225Z,1736366831.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821579 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:11.420Z,1736366831.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:11.420Z,1736366831.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258187 2025-01-08T20:07:11.631Z,1736366831.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:11.650Z,1736366831.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:11.655Z,1736366831.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 206.169037 m, bearing: 354.181846 deg, approach rate: -0.258937 m/s, LOS rate: 0.245936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.291312 deg. 2025-01-08T20:07:11.657Z,1736366831.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822193 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:11.674Z,1736366831.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:11.676Z,1736366831.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513575 2025-01-08T20:07:11.924Z,1736366831.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:11.924Z,1736366831.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762062 2025-01-08T20:07:12.064Z,1736366832.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:12.073Z,1736366832.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:12.076Z,1736366832.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 206.063217 m, bearing: 354.284440 deg, approach rate: -0.249502 m/s, LOS rate: 0.242020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.283123 deg. 2025-01-08T20:07:12.077Z,1736366832.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822050 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:12.176Z,1736366832.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:12.177Z,1736366832.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014300 2025-01-08T20:07:12.420Z,1736366832.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:12.427Z,1736366832.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:12.428Z,1736366832.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:12.428Z,1736366832.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266147 2025-01-08T20:07:12.445Z,1736366832.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:12.452Z,1736366832.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.979752 m, bearing: 354.369139 deg, approach rate: -0.224527 m/s, LOS rate: 0.227937 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.229385 deg. 2025-01-08T20:07:12.453Z,1736366832.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821112 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:12.687Z,1736366832.687 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:12.691Z,1736366832.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527769 2025-01-08T20:07:12.886Z,1736366832.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:12.901Z,1736366832.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:12.904Z,1736366832.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.885818 m, bearing: 354.466172 deg, approach rate: -0.206749 m/s, LOS rate: 0.213671 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.266418 deg. 2025-01-08T20:07:12.905Z,1736366832.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821759 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:12.940Z,1736366832.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:12.941Z,1736366832.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778389 2025-01-08T20:07:13.192Z,1736366833.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:13.192Z,1736366833.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030059 2025-01-08T20:07:13.235Z,1736366833.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:13.243Z,1736366833.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:13.246Z,1736366833.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.817429 m, bearing: 354.538760 deg, approach rate: -0.198901 m/s, LOS rate: 0.211180 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193022 deg. 2025-01-08T20:07:13.264Z,1736366833.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820477 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:13.444Z,1736366833.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:13.444Z,1736366833.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282062 2025-01-08T20:07:13.635Z,1736366833.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:13.643Z,1736366833.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:13.647Z,1736366833.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.739227 m, bearing: 354.622214 deg, approach rate: -0.195732 m/s, LOS rate: 0.208958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225641 deg. 2025-01-08T20:07:13.649Z,1736366833.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821047 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:13.682Z,1736366833.682 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T20:07:13.697Z,1736366833.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:13.700Z,1736366833.700 [DAT](INFO): DAT read: Rx Time:20:07:12.4627 2025-01-08T20:07:13.701Z,1736366833.701 [DAT](INFO): Rx dataTimestamp_ set to:1736366833.699972 2025-01-08T20:07:13.703Z,1736366833.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540156 2025-01-08T20:07:13.948Z,1736366833.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:13.950Z,1736366833.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786831 2025-01-08T20:07:14.058Z,1736366834.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:14.067Z,1736366834.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:14.070Z,1736366834.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.666748 m, bearing: 354.695385 deg, approach rate: -0.171117 m/s, LOS rate: 0.172812 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194777 deg. 2025-01-08T20:07:14.072Z,1736366834.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820508 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:14.201Z,1736366834.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:14.202Z,1736366834.202 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:07:14.202Z,1736366834.202 [DAT](INFO): Received a bad header 2025-01-08T20:07:14.216Z,1736366834.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.053467 2025-01-08T20:07:14.452Z,1736366834.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:14.452Z,1736366834.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290062 2025-01-08T20:07:14.525Z,1736366834.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:14.533Z,1736366834.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:14.536Z,1736366834.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:14.539Z,1736366834.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.585159 m, bearing: 354.775988 deg, approach rate: -0.173770 m/s, LOS rate: 0.171738 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217089 deg. 2025-01-08T20:07:14.540Z,1736366834.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820898 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:14.705Z,1736366834.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:14.708Z,1736366834.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.545511 2025-01-08T20:07:14.956Z,1736366834.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:14.956Z,1736366834.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794131 2025-01-08T20:07:14.962Z,1736366834.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:14.971Z,1736366834.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:14.974Z,1736366834.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.525818 m, bearing: 354.835483 deg, approach rate: -0.136363 m/s, LOS rate: 0.136757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153724 deg. 2025-01-08T20:07:14.975Z,1736366834.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819792 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:15.209Z,1736366835.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:15.209Z,1736366835.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047187 2025-01-08T20:07:15.402Z,1736366835.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:15.410Z,1736366835.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:15.414Z,1736366835.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.463821 m, bearing: 354.895196 deg, approach rate: -0.141121 m/s, LOS rate: 0.135964 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154380 deg. 2025-01-08T20:07:15.415Z,1736366835.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819803 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:15.460Z,1736366835.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:15.460Z,1736366835.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298199 2025-01-08T20:07:15.712Z,1736366835.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:15.712Z,1736366835.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550144 2025-01-08T20:07:15.848Z,1736366835.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:15.858Z,1736366835.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:15.861Z,1736366835.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.411926 m, bearing: 354.942144 deg, approach rate: -0.116058 m/s, LOS rate: 0.105020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116065 deg. 2025-01-08T20:07:15.862Z,1736366835.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819134 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:15.964Z,1736366835.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:15.967Z,1736366835.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803638 2025-01-08T20:07:16.217Z,1736366836.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:16.218Z,1736366836.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055934 2025-01-08T20:07:16.306Z,1736366836.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:16.338Z,1736366836.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:16.345Z,1736366836.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.357422 m, bearing: 354.990241 deg, approach rate: -0.113453 m/s, LOS rate: 0.100143 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119517 deg. 2025-01-08T20:07:16.346Z,1736366836.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819195 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:16.468Z,1736366836.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:16.469Z,1736366836.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306366 2025-01-08T20:07:16.721Z,1736366836.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:16.724Z,1736366836.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.561243 2025-01-08T20:07:16.845Z,1736366836.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:16.873Z,1736366836.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:16.879Z,1736366836.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:16.882Z,1736366836.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.297974 m, bearing: 355.039975 deg, approach rate: -0.110695 m/s, LOS rate: 0.092632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124429 deg. 2025-01-08T20:07:16.886Z,1736366836.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819281 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:16.972Z,1736366836.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:16.973Z,1736366836.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811155 2025-01-08T20:07:17.196Z,1736366837.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:17.205Z,1736366837.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:17.208Z,1736366837.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.258469 m, bearing: 355.072334 deg, approach rate: -0.119712 m/s, LOS rate: 0.098078 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.072284 deg. 2025-01-08T20:07:17.209Z,1736366837.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818370 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:17.224Z,1736366837.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:17.224Z,1736366837.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062080 2025-01-08T20:07:17.476Z,1736366837.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:17.476Z,1736366837.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314076 2025-01-08T20:07:17.601Z,1736366837.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:17.609Z,1736366837.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:17.612Z,1736366837.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.212143 m, bearing: 355.109549 deg, approach rate: -0.114643 m/s, LOS rate: 0.092116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.086855 deg. 2025-01-08T20:07:17.613Z,1736366837.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818624 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:17.729Z,1736366837.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:17.730Z,1736366837.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567451 2025-01-08T20:07:17.980Z,1736366837.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:17.980Z,1736366837.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818145 2025-01-08T20:07:18.041Z,1736366838.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:18.065Z,1736366838.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:18.073Z,1736366838.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.159348 m, bearing: 355.151241 deg, approach rate: -0.115779 m/s, LOS rate: 0.091454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100296 deg. 2025-01-08T20:07:18.074Z,1736366838.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818859 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:18.232Z,1736366838.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:18.234Z,1736366838.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070898 2025-01-08T20:07:18.455Z,1736366838.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:18.466Z,1736366838.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:18.470Z,1736366838.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.109055 m, bearing: 355.190417 deg, approach rate: -0.125517 m/s, LOS rate: 0.097797 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.092744 deg. 2025-01-08T20:07:18.472Z,1736366838.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818727 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:18.484Z,1736366838.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:18.485Z,1736366838.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322541 2025-01-08T20:07:18.736Z,1736366838.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:18.737Z,1736366838.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574700 2025-01-08T20:07:18.899Z,1736366838.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:18.907Z,1736366838.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:18.909Z,1736366838.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:18.912Z,1736366838.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.047867 m, bearing: 355.240768 deg, approach rate: -0.138086 m/s, LOS rate: 0.113664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126284 deg. 2025-01-08T20:07:18.913Z,1736366838.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819313 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:18.989Z,1736366838.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:18.990Z,1736366838.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827523 2025-01-08T20:07:19.227Z,1736366839.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:19.237Z,1736366839.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:19.240Z,1736366839.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:19.240Z,1736366839.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078187 2025-01-08T20:07:19.241Z,1736366839.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 205.002701 m, bearing: 355.278029 deg, approach rate: -0.137735 m/s, LOS rate: 0.113653 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.086994 deg. 2025-01-08T20:07:19.242Z,1736366839.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818627 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:19.493Z,1736366839.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:19.493Z,1736366839.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331006 2025-01-08T20:07:19.623Z,1736366839.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:19.632Z,1736366839.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:19.636Z,1736366839.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 204.947189 m, bearing: 355.322832 deg, approach rate: -0.140537 m/s, LOS rate: 0.113458 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109633 deg. 2025-01-08T20:07:19.637Z,1736366839.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819022 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:19.744Z,1736366839.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:19.745Z,1736366839.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582426 2025-01-08T20:07:19.998Z,1736366839.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:20.001Z,1736366840.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838076 2025-01-08T20:07:20.073Z,1736366840.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:20.090Z,1736366840.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:20.097Z,1736366840.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 204.873947 m, bearing: 355.387870 deg, approach rate: -0.160031 m/s, LOS rate: 0.142154 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170367 deg. 2025-01-08T20:07:20.098Z,1736366840.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820082 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:20.248Z,1736366840.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:20.248Z,1736366840.248 [DAT](INFO): Reached modem response timeout 2025-01-08T20:07:20.249Z,1736366840.249 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:07:20.249Z,1736366840.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:20.429Z,1736366840.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:20.439Z,1736366840.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:20.442Z,1736366840.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 204.816422 m, bearing: 355.439586 deg, approach rate: -0.164731 m/s, LOS rate: 0.148135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130378 deg. 2025-01-08T20:07:20.443Z,1736366840.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819384 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:20.501Z,1736366840.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:20.502Z,1736366840.502 [DAT](INFO): Reached modem response timeout 2025-01-08T20:07:20.502Z,1736366840.502 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:07:20.503Z,1736366840.503 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:20.752Z,1736366840.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:20.752Z,1736366840.752 [DAT](INFO): Reached modem response timeout 2025-01-08T20:07:20.752Z,1736366840.752 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:07:20.752Z,1736366840.752 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:20.901Z,1736366840.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:20.911Z,1736366840.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:20.914Z,1736366840.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:20.916Z,1736366840.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 204.727493 m, bearing: 355.522703 deg, approach rate: -0.187294 m/s, LOS rate: 0.175132 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.224646 deg. 2025-01-08T20:07:20.918Z,1736366840.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821030 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:21.004Z,1736366841.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:21.005Z,1736366841.005 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:07:21.005Z,1736366841.005 [DAT](INFO): response not received 2025-01-08T20:07:21.005Z,1736366841.005 [DAT](INFO): DAT read: user:1133> 2025-01-08T20:07:21.006Z,1736366841.006 [DAT](ERROR): No response from remote modem. 2025-01-08T20:07:21.006Z,1736366841.006 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:07:21.006Z,1736366841.006 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:21.243Z,1736366841.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:21.256Z,1736366841.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:21.257Z,1736366841.257 [DAT](INFO): DAT read: Tx time:20:07:20.4292 2025-01-08T20:07:21.257Z,1736366841.257 [DAT](INFO): Ping request sent. 2025-01-08T20:07:21.257Z,1736366841.257 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:07:21.258Z,1736366841.258 [DAT](INFO): DAT read: TxSync time:20:07:20.4285 2025-01-08T20:07:21.258Z,1736366841.258 [DAT](INFO): publishing transmit ping time 2025-01-08T20:07:21.259Z,1736366841.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001590 2025-01-08T20:07:21.301Z,1736366841.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:21.312Z,1736366841.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 204.664368 m, bearing: 355.583094 deg, approach rate: -0.163027 m/s, LOS rate: 0.156011 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156413 deg. 2025-01-08T20:07:21.313Z,1736366841.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819839 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:21.510Z,1736366841.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:21.511Z,1736366841.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254268 2025-01-08T20:07:21.662Z,1736366841.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:21.678Z,1736366841.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:21.686Z,1736366841.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 204.588577 m, bearing: 355.657268 deg, approach rate: -0.200895 m/s, LOS rate: 0.196684 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197791 deg. 2025-01-08T20:07:21.687Z,1736366841.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820561 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:21.760Z,1736366841.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:21.760Z,1736366841.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503322 2025-01-08T20:07:22.012Z,1736366842.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:22.012Z,1736366842.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755323 2025-01-08T20:07:22.082Z,1736366842.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:22.092Z,1736366842.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:22.095Z,1736366842.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 204.501968 m, bearing: 355.746699 deg, approach rate: -0.209430 m/s, LOS rate: 0.216346 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.243591 deg. 2025-01-08T20:07:22.096Z,1736366842.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821360 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:22.264Z,1736366842.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:22.264Z,1736366842.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007202 2025-01-08T20:07:22.463Z,1736366842.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:22.472Z,1736366842.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:22.475Z,1736366842.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 204.424011 m, bearing: 355.827720 deg, approach rate: -0.204750 m/s, LOS rate: 0.212880 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.218343 deg. 2025-01-08T20:07:22.476Z,1736366842.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820920 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:22.516Z,1736366842.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:22.517Z,1736366842.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260265 2025-01-08T20:07:22.768Z,1736366842.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:22.768Z,1736366842.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511392 2025-01-08T20:07:22.960Z,1736366842.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:22.966Z,1736366842.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:22.969Z,1736366842.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:22.972Z,1736366842.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 204.317825 m, bearing: 355.942958 deg, approach rate: -0.213810 m/s, LOS rate: 0.232156 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.321075 deg. 2025-01-08T20:07:22.973Z,1736366842.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822712 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:23.021Z,1736366843.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:23.024Z,1736366843.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765994 2025-01-08T20:07:23.272Z,1736366843.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:23.272Z,1736366843.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015263 2025-01-08T20:07:23.325Z,1736366843.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:23.334Z,1736366843.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:23.337Z,1736366843.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 204.241791 m, bearing: 356.027828 deg, approach rate: -0.208862 m/s, LOS rate: 0.233218 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.229889 deg. 2025-01-08T20:07:23.338Z,1736366843.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821121 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:23.524Z,1736366843.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:23.525Z,1736366843.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268358 2025-01-08T20:07:23.736Z,1736366843.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:23.749Z,1736366843.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:23.757Z,1736366843.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 204.158569 m, bearing: 356.123725 deg, approach rate: -0.200144 m/s, LOS rate: 0.230722 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.262993 deg. 2025-01-08T20:07:23.758Z,1736366843.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821699 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:23.776Z,1736366843.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:23.777Z,1736366843.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519548 2025-01-08T20:07:24.029Z,1736366844.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:24.031Z,1736366844.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773309 2025-01-08T20:07:24.258Z,1736366844.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:24.267Z,1736366844.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:24.270Z,1736366844.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 204.053833 m, bearing: 356.245495 deg, approach rate: -0.202363 m/s, LOS rate: 0.235396 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.340680 deg. 2025-01-08T20:07:24.274Z,1736366844.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823055 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:24.280Z,1736366844.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:24.281Z,1736366844.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023440 2025-01-08T20:07:24.532Z,1736366844.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:24.532Z,1736366844.532 [DAT](INFO): DAT read: Rx Time:20:07:23.4211 2025-01-08T20:07:24.533Z,1736366844.533 [DAT](INFO): Rx dataTimestamp_ set to:1736366844.532805 2025-01-08T20:07:24.534Z,1736366844.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277004 2025-01-08T20:07:24.626Z,1736366844.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:24.644Z,1736366844.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:24.652Z,1736366844.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 203.984177 m, bearing: 356.331629 deg, approach rate: -0.184324 m/s, LOS rate: 0.228006 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233676 deg. 2025-01-08T20:07:24.654Z,1736366844.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821187 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:24.784Z,1736366844.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:24.785Z,1736366844.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528265 2025-01-08T20:07:24.874Z,1736366844.874 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T20:07:25.036Z,1736366845.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:25.036Z,1736366845.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779384 2025-01-08T20:07:25.121Z,1736366845.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:07:25.122Z,1736366845.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:25.145Z,1736366845.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:25.147Z,1736366845.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m. 2025-01-08T20:07:25.154Z,1736366845.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.399994 m, nav range: 203.894653 m, bearing: 356.446130 deg, approach rate: -0.178121 m/s, LOS rate: 0.227917 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.318834 deg. 2025-01-08T20:07:25.155Z,1736366845.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822673 target range: 389.399994 and range: 424.90 m. 2025-01-08T20:07:25.288Z,1736366845.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:25.294Z,1736366845.294 [DAT](INFO): DAT read: 20:07:23.4211 LVL= 25248, 23665, 14706, 28019, AGC= 74, IDX= 15,-0.13, 1.055,-2.717, 1.895, 1.747, PHS=-0.604, 1.865, 0.145, RAW= 312.8, -12.8, CAL= 317.8, -17.3, ROT= 192.2, 17.3 2025-01-08T20:07:25.295Z,1736366845.295 [DAT](INFO): got valid direction response: 20:07:23.4211 LVL= 25248, 23665, 14706, 28019, AGC= 74, IDX= 15,-0.13, 1.055,-2.717, 1.895, 1.747, PHS=-0.604, 1.865, 0.145, RAW= 312.8, -12.8, CAL= 317.8, -17.3, ROT= 192.2, 17.3 2025-01-08T20:07:25.297Z,1736366845.297 [DAT](INFO): DAT read: Range 10 to 50 : 440.7 m (Round-trip 587.7 ms) speed -0.6 m/s 2025-01-08T20:07:25.298Z,1736366845.298 [DAT](INFO): DAT read: user:1134> 2025-01-08T20:07:25.298Z,1736366845.298 [DAT](INFO): DAT read: Tx time:20:07:24.5292 2025-01-08T20:07:25.299Z,1736366845.299 [DAT](INFO): Ping request sent. 2025-01-08T20:07:25.299Z,1736366845.299 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:07:25.306Z,1736366845.306 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:07:25.308Z,1736366845.308 [DAT](INFO): direction in FSK: [0.365227,0.576467,-0.730955] 2025-01-08T20:07:25.308Z,1736366845.308 [DAT](INFO): publishing transmit ping time 2025-01-08T20:07:25.308Z,1736366845.308 [DAT](INFO): publishing direction and range info 2025-01-08T20:07:25.311Z,1736366845.311 [DAT](INFO): publishing transmit ping time 2025-01-08T20:07:25.311Z,1736366845.311 [DAT](INFO): publishing direction and range info 2025-01-08T20:07:25.446Z,1736366845.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:07:25.446Z,1736366845.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:25.477Z,1736366845.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 440.700012 m, deltaT: 25.971331 s, deltaX: 15.800018 m, approachRate: 0.608364 m/s, rangeRepo size: 4 2025-01-08T20:07:25.488Z,1736366845.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 440.700012 m, bearing: 334.285221 deg, lat: 36.907372 deg, lon: -122.124043 deg, deltaT: 85.999272 s, deltaX: 51.300018 m, approachRate: 0.596517 m/s, posRepo size: 4 2025-01-08T20:07:25.492Z,1736366845.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:25.494Z,1736366845.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 220.671677 m, bearing: 348.477840 deg, approach rate: 0.000000 m/s, LOS rate: 0.227917 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200676 deg. 2025-01-08T20:07:25.496Z,1736366845.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820611 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:25.540Z,1736366845.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:25.541Z,1736366845.541 [DAT](INFO): DAT read: TxSync time:20:07:24.5285 2025-01-08T20:07:25.792Z,1736366845.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:25.825Z,1736366845.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:07:25.826Z,1736366845.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:25.862Z,1736366845.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:25.865Z,1736366845.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 220.561386 m, bearing: 348.557010 deg, approach rate: -0.285880 m/s, LOS rate: 0.205316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212814 deg. 2025-01-08T20:07:25.868Z,1736366845.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820823 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:26.044Z,1736366846.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:26.260Z,1736366846.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:26.269Z,1736366846.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:26.272Z,1736366846.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 220.439423 m, bearing: 348.646155 deg, approach rate: -0.299648 m/s, LOS rate: 0.219138 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.242767 deg. 2025-01-08T20:07:26.274Z,1736366846.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821346 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:26.296Z,1736366846.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:26.551Z,1736366846.551 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:26.651Z,1736366846.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:26.683Z,1736366846.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:26.686Z,1736366846.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 220.329987 m, bearing: 348.726555 deg, approach rate: -0.265004 m/s, LOS rate: 0.194789 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.216506 deg. 2025-01-08T20:07:26.689Z,1736366846.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820888 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:26.804Z,1736366846.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:27.056Z,1736366847.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:27.060Z,1736366847.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:27.087Z,1736366847.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:27.108Z,1736366847.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 220.225189 m, bearing: 348.799785 deg, approach rate: -0.260128 m/s, LOS rate: 0.181858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194980 deg. 2025-01-08T20:07:27.110Z,1736366847.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820512 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:27.310Z,1736366847.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:27.441Z,1736366847.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:27.460Z,1736366847.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:27.462Z,1736366847.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:27.469Z,1736366847.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 220.127930 m, bearing: 348.867774 deg, approach rate: -0.258009 m/s, LOS rate: 0.180440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179243 deg. 2025-01-08T20:07:27.471Z,1736366847.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820237 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:27.561Z,1736366847.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:27.562Z,1736366847.562 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:07:27.562Z,1736366847.562 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:07:27.562Z,1736366847.562 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:27.812Z,1736366847.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:27.813Z,1736366847.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513788 2025-01-08T20:07:27.853Z,1736366847.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:27.861Z,1736366847.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:27.864Z,1736366847.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 220.022552 m, bearing: 348.941334 deg, approach rate: -0.264395 m/s, LOS rate: 0.184652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195970 deg. 2025-01-08T20:07:27.866Z,1736366847.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820529 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:28.065Z,1736366848.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:28.065Z,1736366848.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766594 2025-01-08T20:07:28.265Z,1736366848.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:28.274Z,1736366848.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:28.302Z,1736366848.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 219.930161 m, bearing: 349.006245 deg, approach rate: -0.223379 m/s, LOS rate: 0.157004 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170001 deg. 2025-01-08T20:07:28.303Z,1736366848.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820076 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:28.317Z,1736366848.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:28.317Z,1736366848.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018569 2025-01-08T20:07:28.568Z,1736366848.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:28.569Z,1736366848.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270026 2025-01-08T20:07:28.663Z,1736366848.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:28.713Z,1736366848.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:28.716Z,1736366848.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 219.840637 m, bearing: 349.068726 deg, approach rate: -0.204222 m/s, LOS rate: 0.142591 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162706 deg. 2025-01-08T20:07:28.718Z,1736366848.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819949 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:28.820Z,1736366848.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:28.821Z,1736366848.821 [DAT](INFO): DAT read: Rx Time:20:07:27.5250 2025-01-08T20:07:28.821Z,1736366848.821 [DAT](INFO): Rx dataTimestamp_ set to:1736366848.820751 2025-01-08T20:07:28.822Z,1736366848.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522790 2025-01-08T20:07:28.852Z,1736366848.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:07:29.072Z,1736366849.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:29.074Z,1736366849.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774561 2025-01-08T20:07:29.088Z,1736366849.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:29.099Z,1736366849.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:29.139Z,1736366849.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 219.755295 m, bearing: 349.127081 deg, approach rate: -0.222556 m/s, LOS rate: 0.152239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150321 deg. 2025-01-08T20:07:29.145Z,1736366849.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819732 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:29.324Z,1736366849.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:29.325Z,1736366849.325 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:07:29.325Z,1736366849.325 [DAT](INFO): Received a bad header 2025-01-08T20:07:29.340Z,1736366849.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040737 2025-01-08T20:07:29.459Z,1736366849.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:29.467Z,1736366849.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:29.489Z,1736366849.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:29.492Z,1736366849.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 219.679825 m, bearing: 349.178126 deg, approach rate: -0.192309 m/s, LOS rate: 0.130115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128374 deg. 2025-01-08T20:07:29.494Z,1736366849.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819349 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:29.576Z,1736366849.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:29.577Z,1736366849.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278046 2025-01-08T20:07:29.828Z,1736366849.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:29.828Z,1736366849.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.529521 2025-01-08T20:07:29.855Z,1736366849.855 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:07:29.876Z,1736366849.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:29.889Z,1736366849.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:29.909Z,1736366849.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 219.594620 m, bearing: 349.235273 deg, approach rate: -0.212595 m/s, LOS rate: 0.142641 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146691 deg. 2025-01-08T20:07:29.910Z,1736366849.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819669 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:30.080Z,1736366850.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:30.081Z,1736366850.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781730 2025-01-08T20:07:30.294Z,1736366850.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:30.304Z,1736366850.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:30.307Z,1736366850.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 219.514374 m, bearing: 349.285504 deg, approach rate: -0.193380 m/s, LOS rate: 0.121093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125935 deg. 2025-01-08T20:07:30.308Z,1736366850.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819307 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:30.332Z,1736366850.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:30.332Z,1736366850.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.033567 2025-01-08T20:07:30.584Z,1736366850.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:30.585Z,1736366850.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286366 2025-01-08T20:07:30.733Z,1736366850.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:30.742Z,1736366850.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:30.745Z,1736366850.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 219.428833 m, bearing: 349.337979 deg, approach rate: -0.195277 m/s, LOS rate: 0.119839 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132672 deg. 2025-01-08T20:07:30.746Z,1736366850.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819424 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:30.836Z,1736366850.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:30.838Z,1736366850.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538786 2025-01-08T20:07:31.089Z,1736366851.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:31.091Z,1736366851.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791759 2025-01-08T20:07:31.172Z,1736366851.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:31.180Z,1736366851.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:31.184Z,1736366851.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 219.346268 m, bearing: 349.388540 deg, approach rate: -0.188506 m/s, LOS rate: 0.115481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126928 deg. 2025-01-08T20:07:31.185Z,1736366851.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819324 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:31.340Z,1736366851.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:31.340Z,1736366851.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.041559 2025-01-08T20:07:31.590Z,1736366851.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:31.592Z,1736366851.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:31.593Z,1736366851.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293880 2025-01-08T20:07:31.599Z,1736366851.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:31.602Z,1736366851.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:31.605Z,1736366851.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 219.267166 m, bearing: 349.436603 deg, approach rate: -0.187754 m/s, LOS rate: 0.114123 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119429 deg. 2025-01-08T20:07:31.606Z,1736366851.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819193 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:31.844Z,1736366851.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:31.844Z,1736366851.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.545699 2025-01-08T20:07:32.079Z,1736366852.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:32.087Z,1736366852.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:32.090Z,1736366852.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 219.174545 m, bearing: 349.491374 deg, approach rate: -0.190905 m/s, LOS rate: 0.112937 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139567 deg. 2025-01-08T20:07:32.096Z,1736366852.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:32.096Z,1736366852.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797562 2025-01-08T20:07:32.091Z,1736366852.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819545 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:32.348Z,1736366852.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:32.348Z,1736366852.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.049575 2025-01-08T20:07:32.416Z,1736366852.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:32.425Z,1736366852.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:32.428Z,1736366852.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 219.110413 m, bearing: 349.529143 deg, approach rate: -0.189598 m/s, LOS rate: 0.111690 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.088526 deg. 2025-01-08T20:07:32.430Z,1736366852.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818654 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:32.601Z,1736366852.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:32.602Z,1736366852.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302954 2025-01-08T20:07:32.798Z,1736366852.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:32.806Z,1736366852.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:32.809Z,1736366852.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 219.037598 m, bearing: 349.572055 deg, approach rate: -0.191048 m/s, LOS rate: 0.112628 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103966 deg. 2025-01-08T20:07:32.811Z,1736366852.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818923 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:32.853Z,1736366852.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:32.854Z,1736366852.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554769 2025-01-08T20:07:33.104Z,1736366853.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:33.104Z,1736366853.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805580 2025-01-08T20:07:33.255Z,1736366853.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:33.264Z,1736366853.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:33.267Z,1736366853.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 218.947815 m, bearing: 349.626107 deg, approach rate: -0.196400 m/s, LOS rate: 0.118288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137410 deg. 2025-01-08T20:07:33.269Z,1736366853.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819507 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:33.356Z,1736366853.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:33.358Z,1736366853.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058789 2025-01-08T20:07:33.605Z,1736366853.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:33.608Z,1736366853.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:33.608Z,1736366853.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.309662 2025-01-08T20:07:33.614Z,1736366853.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:33.616Z,1736366853.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:33.620Z,1736366853.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 218.879288 m, bearing: 349.667485 deg, approach rate: -0.194446 m/s, LOS rate: 0.117446 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.099359 deg. 2025-01-08T20:07:33.621Z,1736366853.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818843 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:33.860Z,1736366853.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:33.861Z,1736366853.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562680 2025-01-08T20:07:34.104Z,1736366854.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:34.112Z,1736366854.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:34.121Z,1736366854.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822158 2025-01-08T20:07:34.168Z,1736366854.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:34.176Z,1736366854.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 218.780029 m, bearing: 349.730862 deg, approach rate: -0.179774 m/s, LOS rate: 0.114840 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165406 deg. 2025-01-08T20:07:34.177Z,1736366854.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819995 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:34.364Z,1736366854.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:34.364Z,1736366854.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.065495 2025-01-08T20:07:34.474Z,1736366854.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:34.482Z,1736366854.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:34.486Z,1736366854.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 218.705460 m, bearing: 349.778785 deg, approach rate: -0.237423 m/s, LOS rate: 0.152633 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119003 deg. 2025-01-08T20:07:34.487Z,1736366854.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819186 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:34.616Z,1736366854.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:34.617Z,1736366854.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318244 2025-01-08T20:07:34.868Z,1736366854.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:34.869Z,1736366854.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.569790 2025-01-08T20:07:34.873Z,1736366854.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:34.899Z,1736366854.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:34.910Z,1736366854.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 218.626007 m, bearing: 349.830128 deg, approach rate: -0.190727 m/s, LOS rate: 0.123294 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129271 deg. 2025-01-08T20:07:34.916Z,1736366854.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819365 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:35.121Z,1736366855.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:35.122Z,1736366855.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823532 2025-01-08T20:07:35.359Z,1736366855.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:35.372Z,1736366855.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:35.372Z,1736366855.372 [DAT](INFO): Reached modem response timeout 2025-01-08T20:07:35.372Z,1736366855.372 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:07:35.372Z,1736366855.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:35.399Z,1736366855.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:35.406Z,1736366855.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 218.515366 m, bearing: 349.898164 deg, approach rate: -0.221214 m/s, LOS rate: 0.136099 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179397 deg. 2025-01-08T20:07:35.407Z,1736366855.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820240 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:35.624Z,1736366855.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:35.625Z,1736366855.625 [DAT](INFO): Reached modem response timeout 2025-01-08T20:07:35.625Z,1736366855.625 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:07:35.626Z,1736366855.626 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:35.714Z,1736366855.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:35.721Z,1736366855.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:35.723Z,1736366855.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:35.726Z,1736366855.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 218.435257 m, bearing: 349.947939 deg, approach rate: -0.246900 m/s, LOS rate: 0.153468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124569 deg. 2025-01-08T20:07:35.732Z,1736366855.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819283 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:35.876Z,1736366855.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:35.877Z,1736366855.877 [DAT](INFO): Reached modem response timeout 2025-01-08T20:07:35.877Z,1736366855.877 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:07:35.877Z,1736366855.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:36.128Z,1736366856.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:36.129Z,1736366856.129 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:07:36.130Z,1736366856.130 [DAT](INFO): response not received 2025-01-08T20:07:36.130Z,1736366856.130 [DAT](INFO): DAT read: user:1136> 2025-01-08T20:07:36.131Z,1736366856.131 [DAT](INFO): DAT read: Tx time:20:07:35.4793 2025-01-08T20:07:36.131Z,1736366856.131 [DAT](INFO): Ping request sent. 2025-01-08T20:07:36.131Z,1736366856.131 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:07:36.131Z,1736366856.131 [DAT](INFO): publishing transmit ping time 2025-01-08T20:07:36.132Z,1736366856.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000851 2025-01-08T20:07:36.200Z,1736366856.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:36.218Z,1736366856.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:36.225Z,1736366856.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 218.317001 m, bearing: 350.021585 deg, approach rate: -0.239228 m/s, LOS rate: 0.149064 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196243 deg. 2025-01-08T20:07:36.227Z,1736366856.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820534 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:36.380Z,1736366856.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:36.380Z,1736366856.380 [DAT](INFO): DAT read: TxSync time:20:07:35.4786 2025-01-08T20:07:36.381Z,1736366856.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250121 2025-01-08T20:07:36.531Z,1736366856.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:36.541Z,1736366856.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:36.543Z,1736366856.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 218.237076 m, bearing: 350.071826 deg, approach rate: -0.247468 m/s, LOS rate: 0.155615 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125965 deg. 2025-01-08T20:07:36.545Z,1736366856.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819307 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:36.632Z,1736366856.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:36.633Z,1736366856.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501506 2025-01-08T20:07:36.884Z,1736366856.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:36.885Z,1736366856.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753507 2025-01-08T20:07:36.936Z,1736366856.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:36.945Z,1736366856.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:36.948Z,1736366856.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 218.140182 m, bearing: 350.133395 deg, approach rate: -0.239527 m/s, LOS rate: 0.152269 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159974 deg. 2025-01-08T20:07:36.949Z,1736366856.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819901 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:37.137Z,1736366857.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:37.140Z,1736366857.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008343 2025-01-08T20:07:37.352Z,1736366857.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:37.360Z,1736366857.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:37.368Z,1736366857.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 218.036331 m, bearing: 350.202462 deg, approach rate: -0.250579 m/s, LOS rate: 0.166728 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182485 deg. 2025-01-08T20:07:37.369Z,1736366857.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820294 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:37.388Z,1736366857.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:37.388Z,1736366857.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257233 2025-01-08T20:07:37.640Z,1736366857.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:37.641Z,1736366857.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509396 2025-01-08T20:07:37.731Z,1736366857.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:37.764Z,1736366857.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:37.771Z,1736366857.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:37.774Z,1736366857.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 217.942001 m, bearing: 350.265768 deg, approach rate: -0.231919 m/s, LOS rate: 0.155712 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165188 deg. 2025-01-08T20:07:37.779Z,1736366857.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819992 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:37.892Z,1736366857.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:37.893Z,1736366857.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761958 2025-01-08T20:07:38.144Z,1736366858.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:38.144Z,1736366858.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013284 2025-01-08T20:07:38.195Z,1736366858.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:38.208Z,1736366858.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:38.210Z,1736366858.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 217.821091 m, bearing: 350.348280 deg, approach rate: -0.274739 m/s, LOS rate: 0.187592 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222858 deg. 2025-01-08T20:07:38.212Z,1736366858.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820998 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:38.396Z,1736366858.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:38.396Z,1736366858.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265286 2025-01-08T20:07:38.562Z,1736366858.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:38.587Z,1736366858.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:38.590Z,1736366858.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 217.726257 m, bearing: 350.413569 deg, approach rate: -0.249118 m/s, LOS rate: 0.171583 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171139 deg. 2025-01-08T20:07:38.592Z,1736366858.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820096 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:38.648Z,1736366858.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:38.650Z,1736366858.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518423 2025-01-08T20:07:38.900Z,1736366858.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:38.901Z,1736366858.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770045 2025-01-08T20:07:39.000Z,1736366859.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:39.008Z,1736366859.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:39.012Z,1736366859.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 217.613129 m, bearing: 350.491789 deg, approach rate: -0.268440 m/s, LOS rate: 0.185702 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209967 deg. 2025-01-08T20:07:39.013Z,1736366859.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820773 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:39.152Z,1736366859.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:39.153Z,1736366859.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021620 2025-01-08T20:07:39.382Z,1736366859.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:39.392Z,1736366859.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:39.395Z,1736366859.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 217.517731 m, bearing: 350.564059 deg, approach rate: -0.248592 m/s, LOS rate: 0.188407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192091 deg. 2025-01-08T20:07:39.396Z,1736366859.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820461 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:39.404Z,1736366859.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:39.405Z,1736366859.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273392 2025-01-08T20:07:39.656Z,1736366859.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:39.658Z,1736366859.658 [DAT](INFO): DAT read: Rx Time:20:07:38.4838 2025-01-08T20:07:39.659Z,1736366859.659 [DAT](INFO): Rx dataTimestamp_ set to:1736366859.657805 2025-01-08T20:07:39.660Z,1736366859.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527955 2025-01-08T20:07:39.770Z,1736366859.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:39.785Z,1736366859.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:39.792Z,1736366859.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:39.794Z,1736366859.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 217.422409 m, bearing: 350.637579 deg, approach rate: -0.241340 m/s, LOS rate: 0.186223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195843 deg. 2025-01-08T20:07:39.800Z,1736366859.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820527 target range: 440.700012 and range: 440.70 m. 2025-01-08T20:07:39.908Z,1736366859.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:39.909Z,1736366859.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777520 2025-01-08T20:07:40.160Z,1736366860.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:40.161Z,1736366860.161 [DAT](INFO): DAT read: Range 10 to 50 : 450.2 m (Round-trip 600.3 ms) speed -0.3 m/s 2025-01-08T20:07:40.162Z,1736366860.162 [DAT](INFO): DAT read: user:1137> 2025-01-08T20:07:40.163Z,1736366860.163 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:07:40.163Z,1736366860.163 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:07:40.163Z,1736366860.163 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:07:40.164Z,1736366860.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:40.275Z,1736366860.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:40.284Z,1736366860.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 450.200012 m, deltaT: 14.871847 s, deltaX: 9.500000 m, approachRate: 0.638791 m/s, rangeRepo size: 4 2025-01-08T20:07:40.285Z,1736366860.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:40.301Z,1736366860.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 217.302872 m, bearing: 350.732914 deg, approach rate: -0.240886 m/s, LOS rate: 0.192220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.261346 deg. 2025-01-08T20:07:40.309Z,1736366860.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821670 target range: 440.700012 and range: 450.20 m. 2025-01-08T20:07:40.412Z,1736366860.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:40.413Z,1736366860.413 [DAT](INFO): DAT read: Tx time:20:07:39.5793 2025-01-08T20:07:40.413Z,1736366860.413 [DAT](INFO): Ping request sent. 2025-01-08T20:07:40.413Z,1736366860.413 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:07:40.414Z,1736366860.414 [DAT](INFO): DAT read: TxSync time:20:07:39.5786 2025-01-08T20:07:40.414Z,1736366860.414 [DAT](INFO): publishing transmit ping time 2025-01-08T20:07:40.415Z,1736366860.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001598 2025-01-08T20:07:40.611Z,1736366860.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:40.621Z,1736366860.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:40.624Z,1736366860.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 217.224579 m, bearing: 350.796316 deg, approach rate: -0.231749 m/s, LOS rate: 0.187739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165461 deg. 2025-01-08T20:07:40.625Z,1736366860.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819996 target range: 440.700012 and range: 450.20 m. 2025-01-08T20:07:40.665Z,1736366860.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:40.666Z,1736366860.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252233 2025-01-08T20:07:40.918Z,1736366860.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:40.920Z,1736366860.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506763 2025-01-08T20:07:41.021Z,1736366861.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:41.029Z,1736366861.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:41.032Z,1736366861.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 217.129593 m, bearing: 350.874045 deg, approach rate: -0.232747 m/s, LOS rate: 0.190546 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208476 deg. 2025-01-08T20:07:41.035Z,1736366861.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820747 target range: 440.700012 and range: 450.20 m. 2025-01-08T20:07:41.168Z,1736366861.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:41.169Z,1736366861.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755512 2025-01-08T20:07:41.420Z,1736366861.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:41.420Z,1736366861.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007306 2025-01-08T20:07:41.438Z,1736366861.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:41.447Z,1736366861.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:41.470Z,1736366861.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 217.040497 m, bearing: 350.954122 deg, approach rate: -0.213597 m/s, LOS rate: 0.192053 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215514 deg. 2025-01-08T20:07:41.471Z,1736366861.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820870 target range: 440.700012 and range: 450.20 m. 2025-01-08T20:07:41.672Z,1736366861.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:41.673Z,1736366861.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260194 2025-01-08T20:07:41.830Z,1736366861.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:41.838Z,1736366861.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:41.840Z,1736366861.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:41.842Z,1736366861.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.957031 m, bearing: 351.029399 deg, approach rate: -0.212157 m/s, LOS rate: 0.191416 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201103 deg. 2025-01-08T20:07:41.844Z,1736366861.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820619 target range: 440.700012 and range: 450.20 m. 2025-01-08T20:07:41.925Z,1736366861.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:41.926Z,1736366861.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512687 2025-01-08T20:07:42.177Z,1736366862.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:42.181Z,1736366862.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767380 2025-01-08T20:07:42.265Z,1736366862.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:42.278Z,1736366862.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:42.281Z,1736366862.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.868958 m, bearing: 351.110282 deg, approach rate: -0.201215 m/s, LOS rate: 0.184862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217933 deg. 2025-01-08T20:07:42.282Z,1736366862.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820912 target range: 440.700012 and range: 450.20 m. 2025-01-08T20:07:42.428Z,1736366862.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:42.428Z,1736366862.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015217 2025-01-08T20:07:42.628Z,1736366862.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:42.661Z,1736366862.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:42.669Z,1736366862.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.795532 m, bearing: 351.177935 deg, approach rate: -0.191658 m/s, LOS rate: 0.176652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178215 deg. 2025-01-08T20:07:42.681Z,1736366862.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:42.682Z,1736366862.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268551 2025-01-08T20:07:42.703Z,1736366862.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820219 target range: 440.700012 and range: 450.20 m. 2025-01-08T20:07:42.932Z,1736366862.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:42.933Z,1736366862.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519199 2025-01-08T20:07:43.076Z,1736366863.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:43.101Z,1736366863.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:43.126Z,1736366863.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.704941 m, bearing: 351.261429 deg, approach rate: -0.205812 m/s, LOS rate: 0.189766 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225771 deg. 2025-01-08T20:07:43.139Z,1736366863.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821049 target range: 440.700012 and range: 450.20 m. 2025-01-08T20:07:43.184Z,1736366863.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:43.184Z,1736366863.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771148 2025-01-08T20:07:43.436Z,1736366863.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:43.437Z,1736366863.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023408 2025-01-08T20:07:43.519Z,1736366863.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:43.536Z,1736366863.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:43.538Z,1736366863.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.622147 m, bearing: 351.340340 deg, approach rate: -0.192313 m/s, LOS rate: 0.183362 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212007 deg. 2025-01-08T20:07:43.544Z,1736366863.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820809 target range: 440.700012 and range: 450.20 m. 2025-01-08T20:07:43.688Z,1736366863.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:43.688Z,1736366863.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275211 2025-01-08T20:07:43.873Z,1736366863.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:43.880Z,1736366863.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:43.882Z,1736366863.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:43.886Z,1736366863.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.554337 m, bearing: 351.404787 deg, approach rate: -0.193336 m/s, LOS rate: 0.183805 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168588 deg. 2025-01-08T20:07:43.887Z,1736366863.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820051 target range: 440.700012 and range: 450.20 m. 2025-01-08T20:07:43.940Z,1736366863.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:43.942Z,1736366863.941 [DAT](INFO): DAT read: Rx Time:20:07:42.5863 2025-01-08T20:07:43.942Z,1736366863.942 [DAT](INFO): Rx dataTimestamp_ set to:1736366863.941965 2025-01-08T20:07:43.943Z,1736366863.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530259 2025-01-08T20:07:44.193Z,1736366864.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:44.201Z,1736366864.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781624 2025-01-08T20:07:44.301Z,1736366864.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:07:44.301Z,1736366864.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:44.314Z,1736366864.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:44.317Z,1736366864.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.473526 m, bearing: 351.481637 deg, approach rate: -0.187250 m/s, LOS rate: 0.178140 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205823 deg. 2025-01-08T20:07:44.318Z,1736366864.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820701 target range: 440.700012 and range: 450.20 m. 2025-01-08T20:07:44.444Z,1736366864.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:44.445Z,1736366864.445 [DAT](INFO): DAT read: Range 10 to 50 : 452.1 m (Round-trip 602.8 ms) speed -0.4 m/s 2025-01-08T20:07:44.446Z,1736366864.446 [DAT](INFO): DAT read: user:1138> 2025-01-08T20:07:44.447Z,1736366864.447 [DAT](INFO): DAT read: Tx time:20:07:43.6793 2025-01-08T20:07:44.447Z,1736366864.447 [DAT](INFO): Ping request sent. 2025-01-08T20:07:44.447Z,1736366864.447 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:07:44.448Z,1736366864.448 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:07:44.448Z,1736366864.448 [DAT](INFO): publishing transmit ping time 2025-01-08T20:07:44.448Z,1736366864.448 [DAT](INFO): publishing transmit ping time 2025-01-08T20:07:44.692Z,1736366864.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:07:44.693Z,1736366864.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:44.696Z,1736366864.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:44.697Z,1736366864.697 [DAT](INFO): DAT read: TxSync time:20:07:43.6786 2025-01-08T20:07:44.707Z,1736366864.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 452.100006 m, deltaT: 4.283916 s, deltaX: 1.899994 m, approachRate: 0.443518 m/s, rangeRepo size: 4 2025-01-08T20:07:44.708Z,1736366864.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:44.710Z,1736366864.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.399277 m, bearing: 351.552110 deg, approach rate: -0.189116 m/s, LOS rate: 0.179558 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186676 deg. 2025-01-08T20:07:44.712Z,1736366864.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820367 target range: 440.700012 and range: 452.10 m. 2025-01-08T20:07:44.948Z,1736366864.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:45.089Z,1736366865.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:07:45.089Z,1736366865.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:45.098Z,1736366865.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:45.102Z,1736366865.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.324615 m, bearing: 351.623546 deg, approach rate: -0.190606 m/s, LOS rate: 0.182436 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189568 deg. 2025-01-08T20:07:45.104Z,1736366865.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820417 target range: 440.700012 and range: 452.10 m. 2025-01-08T20:07:45.209Z,1736366865.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:45.461Z,1736366865.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:45.529Z,1736366865.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:45.548Z,1736366865.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:45.552Z,1736366865.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.249771 m, bearing: 351.693415 deg, approach rate: -0.167294 m/s, LOS rate: 0.156228 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184866 deg. 2025-01-08T20:07:45.553Z,1736366865.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820335 target range: 440.700012 and range: 452.10 m. 2025-01-08T20:07:45.712Z,1736366865.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:45.910Z,1736366865.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:45.919Z,1736366865.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:45.922Z,1736366865.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:45.925Z,1736366865.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.185196 m, bearing: 351.753987 deg, approach rate: -0.171581 m/s, LOS rate: 0.160991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156956 deg. 2025-01-08T20:07:45.926Z,1736366865.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819848 target range: 440.700012 and range: 452.10 m. 2025-01-08T20:07:45.964Z,1736366865.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:45.965Z,1736366865.965 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:07:45.965Z,1736366865.965 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:07:45.965Z,1736366865.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:46.218Z,1736366866.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:46.220Z,1736366866.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772125 2025-01-08T20:07:46.331Z,1736366866.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:46.370Z,1736366866.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:46.377Z,1736366866.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.107300 m, bearing: 351.817089 deg, approach rate: -0.173654 m/s, LOS rate: 0.140724 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164560 deg. 2025-01-08T20:07:46.378Z,1736366866.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819981 target range: 440.700012 and range: 452.10 m. 2025-01-08T20:07:46.469Z,1736366866.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:46.470Z,1736366866.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022296 2025-01-08T20:07:46.706Z,1736366866.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:46.717Z,1736366866.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:46.720Z,1736366866.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:46.721Z,1736366866.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273312 2025-01-08T20:07:46.722Z,1736366866.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 216.037338 m, bearing: 351.873368 deg, approach rate: -0.202386 m/s, LOS rate: 0.162858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144078 deg. 2025-01-08T20:07:46.723Z,1736366866.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819623 target range: 440.700012 and range: 452.10 m. 2025-01-08T20:07:46.972Z,1736366866.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:46.973Z,1736366866.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525200 2025-01-08T20:07:47.115Z,1736366867.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:47.126Z,1736366867.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:47.129Z,1736366867.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 215.960617 m, bearing: 351.934819 deg, approach rate: -0.187235 m/s, LOS rate: 0.150023 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159606 deg. 2025-01-08T20:07:47.130Z,1736366867.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819894 target range: 440.700012 and range: 452.10 m. 2025-01-08T20:07:47.226Z,1736366867.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:47.229Z,1736366867.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780704 2025-01-08T20:07:47.476Z,1736366867.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:47.476Z,1736366867.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028913 2025-01-08T20:07:47.537Z,1736366867.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:47.575Z,1736366867.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:47.581Z,1736366867.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 215.875916 m, bearing: 351.994336 deg, approach rate: -0.189037 m/s, LOS rate: 0.132882 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153807 deg. 2025-01-08T20:07:47.583Z,1736366867.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819793 target range: 440.700012 and range: 452.10 m. 2025-01-08T20:07:47.729Z,1736366867.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:47.730Z,1736366867.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281827 2025-01-08T20:07:47.780Z,1736366867.780 [CTD_Seabird](ERROR): Failed to parse device response: 66.93,10.161.32 2025-01-08T20:07:47.921Z,1736366867.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:47.929Z,1736366867.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:47.931Z,1736366867.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:47.935Z,1736366867.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 215.798172 m, bearing: 352.048460 deg, approach rate: -0.217797 m/s, LOS rate: 0.151680 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137615 deg. 2025-01-08T20:07:47.936Z,1736366867.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819510 target range: 440.700012 and range: 452.10 m. 2025-01-08T20:07:47.981Z,1736366867.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:47.982Z,1736366867.982 [DAT](INFO): DAT read: Rx Time:20:07:46.6892 2025-01-08T20:07:47.983Z,1736366867.983 [DAT](INFO): Rx dataTimestamp_ set to:1736366867.982524 2025-01-08T20:07:47.984Z,1736366867.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536654 2025-01-08T20:07:48.233Z,1736366868.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:48.235Z,1736366868.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787493 2025-01-08T20:07:48.408Z,1736366868.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:48.429Z,1736366868.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.70 m. 2025-01-08T20:07:48.444Z,1736366868.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.700012 m, nav range: 215.693588 m, bearing: 352.115255 deg, approach rate: -0.212353 m/s, LOS rate: 0.135691 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175669 deg. 2025-01-08T20:07:48.445Z,1736366868.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820175 target range: 440.700012 and range: 452.10 m. 2025-01-08T20:07:48.484Z,1736366868.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:48.490Z,1736366868.490 [DAT](INFO): DAT read: 20:07:46.6892 LVL= 27808, 28401, 22338, 32755, AGC= 68, IDX= 454,-0.02,-0.056, 2.425, 0.675, 0.590, PHS=-0.558, 1.881, 0.082, RAW= 315.4, -12.8, CAL= 320.2, -17.3, ROT= 189.8, 17.3 2025-01-08T20:07:48.492Z,1736366868.492 [DAT](INFO): got valid direction response: 20:07:46.6892 LVL= 27808, 28401, 22338, 32755, AGC= 68, IDX= 454,-0.02,-0.056, 2.425, 0.675, 0.590, PHS=-0.558, 1.881, 0.082, RAW= 315.4, -12.8, CAL= 320.2, -17.3, ROT= 189.8, 17.3 2025-01-08T20:07:48.493Z,1736366868.493 [DAT](INFO): DAT read: Bearing 189.8, 17.3 (Local) 2025-01-08T20:07:48.493Z,1736366868.493 [DAT](INFO): Local bearing/azimuth received: Bearing 189.8, 17.3 (Local) 2025-01-08T20:07:48.495Z,1736366868.495 [DAT](INFO): DAT read: Range 10 to 50 : 454.2 m (Round-trip 605.6 ms) speed -1.0 m/s 2025-01-08T20:07:48.495Z,1736366868.495 [DAT](INFO): DAT read: user:1139> 2025-01-08T20:07:48.496Z,1736366868.496 [DAT](INFO): DAT read: Tx time:20:07:47.7794 2025-01-08T20:07:48.496Z,1736366868.496 [DAT](INFO): Ping request sent. 2025-01-08T20:07:48.497Z,1736366868.497 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:07:48.497Z,1736366868.497 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:07:48.498Z,1736366868.498 [DAT](INFO): direction in FSK: [0.365482,0.611174,-0.702061] 2025-01-08T20:07:48.498Z,1736366868.498 [DAT](INFO): publishing transmit ping time 2025-01-08T20:07:48.498Z,1736366868.498 [DAT](INFO): publishing direction and range info 2025-01-08T20:07:48.502Z,1736366868.502 [DAT](INFO): publishing transmit ping time 2025-01-08T20:07:48.502Z,1736366868.502 [DAT](INFO): publishing direction and range info 2025-01-08T20:07:48.736Z,1736366868.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:48.737Z,1736366868.737 [DAT](INFO): DAT read: TxSync time:20:07:47.7787 2025-01-08T20:07:48.781Z,1736366868.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:48.821Z,1736366868.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 454.200012 m, deltaT: 4.040163 s, deltaX: 2.100006 m, approachRate: 0.519783 m/s, rangeRepo size: 4 2025-01-08T20:07:48.828Z,1736366868.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 454.200012 m, bearing: 338.728847 deg, lat: 36.907633 deg, lon: -122.124398 deg, deltaT: 23.195926 s, deltaX: 13.500000 m, approachRate: 0.581999 m/s, posRepo size: 4 2025-01-08T20:07:48.829Z,1736366868.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:48.836Z,1736366868.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 250.169678 m, bearing: 345.904203 deg, approach rate: 0.000000 m/s, LOS rate: 0.135691 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137012 deg. 2025-01-08T20:07:48.837Z,1736366868.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819500 target range: 454.200012 and range: 454.20 m. 2025-01-08T20:07:48.988Z,1736366868.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:49.242Z,1736366869.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:49.302Z,1736366869.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:49.310Z,1736366869.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:49.313Z,1736366869.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 250.025360 m, bearing: 345.962062 deg, approach rate: -0.295073 m/s, LOS rate: 0.118367 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148863 deg. 2025-01-08T20:07:49.314Z,1736366869.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819707 target range: 454.200012 and range: 454.20 m. 2025-01-08T20:07:49.494Z,1736366869.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:49.588Z,1736366869.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:49.596Z,1736366869.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:49.620Z,1736366869.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.946243 m, bearing: 345.993855 deg, approach rate: -0.276729 m/s, LOS rate: 0.111239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.070596 deg. 2025-01-08T20:07:49.621Z,1736366869.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818341 target range: 454.200012 and range: 454.20 m. 2025-01-08T20:07:49.745Z,1736366869.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:49.972Z,1736366869.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:49.979Z,1736366869.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:49.981Z,1736366869.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:49.998Z,1736366869.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:49.998Z,1736366869.998 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:07:49.998Z,1736366869.998 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:07:49.999Z,1736366869.999 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:50.009Z,1736366870.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.840256 m, bearing: 346.036648 deg, approach rate: -0.275102 m/s, LOS rate: 0.111121 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103620 deg. 2025-01-08T20:07:50.010Z,1736366870.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818917 target range: 454.200012 and range: 454.20 m. 2025-01-08T20:07:50.250Z,1736366870.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:50.253Z,1736366870.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755967 2025-01-08T20:07:50.412Z,1736366870.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:50.436Z,1736366870.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:50.439Z,1736366870.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.717606 m, bearing: 346.085477 deg, approach rate: -0.269475 m/s, LOS rate: 0.107335 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121745 deg. 2025-01-08T20:07:50.444Z,1736366870.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819233 target range: 454.200012 and range: 454.20 m. 2025-01-08T20:07:50.501Z,1736366870.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:50.502Z,1736366870.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005122 2025-01-08T20:07:50.752Z,1736366870.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:50.752Z,1736366870.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255826 2025-01-08T20:07:50.780Z,1736366870.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:50.818Z,1736366870.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:50.822Z,1736366870.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.614853 m, bearing: 346.126343 deg, approach rate: -0.268909 m/s, LOS rate: 0.106993 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097836 deg. 2025-01-08T20:07:50.823Z,1736366870.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818816 target range: 454.200012 and range: 454.20 m. 2025-01-08T20:07:51.004Z,1736366871.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:51.005Z,1736366871.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507898 2025-01-08T20:07:51.204Z,1736366871.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:51.218Z,1736366871.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:51.223Z,1736366871.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.496536 m, bearing: 346.173509 deg, approach rate: -0.296018 m/s, LOS rate: 0.118061 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116751 deg. 2025-01-08T20:07:51.252Z,1736366871.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819147 target range: 454.200012 and range: 454.20 m. 2025-01-08T20:07:51.257Z,1736366871.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:51.260Z,1736366871.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762657 2025-01-08T20:07:51.508Z,1736366871.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:51.509Z,1736366871.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012297 2025-01-08T20:07:51.625Z,1736366871.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:51.634Z,1736366871.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:51.637Z,1736366871.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.380997 m, bearing: 346.220956 deg, approach rate: -0.278571 m/s, LOS rate: 0.114450 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117593 deg. 2025-01-08T20:07:51.638Z,1736366871.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819161 target range: 454.200012 and range: 454.20 m. 2025-01-08T20:07:51.760Z,1736366871.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:51.761Z,1736366871.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263979 2025-01-08T20:07:51.995Z,1736366871.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:52.002Z,1736366872.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:52.012Z,1736366872.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:52.012Z,1736366872.012 [DAT](INFO): DAT read: Rx Time:20:07:50.7935 2025-01-08T20:07:52.013Z,1736366872.013 [DAT](INFO): Rx dataTimestamp_ set to:1736366872.012510 2025-01-08T20:07:52.013Z,1736366872.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516696 2025-01-08T20:07:52.021Z,1736366872.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:52.028Z,1736366872.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.279465 m, bearing: 346.262787 deg, approach rate: -0.261775 m/s, LOS rate: 0.107894 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100730 deg. 2025-01-08T20:07:52.029Z,1736366872.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818867 target range: 454.200012 and range: 454.20 m. 2025-01-08T20:07:52.265Z,1736366872.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:52.269Z,1736366872.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771344 2025-01-08T20:07:52.425Z,1736366872.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:52.433Z,1736366872.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:52.464Z,1736366872.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.161392 m, bearing: 346.314464 deg, approach rate: -0.286302 m/s, LOS rate: 0.125365 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130290 deg. 2025-01-08T20:07:52.466Z,1736366872.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819383 target range: 454.200012 and range: 454.20 m. 2025-01-08T20:07:52.516Z,1736366872.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:52.518Z,1736366872.518 [DAT](INFO): DAT read: Range 10 to 50 : 457.4 m (Round-trip 609.9 ms) speed -0.9 m/s 2025-01-08T20:07:52.519Z,1736366872.519 [DAT](INFO): DAT read: user:1140> 2025-01-08T20:07:52.520Z,1736366872.520 [DAT](INFO): DAT read: Tx time:20:07:51.8794 2025-01-08T20:07:52.520Z,1736366872.520 [DAT](INFO): Ping request sent. 2025-01-08T20:07:52.520Z,1736366872.520 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:07:52.521Z,1736366872.521 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:07:52.521Z,1736366872.521 [DAT](INFO): publishing transmit ping time 2025-01-08T20:07:52.521Z,1736366872.521 [DAT](INFO): publishing transmit ping time 2025-01-08T20:07:52.768Z,1736366872.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:52.769Z,1736366872.769 [DAT](INFO): DAT read: TxSync time:20:07:51.8787 2025-01-08T20:07:52.841Z,1736366872.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:52.851Z,1736366872.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 457.399994 m, deltaT: 4.032421 s, deltaX: 3.199982 m, approachRate: 0.793563 m/s, rangeRepo size: 4 2025-01-08T20:07:52.852Z,1736366872.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:52.855Z,1736366872.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.047394 m, bearing: 346.364489 deg, approach rate: -0.273994 m/s, LOS rate: 0.120291 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125332 deg. 2025-01-08T20:07:52.856Z,1736366872.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819296 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:53.020Z,1736366873.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:53.225Z,1736366873.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:53.233Z,1736366873.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:53.237Z,1736366873.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.942917 m, bearing: 346.410748 deg, approach rate: -0.272388 m/s, LOS rate: 0.120655 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114021 deg. 2025-01-08T20:07:53.238Z,1736366873.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819099 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:53.273Z,1736366873.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:53.526Z,1736366873.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:53.637Z,1736366873.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:53.645Z,1736366873.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:53.670Z,1736366873.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.832306 m, bearing: 346.464528 deg, approach rate: -0.268419 m/s, LOS rate: 0.130566 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136599 deg. 2025-01-08T20:07:53.676Z,1736366873.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819493 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:53.776Z,1736366873.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:54.011Z,1736366874.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:54.019Z,1736366874.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:54.022Z,1736366874.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:54.028Z,1736366874.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:54.028Z,1736366874.028 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:07:54.028Z,1736366874.028 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:07:54.029Z,1736366874.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:07:54.045Z,1736366874.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.732330 m, bearing: 346.513466 deg, approach rate: -0.265320 m/s, LOS rate: 0.129926 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122059 deg. 2025-01-08T20:07:54.046Z,1736366874.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819239 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:54.281Z,1736366874.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:54.282Z,1736366874.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761055 2025-01-08T20:07:54.456Z,1736366874.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:54.464Z,1736366874.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:54.483Z,1736366874.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.612823 m, bearing: 346.575283 deg, approach rate: -0.269852 m/s, LOS rate: 0.139652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160725 deg. 2025-01-08T20:07:54.484Z,1736366874.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819914 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:54.534Z,1736366874.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:54.536Z,1736366874.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015801 2025-01-08T20:07:54.784Z,1736366874.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:54.785Z,1736366874.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264364 2025-01-08T20:07:54.826Z,1736366874.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:54.836Z,1736366874.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:54.838Z,1736366874.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.513855 m, bearing: 346.626639 deg, approach rate: -0.266956 m/s, LOS rate: 0.138582 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129316 deg. 2025-01-08T20:07:54.852Z,1736366874.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819366 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:55.036Z,1736366875.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:55.036Z,1736366875.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516013 2025-01-08T20:07:55.228Z,1736366875.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:55.239Z,1736366875.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:55.242Z,1736366875.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.406601 m, bearing: 346.682648 deg, approach rate: -0.265806 m/s, LOS rate: 0.138867 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143287 deg. 2025-01-08T20:07:55.243Z,1736366875.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819610 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:55.288Z,1736366875.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:55.289Z,1736366875.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768139 2025-01-08T20:07:55.540Z,1736366875.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:55.540Z,1736366875.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020068 2025-01-08T20:07:55.668Z,1736366875.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:55.693Z,1736366875.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:55.700Z,1736366875.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.287552 m, bearing: 346.748754 deg, approach rate: -0.262331 m/s, LOS rate: 0.145737 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173599 deg. 2025-01-08T20:07:55.702Z,1736366875.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820138 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:55.792Z,1736366875.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:55.793Z,1736366875.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272884 2025-01-08T20:07:56.039Z,1736366876.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:56.044Z,1736366876.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:56.045Z,1736366876.045 [DAT](INFO): DAT read: Rx Time:20:07:54.8976 2025-01-08T20:07:56.045Z,1736366876.045 [DAT](INFO): Rx dataTimestamp_ set to:1736366876.044700 2025-01-08T20:07:56.045Z,1736366876.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525112 2025-01-08T20:07:56.048Z,1736366876.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:56.052Z,1736366876.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:56.055Z,1736366876.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.188248 m, bearing: 346.804440 deg, approach rate: -0.276639 m/s, LOS rate: 0.155192 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142313 deg. 2025-01-08T20:07:56.056Z,1736366876.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819592 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:56.296Z,1736366876.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:56.296Z,1736366876.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776047 2025-01-08T20:07:56.482Z,1736366876.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:56.490Z,1736366876.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:56.493Z,1736366876.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.071274 m, bearing: 346.874630 deg, approach rate: -0.266500 m/s, LOS rate: 0.159987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185854 deg. 2025-01-08T20:07:56.494Z,1736366876.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820353 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:56.551Z,1736366876.551 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:56.554Z,1736366876.554 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:07:56.555Z,1736366876.555 [DAT](INFO): Received a bad header 2025-01-08T20:07:56.574Z,1736366876.574 [DAT](INFO): DAT read: :07.4 SPD:+7.2 2025-01-08T20:07:56.575Z,1736366876.575 [DAT](INFO): unknown deviceResponse_: :07.4 SPD:+7.2 2025-01-08T20:07:56.578Z,1736366876.578 [DAT](INFO): DAT read: Header stats CRC:Fail PSNR:05.0 CCERR:003 Mod:MFSK 2025-01-08T20:07:56.579Z,1736366876.579 [DAT](INFO): unknown deviceResponse_: Header stats CRC:Fail PSNR:05.0 CCERR:003 Mod:MFSK 2025-01-08T20:07:56.584Z,1736366876.584 [DAT](INFO): DAT read: 2025-01-08T20:07:56.585Z,1736366876.585 [DAT](INFO): DAT read: user:1141> 2025-01-08T20:07:56.586Z,1736366876.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.065375 2025-01-08T20:07:56.801Z,1736366876.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:56.801Z,1736366876.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280997 2025-01-08T20:07:56.849Z,1736366876.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:56.875Z,1736366876.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:56.878Z,1736366876.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.975479 m, bearing: 346.932733 deg, approach rate: -0.251626 m/s, LOS rate: 0.152679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149562 deg. 2025-01-08T20:07:56.884Z,1736366876.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819719 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:57.052Z,1736366877.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:57.053Z,1736366877.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532402 2025-01-08T20:07:57.253Z,1736366877.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:57.261Z,1736366877.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:57.264Z,1736366877.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.870605 m, bearing: 346.996897 deg, approach rate: -0.268822 m/s, LOS rate: 0.164542 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167761 deg. 2025-01-08T20:07:57.265Z,1736366877.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820037 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:57.305Z,1736366877.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:57.307Z,1736366877.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786412 2025-01-08T20:07:57.556Z,1736366877.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:57.556Z,1736366877.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035925 2025-01-08T20:07:57.713Z,1736366877.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:57.738Z,1736366877.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:57.753Z,1736366877.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.752747 m, bearing: 347.071667 deg, approach rate: -0.246977 m/s, LOS rate: 0.156758 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199603 deg. 2025-01-08T20:07:57.754Z,1736366877.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820592 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:57.809Z,1736366877.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:57.810Z,1736366877.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289282 2025-01-08T20:07:58.053Z,1736366878.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:58.060Z,1736366878.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:58.060Z,1736366878.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540046 2025-01-08T20:07:58.062Z,1736366878.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:07:58.064Z,1736366878.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:58.068Z,1736366878.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.666290 m, bearing: 347.127052 deg, approach rate: -0.265738 m/s, LOS rate: 0.170295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141400 deg. 2025-01-08T20:07:58.069Z,1736366878.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819577 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:58.312Z,1736366878.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:58.312Z,1736366878.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791972 2025-01-08T20:07:58.493Z,1736366878.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:58.506Z,1736366878.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:58.509Z,1736366878.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.548172 m, bearing: 347.197436 deg, approach rate: -0.266808 m/s, LOS rate: 0.159060 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186438 deg. 2025-01-08T20:07:58.511Z,1736366878.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820363 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:58.565Z,1736366878.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:58.566Z,1736366878.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045287 2025-01-08T20:07:58.816Z,1736366878.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:58.817Z,1736366878.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296502 2025-01-08T20:07:58.891Z,1736366878.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:58.900Z,1736366878.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:58.903Z,1736366878.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.440643 m, bearing: 347.261903 deg, approach rate: -0.273629 m/s, LOS rate: 0.164121 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168672 deg. 2025-01-08T20:07:58.904Z,1736366878.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820053 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:59.068Z,1736366879.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:59.069Z,1736366879.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548120 2025-01-08T20:07:59.273Z,1736366879.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:59.281Z,1736366879.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:59.285Z,1736366879.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.338409 m, bearing: 347.323424 deg, approach rate: -0.268034 m/s, LOS rate: 0.161361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159825 deg. 2025-01-08T20:07:59.286Z,1736366879.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819898 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:59.320Z,1736366879.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:59.322Z,1736366879.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801093 2025-01-08T20:07:59.572Z,1736366879.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:59.572Z,1736366879.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051934 2025-01-08T20:07:59.705Z,1736366879.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:07:59.714Z,1736366879.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:07:59.717Z,1736366879.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.227081 m, bearing: 347.390966 deg, approach rate: -0.257325 m/s, LOS rate: 0.156186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177902 deg. 2025-01-08T20:07:59.718Z,1736366879.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820214 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:07:59.824Z,1736366879.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:07:59.824Z,1736366879.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304034 2025-01-08T20:07:59.976Z,1736366879.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:08:00.076Z,1736366880.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:00.077Z,1736366880.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556109 2025-01-08T20:08:00.085Z,1736366880.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:00.096Z,1736366880.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:00.098Z,1736366880.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:00.109Z,1736366880.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.129654 m, bearing: 347.450288 deg, approach rate: -0.253540 m/s, LOS rate: 0.154437 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153222 deg. 2025-01-08T20:08:00.110Z,1736366880.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819783 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:00.328Z,1736366880.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:00.329Z,1736366880.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808236 2025-01-08T20:08:00.512Z,1736366880.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:00.536Z,1736366880.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:00.545Z,1736366880.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.019150 m, bearing: 347.514350 deg, approach rate: -0.254969 m/s, LOS rate: 0.147879 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167459 deg. 2025-01-08T20:08:00.546Z,1736366880.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820032 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:00.580Z,1736366880.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:00.581Z,1736366880.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060217 2025-01-08T20:08:00.832Z,1736366880.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:00.832Z,1736366880.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312053 2025-01-08T20:08:00.908Z,1736366880.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:00.925Z,1736366880.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:00.932Z,1736366880.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.916656 m, bearing: 347.573948 deg, approach rate: -0.260337 m/s, LOS rate: 0.151444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154054 deg. 2025-01-08T20:08:00.934Z,1736366880.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819798 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:00.980Z,1736366880.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:08:01.085Z,1736366881.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:01.087Z,1736366881.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566143 2025-01-08T20:08:01.289Z,1736366881.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:01.297Z,1736366881.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:01.301Z,1736366881.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.818375 m, bearing: 347.631143 deg, approach rate: -0.264036 m/s, LOS rate: 0.153715 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146838 deg. 2025-01-08T20:08:01.303Z,1736366881.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819672 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:01.336Z,1736366881.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:01.337Z,1736366881.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816097 2025-01-08T20:08:01.589Z,1736366881.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:01.591Z,1736366881.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070516 2025-01-08T20:08:01.740Z,1736366881.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:01.748Z,1736366881.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:01.753Z,1736366881.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.701508 m, bearing: 347.694834 deg, approach rate: -0.258925 m/s, LOS rate: 0.141178 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166351 deg. 2025-01-08T20:08:01.754Z,1736366881.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820012 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:01.840Z,1736366881.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:01.840Z,1736366881.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319994 2025-01-08T20:08:02.092Z,1736366882.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:02.092Z,1736366882.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572071 2025-01-08T20:08:02.093Z,1736366882.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:02.101Z,1736366882.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:02.103Z,1736366882.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:02.106Z,1736366882.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.610138 m, bearing: 347.744655 deg, approach rate: -0.257534 m/s, LOS rate: 0.140478 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124706 deg. 2025-01-08T20:08:02.108Z,1736366882.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819285 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:02.344Z,1736366882.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:02.346Z,1736366882.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825204 2025-01-08T20:08:02.524Z,1736366882.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:02.548Z,1736366882.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:02.555Z,1736366882.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.503326 m, bearing: 347.802467 deg, approach rate: -0.239988 m/s, LOS rate: 0.129950 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148697 deg. 2025-01-08T20:08:02.556Z,1736366882.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819704 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:02.596Z,1736366882.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:02.596Z,1736366882.596 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:02.596Z,1736366882.596 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:02.597Z,1736366882.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:02.848Z,1736366882.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:02.848Z,1736366882.848 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:02.848Z,1736366882.848 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:02.849Z,1736366882.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:02.914Z,1736366882.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:02.942Z,1736366882.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:02.945Z,1736366882.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.407562 m, bearing: 347.854449 deg, approach rate: -0.245068 m/s, LOS rate: 0.133077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131192 deg. 2025-01-08T20:08:02.946Z,1736366882.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819398 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:03.101Z,1736366883.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:03.101Z,1736366883.101 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:03.101Z,1736366883.101 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:03.102Z,1736366883.102 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:03.306Z,1736366883.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:03.314Z,1736366883.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:03.318Z,1736366883.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.310028 m, bearing: 347.907477 deg, approach rate: -0.260156 m/s, LOS rate: 0.141501 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134335 deg. 2025-01-08T20:08:03.319Z,1736366883.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819453 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:03.353Z,1736366883.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:03.353Z,1736366883.353 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:03.354Z,1736366883.354 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:03.354Z,1736366883.354 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:03.604Z,1736366883.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:03.606Z,1736366883.606 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:08:03.606Z,1736366883.606 [DAT](INFO): response not received 2025-01-08T20:08:03.607Z,1736366883.607 [DAT](INFO): DAT read: user:1142> 2025-01-08T20:08:03.608Z,1736366883.608 [DAT](INFO): DAT read: Tx time:20:08:02.8295 2025-01-08T20:08:03.608Z,1736366883.608 [DAT](INFO): Ping request sent. 2025-01-08T20:08:03.609Z,1736366883.609 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:08:03.609Z,1736366883.609 [DAT](INFO): publishing transmit ping time 2025-01-08T20:08:03.609Z,1736366883.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000796 2025-01-08T20:08:03.788Z,1736366883.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:03.796Z,1736366883.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:03.800Z,1736366883.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.186523 m, bearing: 347.970007 deg, approach rate: -0.255998 m/s, LOS rate: 0.129675 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162869 deg. 2025-01-08T20:08:03.802Z,1736366883.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819952 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:03.856Z,1736366883.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:03.858Z,1736366883.858 [DAT](INFO): DAT read: TxSync time:20:08:02.8288 2025-01-08T20:08:03.859Z,1736366883.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250744 2025-01-08T20:08:04.108Z,1736366884.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:04.108Z,1736366884.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499841 2025-01-08T20:08:04.156Z,1736366884.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:04.178Z,1736366884.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:04.184Z,1736366884.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:04.192Z,1736366884.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.093262 m, bearing: 348.017374 deg, approach rate: -0.240644 m/s, LOS rate: 0.122266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117340 deg. 2025-01-08T20:08:04.193Z,1736366884.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819157 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:04.360Z,1736366884.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:04.360Z,1736366884.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751856 2025-01-08T20:08:04.565Z,1736366884.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:04.573Z,1736366884.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:04.576Z,1736366884.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.991547 m, bearing: 348.069011 deg, approach rate: -0.261150 m/s, LOS rate: 0.132631 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130161 deg. 2025-01-08T20:08:04.577Z,1736366884.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819380 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:04.613Z,1736366884.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:04.614Z,1736366884.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005082 2025-01-08T20:08:04.864Z,1736366884.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:04.864Z,1736366884.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255774 2025-01-08T20:08:04.935Z,1736366884.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:04.943Z,1736366884.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:04.946Z,1736366884.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.900620 m, bearing: 348.115376 deg, approach rate: -0.246107 m/s, LOS rate: 0.125541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114335 deg. 2025-01-08T20:08:04.947Z,1736366884.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819104 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:05.116Z,1736366885.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:05.117Z,1736366885.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508603 2025-01-08T20:08:05.328Z,1736366885.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:05.337Z,1736366885.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:05.356Z,1736366885.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.803909 m, bearing: 348.164642 deg, approach rate: -0.245569 m/s, LOS rate: 0.125146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123042 deg. 2025-01-08T20:08:05.357Z,1736366885.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819256 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:05.368Z,1736366885.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:05.369Z,1736366885.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759968 2025-01-08T20:08:05.622Z,1736366885.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:05.624Z,1736366885.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015147 2025-01-08T20:08:05.762Z,1736366885.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:05.772Z,1736366885.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:05.774Z,1736366885.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.702026 m, bearing: 348.218682 deg, approach rate: -0.234409 m/s, LOS rate: 0.124384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137372 deg. 2025-01-08T20:08:05.776Z,1736366885.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819506 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:05.872Z,1736366885.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:05.872Z,1736366885.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263897 2025-01-08T20:08:06.124Z,1736366886.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:06.125Z,1736366886.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515951 2025-01-08T20:08:06.149Z,1736366886.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:06.172Z,1736366886.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:06.177Z,1736366886.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.611252 m, bearing: 348.266720 deg, approach rate: -0.229805 m/s, LOS rate: 0.121659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119355 deg. 2025-01-08T20:08:06.181Z,1736366886.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819192 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:06.376Z,1736366886.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:06.376Z,1736366886.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767709 2025-01-08T20:08:06.593Z,1736366886.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:06.615Z,1736366886.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:06.617Z,1736366886.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:06.628Z,1736366886.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:06.628Z,1736366886.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019874 2025-01-08T20:08:06.632Z,1736366886.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.508987 m, bearing: 348.321700 deg, approach rate: -0.226748 m/s, LOS rate: 0.121956 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140195 deg. 2025-01-08T20:08:06.634Z,1736366886.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819556 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:06.880Z,1736366886.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:06.881Z,1736366886.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271959 2025-01-08T20:08:06.978Z,1736366886.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:06.991Z,1736366886.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:06.994Z,1736366886.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.420486 m, bearing: 348.369409 deg, approach rate: -0.236900 m/s, LOS rate: 0.127754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118365 deg. 2025-01-08T20:08:06.995Z,1736366886.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819175 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:07.132Z,1736366887.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:07.132Z,1736366887.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523836 2025-01-08T20:08:07.357Z,1736366887.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:07.373Z,1736366887.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:07.376Z,1736366887.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.333466 m, bearing: 348.416550 deg, approach rate: -0.228000 m/s, LOS rate: 0.123556 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116659 deg. 2025-01-08T20:08:07.377Z,1736366887.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819145 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:07.384Z,1736366887.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:07.385Z,1736366887.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776486 2025-01-08T20:08:07.636Z,1736366887.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:07.636Z,1736366887.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027834 2025-01-08T20:08:07.798Z,1736366887.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:07.808Z,1736366887.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:07.811Z,1736366887.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.229126 m, bearing: 348.471378 deg, approach rate: -0.239693 m/s, LOS rate: 0.126006 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139740 deg. 2025-01-08T20:08:07.812Z,1736366887.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819548 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:07.888Z,1736366887.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:07.889Z,1736366887.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280198 2025-01-08T20:08:08.140Z,1736366888.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:08.140Z,1736366888.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531852 2025-01-08T20:08:08.177Z,1736366888.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:08.187Z,1736366888.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:08.195Z,1736366888.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.139847 m, bearing: 348.518529 deg, approach rate: -0.235597 m/s, LOS rate: 0.124472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116692 deg. 2025-01-08T20:08:08.196Z,1736366888.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819145 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:08.394Z,1736366888.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:08.395Z,1736366888.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786799 2025-01-08T20:08:08.637Z,1736366888.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:08.644Z,1736366888.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:08.644Z,1736366888.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035862 2025-01-08T20:08:08.645Z,1736366888.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:08.649Z,1736366888.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:08.654Z,1736366888.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.035553 m, bearing: 348.575906 deg, approach rate: -0.225689 m/s, LOS rate: 0.124215 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147390 deg. 2025-01-08T20:08:08.657Z,1736366888.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819681 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:08.896Z,1736366888.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:08.896Z,1736366888.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287829 2025-01-08T20:08:08.971Z,1736366888.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:08.989Z,1736366888.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:08.994Z,1736366888.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.960114 m, bearing: 348.617542 deg, approach rate: -0.221817 m/s, LOS rate: 0.122462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100134 deg. 2025-01-08T20:08:08.997Z,1736366888.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818856 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:09.148Z,1736366889.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:09.148Z,1736366889.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539813 2025-01-08T20:08:09.372Z,1736366889.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:09.381Z,1736366889.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:09.384Z,1736366889.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.869385 m, bearing: 348.667705 deg, approach rate: -0.231666 m/s, LOS rate: 0.128134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125732 deg. 2025-01-08T20:08:09.386Z,1736366889.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819303 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:09.408Z,1736366889.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:09.408Z,1736366889.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799894 2025-01-08T20:08:09.660Z,1736366889.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:09.661Z,1736366889.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052544 2025-01-08T20:08:09.818Z,1736366889.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:09.835Z,1736366889.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:09.842Z,1736366889.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.769943 m, bearing: 348.724534 deg, approach rate: -0.218987 m/s, LOS rate: 0.125197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145741 deg. 2025-01-08T20:08:09.843Z,1736366889.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819653 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:09.912Z,1736366889.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:09.913Z,1736366889.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303922 2025-01-08T20:08:10.164Z,1736366890.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:10.164Z,1736366890.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555827 2025-01-08T20:08:10.184Z,1736366890.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:10.193Z,1736366890.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:10.196Z,1736366890.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.688141 m, bearing: 348.771374 deg, approach rate: -0.228660 m/s, LOS rate: 0.130973 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115752 deg. 2025-01-08T20:08:10.197Z,1736366890.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819129 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:10.418Z,1736366890.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:10.419Z,1736366890.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810888 2025-01-08T20:08:10.645Z,1736366890.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:10.668Z,1736366890.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:10.669Z,1736366890.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060724 2025-01-08T20:08:10.676Z,1736366890.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:10.684Z,1736366890.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:10.687Z,1736366890.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.590271 m, bearing: 348.831055 deg, approach rate: -0.201176 m/s, LOS rate: 0.122728 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154303 deg. 2025-01-08T20:08:10.692Z,1736366890.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819802 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:10.920Z,1736366890.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:10.921Z,1736366890.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311923 2025-01-08T20:08:10.996Z,1736366890.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:11.005Z,1736366891.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:11.021Z,1736366891.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.515549 m, bearing: 348.876700 deg, approach rate: -0.228915 m/s, LOS rate: 0.139877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112162 deg. 2025-01-08T20:08:11.022Z,1736366891.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819067 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:11.172Z,1736366891.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:11.172Z,1736366891.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563834 2025-01-08T20:08:11.413Z,1736366891.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:11.424Z,1736366891.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:11.425Z,1736366891.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815946 2025-01-08T20:08:11.425Z,1736366891.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:11.428Z,1736366891.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.427185 m, bearing: 348.930839 deg, approach rate: -0.211576 m/s, LOS rate: 0.129676 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137662 deg. 2025-01-08T20:08:11.429Z,1736366891.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819511 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:11.676Z,1736366891.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:11.677Z,1736366891.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068354 2025-01-08T20:08:11.832Z,1736366891.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:11.872Z,1736366891.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:11.875Z,1736366891.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.333099 m, bearing: 348.986918 deg, approach rate: -0.209512 m/s, LOS rate: 0.124927 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143489 deg. 2025-01-08T20:08:11.885Z,1736366891.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819613 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:11.928Z,1736366891.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:11.929Z,1736366891.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320829 2025-01-08T20:08:12.180Z,1736366892.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:12.180Z,1736366892.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571790 2025-01-08T20:08:12.207Z,1736366892.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:12.234Z,1736366892.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:12.241Z,1736366892.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.248428 m, bearing: 349.037505 deg, approach rate: -0.234598 m/s, LOS rate: 0.140210 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126999 deg. 2025-01-08T20:08:12.243Z,1736366892.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819325 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:12.434Z,1736366892.434 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:12.435Z,1736366892.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826353 2025-01-08T20:08:12.684Z,1736366892.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:12.685Z,1736366892.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075917 2025-01-08T20:08:12.693Z,1736366892.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:12.720Z,1736366892.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:12.722Z,1736366892.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:12.729Z,1736366892.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.135284 m, bearing: 349.106954 deg, approach rate: -0.231492 m/s, LOS rate: 0.142159 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183630 deg. 2025-01-08T20:08:12.730Z,1736366892.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820313 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:12.936Z,1736366892.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:12.936Z,1736366892.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327850 2025-01-08T20:08:13.015Z,1736366893.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:13.024Z,1736366893.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:13.028Z,1736366893.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.060516 m, bearing: 349.152900 deg, approach rate: -0.247085 m/s, LOS rate: 0.151883 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113067 deg. 2025-01-08T20:08:13.029Z,1736366893.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819082 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:13.188Z,1736366893.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:13.188Z,1736366893.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579836 2025-01-08T20:08:13.415Z,1736366893.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:13.440Z,1736366893.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:13.440Z,1736366893.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831774 2025-01-08T20:08:13.447Z,1736366893.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:13.456Z,1736366893.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.967773 m, bearing: 349.210156 deg, approach rate: -0.221436 m/s, LOS rate: 0.136757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147018 deg. 2025-01-08T20:08:13.457Z,1736366893.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819674 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:13.692Z,1736366893.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:13.692Z,1736366893.692 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:13.692Z,1736366893.692 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:13.693Z,1736366893.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:13.858Z,1736366893.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:13.896Z,1736366893.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:13.898Z,1736366893.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.860718 m, bearing: 349.277469 deg, approach rate: -0.247734 m/s, LOS rate: 0.155835 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177214 deg. 2025-01-08T20:08:13.904Z,1736366893.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820202 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:13.944Z,1736366893.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:13.945Z,1736366893.945 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:13.945Z,1736366893.945 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:13.946Z,1736366893.946 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:14.196Z,1736366894.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:14.196Z,1736366894.196 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:14.196Z,1736366894.196 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:14.197Z,1736366894.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:14.260Z,1736366894.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:14.270Z,1736366894.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:14.273Z,1736366894.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.763702 m, bearing: 349.338702 deg, approach rate: -0.246123 m/s, LOS rate: 0.155408 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158960 deg. 2025-01-08T20:08:14.274Z,1736366894.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819883 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:14.449Z,1736366894.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:14.451Z,1736366894.451 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:08:14.451Z,1736366894.451 [DAT](INFO): response not received 2025-01-08T20:08:14.452Z,1736366894.452 [DAT](INFO): DAT read: user:1143> 2025-01-08T20:08:14.453Z,1736366894.453 [DAT](INFO): DAT read: Tx time:20:08:13.7796 2025-01-08T20:08:14.453Z,1736366894.453 [DAT](INFO): Ping request sent. 2025-01-08T20:08:14.453Z,1736366894.453 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:08:14.453Z,1736366894.453 [DAT](INFO): publishing transmit ping time 2025-01-08T20:08:14.454Z,1736366894.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765 2025-01-08T20:08:14.700Z,1736366894.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:14.702Z,1736366894.702 [DAT](INFO): DAT read: TxSync time:20:08:13.7789 2025-01-08T20:08:14.702Z,1736366894.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249559 2025-01-08T20:08:14.734Z,1736366894.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:14.755Z,1736366894.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:14.757Z,1736366894.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:14.764Z,1736366894.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.638885 m, bearing: 349.416010 deg, approach rate: -0.255866 m/s, LOS rate: 0.158557 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.207228 deg. 2025-01-08T20:08:14.766Z,1736366894.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820725 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:14.952Z,1736366894.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:14.952Z,1736366894.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499542 2025-01-08T20:08:15.059Z,1736366895.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:15.088Z,1736366895.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:15.090Z,1736366895.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.553802 m, bearing: 349.469135 deg, approach rate: -0.261224 m/s, LOS rate: 0.163163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134618 deg. 2025-01-08T20:08:15.101Z,1736366895.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819458 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:15.204Z,1736366895.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:15.205Z,1736366895.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752243 2025-01-08T20:08:15.456Z,1736366895.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:15.456Z,1736366895.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003431 2025-01-08T20:08:15.477Z,1736366895.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:15.486Z,1736366895.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:15.489Z,1736366895.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.445663 m, bearing: 349.537551 deg, approach rate: -0.268369 m/s, LOS rate: 0.169863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180524 deg. 2025-01-08T20:08:15.490Z,1736366895.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820260 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:15.708Z,1736366895.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:15.710Z,1736366895.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256452 2025-01-08T20:08:15.921Z,1736366895.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:15.929Z,1736366895.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:15.932Z,1736366895.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.329651 m, bearing: 349.613200 deg, approach rate: -0.261752 m/s, LOS rate: 0.170764 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.202241 deg. 2025-01-08T20:08:15.934Z,1736366895.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820639 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:15.960Z,1736366895.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:15.961Z,1736366895.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507596 2025-01-08T20:08:16.212Z,1736366896.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:16.212Z,1736366896.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759527 2025-01-08T20:08:16.278Z,1736366896.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:16.287Z,1736366896.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:16.290Z,1736366896.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.237457 m, bearing: 349.674103 deg, approach rate: -0.257996 m/s, LOS rate: 0.170496 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157964 deg. 2025-01-08T20:08:16.291Z,1736366896.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819866 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:16.464Z,1736366896.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:16.465Z,1736366896.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011642 2025-01-08T20:08:16.716Z,1736366896.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:16.717Z,1736366896.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264297 2025-01-08T20:08:16.740Z,1736366896.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:16.752Z,1736366896.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:16.755Z,1736366896.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.115585 m, bearing: 349.753123 deg, approach rate: -0.261893 m/s, LOS rate: 0.169893 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212364 deg. 2025-01-08T20:08:16.757Z,1736366896.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820815 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:16.970Z,1736366896.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:16.972Z,1736366896.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518780 2025-01-08T20:08:17.074Z,1736366897.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:17.081Z,1736366897.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:17.084Z,1736366897.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:17.086Z,1736366897.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.027756 m, bearing: 349.810525 deg, approach rate: -0.265331 m/s, LOS rate: 0.173473 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147455 deg. 2025-01-08T20:08:17.104Z,1736366897.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819682 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:17.220Z,1736366897.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:17.220Z,1736366897.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767511 2025-01-08T20:08:17.472Z,1736366897.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:17.473Z,1736366897.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019628 2025-01-08T20:08:17.481Z,1736366897.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:17.518Z,1736366897.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:17.521Z,1736366897.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.921707 m, bearing: 349.880219 deg, approach rate: -0.243809 m/s, LOS rate: 0.160298 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184358 deg. 2025-01-08T20:08:17.522Z,1736366897.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820326 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:17.725Z,1736366897.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:17.728Z,1736366897.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274433 2025-01-08T20:08:17.918Z,1736366897.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:17.938Z,1736366897.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:17.942Z,1736366897.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.810989 m, bearing: 349.954610 deg, approach rate: -0.264232 m/s, LOS rate: 0.177618 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198461 deg. 2025-01-08T20:08:17.944Z,1736366897.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820572 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:17.976Z,1736366897.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:17.977Z,1736366897.977 [DAT](INFO): DAT read: Rx Time:20:08:16.8152 2025-01-08T20:08:17.977Z,1736366897.977 [DAT](INFO): Rx dataTimestamp_ set to:1736366897.976734 2025-01-08T20:08:17.978Z,1736366897.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524638 2025-01-08T20:08:18.228Z,1736366898.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:18.228Z,1736366898.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775480 2025-01-08T20:08:18.425Z,1736366898.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:18.434Z,1736366898.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:18.437Z,1736366898.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.683640 m, bearing: 350.040749 deg, approach rate: -0.256719 m/s, LOS rate: 0.173734 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233737 deg. 2025-01-08T20:08:18.439Z,1736366898.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821188 target range: 454.200012 and range: 457.40 m. 2025-01-08T20:08:18.480Z,1736366898.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:18.481Z,1736366898.481 [DAT](INFO): DAT read: Range 10 to 50 : 473.5 m (Round-trip 631.4 ms) speed -0.8 m/s 2025-01-08T20:08:18.482Z,1736366898.482 [DAT](INFO): DAT read: user:1144> 2025-01-08T20:08:18.483Z,1736366898.483 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:08:18.484Z,1736366898.484 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:08:18.484Z,1736366898.484 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:08:18.484Z,1736366898.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:18.732Z,1736366898.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:18.733Z,1736366898.733 [DAT](INFO): DAT read: Tx time:20:08:17.9296 2025-01-08T20:08:18.733Z,1736366898.733 [DAT](INFO): Ping request sent. 2025-01-08T20:08:18.734Z,1736366898.734 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:08:18.734Z,1736366898.734 [DAT](INFO): DAT read: TxSync time:20:08:17.9289 2025-01-08T20:08:18.735Z,1736366898.735 [DAT](INFO): publishing transmit ping time 2025-01-08T20:08:18.735Z,1736366898.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002127 2025-01-08T20:08:18.849Z,1736366898.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:18.872Z,1736366898.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 473.500000 m, deltaT: 25.963616 s, deltaX: 16.100006 m, approachRate: 0.620099 m/s, rangeRepo size: 4 2025-01-08T20:08:18.873Z,1736366898.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:18.880Z,1736366898.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.584793 m, bearing: 350.107965 deg, approach rate: -0.227802 m/s, LOS rate: 0.154971 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176918 deg. 2025-01-08T20:08:18.881Z,1736366898.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820197 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:18.985Z,1736366898.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:18.986Z,1736366898.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252326 2025-01-08T20:08:19.225Z,1736366899.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:19.236Z,1736366899.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:19.237Z,1736366899.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503263 2025-01-08T20:08:19.252Z,1736366899.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:19.254Z,1736366899.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:19.261Z,1736366899.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.498489 m, bearing: 350.167546 deg, approach rate: -0.223023 m/s, LOS rate: 0.154022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153993 deg. 2025-01-08T20:08:19.262Z,1736366899.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819797 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:19.488Z,1736366899.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:19.489Z,1736366899.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755521 2025-01-08T20:08:19.632Z,1736366899.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:19.641Z,1736366899.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:19.644Z,1736366899.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.405685 m, bearing: 350.231935 deg, approach rate: -0.239492 m/s, LOS rate: 0.166227 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168426 deg. 2025-01-08T20:08:19.646Z,1736366899.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820048 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:19.743Z,1736366899.743 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:19.745Z,1736366899.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011479 2025-01-08T20:08:19.994Z,1736366899.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:19.996Z,1736366899.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262743 2025-01-08T20:08:20.062Z,1736366900.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:20.072Z,1736366900.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:20.074Z,1736366900.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.311081 m, bearing: 350.293782 deg, approach rate: -0.220056 m/s, LOS rate: 0.143916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160800 deg. 2025-01-08T20:08:20.076Z,1736366900.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819915 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:20.244Z,1736366900.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:20.244Z,1736366900.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511147 2025-01-08T20:08:20.429Z,1736366900.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:20.438Z,1736366900.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:20.441Z,1736366900.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.230728 m, bearing: 350.346296 deg, approach rate: -0.219373 m/s, LOS rate: 0.143416 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132780 deg. 2025-01-08T20:08:20.442Z,1736366900.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819426 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:20.496Z,1736366900.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:20.497Z,1736366900.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763307 2025-01-08T20:08:20.749Z,1736366900.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:20.758Z,1736366900.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023921 2025-01-08T20:08:20.879Z,1736366900.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:20.907Z,1736366900.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:20.914Z,1736366900.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.136353 m, bearing: 350.405898 deg, approach rate: -0.201233 m/s, LOS rate: 0.127136 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154061 deg. 2025-01-08T20:08:20.915Z,1736366900.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819798 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:21.001Z,1736366901.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:21.002Z,1736366901.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268272 2025-01-08T20:08:21.247Z,1736366901.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:21.252Z,1736366901.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:21.253Z,1736366901.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519341 2025-01-08T20:08:21.272Z,1736366901.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:21.274Z,1736366901.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:21.281Z,1736366901.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.059113 m, bearing: 350.454613 deg, approach rate: -0.209965 m/s, LOS rate: 0.132467 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121379 deg. 2025-01-08T20:08:21.283Z,1736366901.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819227 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:21.504Z,1736366901.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:21.505Z,1736366901.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771838 2025-01-08T20:08:21.698Z,1736366901.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:21.713Z,1736366901.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:21.716Z,1736366901.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.963852 m, bearing: 350.514365 deg, approach rate: -0.217353 m/s, LOS rate: 0.136387 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154512 deg. 2025-01-08T20:08:21.718Z,1736366901.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819806 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:21.764Z,1736366901.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:21.766Z,1736366901.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032047 2025-01-08T20:08:22.016Z,1736366902.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:22.017Z,1736366902.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283798 2025-01-08T20:08:22.135Z,1736366902.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:22.152Z,1736366902.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:22.155Z,1736366902.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.880524 m, bearing: 350.565463 deg, approach rate: -0.191735 m/s, LOS rate: 0.117615 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128533 deg. 2025-01-08T20:08:22.160Z,1736366902.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819352 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:22.268Z,1736366902.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:22.269Z,1736366902.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535871 2025-01-08T20:08:22.497Z,1736366902.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:22.506Z,1736366902.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:22.512Z,1736366902.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.805389 m, bearing: 350.611327 deg, approach rate: -0.209680 m/s, LOS rate: 0.128035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112823 deg. 2025-01-08T20:08:22.516Z,1736366902.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819078 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:22.521Z,1736366902.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:22.522Z,1736366902.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788668 2025-01-08T20:08:22.773Z,1736366902.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:22.776Z,1736366902.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.041736 2025-01-08T20:08:22.949Z,1736366902.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:22.962Z,1736366902.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:22.965Z,1736366902.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.716370 m, bearing: 350.662180 deg, approach rate: -0.195169 m/s, LOS rate: 0.111531 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127799 deg. 2025-01-08T20:08:22.966Z,1736366902.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819339 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:23.024Z,1736366903.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:23.025Z,1736366903.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291666 2025-01-08T20:08:23.276Z,1736366903.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:23.276Z,1736366903.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543078 2025-01-08T20:08:23.320Z,1736366903.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:23.326Z,1736366903.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:23.329Z,1736366903.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:23.332Z,1736366903.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.642242 m, bearing: 350.703890 deg, approach rate: -0.202084 m/s, LOS rate: 0.113746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100358 deg. 2025-01-08T20:08:23.334Z,1736366903.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818861 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:23.528Z,1736366903.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:23.528Z,1736366903.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795244 2025-01-08T20:08:23.706Z,1736366903.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:23.736Z,1736366903.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:23.744Z,1736366903.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.564667 m, bearing: 350.747259 deg, approach rate: -0.192906 m/s, LOS rate: 0.107879 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105334 deg. 2025-01-08T20:08:23.745Z,1736366903.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818947 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:23.781Z,1736366903.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:23.784Z,1736366903.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.049715 2025-01-08T20:08:24.032Z,1736366904.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:24.034Z,1736366904.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.300161 2025-01-08T20:08:24.131Z,1736366904.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:24.170Z,1736366904.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:24.179Z,1736366904.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.481522 m, bearing: 350.793656 deg, approach rate: -0.189394 m/s, LOS rate: 0.105722 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114424 deg. 2025-01-08T20:08:24.185Z,1736366904.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819106 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:24.284Z,1736366904.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:24.286Z,1736366904.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551997 2025-01-08T20:08:24.512Z,1736366904.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:24.522Z,1736366904.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:24.525Z,1736366904.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.406418 m, bearing: 350.835391 deg, approach rate: -0.213405 m/s, LOS rate: 0.118625 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100430 deg. 2025-01-08T20:08:24.526Z,1736366904.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818861 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:24.536Z,1736366904.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:24.536Z,1736366904.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803236 2025-01-08T20:08:24.790Z,1736366904.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:24.793Z,1736366904.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.059176 2025-01-08T20:08:24.966Z,1736366904.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:25.001Z,1736366905.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:25.008Z,1736366905.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.312958 m, bearing: 350.886036 deg, approach rate: -0.195072 m/s, LOS rate: 0.105748 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127181 deg. 2025-01-08T20:08:25.009Z,1736366905.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819328 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:25.042Z,1736366905.042 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:25.045Z,1736366905.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.310910 2025-01-08T20:08:25.292Z,1736366905.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:25.292Z,1736366905.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559129 2025-01-08T20:08:25.334Z,1736366905.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:25.341Z,1736366905.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:25.343Z,1736366905.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:25.346Z,1736366905.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.237167 m, bearing: 350.926877 deg, approach rate: -0.221733 m/s, LOS rate: 0.119525 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097750 deg. 2025-01-08T20:08:25.347Z,1736366905.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818815 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:25.546Z,1736366905.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:25.548Z,1736366905.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814297 2025-01-08T20:08:25.726Z,1736366905.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:25.735Z,1736366905.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:25.738Z,1736366905.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.155869 m, bearing: 350.970686 deg, approach rate: -0.207118 m/s, LOS rate: 0.111644 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106655 deg. 2025-01-08T20:08:25.739Z,1736366905.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818970 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:25.798Z,1736366905.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:25.801Z,1736366905.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.067122 2025-01-08T20:08:26.048Z,1736366906.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:26.048Z,1736366906.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315118 2025-01-08T20:08:26.158Z,1736366906.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:26.179Z,1736366906.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:26.182Z,1736366906.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.065567 m, bearing: 351.022951 deg, approach rate: -0.205198 m/s, LOS rate: 0.118811 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132042 deg. 2025-01-08T20:08:26.188Z,1736366906.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819413 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:26.303Z,1736366906.303 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:26.304Z,1736366906.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570691 2025-01-08T20:08:26.540Z,1736366906.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:26.548Z,1736366906.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:26.552Z,1736366906.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.985779 m, bearing: 351.069120 deg, approach rate: -0.213981 m/s, LOS rate: 0.123858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113738 deg. 2025-01-08T20:08:26.553Z,1736366906.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819094 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:26.556Z,1736366906.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:26.557Z,1736366906.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823495 2025-01-08T20:08:26.810Z,1736366906.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:26.812Z,1736366906.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078243 2025-01-08T20:08:26.979Z,1736366906.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:26.991Z,1736366906.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:26.994Z,1736366906.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.869049 m, bearing: 351.142782 deg, approach rate: -0.263579 m/s, LOS rate: 0.166412 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196280 deg. 2025-01-08T20:08:26.995Z,1736366906.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820534 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:27.060Z,1736366907.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:27.060Z,1736366907.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.327251 2025-01-08T20:08:27.312Z,1736366907.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:27.312Z,1736366907.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579130 2025-01-08T20:08:27.372Z,1736366907.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:27.388Z,1736366907.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:27.390Z,1736366907.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:27.396Z,1736366907.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.764587 m, bearing: 351.208921 deg, approach rate: -0.262088 m/s, LOS rate: 0.166009 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173688 deg. 2025-01-08T20:08:27.398Z,1736366907.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820140 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:27.564Z,1736366907.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:27.564Z,1736366907.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831194 2025-01-08T20:08:27.764Z,1736366907.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:27.775Z,1736366907.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:27.777Z,1736366907.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.661087 m, bearing: 351.274722 deg, approach rate: -0.268820 m/s, LOS rate: 0.170980 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172677 deg. 2025-01-08T20:08:27.779Z,1736366907.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820123 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:27.818Z,1736366907.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:27.820Z,1736366907.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086765 2025-01-08T20:08:28.069Z,1736366908.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:28.070Z,1736366908.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.336376 2025-01-08T20:08:28.204Z,1736366908.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:28.212Z,1736366908.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:28.215Z,1736366908.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.562851 m, bearing: 351.336577 deg, approach rate: -0.224402 m/s, LOS rate: 0.141353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160826 deg. 2025-01-08T20:08:28.217Z,1736366908.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819916 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:28.320Z,1736366908.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:28.321Z,1736366908.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587290 2025-01-08T20:08:28.572Z,1736366908.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:28.573Z,1736366908.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839507 2025-01-08T20:08:28.574Z,1736366908.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:28.582Z,1736366908.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:28.606Z,1736366908.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.475006 m, bearing: 351.392083 deg, approach rate: -0.237342 m/s, LOS rate: 0.150022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141764 deg. 2025-01-08T20:08:28.611Z,1736366908.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819583 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:28.826Z,1736366908.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:28.828Z,1736366908.828 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:28.829Z,1736366908.829 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:28.829Z,1736366908.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:28.983Z,1736366908.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:29.008Z,1736366909.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:29.018Z,1736366909.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.378845 m, bearing: 351.455696 deg, approach rate: -0.235121 m/s, LOS rate: 0.155602 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166102 deg. 2025-01-08T20:08:29.024Z,1736366909.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820008 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:29.076Z,1736366909.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:29.077Z,1736366909.077 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:29.078Z,1736366909.078 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:29.079Z,1736366909.079 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:29.328Z,1736366909.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:29.328Z,1736366909.328 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:29.328Z,1736366909.328 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:29.329Z,1736366909.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:29.397Z,1736366909.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:29.404Z,1736366909.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:29.406Z,1736366909.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:29.409Z,1736366909.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.282303 m, bearing: 351.520037 deg, approach rate: -0.232942 m/s, LOS rate: 0.155307 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168286 deg. 2025-01-08T20:08:29.410Z,1736366909.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820046 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:29.580Z,1736366909.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:29.581Z,1736366909.581 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:08:29.581Z,1736366909.581 [DAT](INFO): response not received 2025-01-08T20:08:29.581Z,1736366909.581 [DAT](INFO): DAT read: user:1145> 2025-01-08T20:08:29.582Z,1736366909.582 [DAT](INFO): DAT read: Tx time:20:08:28.8797 2025-01-08T20:08:29.582Z,1736366909.582 [DAT](INFO): Ping request sent. 2025-01-08T20:08:29.582Z,1736366909.582 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:08:29.583Z,1736366909.583 [DAT](INFO): publishing transmit ping time 2025-01-08T20:08:29.584Z,1736366909.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001506 2025-01-08T20:08:29.832Z,1736366909.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:29.833Z,1736366909.833 [DAT](INFO): DAT read: TxSync time:20:08:28.8790 2025-01-08T20:08:29.834Z,1736366909.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251533 2025-01-08T20:08:29.901Z,1736366909.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:29.926Z,1736366909.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:29.940Z,1736366909.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.167007 m, bearing: 351.597680 deg, approach rate: -0.221849 m/s, LOS rate: 0.149472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208228 deg. 2025-01-08T20:08:29.941Z,1736366909.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820743 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:30.084Z,1736366910.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:30.084Z,1736366910.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501967 2025-01-08T20:08:30.336Z,1736366910.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:30.337Z,1736366910.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754154 2025-01-08T20:08:30.409Z,1736366910.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:30.428Z,1736366910.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:30.448Z,1736366910.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.049911 m, bearing: 351.683891 deg, approach rate: -0.233575 m/s, LOS rate: 0.172051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233942 deg. 2025-01-08T20:08:30.450Z,1736366910.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821192 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:30.588Z,1736366910.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:30.589Z,1736366910.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006113 2025-01-08T20:08:30.842Z,1736366910.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:30.844Z,1736366910.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261588 2025-01-08T20:08:30.979Z,1736366910.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:30.997Z,1736366910.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:31.011Z,1736366911.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.927734 m, bearing: 351.778571 deg, approach rate: -0.214250 m/s, LOS rate: 0.166116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.259370 deg. 2025-01-08T20:08:31.012Z,1736366911.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821636 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:31.092Z,1736366911.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:31.093Z,1736366911.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510949 2025-01-08T20:08:31.109Z,1736366911.109 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:08:31.321Z,1736366911.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:31.329Z,1736366911.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:31.332Z,1736366911.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.850891 m, bearing: 351.838761 deg, approach rate: -0.231444 m/s, LOS rate: 0.181346 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155816 deg. 2025-01-08T20:08:31.334Z,1736366911.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819828 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:31.344Z,1736366911.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:31.344Z,1736366911.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761945 2025-01-08T20:08:31.596Z,1736366911.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:31.597Z,1736366911.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014185 2025-01-08T20:08:31.725Z,1736366911.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:31.732Z,1736366911.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:31.734Z,1736366911.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:31.738Z,1736366911.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.763382 m, bearing: 351.907417 deg, approach rate: -0.215922 m/s, LOS rate: 0.169463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181227 deg. 2025-01-08T20:08:31.739Z,1736366911.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820272 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:31.848Z,1736366911.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:31.849Z,1736366911.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266175 2025-01-08T20:08:32.100Z,1736366912.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:32.100Z,1736366912.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517935 2025-01-08T20:08:32.111Z,1736366912.111 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:08:32.186Z,1736366912.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:32.195Z,1736366912.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:32.198Z,1736366912.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.663712 m, bearing: 351.986677 deg, approach rate: -0.216586 m/s, LOS rate: 0.172306 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.213065 deg. 2025-01-08T20:08:32.199Z,1736366912.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820827 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:32.352Z,1736366912.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:32.353Z,1736366912.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770132 2025-01-08T20:08:32.540Z,1736366912.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:32.549Z,1736366912.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:32.552Z,1736366912.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.587906 m, bearing: 352.047447 deg, approach rate: -0.214191 m/s, LOS rate: 0.171760 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157553 deg. 2025-01-08T20:08:32.553Z,1736366912.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819859 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:32.604Z,1736366912.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:32.605Z,1736366912.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022411 2025-01-08T20:08:32.857Z,1736366912.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:32.858Z,1736366912.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275346 2025-01-08T20:08:32.998Z,1736366912.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:33.008Z,1736366913.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:33.011Z,1736366913.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.491806 m, bearing: 352.122598 deg, approach rate: -0.209213 m/s, LOS rate: 0.163672 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200729 deg. 2025-01-08T20:08:33.014Z,1736366913.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820612 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:33.109Z,1736366913.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:33.110Z,1736366913.110 [DAT](INFO): DAT read: Rx Time:20:08:31.9270 2025-01-08T20:08:33.111Z,1736366913.111 [DAT](INFO): Rx dataTimestamp_ set to:1736366913.110434 2025-01-08T20:08:33.111Z,1736366913.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528983 2025-01-08T20:08:33.353Z,1736366913.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:33.360Z,1736366913.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:33.361Z,1736366913.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778125 2025-01-08T20:08:33.363Z,1736366913.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:33.382Z,1736366913.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.417709 m, bearing: 352.180907 deg, approach rate: -0.208823 m/s, LOS rate: 0.164380 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150167 deg. 2025-01-08T20:08:33.385Z,1736366913.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819730 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:33.613Z,1736366913.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:33.614Z,1736366913.614 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:08:33.614Z,1736366913.614 [DAT](INFO): Received a bad header 2025-01-08T20:08:33.628Z,1736366913.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.045283 2025-01-08T20:08:33.757Z,1736366913.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:33.763Z,1736366913.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:33.765Z,1736366913.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:33.769Z,1736366913.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.333557 m, bearing: 352.247225 deg, approach rate: -0.209031 m/s, LOS rate: 0.164789 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174210 deg. 2025-01-08T20:08:33.770Z,1736366913.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820149 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:33.865Z,1736366913.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:33.865Z,1736366913.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283079 2025-01-08T20:08:34.116Z,1736366914.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:34.117Z,1736366914.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534109 2025-01-08T20:08:34.232Z,1736366914.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:34.241Z,1736366914.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:34.244Z,1736366914.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.241791 m, bearing: 352.322451 deg, approach rate: -0.192775 m/s, LOS rate: 0.158091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200953 deg. 2025-01-08T20:08:34.245Z,1736366914.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820616 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:34.368Z,1736366914.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:34.368Z,1736366914.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786038 2025-01-08T20:08:34.557Z,1736366914.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:34.566Z,1736366914.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:34.569Z,1736366914.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.179306 m, bearing: 352.373901 deg, approach rate: -0.192621 m/s, LOS rate: 0.158644 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129575 deg. 2025-01-08T20:08:34.570Z,1736366914.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819370 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:34.621Z,1736366914.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:34.622Z,1736366914.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039999 2025-01-08T20:08:34.872Z,1736366914.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:34.872Z,1736366914.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289961 2025-01-08T20:08:35.030Z,1736366915.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:35.042Z,1736366915.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:35.045Z,1736366915.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.091461 m, bearing: 352.442937 deg, approach rate: -0.185460 m/s, LOS rate: 0.145805 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182371 deg. 2025-01-08T20:08:35.046Z,1736366915.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820292 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:35.124Z,1736366915.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:35.126Z,1736366915.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543161 2025-01-08T20:08:35.365Z,1736366915.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:35.375Z,1736366915.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:35.376Z,1736366915.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:35.377Z,1736366915.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794315 2025-01-08T20:08:35.380Z,1736366915.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.029236 m, bearing: 352.491977 deg, approach rate: -0.185487 m/s, LOS rate: 0.146220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122344 deg. 2025-01-08T20:08:35.381Z,1736366915.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819244 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:35.628Z,1736366915.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:35.629Z,1736366915.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046239 2025-01-08T20:08:35.782Z,1736366915.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:35.791Z,1736366915.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:35.793Z,1736366915.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:35.796Z,1736366915.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.952164 m, bearing: 352.552705 deg, approach rate: -0.184247 m/s, LOS rate: 0.145221 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157428 deg. 2025-01-08T20:08:35.797Z,1736366915.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819856 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:35.880Z,1736366915.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:35.881Z,1736366915.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298114 2025-01-08T20:08:36.132Z,1736366916.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:36.132Z,1736366916.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550042 2025-01-08T20:08:36.214Z,1736366916.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:36.222Z,1736366916.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:36.227Z,1736366916.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.868698 m, bearing: 352.614204 deg, approach rate: -0.194443 m/s, LOS rate: 0.143320 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159748 deg. 2025-01-08T20:08:36.230Z,1736366916.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819897 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:36.384Z,1736366916.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:36.385Z,1736366916.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802559 2025-01-08T20:08:36.581Z,1736366916.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:36.609Z,1736366916.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:36.612Z,1736366916.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.798035 m, bearing: 352.666199 deg, approach rate: -0.182920 m/s, LOS rate: 0.134634 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131216 deg. 2025-01-08T20:08:36.613Z,1736366916.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819399 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:36.661Z,1736366916.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:36.662Z,1736366916.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.079304 2025-01-08T20:08:36.913Z,1736366916.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:36.916Z,1736366916.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.332993 2025-01-08T20:08:37.074Z,1736366917.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:37.085Z,1736366917.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:37.087Z,1736366917.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.699753 m, bearing: 352.731525 deg, approach rate: -0.206580 m/s, LOS rate: 0.137368 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171246 deg. 2025-01-08T20:08:37.089Z,1736366917.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820097 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:37.164Z,1736366917.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:37.165Z,1736366917.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.582149 2025-01-08T20:08:37.392Z,1736366917.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:37.401Z,1736366917.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:37.404Z,1736366917.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.636169 m, bearing: 352.773668 deg, approach rate: -0.201578 m/s, LOS rate: 0.133641 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101649 deg. 2025-01-08T20:08:37.405Z,1736366917.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818883 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:37.416Z,1736366917.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:37.417Z,1736366917.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.834820 2025-01-08T20:08:37.668Z,1736366917.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:37.669Z,1736366917.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.086885 2025-01-08T20:08:37.796Z,1736366917.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:37.803Z,1736366917.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:37.805Z,1736366917.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:37.808Z,1736366917.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.555527 m, bearing: 352.827216 deg, approach rate: -0.198901 m/s, LOS rate: 0.132118 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135884 deg. 2025-01-08T20:08:37.809Z,1736366917.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819480 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:37.920Z,1736366917.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:37.921Z,1736366917.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.338187 2025-01-08T20:08:38.173Z,1736366918.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:38.173Z,1736366918.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.590809 2025-01-08T20:08:38.237Z,1736366918.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:38.250Z,1736366918.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:38.257Z,1736366918.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.466034 m, bearing: 352.888145 deg, approach rate: -0.201443 m/s, LOS rate: 0.137198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158040 deg. 2025-01-08T20:08:38.258Z,1736366918.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819867 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:38.424Z,1736366918.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:38.424Z,1736366918.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.841910 2025-01-08T20:08:38.600Z,1736366918.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:38.629Z,1736366918.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:38.632Z,1736366918.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.392761 m, bearing: 352.938199 deg, approach rate: -0.193384 m/s, LOS rate: 0.132145 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125394 deg. 2025-01-08T20:08:38.633Z,1736366918.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819297 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:38.677Z,1736366918.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:38.679Z,1736366918.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.096078 2025-01-08T20:08:38.928Z,1736366918.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:38.928Z,1736366918.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.345943 2025-01-08T20:08:39.076Z,1736366919.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:39.085Z,1736366919.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:39.088Z,1736366919.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.295334 m, bearing: 353.004211 deg, approach rate: -0.213420 m/s, LOS rate: 0.144662 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173303 deg. 2025-01-08T20:08:39.089Z,1736366919.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820134 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:39.180Z,1736366919.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:39.181Z,1736366919.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.598111 2025-01-08T20:08:39.420Z,1736366919.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:39.433Z,1736366919.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:39.435Z,1736366919.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.851941 2025-01-08T20:08:39.436Z,1736366919.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:39.443Z,1736366919.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.225204 m, bearing: 353.051883 deg, approach rate: -0.202993 m/s, LOS rate: 0.138029 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118244 deg. 2025-01-08T20:08:39.445Z,1736366919.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819172 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:39.684Z,1736366919.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:39.684Z,1736366919.684 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:39.685Z,1736366919.685 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:39.685Z,1736366919.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:39.811Z,1736366919.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:39.819Z,1736366919.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:39.821Z,1736366919.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:39.824Z,1736366919.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.145630 m, bearing: 353.106097 deg, approach rate: -0.203850 m/s, LOS rate: 0.138929 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137883 deg. 2025-01-08T20:08:39.825Z,1736366919.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819515 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:39.936Z,1736366919.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:39.936Z,1736366919.936 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:39.936Z,1736366919.936 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:39.937Z,1736366919.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:40.189Z,1736366920.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:40.190Z,1736366920.190 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:40.190Z,1736366920.190 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:40.191Z,1736366920.191 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:40.277Z,1736366920.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:40.285Z,1736366920.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:40.302Z,1736366920.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.050797 m, bearing: 353.171783 deg, approach rate: -0.204237 m/s, LOS rate: 0.141521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172323 deg. 2025-01-08T20:08:40.308Z,1736366920.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820117 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:40.440Z,1736366920.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:40.440Z,1736366920.440 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:08:40.441Z,1736366920.441 [DAT](INFO): response not received 2025-01-08T20:08:40.441Z,1736366920.441 [DAT](INFO): DAT read: user:1147> 2025-01-08T20:08:40.442Z,1736366920.442 [DAT](INFO): DAT read: Tx time:20:08:39.8298 2025-01-08T20:08:40.442Z,1736366920.442 [DAT](INFO): Ping request sent. 2025-01-08T20:08:40.442Z,1736366920.442 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:08:40.442Z,1736366920.442 [DAT](INFO): publishing transmit ping time 2025-01-08T20:08:40.443Z,1736366920.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-01-08T20:08:40.629Z,1736366920.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:40.638Z,1736366920.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:40.641Z,1736366920.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.979355 m, bearing: 353.221515 deg, approach rate: -0.202396 m/s, LOS rate: 0.140936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124429 deg. 2025-01-08T20:08:40.642Z,1736366920.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819281 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:40.692Z,1736366920.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:40.693Z,1736366920.693 [DAT](INFO): DAT read: TxSync time:20:08:39.8291 2025-01-08T20:08:40.693Z,1736366920.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251065 2025-01-08T20:08:40.944Z,1736366920.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:40.944Z,1736366920.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502058 2025-01-08T20:08:41.098Z,1736366921.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:41.108Z,1736366921.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:41.111Z,1736366921.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.882599 m, bearing: 353.287460 deg, approach rate: -0.205842 m/s, LOS rate: 0.140351 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173101 deg. 2025-01-08T20:08:41.112Z,1736366921.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820130 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:41.196Z,1736366921.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:41.197Z,1736366921.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754619 2025-01-08T20:08:41.427Z,1736366921.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:41.448Z,1736366921.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:41.448Z,1736366921.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005981 2025-01-08T20:08:41.454Z,1736366921.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:41.461Z,1736366921.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.815445 m, bearing: 353.333683 deg, approach rate: -0.194219 m/s, LOS rate: 0.133720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113893 deg. 2025-01-08T20:08:41.462Z,1736366921.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819097 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:41.702Z,1736366921.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:41.705Z,1736366921.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262599 2025-01-08T20:08:41.836Z,1736366921.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:41.843Z,1736366921.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:41.846Z,1736366921.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:41.865Z,1736366921.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.732330 m, bearing: 353.391443 deg, approach rate: -0.212218 m/s, LOS rate: 0.147533 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148529 deg. 2025-01-08T20:08:41.866Z,1736366921.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819701 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:41.952Z,1736366921.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:41.954Z,1736366921.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511361 2025-01-08T20:08:42.204Z,1736366922.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:42.204Z,1736366922.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762015 2025-01-08T20:08:42.283Z,1736366922.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:42.312Z,1736366922.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:42.314Z,1736366922.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.648331 m, bearing: 353.454505 deg, approach rate: -0.181852 m/s, LOS rate: 0.136570 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164436 deg. 2025-01-08T20:08:42.320Z,1736366922.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819979 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:42.456Z,1736366922.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:42.456Z,1736366922.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014134 2025-01-08T20:08:42.641Z,1736366922.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:42.653Z,1736366922.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:42.657Z,1736366922.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.580994 m, bearing: 353.504999 deg, approach rate: -0.195433 m/s, LOS rate: 0.146592 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126713 deg. 2025-01-08T20:08:42.680Z,1736366922.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819320 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:42.708Z,1736366922.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:42.708Z,1736366922.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266180 2025-01-08T20:08:42.960Z,1736366922.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:42.960Z,1736366922.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518078 2025-01-08T20:08:43.130Z,1736366923.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:43.140Z,1736366923.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:43.142Z,1736366923.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.496140 m, bearing: 353.573524 deg, approach rate: -0.174141 m/s, LOS rate: 0.140681 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180835 deg. 2025-01-08T20:08:43.144Z,1736366923.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820265 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:43.212Z,1736366923.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:43.213Z,1736366923.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770255 2025-01-08T20:08:43.449Z,1736366923.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:43.458Z,1736366923.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:43.461Z,1736366923.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.440872 m, bearing: 353.618198 deg, approach rate: -0.173317 m/s, LOS rate: 0.140128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109239 deg. 2025-01-08T20:08:43.462Z,1736366923.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819016 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:43.464Z,1736366923.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:43.464Z,1736366923.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022143 2025-01-08T20:08:43.716Z,1736366923.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:43.717Z,1736366923.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275063 2025-01-08T20:08:43.853Z,1736366923.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:43.860Z,1736366923.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:43.862Z,1736366923.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:43.864Z,1736366923.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.371201 m, bearing: 353.674741 deg, approach rate: -0.172750 m/s, LOS rate: 0.140237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144863 deg. 2025-01-08T20:08:43.866Z,1736366923.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819637 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:43.969Z,1736366923.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:43.970Z,1736366923.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527275 2025-01-08T20:08:44.220Z,1736366924.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:44.220Z,1736366924.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778015 2025-01-08T20:08:44.303Z,1736366924.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:44.315Z,1736366924.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:44.318Z,1736366924.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.290710 m, bearing: 353.736278 deg, approach rate: -0.177696 m/s, LOS rate: 0.135900 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159860 deg. 2025-01-08T20:08:44.319Z,1736366924.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819899 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:44.472Z,1736366924.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:44.472Z,1736366924.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030164 2025-01-08T20:08:44.687Z,1736366924.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:44.696Z,1736366924.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:44.698Z,1736366924.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.222000 m, bearing: 353.789009 deg, approach rate: -0.180545 m/s, LOS rate: 0.138598 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133426 deg. 2025-01-08T20:08:44.700Z,1736366924.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819438 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:44.724Z,1736366924.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:44.724Z,1736366924.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282134 2025-01-08T20:08:44.976Z,1736366924.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:44.976Z,1736366924.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534025 2025-01-08T20:08:45.126Z,1736366925.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:45.143Z,1736366925.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:45.151Z,1736366925.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.143524 m, bearing: 353.849137 deg, approach rate: -0.175353 m/s, LOS rate: 0.134399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155630 deg. 2025-01-08T20:08:45.156Z,1736366925.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819825 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:45.229Z,1736366925.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:45.230Z,1736366925.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787460 2025-01-08T20:08:45.482Z,1736366925.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:45.483Z,1736366925.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040334 2025-01-08T20:08:45.499Z,1736366925.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:45.508Z,1736366925.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:45.511Z,1736366925.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.079483 m, bearing: 353.899522 deg, approach rate: -0.175058 m/s, LOS rate: 0.137766 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126383 deg. 2025-01-08T20:08:45.513Z,1736366925.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819314 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:45.737Z,1736366925.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:45.737Z,1736366925.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295080 2025-01-08T20:08:45.877Z,1736366925.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:45.884Z,1736366925.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:45.887Z,1736366925.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:45.890Z,1736366925.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.014709 m, bearing: 353.950477 deg, approach rate: -0.171307 m/s, LOS rate: 0.134797 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128092 deg. 2025-01-08T20:08:45.891Z,1736366925.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819345 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:45.988Z,1736366925.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:45.990Z,1736366925.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547182 2025-01-08T20:08:46.240Z,1736366926.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:46.240Z,1736366926.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798105 2025-01-08T20:08:46.333Z,1736366926.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:46.354Z,1736366926.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:46.380Z,1736366926.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.932999 m, bearing: 354.013532 deg, approach rate: -0.174897 m/s, LOS rate: 0.135012 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164417 deg. 2025-01-08T20:08:46.381Z,1736366926.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819978 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:46.492Z,1736366926.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:46.493Z,1736366926.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050938 2025-01-08T20:08:46.725Z,1736366926.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:46.734Z,1736366926.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:46.737Z,1736366926.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.863083 m, bearing: 354.067567 deg, approach rate: -0.184008 m/s, LOS rate: 0.142255 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137340 deg. 2025-01-08T20:08:46.738Z,1736366926.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819506 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:46.744Z,1736366926.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:46.745Z,1736366926.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302358 2025-01-08T20:08:46.996Z,1736366926.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:46.997Z,1736366926.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554299 2025-01-08T20:08:47.182Z,1736366927.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:47.192Z,1736366927.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:47.194Z,1736366927.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.776093 m, bearing: 354.133118 deg, approach rate: -0.190165 m/s, LOS rate: 0.143350 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171911 deg. 2025-01-08T20:08:47.196Z,1736366927.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820109 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:47.248Z,1736366927.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:47.249Z,1736366927.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806648 2025-01-08T20:08:47.500Z,1736366927.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:47.501Z,1736366927.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058865 2025-01-08T20:08:47.609Z,1736366927.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:47.633Z,1736366927.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:47.641Z,1736366927.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.695389 m, bearing: 354.194204 deg, approach rate: -0.182741 m/s, LOS rate: 0.138367 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158507 deg. 2025-01-08T20:08:47.642Z,1736366927.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819875 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:47.752Z,1736366927.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:47.752Z,1736366927.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310191 2025-01-08T20:08:48.004Z,1736366928.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:48.004Z,1736366928.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561943 2025-01-08T20:08:48.014Z,1736366928.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:48.030Z,1736366928.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:48.052Z,1736366928.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:48.055Z,1736366928.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.618729 m, bearing: 354.252277 deg, approach rate: -0.182781 m/s, LOS rate: 0.138508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149460 deg. 2025-01-08T20:08:48.056Z,1736366928.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819717 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:48.258Z,1736366928.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:48.259Z,1736366928.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816615 2025-01-08T20:08:48.508Z,1736366928.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:48.509Z,1736366928.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066221 2025-01-08T20:08:48.516Z,1736366928.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:48.525Z,1736366928.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:48.528Z,1736366928.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.514618 m, bearing: 354.328961 deg, approach rate: -0.220322 m/s, LOS rate: 0.162353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205339 deg. 2025-01-08T20:08:48.529Z,1736366928.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820693 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:48.760Z,1736366928.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:48.760Z,1736366928.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318078 2025-01-08T20:08:48.863Z,1736366928.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:48.887Z,1736366928.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:48.890Z,1736366928.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.442902 m, bearing: 354.382093 deg, approach rate: -0.198089 m/s, LOS rate: 0.146802 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134631 deg. 2025-01-08T20:08:48.891Z,1736366928.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819458 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:49.012Z,1736366929.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:49.013Z,1736366929.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570242 2025-01-08T20:08:49.264Z,1736366929.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:49.264Z,1736366929.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822033 2025-01-08T20:08:49.317Z,1736366929.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:49.334Z,1736366929.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:49.348Z,1736366929.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.346832 m, bearing: 354.456049 deg, approach rate: -0.215245 m/s, LOS rate: 0.165766 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197143 deg. 2025-01-08T20:08:49.349Z,1736366929.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820549 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:49.516Z,1736366929.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:49.517Z,1736366929.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074928 2025-01-08T20:08:49.694Z,1736366929.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:49.704Z,1736366929.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:49.706Z,1736366929.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.267609 m, bearing: 354.517573 deg, approach rate: -0.214082 m/s, LOS rate: 0.166311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159822 deg. 2025-01-08T20:08:49.708Z,1736366929.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819898 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:49.768Z,1736366929.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:49.769Z,1736366929.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326791 2025-01-08T20:08:50.020Z,1736366930.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:50.021Z,1736366930.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578188 2025-01-08T20:08:50.095Z,1736366930.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:50.110Z,1736366930.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:50.113Z,1736366930.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:50.116Z,1736366930.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.184280 m, bearing: 354.583003 deg, approach rate: -0.203167 m/s, LOS rate: 0.159583 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171544 deg. 2025-01-08T20:08:50.118Z,1736366930.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820103 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:50.272Z,1736366930.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:50.273Z,1736366930.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830278 2025-01-08T20:08:50.509Z,1736366930.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:50.519Z,1736366930.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:50.524Z,1736366930.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:50.524Z,1736366930.524 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:50.524Z,1736366930.524 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:50.524Z,1736366930.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:50.542Z,1736366930.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.098984 m, bearing: 354.653314 deg, approach rate: -0.210457 m/s, LOS rate: 0.173546 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186196 deg. 2025-01-08T20:08:50.543Z,1736366930.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820358 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:50.779Z,1736366930.779 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:50.781Z,1736366930.781 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:50.782Z,1736366930.782 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:50.783Z,1736366930.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:50.926Z,1736366930.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:50.936Z,1736366930.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:50.938Z,1736366930.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.013702 m, bearing: 354.723962 deg, approach rate: -0.204672 m/s, LOS rate: 0.169612 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187204 deg. 2025-01-08T20:08:50.940Z,1736366930.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820376 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:51.028Z,1736366931.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:51.028Z,1736366931.028 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:51.028Z,1736366931.028 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:51.029Z,1736366931.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:51.280Z,1736366931.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:51.280Z,1736366931.280 [DAT](INFO): Reached modem response timeout 2025-01-08T20:08:51.281Z,1736366931.281 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:08:51.281Z,1736366931.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:51.318Z,1736366931.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:51.352Z,1736366931.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:51.355Z,1736366931.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.931290 m, bearing: 354.792302 deg, approach rate: -0.197649 m/s, LOS rate: 0.163958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180280 deg. 2025-01-08T20:08:51.360Z,1736366931.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820255 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:51.532Z,1736366931.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:51.533Z,1736366931.533 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:08:51.533Z,1736366931.533 [DAT](INFO): response not received 2025-01-08T20:08:51.534Z,1736366931.534 [DAT](INFO): DAT read: user:1148> 2025-01-08T20:08:51.535Z,1736366931.535 [DAT](INFO): DAT read: Tx time:20:08:50.7799 2025-01-08T20:08:51.536Z,1736366931.536 [DAT](INFO): Ping request sent. 2025-01-08T20:08:51.536Z,1736366931.536 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:08:51.536Z,1736366931.536 [DAT](INFO): publishing transmit ping time 2025-01-08T20:08:51.537Z,1736366931.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000799 2025-01-08T20:08:51.697Z,1736366931.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:51.708Z,1736366931.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:51.710Z,1736366931.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.852844 m, bearing: 354.858423 deg, approach rate: -0.220627 m/s, LOS rate: 0.186026 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173615 deg. 2025-01-08T20:08:51.712Z,1736366931.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820139 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:51.784Z,1736366931.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:51.785Z,1736366931.785 [DAT](INFO): DAT read: TxSync time:20:08:50.7791 2025-01-08T20:08:51.786Z,1736366931.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249606 2025-01-08T20:08:52.036Z,1736366932.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:52.036Z,1736366932.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500358 2025-01-08T20:08:52.112Z,1736366932.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:52.120Z,1736366932.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:52.122Z,1736366932.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:52.125Z,1736366932.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.770752 m, bearing: 354.928725 deg, approach rate: -0.198183 m/s, LOS rate: 0.169777 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186163 deg. 2025-01-08T20:08:52.126Z,1736366932.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820358 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:52.288Z,1736366932.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:52.290Z,1736366932.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753445 2025-01-08T20:08:52.540Z,1736366932.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:52.540Z,1736366932.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004357 2025-01-08T20:08:52.565Z,1736366932.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:52.575Z,1736366932.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:52.578Z,1736366932.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.681656 m, bearing: 355.012025 deg, approach rate: -0.196869 m/s, LOS rate: 0.184133 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225181 deg. 2025-01-08T20:08:52.579Z,1736366932.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821039 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:52.792Z,1736366932.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:52.792Z,1736366932.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256296 2025-01-08T20:08:52.925Z,1736366932.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:52.935Z,1736366932.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:52.954Z,1736366932.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.614441 m, bearing: 355.076445 deg, approach rate: -0.186564 m/s, LOS rate: 0.178856 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168500 deg. 2025-01-08T20:08:52.955Z,1736366932.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820050 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:53.054Z,1736366933.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:53.054Z,1736366933.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518265 2025-01-08T20:08:53.310Z,1736366933.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:53.312Z,1736366933.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775524 2025-01-08T20:08:53.441Z,1736366933.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:53.449Z,1736366933.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:53.453Z,1736366933.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.527847 m, bearing: 355.166670 deg, approach rate: -0.168308 m/s, LOS rate: 0.175432 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.245962 deg. 2025-01-08T20:08:53.472Z,1736366933.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821402 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:53.560Z,1736366933.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:53.561Z,1736366933.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024446 2025-01-08T20:08:53.798Z,1736366933.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:53.808Z,1736366933.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:53.812Z,1736366933.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:53.813Z,1736366933.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276471 2025-01-08T20:08:53.811Z,1736366933.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.468582 m, bearing: 355.229392 deg, approach rate: -0.165123 m/s, LOS rate: 0.174796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163397 deg. 2025-01-08T20:08:53.814Z,1736366933.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819961 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:54.064Z,1736366934.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:54.065Z,1736366934.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528576 2025-01-08T20:08:54.302Z,1736366934.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:54.309Z,1736366934.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:54.311Z,1736366934.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:54.314Z,1736366934.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.391998 m, bearing: 355.312849 deg, approach rate: -0.152424 m/s, LOS rate: 0.166157 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225638 deg. 2025-01-08T20:08:54.315Z,1736366934.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821047 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:54.316Z,1736366934.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:54.317Z,1736366934.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781307 2025-01-08T20:08:54.569Z,1736366934.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:54.570Z,1736366934.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034089 2025-01-08T20:08:54.635Z,1736366934.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:54.644Z,1736366934.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:54.664Z,1736366934.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.341537 m, bearing: 355.368175 deg, approach rate: -0.151700 m/s, LOS rate: 0.166362 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141200 deg. 2025-01-08T20:08:54.665Z,1736366934.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819573 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:54.820Z,1736366934.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:54.821Z,1736366934.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284530 2025-01-08T20:08:55.026Z,1736366935.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:55.036Z,1736366935.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:55.038Z,1736366935.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.282303 m, bearing: 355.433027 deg, approach rate: -0.151168 m/s, LOS rate: 0.165547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169793 deg. 2025-01-08T20:08:55.040Z,1736366935.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820072 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:55.072Z,1736366935.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:55.073Z,1736366935.073 [DAT](INFO): DAT read: Rx Time:20:08:53.8458 2025-01-08T20:08:55.073Z,1736366935.073 [DAT](INFO): Rx dataTimestamp_ set to:1736366935.072734 2025-01-08T20:08:55.074Z,1736366935.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537796 2025-01-08T20:08:55.324Z,1736366935.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:55.324Z,1736366935.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788350 2025-01-08T20:08:55.454Z,1736366935.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:55.484Z,1736366935.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:55.493Z,1736366935.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.222626 m, bearing: 355.498626 deg, approach rate: -0.134396 m/s, LOS rate: 0.147769 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172032 deg. 2025-01-08T20:08:55.494Z,1736366935.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820111 target range: 454.200012 and range: 473.50 m. 2025-01-08T20:08:55.577Z,1736366935.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:55.579Z,1736366935.579 [DAT](INFO): DAT read: Range 10 to 50 : 496.3 m (Round-trip 661.8 ms) speed -0.4 m/s 2025-01-08T20:08:55.580Z,1736366935.580 [DAT](INFO): DAT read: user:1149> 2025-01-08T20:08:55.582Z,1736366935.582 [DAT](INFO): DAT read: Tx time:20:08:54.9299 2025-01-08T20:08:55.582Z,1736366935.582 [DAT](INFO): Ping request sent. 2025-01-08T20:08:55.582Z,1736366935.582 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:08:55.583Z,1736366935.583 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:08:55.584Z,1736366935.584 [DAT](INFO): publishing transmit ping time 2025-01-08T20:08:55.585Z,1736366935.585 [DAT](INFO): publishing transmit ping time 2025-01-08T20:08:55.828Z,1736366935.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:55.829Z,1736366935.829 [DAT](INFO): DAT read: TxSync time:20:08:54.9291 2025-01-08T20:08:55.833Z,1736366935.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:55.843Z,1736366935.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.299988 m, deltaT: 37.096615 s, deltaX: 22.799988 m, approachRate: 0.614611 m/s, rangeRepo size: 4 2025-01-08T20:08:55.843Z,1736366935.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:55.846Z,1736366935.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.169479 m, bearing: 355.556900 deg, approach rate: -0.146546 m/s, LOS rate: 0.160720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150047 deg. 2025-01-08T20:08:55.848Z,1736366935.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819727 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:08:56.080Z,1736366936.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:56.292Z,1736366936.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:56.315Z,1736366936.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:56.322Z,1736366936.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:56.329Z,1736366936.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.105835 m, bearing: 355.626628 deg, approach rate: -0.132625 m/s, LOS rate: 0.145342 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184427 deg. 2025-01-08T20:08:56.330Z,1736366936.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820328 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:08:56.332Z,1736366936.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:56.332Z,1736366936.332 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:08:56.332Z,1736366936.332 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:08:56.333Z,1736366936.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:08:56.585Z,1736366936.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:56.585Z,1736366936.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003254 2025-01-08T20:08:56.685Z,1736366936.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:56.710Z,1736366936.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:56.718Z,1736366936.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.054474 m, bearing: 355.681713 deg, approach rate: -0.132323 m/s, LOS rate: 0.141948 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140476 deg. 2025-01-08T20:08:56.724Z,1736366936.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819561 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:08:56.836Z,1736366936.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:56.837Z,1736366936.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254449 2025-01-08T20:08:57.052Z,1736366937.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:57.065Z,1736366937.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:57.069Z,1736366937.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.007080 m, bearing: 355.732496 deg, approach rate: -0.133595 m/s, LOS rate: 0.143179 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127567 deg. 2025-01-08T20:08:57.070Z,1736366937.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819335 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:08:57.090Z,1736366937.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:57.091Z,1736366937.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508775 2025-01-08T20:08:57.340Z,1736366937.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:57.341Z,1736366937.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758520 2025-01-08T20:08:57.470Z,1736366937.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:57.512Z,1736366937.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:57.514Z,1736366937.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.950775 m, bearing: 355.785758 deg, approach rate: -0.130755 m/s, LOS rate: 0.123718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135011 deg. 2025-01-08T20:08:57.528Z,1736366937.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819465 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:08:57.593Z,1736366937.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:57.594Z,1736366937.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011890 2025-01-08T20:08:57.844Z,1736366937.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:57.844Z,1736366937.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262265 2025-01-08T20:08:57.854Z,1736366937.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:57.863Z,1736366937.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:57.866Z,1736366937.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.897980 m, bearing: 355.834885 deg, approach rate: -0.143601 m/s, LOS rate: 0.133652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122599 deg. 2025-01-08T20:08:57.868Z,1736366937.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819249 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:08:58.097Z,1736366938.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:58.098Z,1736366938.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515370 2025-01-08T20:08:58.258Z,1736366938.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:58.325Z,1736366938.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:58.334Z,1736366938.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.842209 m, bearing: 355.886290 deg, approach rate: -0.122228 m/s, LOS rate: 0.112688 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129440 deg. 2025-01-08T20:08:58.339Z,1736366938.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819368 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:08:58.348Z,1736366938.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:58.349Z,1736366938.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766716 2025-01-08T20:08:58.601Z,1736366938.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:58.603Z,1736366938.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020336 2025-01-08T20:08:58.786Z,1736366938.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:58.793Z,1736366938.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:08:58.795Z,1736366938.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:58.797Z,1736366938.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.763626 m, bearing: 355.952682 deg, approach rate: -0.165318 m/s, LOS rate: 0.139718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174427 deg. 2025-01-08T20:08:58.799Z,1736366938.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820153 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:08:58.852Z,1736366938.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:58.853Z,1736366938.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270726 2025-01-08T20:08:59.104Z,1736366939.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:59.104Z,1736366939.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522398 2025-01-08T20:08:59.166Z,1736366939.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:59.198Z,1736366939.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:59.202Z,1736366939.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.706833 m, bearing: 356.000439 deg, approach rate: -0.140686 m/s, LOS rate: 0.118331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118493 deg. 2025-01-08T20:08:59.203Z,1736366939.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819177 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:08:59.356Z,1736366939.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:59.357Z,1736366939.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774451 2025-01-08T20:08:59.608Z,1736366939.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:59.608Z,1736366939.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026402 2025-01-08T20:08:59.697Z,1736366939.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:08:59.714Z,1736366939.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:08:59.721Z,1736366939.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.621704 m, bearing: 356.066796 deg, approach rate: -0.165128 m/s, LOS rate: 0.128763 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174330 deg. 2025-01-08T20:08:59.722Z,1736366939.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820151 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:08:59.861Z,1736366939.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:08:59.862Z,1736366939.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280213 2025-01-08T20:09:00.040Z,1736366940.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:00.048Z,1736366940.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:00.052Z,1736366940.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.566895 m, bearing: 356.109550 deg, approach rate: -0.163940 m/s, LOS rate: 0.127909 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103477 deg. 2025-01-08T20:09:00.053Z,1736366940.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818915 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:00.113Z,1736366940.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:00.114Z,1736366940.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531790 2025-01-08T20:09:00.364Z,1736366940.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:00.365Z,1736366940.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782523 2025-01-08T20:09:00.476Z,1736366940.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:00.485Z,1736366940.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:00.489Z,1736366940.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.494019 m, bearing: 356.167055 deg, approach rate: -0.166947 m/s, LOS rate: 0.131777 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147757 deg. 2025-01-08T20:09:00.490Z,1736366940.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819687 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:00.616Z,1736366940.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:00.617Z,1736366940.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034531 2025-01-08T20:09:00.846Z,1736366940.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:00.868Z,1736366940.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:00.869Z,1736366940.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286695 2025-01-08T20:09:00.893Z,1736366940.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:00.895Z,1736366940.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:00.906Z,1736366940.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.432541 m, bearing: 356.215872 deg, approach rate: -0.149991 m/s, LOS rate: 0.119131 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121673 deg. 2025-01-08T20:09:00.911Z,1736366940.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819232 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:01.120Z,1736366941.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:01.120Z,1736366941.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538313 2025-01-08T20:09:01.260Z,1736366941.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:01.269Z,1736366941.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:01.274Z,1736366941.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.364029 m, bearing: 356.270320 deg, approach rate: -0.183011 m/s, LOS rate: 0.145487 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138579 deg. 2025-01-08T20:09:01.277Z,1736366941.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819528 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:01.372Z,1736366941.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:01.373Z,1736366941.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790764 2025-01-08T20:09:01.624Z,1736366941.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:01.624Z,1736366941.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042365 2025-01-08T20:09:01.767Z,1736366941.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:01.819Z,1736366941.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:01.823Z,1736366941.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.276718 m, bearing: 356.342265 deg, approach rate: -0.158838 m/s, LOS rate: 0.130934 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191102 deg. 2025-01-08T20:09:01.825Z,1736366941.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820444 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:01.876Z,1736366941.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:01.877Z,1736366941.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.294450 2025-01-08T20:09:02.128Z,1736366942.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:02.129Z,1736366942.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546678 2025-01-08T20:09:02.172Z,1736366942.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:02.181Z,1736366942.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:02.185Z,1736366942.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.207153 m, bearing: 356.399919 deg, approach rate: -0.192074 m/s, LOS rate: 0.159233 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148199 deg. 2025-01-08T20:09:02.186Z,1736366942.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819695 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:02.236Z,1736366942.236 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:09:02.382Z,1736366942.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:02.385Z,1736366942.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802238 2025-01-08T20:09:02.585Z,1736366942.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:02.594Z,1736366942.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:02.596Z,1736366942.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.134857 m, bearing: 356.463758 deg, approach rate: -0.175160 m/s, LOS rate: 0.154717 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166761 deg. 2025-01-08T20:09:02.598Z,1736366942.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820019 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:02.632Z,1736366942.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:02.633Z,1736366942.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050578 2025-01-08T20:09:02.885Z,1736366942.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:02.886Z,1736366942.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303491 2025-01-08T20:09:02.959Z,1736366942.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:02.966Z,1736366942.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:02.969Z,1736366942.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:02.972Z,1736366942.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.069794 m, bearing: 356.521596 deg, approach rate: -0.173257 m/s, LOS rate: 0.154061 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148750 deg. 2025-01-08T20:09:02.973Z,1736366942.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819705 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:03.136Z,1736366943.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:03.138Z,1736366943.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555488 2025-01-08T20:09:03.240Z,1736366943.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:09:03.390Z,1736366943.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:03.391Z,1736366943.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808863 2025-01-08T20:09:03.452Z,1736366943.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:03.461Z,1736366943.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:03.480Z,1736366943.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.979462 m, bearing: 356.604091 deg, approach rate: -0.183682 m/s, LOS rate: 0.167810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222765 deg. 2025-01-08T20:09:03.481Z,1736366943.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820997 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:03.640Z,1736366943.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:03.640Z,1736366943.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058329 2025-01-08T20:09:03.776Z,1736366943.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:03.785Z,1736366943.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:03.788Z,1736366943.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.920914 m, bearing: 356.658229 deg, approach rate: -0.181011 m/s, LOS rate: 0.167420 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137642 deg. 2025-01-08T20:09:03.789Z,1736366943.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819511 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:03.892Z,1736366943.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:03.894Z,1736366943.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311340 2025-01-08T20:09:04.144Z,1736366944.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:04.144Z,1736366944.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562273 2025-01-08T20:09:04.241Z,1736366944.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:04.276Z,1736366944.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:04.279Z,1736366944.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.837479 m, bearing: 356.736143 deg, approach rate: -0.171527 m/s, LOS rate: 0.160234 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209011 deg. 2025-01-08T20:09:04.285Z,1736366944.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820756 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:04.398Z,1736366944.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:04.401Z,1736366944.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817887 2025-01-08T20:09:04.645Z,1736366944.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:04.648Z,1736366944.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:04.649Z,1736366944.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067280 2025-01-08T20:09:04.664Z,1736366944.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:04.669Z,1736366944.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.763718 m, bearing: 356.805750 deg, approach rate: -0.188256 m/s, LOS rate: 0.177709 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184071 deg. 2025-01-08T20:09:04.670Z,1736366944.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820322 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:04.901Z,1736366944.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:04.901Z,1736366944.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319409 2025-01-08T20:09:05.003Z,1736366945.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:05.010Z,1736366945.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:05.012Z,1736366945.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:05.015Z,1736366945.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.697067 m, bearing: 356.869369 deg, approach rate: -0.190686 m/s, LOS rate: 0.182065 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166097 deg. 2025-01-08T20:09:05.017Z,1736366945.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820008 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:05.152Z,1736366945.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:05.153Z,1736366945.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570457 2025-01-08T20:09:05.406Z,1736366945.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:05.409Z,1736366945.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826313 2025-01-08T20:09:05.504Z,1736366945.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:05.513Z,1736366945.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:05.516Z,1736366945.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.611450 m, bearing: 356.958261 deg, approach rate: -0.171077 m/s, LOS rate: 0.177687 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.241959 deg. 2025-01-08T20:09:05.518Z,1736366945.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821332 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:05.657Z,1736366945.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:05.658Z,1736366945.658 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:05.658Z,1736366945.658 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:05.659Z,1736366945.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:05.809Z,1736366945.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:05.837Z,1736366945.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:05.842Z,1736366945.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.560013 m, bearing: 357.012319 deg, approach rate: -0.158472 m/s, LOS rate: 0.166584 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137397 deg. 2025-01-08T20:09:05.843Z,1736366945.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819507 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:05.908Z,1736366945.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:05.909Z,1736366945.909 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:05.909Z,1736366945.909 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:05.909Z,1736366945.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:06.160Z,1736366946.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:06.160Z,1736366946.160 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:06.160Z,1736366946.160 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:06.160Z,1736366946.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:06.215Z,1736366946.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:06.225Z,1736366946.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:06.240Z,1736366946.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.492081 m, bearing: 357.084564 deg, approach rate: -0.175255 m/s, LOS rate: 0.186436 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191983 deg. 2025-01-08T20:09:06.241Z,1736366946.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820459 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:06.414Z,1736366946.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:06.415Z,1736366946.415 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:06.416Z,1736366946.416 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:06.417Z,1736366946.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:06.662Z,1736366946.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:06.664Z,1736366946.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:06.666Z,1736366946.666 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:09:06.666Z,1736366946.666 [DAT](INFO): response not received 2025-01-08T20:09:06.667Z,1736366946.667 [DAT](INFO): DAT read: user:1150> 2025-01-08T20:09:06.668Z,1736366946.668 [DAT](INFO): DAT read: Tx time:20:09:05.8800 2025-01-08T20:09:06.669Z,1736366946.669 [DAT](INFO): Ping request sent. 2025-01-08T20:09:06.669Z,1736366946.669 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:09:06.669Z,1736366946.669 [DAT](INFO): publishing transmit ping time 2025-01-08T20:09:06.672Z,1736366946.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001902 2025-01-08T20:09:06.702Z,1736366946.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:06.710Z,1736366946.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.421768 m, bearing: 357.163830 deg, approach rate: -0.147254 m/s, LOS rate: 0.166055 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.213054 deg. 2025-01-08T20:09:06.711Z,1736366946.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820827 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:06.916Z,1736366946.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:06.917Z,1736366946.917 [DAT](INFO): DAT read: TxSync time:20:09:05.8792 2025-01-08T20:09:06.918Z,1736366946.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249204 2025-01-08T20:09:07.026Z,1736366947.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:07.033Z,1736366947.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:07.036Z,1736366947.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:07.038Z,1736366947.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.365479 m, bearing: 357.228643 deg, approach rate: -0.168680 m/s, LOS rate: 0.194268 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169671 deg. 2025-01-08T20:09:07.040Z,1736366947.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820070 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:07.168Z,1736366947.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:07.169Z,1736366947.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499935 2025-01-08T20:09:07.421Z,1736366947.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:07.424Z,1736366947.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754900 2025-01-08T20:09:07.535Z,1736366947.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:07.544Z,1736366947.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:07.547Z,1736366947.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.288284 m, bearing: 357.315799 deg, approach rate: -0.151905 m/s, LOS rate: 0.171565 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.236739 deg. 2025-01-08T20:09:07.548Z,1736366947.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821240 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:07.672Z,1736366947.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:07.673Z,1736366947.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004492 2025-01-08T20:09:07.847Z,1736366947.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:07.874Z,1736366947.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:07.878Z,1736366947.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.241241 m, bearing: 357.369251 deg, approach rate: -0.142516 m/s, LOS rate: 0.161966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135576 deg. 2025-01-08T20:09:07.879Z,1736366947.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819475 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:07.924Z,1736366947.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:07.926Z,1736366947.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256632 2025-01-08T20:09:08.176Z,1736366948.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:08.176Z,1736366948.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507532 2025-01-08T20:09:08.241Z,1736366948.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:08.250Z,1736366948.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:08.254Z,1736366948.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.182526 m, bearing: 357.436862 deg, approach rate: -0.156429 m/s, LOS rate: 0.180172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178069 deg. 2025-01-08T20:09:08.255Z,1736366948.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820217 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:08.431Z,1736366948.431 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:08.433Z,1736366948.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763832 2025-01-08T20:09:08.680Z,1736366948.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:08.681Z,1736366948.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012234 2025-01-08T20:09:08.692Z,1736366948.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:08.700Z,1736366948.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:08.705Z,1736366948.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.120163 m, bearing: 357.510741 deg, approach rate: -0.138399 m/s, LOS rate: 0.164002 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196884 deg. 2025-01-08T20:09:08.708Z,1736366948.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820545 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:08.932Z,1736366948.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:08.934Z,1736366948.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264838 2025-01-08T20:09:09.051Z,1736366949.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:09.057Z,1736366949.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:09.060Z,1736366949.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:09.063Z,1736366949.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.070908 m, bearing: 357.569576 deg, approach rate: -0.137072 m/s, LOS rate: 0.163765 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151728 deg. 2025-01-08T20:09:09.064Z,1736366949.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819757 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:09.185Z,1736366949.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:09.186Z,1736366949.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517044 2025-01-08T20:09:09.437Z,1736366949.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:09.438Z,1736366949.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768800 2025-01-08T20:09:09.473Z,1736366949.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:09.530Z,1736366949.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:09.537Z,1736366949.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.012970 m, bearing: 357.638730 deg, approach rate: -0.123233 m/s, LOS rate: 0.147128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182700 deg. 2025-01-08T20:09:09.538Z,1736366949.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820297 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:09.688Z,1736366949.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:09.690Z,1736366949.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020725 2025-01-08T20:09:09.877Z,1736366949.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:09.928Z,1736366949.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:09.930Z,1736366949.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.956039 m, bearing: 357.702502 deg, approach rate: -0.144545 m/s, LOS rate: 0.161953 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166547 deg. 2025-01-08T20:09:09.940Z,1736366949.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:09.940Z,1736366949.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271616 2025-01-08T20:09:09.941Z,1736366949.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820015 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:10.192Z,1736366950.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:10.193Z,1736366950.193 [DAT](INFO): DAT read: Rx Time:20:09:08.9588 2025-01-08T20:09:10.194Z,1736366950.194 [DAT](INFO): Rx dataTimestamp_ set to:1736366950.193498 2025-01-08T20:09:10.195Z,1736366950.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525882 2025-01-08T20:09:10.277Z,1736366950.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:10.298Z,1736366950.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:10.318Z,1736366950.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.900040 m, bearing: 357.765558 deg, approach rate: -0.149454 m/s, LOS rate: 0.168326 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164399 deg. 2025-01-08T20:09:10.324Z,1736366950.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819978 target range: 454.200012 and range: 496.30 m. 2025-01-08T20:09:10.444Z,1736366950.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:10.445Z,1736366950.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776066 2025-01-08T20:09:10.696Z,1736366950.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:10.698Z,1736366950.698 [DAT](INFO): DAT read: Range 10 to 50 : 505.9 m (Round-trip 674.6 ms) speed -0.7 m/s 2025-01-08T20:09:10.699Z,1736366950.699 [DAT](INFO): DAT read: user:1151> 2025-01-08T20:09:10.700Z,1736366950.700 [DAT](INFO): DAT read: Tx time:20:09:10.0801 2025-01-08T20:09:10.700Z,1736366950.700 [DAT](INFO): Ping request sent. 2025-01-08T20:09:10.700Z,1736366950.700 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:09:10.700Z,1736366950.700 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:09:10.701Z,1736366950.701 [DAT](INFO): publishing transmit ping time 2025-01-08T20:09:10.703Z,1736366950.703 [DAT](INFO): publishing transmit ping time 2025-01-08T20:09:10.728Z,1736366950.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:10.752Z,1736366950.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 505.899994 m, deltaT: 15.119751 s, deltaX: 9.600006 m, approachRate: 0.634932 m/s, rangeRepo size: 4 2025-01-08T20:09:10.752Z,1736366950.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:10.755Z,1736366950.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.838318 m, bearing: 357.830263 deg, approach rate: -0.137618 m/s, LOS rate: 0.144309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169355 deg. 2025-01-08T20:09:10.776Z,1736366950.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820065 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:10.948Z,1736366950.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:10.949Z,1736366950.949 [DAT](INFO): DAT read: TxSync time:20:09:10.0793 2025-01-08T20:09:11.072Z,1736366951.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:11.079Z,1736366951.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:11.081Z,1736366951.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:11.085Z,1736366951.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.790115 m, bearing: 357.880952 deg, approach rate: -0.144075 m/s, LOS rate: 0.151537 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127283 deg. 2025-01-08T20:09:11.086Z,1736366951.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819330 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:11.200Z,1736366951.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:11.201Z,1736366951.201 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:09:11.201Z,1736366951.201 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:09:11.201Z,1736366951.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:11.452Z,1736366951.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:11.453Z,1736366951.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753143 2025-01-08T20:09:11.558Z,1736366951.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:11.566Z,1736366951.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:11.570Z,1736366951.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.723679 m, bearing: 357.951382 deg, approach rate: -0.137045 m/s, LOS rate: 0.145323 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186535 deg. 2025-01-08T20:09:11.579Z,1736366951.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820364 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:11.705Z,1736366951.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:11.707Z,1736366951.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006388 2025-01-08T20:09:11.904Z,1736366951.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:11.914Z,1736366951.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:11.917Z,1736366951.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.682251 m, bearing: 357.999873 deg, approach rate: -0.119135 m/s, LOS rate: 0.139475 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120688 deg. 2025-01-08T20:09:11.919Z,1736366951.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819215 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:11.956Z,1736366951.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:11.957Z,1736366951.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256573 2025-01-08T20:09:12.208Z,1736366952.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:12.208Z,1736366952.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508351 2025-01-08T20:09:12.296Z,1736366952.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:12.305Z,1736366952.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:12.320Z,1736366952.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.635208 m, bearing: 358.054783 deg, approach rate: -0.120292 m/s, LOS rate: 0.140438 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139950 deg. 2025-01-08T20:09:12.321Z,1736366952.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819551 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:12.460Z,1736366952.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:12.460Z,1736366952.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760437 2025-01-08T20:09:12.712Z,1736366952.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:12.713Z,1736366952.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012493 2025-01-08T20:09:12.760Z,1736366952.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:12.778Z,1736366952.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:12.785Z,1736366952.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.573746 m, bearing: 358.118019 deg, approach rate: -0.129917 m/s, LOS rate: 0.133701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164944 deg. 2025-01-08T20:09:12.786Z,1736366952.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819988 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:12.964Z,1736366952.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:12.964Z,1736366952.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264302 2025-01-08T20:09:13.098Z,1736366953.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:13.105Z,1736366953.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:13.107Z,1736366953.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:13.110Z,1736366953.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.528717 m, bearing: 358.164067 deg, approach rate: -0.136725 m/s, LOS rate: 0.139846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113356 deg. 2025-01-08T20:09:13.112Z,1736366953.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819087 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:13.216Z,1736366953.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:13.217Z,1736366953.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517352 2025-01-08T20:09:13.468Z,1736366953.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:13.469Z,1736366953.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768556 2025-01-08T20:09:13.507Z,1736366953.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:13.584Z,1736366953.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:13.587Z,1736366953.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.474075 m, bearing: 358.219805 deg, approach rate: -0.115799 m/s, LOS rate: 0.118151 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142440 deg. 2025-01-08T20:09:13.596Z,1736366953.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819595 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:13.720Z,1736366953.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:13.720Z,1736366953.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020266 2025-01-08T20:09:13.919Z,1736366953.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:13.968Z,1736366953.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:13.970Z,1736366953.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.420380 m, bearing: 358.275318 deg, approach rate: -0.139773 m/s, LOS rate: 0.144536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141762 deg. 2025-01-08T20:09:13.972Z,1736366953.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:13.972Z,1736366953.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272478 2025-01-08T20:09:13.976Z,1736366953.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819583 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:14.230Z,1736366954.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:14.231Z,1736366954.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530811 2025-01-08T20:09:14.324Z,1736366954.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:14.343Z,1736366954.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:14.346Z,1736366954.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.367767 m, bearing: 358.329950 deg, approach rate: -0.138637 m/s, LOS rate: 0.143992 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139120 deg. 2025-01-08T20:09:14.347Z,1736366954.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819537 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:14.484Z,1736366954.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:14.485Z,1736366954.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785115 2025-01-08T20:09:14.731Z,1736366954.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:14.742Z,1736366954.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:14.743Z,1736366954.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.043045 2025-01-08T20:09:14.749Z,1736366954.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:14.777Z,1736366954.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.316376 m, bearing: 358.386203 deg, approach rate: -0.126632 m/s, LOS rate: 0.138640 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143982 deg. 2025-01-08T20:09:14.778Z,1736366954.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819622 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:14.997Z,1736366954.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:14.998Z,1736366954.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297971 2025-01-08T20:09:15.119Z,1736366955.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:15.125Z,1736366955.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:15.128Z,1736366955.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:15.130Z,1736366955.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.267426 m, bearing: 358.439750 deg, approach rate: -0.129217 m/s, LOS rate: 0.141383 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135863 deg. 2025-01-08T20:09:15.138Z,1736366955.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819480 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:15.248Z,1736366955.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:15.249Z,1736366955.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.548618 2025-01-08T20:09:15.501Z,1736366955.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:15.501Z,1736366955.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.801175 2025-01-08T20:09:15.518Z,1736366955.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:15.617Z,1736366955.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:15.624Z,1736366955.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.217148 m, bearing: 358.494986 deg, approach rate: -0.102763 m/s, LOS rate: 0.112921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140929 deg. 2025-01-08T20:09:15.625Z,1736366955.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819569 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:15.752Z,1736366955.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:15.752Z,1736366955.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.052490 2025-01-08T20:09:15.951Z,1736366955.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:15.960Z,1736366955.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:15.962Z,1736366955.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.161469 m, bearing: 358.556365 deg, approach rate: -0.162472 m/s, LOS rate: 0.179146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159367 deg. 2025-01-08T20:09:15.964Z,1736366955.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819890 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:16.004Z,1736366956.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:16.005Z,1736366956.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.305409 2025-01-08T20:09:16.256Z,1736366956.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:16.256Z,1736366956.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.556281 2025-01-08T20:09:16.330Z,1736366956.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:16.341Z,1736366956.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:16.344Z,1736366956.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.112946 m, bearing: 358.610038 deg, approach rate: -0.127221 m/s, LOS rate: 0.140754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136240 deg. 2025-01-08T20:09:16.345Z,1736366956.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819487 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:16.508Z,1736366956.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:16.508Z,1736366956.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.808397 2025-01-08T20:09:16.752Z,1736366956.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:16.760Z,1736366956.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:16.760Z,1736366956.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.060424 2025-01-08T20:09:16.763Z,1736366956.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:16.766Z,1736366956.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.058136 m, bearing: 358.673336 deg, approach rate: -0.129730 m/s, LOS rate: 0.149857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165125 deg. 2025-01-08T20:09:16.784Z,1736366956.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819991 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:17.012Z,1736366957.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:17.013Z,1736366957.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.313178 2025-01-08T20:09:17.135Z,1736366957.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:17.146Z,1736366957.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:17.148Z,1736366957.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:17.152Z,1736366957.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.008545 m, bearing: 358.730826 deg, approach rate: -0.128804 m/s, LOS rate: 0.149352 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147692 deg. 2025-01-08T20:09:17.154Z,1736366957.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819686 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:17.265Z,1736366957.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:17.266Z,1736366957.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.565808 2025-01-08T20:09:17.516Z,1736366957.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:17.517Z,1736366957.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.816304 2025-01-08T20:09:17.549Z,1736366957.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:17.563Z,1736366957.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:17.565Z,1736366957.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.955383 m, bearing: 358.792953 deg, approach rate: -0.128298 m/s, LOS rate: 0.149968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161608 deg. 2025-01-08T20:09:17.588Z,1736366957.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819929 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:17.768Z,1736366957.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:17.768Z,1736366957.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.068354 2025-01-08T20:09:18.020Z,1736366958.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:18.021Z,1736366958.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.320519 2025-01-08T20:09:18.024Z,1736366958.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:18.041Z,1736366958.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:18.068Z,1736366958.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.893753 m, bearing: 358.867555 deg, approach rate: -0.128738 m/s, LOS rate: 0.155877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199052 deg. 2025-01-08T20:09:18.070Z,1736366958.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820583 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:18.272Z,1736366958.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:18.272Z,1736366958.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.572282 2025-01-08T20:09:18.354Z,1736366958.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:18.363Z,1736366958.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:18.366Z,1736366958.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.851364 m, bearing: 358.919384 deg, approach rate: -0.131888 m/s, LOS rate: 0.161287 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130700 deg. 2025-01-08T20:09:18.368Z,1736366958.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819390 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:18.524Z,1736366958.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:18.524Z,1736366958.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.824345 2025-01-08T20:09:18.776Z,1736366958.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:18.777Z,1736366958.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.076490 2025-01-08T20:09:18.781Z,1736366958.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:18.789Z,1736366958.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:18.793Z,1736366958.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.799149 m, bearing: 358.987951 deg, approach rate: -0.122380 m/s, LOS rate: 0.160742 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180936 deg. 2025-01-08T20:09:18.794Z,1736366958.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820267 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:19.028Z,1736366959.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:19.028Z,1736366959.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.328294 2025-01-08T20:09:19.238Z,1736366959.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:19.253Z,1736366959.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:19.259Z,1736366959.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:19.262Z,1736366959.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.743408 m, bearing: 359.062037 deg, approach rate: -0.119721 m/s, LOS rate: 0.159162 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197496 deg. 2025-01-08T20:09:19.267Z,1736366959.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820556 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:19.280Z,1736366959.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:19.280Z,1736366959.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.580465 2025-01-08T20:09:19.532Z,1736366959.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:19.534Z,1736366959.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.833366 2025-01-08T20:09:19.631Z,1736366959.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:19.683Z,1736366959.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:19.690Z,1736366959.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.696121 m, bearing: 359.125307 deg, approach rate: -0.110644 m/s, LOS rate: 0.148073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165036 deg. 2025-01-08T20:09:19.691Z,1736366959.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819989 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:19.784Z,1736366959.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:19.784Z,1736366959.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.084278 2025-01-08T20:09:20.038Z,1736366960.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:20.040Z,1736366960.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.339433 2025-01-08T20:09:20.142Z,1736366960.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:20.171Z,1736366960.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:20.177Z,1736366960.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.627869 m, bearing: 359.211605 deg, approach rate: -0.139831 m/s, LOS rate: 0.176852 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.234153 deg. 2025-01-08T20:09:20.179Z,1736366960.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821196 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:20.292Z,1736366960.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:20.293Z,1736366960.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.593187 2025-01-08T20:09:20.530Z,1736366960.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:20.539Z,1736366960.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:20.542Z,1736366960.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.576599 m, bearing: 359.276951 deg, approach rate: -0.139241 m/s, LOS rate: 0.177511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171268 deg. 2025-01-08T20:09:20.544Z,1736366960.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:20.544Z,1736366960.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.844436 2025-01-08T20:09:20.543Z,1736366960.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820098 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:20.796Z,1736366960.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:20.796Z,1736366960.796 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:20.796Z,1736366960.796 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:20.796Z,1736366960.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:20.959Z,1736366960.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:20.976Z,1736366960.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:20.995Z,1736366960.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.522873 m, bearing: 359.350517 deg, approach rate: -0.122763 m/s, LOS rate: 0.168136 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195936 deg. 2025-01-08T20:09:20.996Z,1736366960.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820529 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:21.048Z,1736366961.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:21.048Z,1736366961.048 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:21.048Z,1736366961.048 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:21.049Z,1736366961.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:21.300Z,1736366961.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:21.301Z,1736366961.301 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:21.301Z,1736366961.301 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:21.302Z,1736366961.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:21.368Z,1736366961.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:21.375Z,1736366961.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:21.386Z,1736366961.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:21.393Z,1736366961.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.472061 m, bearing: 359.420664 deg, approach rate: -0.124121 m/s, LOS rate: 0.171390 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185673 deg. 2025-01-08T20:09:21.394Z,1736366961.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820349 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:21.552Z,1736366961.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:21.552Z,1736366961.552 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:21.552Z,1736366961.552 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:21.553Z,1736366961.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:21.757Z,1736366961.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:21.766Z,1736366961.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:21.769Z,1736366961.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.424973 m, bearing: 359.489242 deg, approach rate: -0.123947 m/s, LOS rate: 0.180547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180961 deg. 2025-01-08T20:09:21.770Z,1736366961.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820267 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:21.804Z,1736366961.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:21.805Z,1736366961.805 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:09:21.805Z,1736366961.805 [DAT](INFO): response not received 2025-01-08T20:09:21.805Z,1736366961.805 [DAT](INFO): DAT read: user:1152> 2025-01-08T20:09:21.806Z,1736366961.806 [DAT](INFO): DAT read: Tx time:20:09:21.0302 2025-01-08T20:09:21.806Z,1736366961.806 [DAT](INFO): Ping request sent. 2025-01-08T20:09:21.806Z,1736366961.806 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:09:21.807Z,1736366961.807 [DAT](INFO): publishing transmit ping time 2025-01-08T20:09:21.807Z,1736366961.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000812 2025-01-08T20:09:22.056Z,1736366962.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:22.056Z,1736366962.056 [DAT](INFO): DAT read: TxSync time:20:09:21.0294 2025-01-08T20:09:22.057Z,1736366962.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250736 2025-01-08T20:09:22.143Z,1736366962.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:22.172Z,1736366962.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:22.174Z,1736366962.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.379135 m, bearing: 359.557168 deg, approach rate: -0.112978 m/s, LOS rate: 0.167453 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179003 deg. 2025-01-08T20:09:22.180Z,1736366962.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820233 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:22.308Z,1736366962.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:22.309Z,1736366962.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502980 2025-01-08T20:09:22.543Z,1736366962.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:22.552Z,1736366962.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:22.555Z,1736366962.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.332535 m, bearing: 359.627655 deg, approach rate: -0.122303 m/s, LOS rate: 0.185031 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186689 deg. 2025-01-08T20:09:22.557Z,1736366962.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820367 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:22.560Z,1736366962.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:22.561Z,1736366962.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754041 2025-01-08T20:09:22.812Z,1736366962.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:22.813Z,1736366962.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006465 2025-01-08T20:09:22.973Z,1736366962.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:22.987Z,1736366962.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:22.990Z,1736366962.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.281189 m, bearing: 359.702491 deg, approach rate: -0.118229 m/s, LOS rate: 0.172356 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199744 deg. 2025-01-08T20:09:22.992Z,1736366962.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820595 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:23.064Z,1736366963.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:23.065Z,1736366963.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258900 2025-01-08T20:09:23.316Z,1736366963.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:23.317Z,1736366963.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510119 2025-01-08T20:09:23.368Z,1736366963.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:23.375Z,1736366963.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:23.377Z,1736366963.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:23.381Z,1736366963.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.235001 m, bearing: 359.771230 deg, approach rate: -0.118203 m/s, LOS rate: 0.175950 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181445 deg. 2025-01-08T20:09:23.382Z,1736366963.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820276 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:23.568Z,1736366963.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:23.569Z,1736366963.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762087 2025-01-08T20:09:23.781Z,1736366963.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:23.790Z,1736366963.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:23.793Z,1736366963.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.185989 m, bearing: 359.841272 deg, approach rate: -0.118798 m/s, LOS rate: 0.169809 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185355 deg. 2025-01-08T20:09:23.794Z,1736366963.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820344 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:23.820Z,1736366963.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:23.821Z,1736366963.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014033 2025-01-08T20:09:24.072Z,1736366964.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:24.072Z,1736366964.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265977 2025-01-08T20:09:24.172Z,1736366964.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:24.181Z,1736366964.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:24.184Z,1736366964.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.139908 m, bearing: 359.907689 deg, approach rate: -0.117996 m/s, LOS rate: 0.170101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174477 deg. 2025-01-08T20:09:24.185Z,1736366964.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820154 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:24.324Z,1736366964.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:24.324Z,1736366964.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517934 2025-01-08T20:09:24.576Z,1736366964.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:24.578Z,1736366964.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771015 2025-01-08T20:09:24.585Z,1736366964.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:24.594Z,1736366964.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:24.597Z,1736366964.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.091980 m, bearing: 359.977840 deg, approach rate: -0.116021 m/s, LOS rate: 0.169853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185682 deg. 2025-01-08T20:09:24.598Z,1736366964.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820350 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:24.828Z,1736366964.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:24.828Z,1736366964.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021934 2025-01-08T20:09:24.999Z,1736366964.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:25.033Z,1736366965.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:25.040Z,1736366965.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.042908 m, bearing: 0.046549 deg, approach rate: -0.111793 m/s, LOS rate: 0.156561 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181357 deg. 2025-01-08T20:09:25.041Z,1736366965.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820274 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:25.080Z,1736366965.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:25.081Z,1736366965.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274299 2025-01-08T20:09:25.332Z,1736366965.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:25.332Z,1736366965.332 [DAT](INFO): DAT read: Rx Time:20:09:24.1210 2025-01-08T20:09:25.333Z,1736366965.333 [DAT](INFO): Rx dataTimestamp_ set to:1736366965.332649 2025-01-08T20:09:25.334Z,1736366965.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527434 2025-01-08T20:09:25.372Z,1736366965.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:25.410Z,1736366965.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:25.417Z,1736366965.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:25.424Z,1736366965.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.999100 m, bearing: 0.108544 deg, approach rate: -0.114085 m/s, LOS rate: 0.161479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161207 deg. 2025-01-08T20:09:25.426Z,1736366965.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819922 target range: 454.200012 and range: 505.90 m. 2025-01-08T20:09:25.584Z,1736366965.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:25.585Z,1736366965.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778687 2025-01-08T20:09:25.830Z,1736366965.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:25.836Z,1736366965.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:25.838Z,1736366965.838 [DAT](INFO): DAT read: Range 10 to 50 : 515.0 m (Round-trip 686.7 ms) speed -0.6 m/s 2025-01-08T20:09:25.838Z,1736366965.838 [DAT](INFO): DAT read: user:1153> 2025-01-08T20:09:25.841Z,1736366965.841 [DAT](INFO): DAT read: Tx time:20:09:25.2302 2025-01-08T20:09:25.841Z,1736366965.841 [DAT](INFO): Ping request sent. 2025-01-08T20:09:25.841Z,1736366965.841 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:09:25.842Z,1736366965.842 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:09:25.842Z,1736366965.842 [DAT](INFO): publishing transmit ping time 2025-01-08T20:09:25.842Z,1736366965.842 [DAT](INFO): publishing transmit ping time 2025-01-08T20:09:25.872Z,1736366965.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 515.000000 m, deltaT: 15.139566 s, deltaX: 9.100006 m, approachRate: 0.601074 m/s, rangeRepo size: 4 2025-01-08T20:09:25.873Z,1736366965.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:25.884Z,1736366965.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.942062 m, bearing: 0.181692 deg, approach rate: -0.132531 m/s, LOS rate: 0.170007 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194684 deg. 2025-01-08T20:09:25.885Z,1736366965.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820507 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:26.089Z,1736366966.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:26.091Z,1736366966.091 [DAT](INFO): DAT read: TxSync time:20:09:25.2294 2025-01-08T20:09:26.194Z,1736366966.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:26.203Z,1736366966.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:26.206Z,1736366966.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.897217 m, bearing: 0.239919 deg, approach rate: -0.125944 m/s, LOS rate: 0.163556 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149902 deg. 2025-01-08T20:09:26.207Z,1736366966.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819725 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:26.342Z,1736366966.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:26.584Z,1736366966.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:26.592Z,1736366966.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:26.594Z,1736366966.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:26.597Z,1736366966.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.849960 m, bearing: 0.302126 deg, approach rate: -0.120924 m/s, LOS rate: 0.159212 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161843 deg. 2025-01-08T20:09:26.598Z,1736366966.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819933 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:26.844Z,1736366966.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:27.030Z,1736366967.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:27.044Z,1736366967.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:27.046Z,1736366967.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.794907 m, bearing: 0.369112 deg, approach rate: -0.122480 m/s, LOS rate: 0.149063 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176194 deg. 2025-01-08T20:09:27.048Z,1736366967.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820184 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:27.097Z,1736366967.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:27.348Z,1736366967.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:27.396Z,1736366967.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:27.405Z,1736366967.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:27.408Z,1736366967.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.750854 m, bearing: 0.423863 deg, approach rate: -0.121816 m/s, LOS rate: 0.151430 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139469 deg. 2025-01-08T20:09:27.409Z,1736366967.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819543 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:27.600Z,1736366967.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:27.829Z,1736366967.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:27.837Z,1736366967.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:27.841Z,1736366967.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:27.844Z,1736366967.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.695923 m, bearing: 0.485116 deg, approach rate: -0.126516 m/s, LOS rate: 0.141109 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158989 deg. 2025-01-08T20:09:27.845Z,1736366967.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819884 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:27.852Z,1736366967.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:27.852Z,1736366967.852 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:09:27.852Z,1736366967.852 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:09:27.853Z,1736366967.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:28.104Z,1736366968.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:28.104Z,1736366968.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263011 2025-01-08T20:09:28.205Z,1736366968.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:28.229Z,1736366968.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:28.236Z,1736366968.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.648560 m, bearing: 0.538170 deg, approach rate: -0.121449 m/s, LOS rate: 0.136070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134382 deg. 2025-01-08T20:09:28.237Z,1736366968.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819454 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:28.357Z,1736366968.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:28.358Z,1736366968.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516143 2025-01-08T20:09:28.604Z,1736366968.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:28.608Z,1736366968.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:28.609Z,1736366968.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767094 2025-01-08T20:09:28.615Z,1736366968.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:28.635Z,1736366968.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.597977 m, bearing: 0.594623 deg, approach rate: -0.131109 m/s, LOS rate: 0.146355 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144581 deg. 2025-01-08T20:09:28.644Z,1736366968.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819632 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:28.860Z,1736366968.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:28.861Z,1736366968.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019827 2025-01-08T20:09:29.120Z,1736366969.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:29.120Z,1736366969.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279051 2025-01-08T20:09:29.162Z,1736366969.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:29.184Z,1736366969.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:29.186Z,1736366969.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.529251 m, bearing: 0.669791 deg, approach rate: -0.121801 m/s, LOS rate: 0.133258 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200757 deg. 2025-01-08T20:09:29.196Z,1736366969.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820612 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:29.372Z,1736366969.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:29.372Z,1736366969.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531029 2025-01-08T20:09:29.624Z,1736366969.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:29.625Z,1736366969.625 [DAT](INFO): DAT read: Rx Time:20:09:28.3235 2025-01-08T20:09:29.625Z,1736366969.625 [DAT](INFO): Rx dataTimestamp_ set to:1736366969.624719 2025-01-08T20:09:29.626Z,1736366969.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784118 2025-01-08T20:09:29.862Z,1736366969.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:29.870Z,1736366969.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:29.872Z,1736366969.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:29.875Z,1736366969.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.452087 m, bearing: 0.760160 deg, approach rate: -0.111337 m/s, LOS rate: 0.130434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.246383 deg. 2025-01-08T20:09:29.876Z,1736366969.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:29.877Z,1736366969.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035173 2025-01-08T20:09:29.878Z,1736366969.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821409 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:30.129Z,1736366970.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:30.131Z,1736366970.131 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:09:30.132Z,1736366970.132 [DAT](INFO): Received a bad header 2025-01-08T20:09:30.144Z,1736366970.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.302114 2025-01-08T20:09:30.289Z,1736366970.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:30.297Z,1736366970.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:30.300Z,1736366970.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.405334 m, bearing: 0.815275 deg, approach rate: -0.110101 m/s, LOS rate: 0.129820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140566 deg. 2025-01-08T20:09:30.302Z,1736366970.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819562 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:30.380Z,1736366970.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:30.380Z,1736366970.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539067 2025-01-08T20:09:30.632Z,1736366970.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:30.632Z,1736366970.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790978 2025-01-08T20:09:30.687Z,1736366970.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:30.708Z,1736366970.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:30.710Z,1736366970.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.360855 m, bearing: 0.866700 deg, approach rate: -0.108198 m/s, LOS rate: 0.125119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129492 deg. 2025-01-08T20:09:30.712Z,1736366970.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819369 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:30.884Z,1736366970.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:30.885Z,1736366970.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043812 2025-01-08T20:09:31.120Z,1736366971.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:31.132Z,1736366971.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:31.134Z,1736366971.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.323822 m, bearing: 0.921256 deg, approach rate: -0.087441 m/s, LOS rate: 0.128835 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138879 deg. 2025-01-08T20:09:31.136Z,1736366971.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:31.136Z,1736366971.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295029 2025-01-08T20:09:31.137Z,1736366971.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819532 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:31.390Z,1736366971.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:31.395Z,1736366971.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549698 2025-01-08T20:09:31.478Z,1736366971.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:31.487Z,1736366971.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:31.490Z,1736366971.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.290222 m, bearing: 0.970424 deg, approach rate: -0.094527 m/s, LOS rate: 0.138346 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122713 deg. 2025-01-08T20:09:31.503Z,1736366971.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819251 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:31.644Z,1736366971.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:31.645Z,1736366971.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803111 2025-01-08T20:09:31.896Z,1736366971.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:31.896Z,1736366971.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054998 2025-01-08T20:09:31.914Z,1736366971.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:31.922Z,1736366971.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:31.953Z,1736366971.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:31.960Z,1736366971.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.250732 m, bearing: 1.029592 deg, approach rate: -0.084714 m/s, LOS rate: 0.126951 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152722 deg. 2025-01-08T20:09:31.961Z,1736366971.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819774 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:32.148Z,1736366972.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:32.148Z,1736366972.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306918 2025-01-08T20:09:32.284Z,1736366972.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:32.308Z,1736366972.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:32.311Z,1736366972.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.216660 m, bearing: 1.079643 deg, approach rate: -0.096008 m/s, LOS rate: 0.141049 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125360 deg. 2025-01-08T20:09:32.316Z,1736366972.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819297 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:32.400Z,1736366972.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:32.402Z,1736366972.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.560209 2025-01-08T20:09:32.652Z,1736366972.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:32.653Z,1736366972.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811509 2025-01-08T20:09:32.702Z,1736366972.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:32.711Z,1736366972.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:32.713Z,1736366972.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.177612 m, bearing: 1.136519 deg, approach rate: -0.096975 m/s, LOS rate: 0.141277 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145843 deg. 2025-01-08T20:09:32.715Z,1736366972.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819654 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:32.908Z,1736366972.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:32.908Z,1736366972.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.067010 2025-01-08T20:09:33.128Z,1736366973.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:33.136Z,1736366973.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:33.138Z,1736366973.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.141983 m, bearing: 1.199131 deg, approach rate: -0.083848 m/s, LOS rate: 0.147371 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163052 deg. 2025-01-08T20:09:33.140Z,1736366973.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819954 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:33.160Z,1736366973.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:33.161Z,1736366973.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.319113 2025-01-08T20:09:33.362Z,1736366973.362 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:09:33.416Z,1736366973.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:33.417Z,1736366973.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575509 2025-01-08T20:09:33.495Z,1736366973.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:33.505Z,1736366973.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:33.508Z,1736366973.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.111053 m, bearing: 1.253318 deg, approach rate: -0.083698 m/s, LOS rate: 0.146654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137769 deg. 2025-01-08T20:09:33.509Z,1736366973.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819513 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:33.668Z,1736366973.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:33.670Z,1736366973.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.828217 2025-01-08T20:09:33.920Z,1736366973.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:33.921Z,1736366973.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079140 2025-01-08T20:09:33.941Z,1736366973.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:33.948Z,1736366973.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:33.950Z,1736366973.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:33.953Z,1736366973.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.077423 m, bearing: 1.323526 deg, approach rate: -0.075647 m/s, LOS rate: 0.157947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185839 deg. 2025-01-08T20:09:33.954Z,1736366973.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820352 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:34.173Z,1736366974.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:34.175Z,1736366974.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.332901 2025-01-08T20:09:34.320Z,1736366974.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:34.328Z,1736366974.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:34.331Z,1736366974.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.049072 m, bearing: 1.383305 deg, approach rate: -0.074924 m/s, LOS rate: 0.158000 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154546 deg. 2025-01-08T20:09:34.354Z,1736366974.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819806 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:34.364Z,1736366974.364 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:09:34.425Z,1736366974.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:34.426Z,1736366974.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.584447 2025-01-08T20:09:34.676Z,1736366974.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:34.677Z,1736366974.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835543 2025-01-08T20:09:34.748Z,1736366974.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:34.765Z,1736366974.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:34.773Z,1736366974.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.017120 m, bearing: 1.450736 deg, approach rate: -0.073133 m/s, LOS rate: 0.154361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177507 deg. 2025-01-08T20:09:34.774Z,1736366974.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820207 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:34.928Z,1736366974.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:34.928Z,1736366974.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086892 2025-01-08T20:09:35.128Z,1736366975.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:35.160Z,1736366975.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:35.167Z,1736366975.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.985565 m, bearing: 1.517827 deg, approach rate: -0.079786 m/s, LOS rate: 0.169660 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176486 deg. 2025-01-08T20:09:35.168Z,1736366975.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820189 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:35.180Z,1736366975.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:35.181Z,1736366975.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.339335 2025-01-08T20:09:35.432Z,1736366975.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:35.432Z,1736366975.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590995 2025-01-08T20:09:35.528Z,1736366975.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:35.538Z,1736366975.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:35.541Z,1736366975.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.952682 m, bearing: 1.588484 deg, approach rate: -0.087152 m/s, LOS rate: 0.187297 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187189 deg. 2025-01-08T20:09:35.542Z,1736366975.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820376 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:35.684Z,1736366975.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:35.685Z,1736366975.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843662 2025-01-08T20:09:35.936Z,1736366975.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:35.936Z,1736366975.936 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:35.936Z,1736366975.936 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:35.937Z,1736366975.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:35.978Z,1736366975.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:35.994Z,1736366975.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:36.001Z,1736366976.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:36.008Z,1736366976.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.915344 m, bearing: 1.671303 deg, approach rate: -0.080755 m/s, LOS rate: 0.179149 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.223681 deg. 2025-01-08T20:09:36.009Z,1736366976.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821012 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:36.188Z,1736366976.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:36.188Z,1736366976.188 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:36.188Z,1736366976.188 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:36.189Z,1736366976.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:36.322Z,1736366976.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:36.330Z,1736366976.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:36.333Z,1736366976.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.887405 m, bearing: 1.734574 deg, approach rate: -0.084642 m/s, LOS rate: 0.191706 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165024 deg. 2025-01-08T20:09:36.335Z,1736366976.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819989 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:36.440Z,1736366976.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:36.441Z,1736366976.441 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:36.441Z,1736366976.441 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:36.441Z,1736366976.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:36.692Z,1736366976.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:36.692Z,1736366976.692 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:36.692Z,1736366976.692 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:36.692Z,1736366976.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:36.752Z,1736366976.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:36.769Z,1736366976.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:36.780Z,1736366976.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.853027 m, bearing: 1.813817 deg, approach rate: -0.078324 m/s, LOS rate: 0.180569 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212951 deg. 2025-01-08T20:09:36.781Z,1736366976.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820826 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:36.944Z,1736366976.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:36.945Z,1736366976.945 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:09:36.945Z,1736366976.945 [DAT](INFO): response not received 2025-01-08T20:09:36.945Z,1736366976.945 [DAT](INFO): DAT read: user:1155> 2025-01-08T20:09:36.946Z,1736366976.946 [DAT](INFO): DAT read: Tx time:20:09:36.1803 2025-01-08T20:09:36.946Z,1736366976.946 [DAT](INFO): Ping request sent. 2025-01-08T20:09:36.946Z,1736366976.946 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:09:36.946Z,1736366976.946 [DAT](INFO): publishing transmit ping time 2025-01-08T20:09:36.947Z,1736366976.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746 2025-01-08T20:09:37.153Z,1736366977.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:37.161Z,1736366977.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:37.164Z,1736366977.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.818298 m, bearing: 1.890406 deg, approach rate: -0.088529 m/s, LOS rate: 0.195266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204987 deg. 2025-01-08T20:09:37.165Z,1736366977.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820686 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:37.196Z,1736366977.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:37.197Z,1736366977.197 [DAT](INFO): DAT read: TxSync time:20:09:36.1795 2025-01-08T20:09:37.197Z,1736366977.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251025 2025-01-08T20:09:37.448Z,1736366977.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:37.448Z,1736366977.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501986 2025-01-08T20:09:37.539Z,1736366977.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:37.548Z,1736366977.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:37.568Z,1736366977.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.786148 m, bearing: 1.964143 deg, approach rate: -0.083304 m/s, LOS rate: 0.191086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196428 deg. 2025-01-08T20:09:37.569Z,1736366977.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820537 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:37.700Z,1736366977.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:37.701Z,1736366977.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754959 2025-01-08T20:09:37.952Z,1736366977.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:37.952Z,1736366977.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006098 2025-01-08T20:09:37.995Z,1736366977.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:38.022Z,1736366978.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:38.028Z,1736366978.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:38.030Z,1736366978.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.746887 m, bearing: 2.050199 deg, approach rate: -0.081721 m/s, LOS rate: 0.179156 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233397 deg. 2025-01-08T20:09:38.036Z,1736366978.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821182 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:38.204Z,1736366978.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:38.206Z,1736366978.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259225 2025-01-08T20:09:38.360Z,1736366978.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:38.371Z,1736366978.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:38.374Z,1736366978.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.715744 m, bearing: 2.119284 deg, approach rate: -0.090737 m/s, LOS rate: 0.201308 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182468 deg. 2025-01-08T20:09:38.395Z,1736366978.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820293 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:38.456Z,1736366978.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:38.458Z,1736366978.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510988 2025-01-08T20:09:38.708Z,1736366978.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:38.708Z,1736366978.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762017 2025-01-08T20:09:38.768Z,1736366978.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:38.776Z,1736366978.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:38.779Z,1736366978.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.684814 m, bearing: 2.192436 deg, approach rate: -0.076295 m/s, LOS rate: 0.180471 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194671 deg. 2025-01-08T20:09:38.780Z,1736366978.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820507 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:38.960Z,1736366978.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:38.961Z,1736366978.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014254 2025-01-08T20:09:39.186Z,1736366979.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:39.194Z,1736366979.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:39.197Z,1736366979.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.645065 m, bearing: 2.272623 deg, approach rate: -0.095194 m/s, LOS rate: 0.192070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215788 deg. 2025-01-08T20:09:39.198Z,1736366979.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820875 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:39.219Z,1736366979.219 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:39.222Z,1736366979.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275234 2025-01-08T20:09:39.465Z,1736366979.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:39.466Z,1736366979.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519320 2025-01-08T20:09:39.564Z,1736366979.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:39.574Z,1736366979.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:39.576Z,1736366979.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.611465 m, bearing: 2.341798 deg, approach rate: -0.088517 m/s, LOS rate: 0.182265 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182741 deg. 2025-01-08T20:09:39.578Z,1736366979.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820298 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:39.716Z,1736366979.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:39.717Z,1736366979.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769969 2025-01-08T20:09:39.970Z,1736366979.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:39.971Z,1736366979.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024728 2025-01-08T20:09:40.022Z,1736366980.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:40.029Z,1736366980.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:40.031Z,1736366980.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:40.035Z,1736366980.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.565887 m, bearing: 2.420071 deg, approach rate: -0.099607 m/s, LOS rate: 0.171093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.210051 deg. 2025-01-08T20:09:40.036Z,1736366980.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820775 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:40.221Z,1736366980.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:40.223Z,1736366980.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276190 2025-01-08T20:09:40.381Z,1736366980.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:40.392Z,1736366980.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:40.394Z,1736366980.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.530487 m, bearing: 2.481407 deg, approach rate: -0.098281 m/s, LOS rate: 0.170311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159223 deg. 2025-01-08T20:09:40.411Z,1736366980.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819888 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:40.473Z,1736366980.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:40.474Z,1736366980.474 [DAT](INFO): DAT read: Rx Time:20:09:39.2836 2025-01-08T20:09:40.475Z,1736366980.475 [DAT](INFO): Rx dataTimestamp_ set to:1736366980.473974 2025-01-08T20:09:40.476Z,1736366980.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529437 2025-01-08T20:09:40.724Z,1736366980.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:40.724Z,1736366980.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778043 2025-01-08T20:09:40.772Z,1736366980.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:40.780Z,1736366980.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:40.783Z,1736366980.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.492493 m, bearing: 2.548148 deg, approach rate: -0.097720 m/s, LOS rate: 0.171685 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175443 deg. 2025-01-08T20:09:40.785Z,1736366980.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820171 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:40.979Z,1736366980.979 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:40.980Z,1736366980.980 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:09:40.980Z,1736366980.980 [DAT](INFO): Received a bad header 2025-01-08T20:09:40.992Z,1736366980.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.045527 2025-01-08T20:09:41.208Z,1736366981.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:41.216Z,1736366981.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:41.220Z,1736366981.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.449539 m, bearing: 2.615958 deg, approach rate: -0.098444 m/s, LOS rate: 0.155441 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178655 deg. 2025-01-08T20:09:41.221Z,1736366981.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820227 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:41.228Z,1736366981.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:41.228Z,1736366981.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282124 2025-01-08T20:09:41.481Z,1736366981.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:41.482Z,1736366981.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535674 2025-01-08T20:09:41.571Z,1736366981.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:41.596Z,1736366981.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:41.598Z,1736366981.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.413879 m, bearing: 2.672487 deg, approach rate: -0.098243 m/s, LOS rate: 0.155761 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144799 deg. 2025-01-08T20:09:41.601Z,1736366981.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819636 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:41.732Z,1736366981.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:41.732Z,1736366981.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786032 2025-01-08T20:09:41.991Z,1736366981.991 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:41.993Z,1736366981.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046442 2025-01-08T20:09:42.070Z,1736366982.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:42.077Z,1736366982.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:42.079Z,1736366982.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:42.082Z,1736366982.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.365448 m, bearing: 2.743111 deg, approach rate: -0.097025 m/s, LOS rate: 0.141515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187102 deg. 2025-01-08T20:09:42.083Z,1736366982.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820374 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:42.240Z,1736366982.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:42.240Z,1736366982.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294064 2025-01-08T20:09:42.397Z,1736366982.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:42.427Z,1736366982.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:42.438Z,1736366982.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.333633 m, bearing: 2.789464 deg, approach rate: -0.091365 m/s, LOS rate: 0.133134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114264 deg. 2025-01-08T20:09:42.439Z,1736366982.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819103 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:42.492Z,1736366982.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:42.493Z,1736366982.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546209 2025-01-08T20:09:42.744Z,1736366982.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:42.744Z,1736366982.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798015 2025-01-08T20:09:42.793Z,1736366982.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:42.802Z,1736366982.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:42.805Z,1736366982.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.295364 m, bearing: 2.845566 deg, approach rate: -0.101897 m/s, LOS rate: 0.149403 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143519 deg. 2025-01-08T20:09:42.807Z,1736366982.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819613 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:42.997Z,1736366982.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:43.000Z,1736366983.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052800 2025-01-08T20:09:43.228Z,1736366983.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:43.237Z,1736366983.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:43.239Z,1736366983.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.256454 m, bearing: 2.903045 deg, approach rate: -0.089628 m/s, LOS rate: 0.132425 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147654 deg. 2025-01-08T20:09:43.240Z,1736366983.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819686 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:43.248Z,1736366983.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:43.249Z,1736366983.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302178 2025-01-08T20:09:43.500Z,1736366983.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:43.501Z,1736366983.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554723 2025-01-08T20:09:43.596Z,1736366983.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:43.605Z,1736366983.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:43.628Z,1736366983.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.223404 m, bearing: 2.951647 deg, approach rate: -0.089567 m/s, LOS rate: 0.131731 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121014 deg. 2025-01-08T20:09:43.630Z,1736366983.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819221 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:43.753Z,1736366983.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:43.754Z,1736366983.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807875 2025-01-08T20:09:44.006Z,1736366984.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:44.008Z,1736366984.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061581 2025-01-08T20:09:44.087Z,1736366984.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:44.093Z,1736366984.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:44.096Z,1736366984.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:44.098Z,1736366984.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.179306 m, bearing: 3.014490 deg, approach rate: -0.090012 m/s, LOS rate: 0.128300 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163752 deg. 2025-01-08T20:09:44.100Z,1736366984.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819967 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:44.256Z,1736366984.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:44.256Z,1736366984.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310119 2025-01-08T20:09:44.414Z,1736366984.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:44.426Z,1736366984.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:44.429Z,1736366984.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.149918 m, bearing: 3.056297 deg, approach rate: -0.088786 m/s, LOS rate: 0.126319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100623 deg. 2025-01-08T20:09:44.430Z,1736366984.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818865 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:44.508Z,1736366984.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:44.509Z,1736366984.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562593 2025-01-08T20:09:44.760Z,1736366984.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:44.760Z,1736366984.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814050 2025-01-08T20:09:44.805Z,1736366984.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:44.813Z,1736366984.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:44.816Z,1736366984.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.114502 m, bearing: 3.106509 deg, approach rate: -0.091594 m/s, LOS rate: 0.129879 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125844 deg. 2025-01-08T20:09:44.818Z,1736366984.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819305 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:45.014Z,1736366985.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:45.016Z,1736366985.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069555 2025-01-08T20:09:45.236Z,1736366985.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:45.260Z,1736366985.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:45.263Z,1736366985.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.078796 m, bearing: 3.162576 deg, approach rate: -0.079861 m/s, LOS rate: 0.125423 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143416 deg. 2025-01-08T20:09:45.264Z,1736366985.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:45.264Z,1736366985.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318156 2025-01-08T20:09:45.273Z,1736366985.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819612 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:45.516Z,1736366985.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:45.518Z,1736366985.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571281 2025-01-08T20:09:45.612Z,1736366985.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:45.621Z,1736366985.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:45.640Z,1736366985.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.047791 m, bearing: 3.211375 deg, approach rate: -0.085883 m/s, LOS rate: 0.135184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121602 deg. 2025-01-08T20:09:45.642Z,1736366985.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819231 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:45.768Z,1736366985.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:45.769Z,1736366985.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822722 2025-01-08T20:09:46.021Z,1736366986.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:46.024Z,1736366986.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076768 2025-01-08T20:09:46.125Z,1736366986.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:46.132Z,1736366986.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:46.135Z,1736366986.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:46.138Z,1736366986.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.006180 m, bearing: 3.282202 deg, approach rate: -0.081093 m/s, LOS rate: 0.138057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187707 deg. 2025-01-08T20:09:46.139Z,1736366986.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820385 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:46.272Z,1736366986.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:46.272Z,1736366986.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326065 2025-01-08T20:09:46.468Z,1736366986.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:46.476Z,1736366986.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:46.479Z,1736366986.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.978592 m, bearing: 3.329513 deg, approach rate: -0.080710 m/s, LOS rate: 0.138428 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117136 deg. 2025-01-08T20:09:46.480Z,1736366986.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819153 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:46.524Z,1736366986.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:46.526Z,1736366986.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579043 2025-01-08T20:09:46.776Z,1736366986.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:46.776Z,1736366986.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830001 2025-01-08T20:09:46.848Z,1736366986.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:46.858Z,1736366986.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:46.861Z,1736366986.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.948166 m, bearing: 3.382034 deg, approach rate: -0.079686 m/s, LOS rate: 0.137572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132771 deg. 2025-01-08T20:09:46.862Z,1736366986.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819426 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:47.029Z,1736366987.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:47.031Z,1736366987.031 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:47.032Z,1736366987.032 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:47.033Z,1736366987.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:47.268Z,1736366987.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:47.280Z,1736366987.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:47.280Z,1736366987.280 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:47.280Z,1736366987.280 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:47.281Z,1736366987.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:47.287Z,1736366987.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:47.290Z,1736366987.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.913879 m, bearing: 3.444513 deg, approach rate: -0.079901 m/s, LOS rate: 0.145623 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162652 deg. 2025-01-08T20:09:47.291Z,1736366987.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819948 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:47.532Z,1736366987.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:47.532Z,1736366987.532 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:47.532Z,1736366987.532 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:47.533Z,1736366987.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:47.656Z,1736366987.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:47.685Z,1736366987.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:47.692Z,1736366987.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.882675 m, bearing: 3.502108 deg, approach rate: -0.078334 m/s, LOS rate: 0.144604 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147994 deg. 2025-01-08T20:09:47.693Z,1736366987.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819692 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:47.784Z,1736366987.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:47.785Z,1736366987.785 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:09:47.786Z,1736366987.786 [DAT](INFO): response not received 2025-01-08T20:09:47.786Z,1736366987.786 [DAT](INFO): DAT read: user:1157> 2025-01-08T20:09:47.787Z,1736366987.787 [DAT](INFO): DAT read: Tx time:20:09:47.1304 2025-01-08T20:09:47.787Z,1736366987.787 [DAT](INFO): Ping request sent. 2025-01-08T20:09:47.787Z,1736366987.787 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:09:47.787Z,1736366987.787 [DAT](INFO): publishing transmit ping time 2025-01-08T20:09:47.788Z,1736366987.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000911 2025-01-08T20:09:48.037Z,1736366988.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:48.040Z,1736366988.040 [DAT](INFO): DAT read: TxSync time:20:09:47.1296 2025-01-08T20:09:48.043Z,1736366988.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255256 2025-01-08T20:09:48.144Z,1736366988.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:48.152Z,1736366988.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:48.154Z,1736366988.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:48.169Z,1736366988.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.846298 m, bearing: 3.580164 deg, approach rate: -0.077692 m/s, LOS rate: 0.166734 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209391 deg. 2025-01-08T20:09:48.170Z,1736366988.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820763 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:48.288Z,1736366988.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:48.289Z,1736366988.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501410 2025-01-08T20:09:48.481Z,1736366988.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:48.489Z,1736366988.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:48.492Z,1736366988.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.821487 m, bearing: 3.633922 deg, approach rate: -0.073906 m/s, LOS rate: 0.160151 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136477 deg. 2025-01-08T20:09:48.493Z,1736366988.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819491 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:48.540Z,1736366988.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:48.541Z,1736366988.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754037 2025-01-08T20:09:48.792Z,1736366988.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:48.792Z,1736366988.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005266 2025-01-08T20:09:48.861Z,1736366988.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:48.877Z,1736366988.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:48.885Z,1736366988.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.795319 m, bearing: 3.694654 deg, approach rate: -0.067466 m/s, LOS rate: 0.156593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157405 deg. 2025-01-08T20:09:48.888Z,1736366988.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819856 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:49.045Z,1736366989.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:49.049Z,1736366989.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261133 2025-01-08T20:09:49.296Z,1736366989.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:49.297Z,1736366989.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509452 2025-01-08T20:09:49.297Z,1736366989.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:49.329Z,1736366989.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:49.336Z,1736366989.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.771729 m, bearing: 3.767728 deg, approach rate: -0.052193 m/s, LOS rate: 0.161691 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194428 deg. 2025-01-08T20:09:49.337Z,1736366989.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820502 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:49.551Z,1736366989.551 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:49.552Z,1736366989.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764683 2025-01-08T20:09:49.684Z,1736366989.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:49.693Z,1736366989.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:49.696Z,1736366989.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.751053 m, bearing: 3.833264 deg, approach rate: -0.056865 m/s, LOS rate: 0.180263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171812 deg. 2025-01-08T20:09:49.697Z,1736366989.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820107 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:49.800Z,1736366989.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:49.801Z,1736366989.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014148 2025-01-08T20:09:50.053Z,1736366990.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:50.056Z,1736366990.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268039 2025-01-08T20:09:50.134Z,1736366990.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:50.142Z,1736366990.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:50.145Z,1736366990.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.727570 m, bearing: 3.908867 deg, approach rate: -0.052239 m/s, LOS rate: 0.168197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.202019 deg. 2025-01-08T20:09:50.146Z,1736366990.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820635 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:50.304Z,1736366990.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:50.305Z,1736366990.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517528 2025-01-08T20:09:50.522Z,1736366990.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:50.529Z,1736366990.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:50.531Z,1736366990.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:50.535Z,1736366990.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.704147 m, bearing: 3.975112 deg, approach rate: -0.060237 m/s, LOS rate: 0.170385 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173940 deg. 2025-01-08T20:09:50.552Z,1736366990.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820145 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:50.556Z,1736366990.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:50.557Z,1736366990.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769528 2025-01-08T20:09:50.808Z,1736366990.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:50.808Z,1736366990.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021293 2025-01-08T20:09:50.877Z,1736366990.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:50.906Z,1736366990.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:50.917Z,1736366990.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.683121 m, bearing: 4.035593 deg, approach rate: -0.056113 m/s, LOS rate: 0.161420 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156647 deg. 2025-01-08T20:09:50.918Z,1736366990.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819843 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:51.062Z,1736366991.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:51.065Z,1736366991.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277397 2025-01-08T20:09:51.312Z,1736366991.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:51.312Z,1736366991.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525291 2025-01-08T20:09:51.362Z,1736366991.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:51.389Z,1736366991.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:51.391Z,1736366991.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.656601 m, bearing: 4.120181 deg, approach rate: -0.054943 m/s, LOS rate: 0.175265 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228977 deg. 2025-01-08T20:09:51.393Z,1736366991.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821105 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:51.567Z,1736366991.567 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:51.568Z,1736366991.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781294 2025-01-08T20:09:51.699Z,1736366991.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:51.708Z,1736366991.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:51.711Z,1736366991.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.639191 m, bearing: 4.176868 deg, approach rate: -0.054497 m/s, LOS rate: 0.177454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145263 deg. 2025-01-08T20:09:51.712Z,1736366991.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819644 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:51.816Z,1736366991.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:51.817Z,1736366991.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029356 2025-01-08T20:09:52.068Z,1736366992.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:52.069Z,1736366992.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281494 2025-01-08T20:09:52.159Z,1736366992.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:52.180Z,1736366992.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:52.183Z,1736366992.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.614380 m, bearing: 4.259157 deg, approach rate: -0.052548 m/s, LOS rate: 0.174300 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222077 deg. 2025-01-08T20:09:52.188Z,1736366992.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820985 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:52.320Z,1736366992.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:52.320Z,1736366992.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533371 2025-01-08T20:09:52.524Z,1736366992.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:52.538Z,1736366992.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:52.542Z,1736366992.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:52.545Z,1736366992.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.591614 m, bearing: 4.320381 deg, approach rate: -0.062985 m/s, LOS rate: 0.169399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158877 deg. 2025-01-08T20:09:52.546Z,1736366992.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819881 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:52.572Z,1736366992.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:52.572Z,1736366992.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785206 2025-01-08T20:09:52.824Z,1736366992.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:52.824Z,1736366992.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037275 2025-01-08T20:09:52.901Z,1736366992.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:52.909Z,1736366992.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:52.912Z,1736366992.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.568405 m, bearing: 4.383533 deg, approach rate: -0.063113 m/s, LOS rate: 0.171751 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164663 deg. 2025-01-08T20:09:52.913Z,1736366992.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819983 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:53.077Z,1736366993.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:53.078Z,1736366993.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290917 2025-01-08T20:09:53.328Z,1736366993.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:53.329Z,1736366993.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541513 2025-01-08T20:09:53.339Z,1736366993.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:53.348Z,1736366993.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:53.352Z,1736366993.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.546936 m, bearing: 4.454552 deg, approach rate: -0.049015 m/s, LOS rate: 0.162154 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188261 deg. 2025-01-08T20:09:53.353Z,1736366993.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820395 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:53.580Z,1736366993.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:53.580Z,1736366993.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793341 2025-01-08T20:09:53.698Z,1736366993.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:53.707Z,1736366993.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:53.710Z,1736366993.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.529434 m, bearing: 4.512705 deg, approach rate: -0.048678 m/s, LOS rate: 0.161757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149660 deg. 2025-01-08T20:09:53.711Z,1736366993.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819721 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:53.832Z,1736366993.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:53.833Z,1736366993.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045431 2025-01-08T20:09:54.085Z,1736366994.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:54.085Z,1736366994.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298208 2025-01-08T20:09:54.106Z,1736366994.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:54.182Z,1736366994.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:54.189Z,1736366994.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.509766 m, bearing: 4.578788 deg, approach rate: -0.041378 m/s, LOS rate: 0.139035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173452 deg. 2025-01-08T20:09:54.190Z,1736366994.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820136 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:54.336Z,1736366994.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:54.336Z,1736366994.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549258 2025-01-08T20:09:54.536Z,1736366994.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:54.542Z,1736366994.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:54.544Z,1736366994.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:54.547Z,1736366994.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.482742 m, bearing: 4.644814 deg, approach rate: -0.074619 m/s, LOS rate: 0.182336 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173286 deg. 2025-01-08T20:09:54.548Z,1736366994.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820133 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:54.588Z,1736366994.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:54.589Z,1736366994.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801535 2025-01-08T20:09:54.840Z,1736366994.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:54.840Z,1736366994.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053249 2025-01-08T20:09:54.909Z,1736366994.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:54.918Z,1736366994.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:54.921Z,1736366994.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.459122 m, bearing: 4.702256 deg, approach rate: -0.063323 m/s, LOS rate: 0.154010 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147532 deg. 2025-01-08T20:09:54.922Z,1736366994.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819684 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:55.094Z,1736366995.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:55.097Z,1736366995.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309517 2025-01-08T20:09:55.335Z,1736366995.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:55.344Z,1736366995.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:55.345Z,1736366995.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557460 2025-01-08T20:09:55.345Z,1736366995.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:55.364Z,1736366995.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.432846 m, bearing: 4.766864 deg, approach rate: -0.061728 m/s, LOS rate: 0.151797 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169030 deg. 2025-01-08T20:09:55.369Z,1736366995.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820059 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:55.596Z,1736366995.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:55.596Z,1736366995.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809289 2025-01-08T20:09:55.716Z,1736366995.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:55.741Z,1736366995.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:55.748Z,1736366995.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.409149 m, bearing: 4.824734 deg, approach rate: -0.059512 m/s, LOS rate: 0.145351 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148815 deg. 2025-01-08T20:09:55.749Z,1736366995.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819706 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:55.848Z,1736366995.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:55.848Z,1736366995.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061225 2025-01-08T20:09:56.102Z,1736366996.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:56.104Z,1736366996.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316579 2025-01-08T20:09:56.258Z,1736366996.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:56.266Z,1736366996.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:56.290Z,1736366996.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.376328 m, bearing: 4.906687 deg, approach rate: -0.062526 m/s, LOS rate: 0.156146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221081 deg. 2025-01-08T20:09:56.291Z,1736366996.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820967 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:56.352Z,1736366996.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:56.353Z,1736366996.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565564 2025-01-08T20:09:56.605Z,1736366996.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:56.607Z,1736366996.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819497 2025-01-08T20:09:56.722Z,1736366996.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:56.752Z,1736366996.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:56.754Z,1736366996.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:56.757Z,1736366996.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.347931 m, bearing: 4.976935 deg, approach rate: -0.058159 m/s, LOS rate: 0.143893 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185956 deg. 2025-01-08T20:09:56.758Z,1736366996.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820354 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:56.856Z,1736366996.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:56.856Z,1736366996.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069309 2025-01-08T20:09:57.108Z,1736366997.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:57.108Z,1736366997.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321338 2025-01-08T20:09:57.137Z,1736366997.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:57.219Z,1736366997.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:57.226Z,1736366997.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.322433 m, bearing: 5.039705 deg, approach rate: -0.054912 m/s, LOS rate: 0.135198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163515 deg. 2025-01-08T20:09:57.227Z,1736366997.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819963 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:57.360Z,1736366997.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:57.360Z,1736366997.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573295 2025-01-08T20:09:57.604Z,1736366997.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:57.613Z,1736366997.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:57.614Z,1736366997.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826934 2025-01-08T20:09:57.649Z,1736366997.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:57.658Z,1736366997.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.298264 m, bearing: 5.111236 deg, approach rate: -0.056203 m/s, LOS rate: 0.166354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189803 deg. 2025-01-08T20:09:57.668Z,1736366997.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820421 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:57.866Z,1736366997.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:57.867Z,1736366997.867 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:57.868Z,1736366997.868 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:57.869Z,1736366997.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:57.959Z,1736366997.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:57.968Z,1736366997.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:57.971Z,1736366997.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.279663 m, bearing: 5.165591 deg, approach rate: -0.058295 m/s, LOS rate: 0.170364 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138263 deg. 2025-01-08T20:09:57.974Z,1736366997.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819522 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:58.116Z,1736366998.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:58.116Z,1736366998.116 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:58.116Z,1736366998.116 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:58.117Z,1736366998.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:58.368Z,1736366998.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:58.369Z,1736366998.369 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:58.369Z,1736366998.369 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:58.369Z,1736366998.369 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:58.401Z,1736366998.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:58.429Z,1736366998.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:58.436Z,1736366998.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.253159 m, bearing: 5.236063 deg, approach rate: -0.057496 m/s, LOS rate: 0.152892 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186628 deg. 2025-01-08T20:09:58.437Z,1736366998.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820366 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:58.620Z,1736366998.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:58.621Z,1736366998.621 [DAT](INFO): Reached modem response timeout 2025-01-08T20:09:58.621Z,1736366998.621 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:09:58.621Z,1736366998.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:09:58.761Z,1736366998.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:58.769Z,1736366998.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:09:58.771Z,1736366998.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:58.774Z,1736366998.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.231506 m, bearing: 5.293740 deg, approach rate: -0.063353 m/s, LOS rate: 0.168775 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148233 deg. 2025-01-08T20:09:58.775Z,1736366998.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819696 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:58.872Z,1736366998.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:58.873Z,1736366998.873 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:09:58.873Z,1736366998.873 [DAT](INFO): response not received 2025-01-08T20:09:58.874Z,1736366998.874 [DAT](INFO): DAT read: user:1158> 2025-01-08T20:09:58.875Z,1736366998.875 [DAT](INFO): DAT read: Tx time:20:09:58.0805 2025-01-08T20:09:58.876Z,1736366998.876 [DAT](INFO): Ping request sent. 2025-01-08T20:09:58.877Z,1736366998.877 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:09:58.877Z,1736366998.877 [DAT](INFO): publishing transmit ping time 2025-01-08T20:09:58.880Z,1736366998.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002532 2025-01-08T20:09:59.124Z,1736366999.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:59.125Z,1736366999.125 [DAT](INFO): DAT read: TxSync time:20:09:58.0797 2025-01-08T20:09:59.125Z,1736366999.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249189 2025-01-08T20:09:59.269Z,1736366999.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:59.286Z,1736366999.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:59.293Z,1736366999.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.201492 m, bearing: 5.374970 deg, approach rate: -0.058289 m/s, LOS rate: 0.157775 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.218907 deg. 2025-01-08T20:09:59.294Z,1736366999.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820930 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:59.377Z,1736366999.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:59.377Z,1736366999.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501122 2025-01-08T20:09:59.596Z,1736366999.596 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +72.72933.61, 10, 7.70, 0.00 2025-01-08T20:09:59.603Z,1736366999.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.3 s old, using for 20.0 s. 2025-01-08T20:09:59.603Z,1736366999.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:09:59.616Z,1736366999.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:09:59.620Z,1736366999.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.182449 m, bearing: 5.428336 deg, approach rate: -0.057780 m/s, LOS rate: 0.161935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135297 deg. 2025-01-08T20:09:59.621Z,1736366999.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819470 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:09:59.628Z,1736366999.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:59.629Z,1736366999.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752374 2025-01-08T20:09:59.880Z,1736366999.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:09:59.880Z,1736366999.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004246 2025-01-08T20:09:59.988Z,1736366999.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.7 s old, using for 20.0 s. 2025-01-08T20:09:59.989Z,1736366999.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:00.022Z,1736367000.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:00.025Z,1736367000.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.160706 m, bearing: 5.489967 deg, approach rate: -0.053468 m/s, LOS rate: 0.151565 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160096 deg. 2025-01-08T20:10:00.026Z,1736367000.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819903 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:00.132Z,1736367000.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:00.134Z,1736367000.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257061 2025-01-08T20:10:00.384Z,1736367000.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:00.385Z,1736367000.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508849 2025-01-08T20:10:00.442Z,1736367000.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:00.451Z,1736367000.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:00.454Z,1736367000.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.141266 m, bearing: 5.566381 deg, approach rate: -0.045397 m/s, LOS rate: 0.178464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204450 deg. 2025-01-08T20:10:00.455Z,1736367000.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820677 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:00.636Z,1736367000.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:00.637Z,1736367000.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760559 2025-01-08T20:10:00.798Z,1736367000.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:00.812Z,1736367000.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:00.814Z,1736367000.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:00.817Z,1736367000.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.126968 m, bearing: 5.626390 deg, approach rate: -0.039316 m/s, LOS rate: 0.165026 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155223 deg. 2025-01-08T20:10:00.820Z,1736367000.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819818 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:00.889Z,1736367000.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:00.890Z,1736367000.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013944 2025-01-08T20:10:01.140Z,1736367001.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:01.140Z,1736367001.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264234 2025-01-08T20:10:01.272Z,1736367001.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:01.302Z,1736367001.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:01.306Z,1736367001.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.108063 m, bearing: 5.706321 deg, approach rate: -0.038829 m/s, LOS rate: 0.164175 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.214997 deg. 2025-01-08T20:10:01.307Z,1736367001.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820861 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:01.392Z,1736367001.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:01.394Z,1736367001.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517378 2025-01-08T20:10:01.637Z,1736367001.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:01.645Z,1736367001.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:01.647Z,1736367001.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770121 2025-01-08T20:10:01.653Z,1736367001.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:01.683Z,1736367001.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.090958 m, bearing: 5.768659 deg, approach rate: -0.048774 m/s, LOS rate: 0.177764 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162214 deg. 2025-01-08T20:10:01.690Z,1736367001.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819940 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:01.896Z,1736367001.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:01.897Z,1736367001.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020365 2025-01-08T20:10:02.021Z,1736367002.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:02.029Z,1736367002.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:02.033Z,1736367002.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.073273 m, bearing: 5.834310 deg, approach rate: -0.046766 m/s, LOS rate: 0.173622 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172155 deg. 2025-01-08T20:10:02.036Z,1736367002.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820113 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:02.148Z,1736367002.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:02.149Z,1736367002.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272432 2025-01-08T20:10:02.400Z,1736367002.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:02.402Z,1736367002.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525024 2025-01-08T20:10:02.464Z,1736367002.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:02.474Z,1736367002.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:02.493Z,1736367002.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.053452 m, bearing: 5.907824 deg, approach rate: -0.044604 m/s, LOS rate: 0.165447 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195748 deg. 2025-01-08T20:10:02.496Z,1736367002.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820525 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:02.652Z,1736367002.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:02.653Z,1736367002.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776921 2025-01-08T20:10:02.818Z,1736367002.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:02.828Z,1736367002.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:02.830Z,1736367002.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:02.832Z,1736367002.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.037827 m, bearing: 5.966589 deg, approach rate: -0.043920 m/s, LOS rate: 0.165194 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151494 deg. 2025-01-08T20:10:02.835Z,1736367002.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819753 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:02.905Z,1736367002.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:02.906Z,1736367002.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030011 2025-01-08T20:10:03.156Z,1736367003.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:03.156Z,1736367003.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280206 2025-01-08T20:10:03.293Z,1736367003.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:03.323Z,1736367003.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:03.325Z,1736367003.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.017288 m, bearing: 6.045356 deg, approach rate: -0.041663 m/s, LOS rate: 0.159795 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.211506 deg. 2025-01-08T20:10:03.326Z,1736367003.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820800 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:03.409Z,1736367003.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:03.410Z,1736367003.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533993 2025-01-08T20:10:03.660Z,1736367003.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:03.661Z,1736367003.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785018 2025-01-08T20:10:03.669Z,1736367003.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:03.700Z,1736367003.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:03.702Z,1736367003.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.999878 m, bearing: 6.105653 deg, approach rate: -0.046680 m/s, LOS rate: 0.161679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156092 deg. 2025-01-08T20:10:03.708Z,1736367003.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819833 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:03.912Z,1736367003.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:03.912Z,1736367003.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036251 2025-01-08T20:10:04.088Z,1736367004.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:04.097Z,1736367004.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:04.100Z,1736367004.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.980682 m, bearing: 6.172864 deg, approach rate: -0.047823 m/s, LOS rate: 0.167462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176836 deg. 2025-01-08T20:10:04.102Z,1736367004.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820195 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:04.165Z,1736367004.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:04.166Z,1736367004.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289952 2025-01-08T20:10:04.416Z,1736367004.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:04.416Z,1736367004.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540210 2025-01-08T20:10:04.464Z,1736367004.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:10:04.464Z,1736367004.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:04.474Z,1736367004.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:04.477Z,1736367004.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.963882 m, bearing: 6.232910 deg, approach rate: -0.044530 m/s, LOS rate: 0.159170 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155338 deg. 2025-01-08T20:10:04.478Z,1736367004.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819820 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:04.488Z,1736367004.488 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:10:04.671Z,1736367004.671 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:04.673Z,1736367004.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797021 2025-01-08T20:10:04.838Z,1736367004.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.7 s old, using for 20.0 s. 2025-01-08T20:10:04.839Z,1736367004.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:04.849Z,1736367004.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:04.853Z,1736367004.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:04.856Z,1736367004.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.947205 m, bearing: 6.292958 deg, approach rate: -0.044072 m/s, LOS rate: 0.158688 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155341 deg. 2025-01-08T20:10:04.857Z,1736367004.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819820 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:04.920Z,1736367004.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:04.921Z,1736367004.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044941 2025-01-08T20:10:05.172Z,1736367005.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:05.174Z,1736367005.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296981 2025-01-08T20:10:05.262Z,1736367005.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:10:05.263Z,1736367005.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:05.331Z,1736367005.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:05.340Z,1736367005.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.928696 m, bearing: 6.360510 deg, approach rate: -0.039075 m/s, LOS rate: 0.142625 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177860 deg. 2025-01-08T20:10:05.341Z,1736367005.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820213 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:05.424Z,1736367005.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:05.426Z,1736367005.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549410 2025-01-08T20:10:05.492Z,1736367005.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:10:05.678Z,1736367005.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:05.679Z,1736367005.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802846 2025-01-08T20:10:05.756Z,1736367005.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:05.774Z,1736367005.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:05.802Z,1736367005.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.903000 m, bearing: 6.432259 deg, approach rate: -0.057677 m/s, LOS rate: 0.161066 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190458 deg. 2025-01-08T20:10:05.803Z,1736367005.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820433 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:05.928Z,1736367005.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:05.930Z,1736367005.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053492 2025-01-08T20:10:06.110Z,1736367006.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:06.137Z,1736367006.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:06.144Z,1736367006.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.884323 m, bearing: 6.484575 deg, approach rate: -0.051118 m/s, LOS rate: 0.143198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132146 deg. 2025-01-08T20:10:06.146Z,1736367006.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819415 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:06.180Z,1736367006.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:06.180Z,1736367006.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304332 2025-01-08T20:10:06.432Z,1736367006.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:06.432Z,1736367006.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556210 2025-01-08T20:10:06.538Z,1736367006.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:06.546Z,1736367006.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:06.549Z,1736367006.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.862610 m, bearing: 6.544598 deg, approach rate: -0.053080 m/s, LOS rate: 0.146746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155274 deg. 2025-01-08T20:10:06.552Z,1736367006.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819819 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:06.684Z,1736367006.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:06.686Z,1736367006.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809981 2025-01-08T20:10:06.921Z,1736367006.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:06.927Z,1736367006.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:06.929Z,1736367006.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:06.932Z,1736367006.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.843124 m, bearing: 6.598341 deg, approach rate: -0.050864 m/s, LOS rate: 0.140297 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136427 deg. 2025-01-08T20:10:06.934Z,1736367006.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819490 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:06.936Z,1736367006.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:06.937Z,1736367006.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060351 2025-01-08T20:10:07.188Z,1736367007.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:07.188Z,1736367007.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312298 2025-01-08T20:10:07.428Z,1736367007.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:07.442Z,1736367007.442 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:07.442Z,1736367007.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566161 2025-01-08T20:10:07.453Z,1736367007.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:07.460Z,1736367007.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.819427 m, bearing: 6.666231 deg, approach rate: -0.045275 m/s, LOS rate: 0.129722 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178877 deg. 2025-01-08T20:10:07.461Z,1736367007.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820231 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:07.692Z,1736367007.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:07.692Z,1736367007.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816212 2025-01-08T20:10:07.770Z,1736367007.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:07.782Z,1736367007.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:07.786Z,1736367007.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.801941 m, bearing: 6.716890 deg, approach rate: -0.053244 m/s, LOS rate: 0.154264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127177 deg. 2025-01-08T20:10:07.788Z,1736367007.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819328 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:07.944Z,1736367007.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:07.944Z,1736367007.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068306 2025-01-08T20:10:08.155Z,1736367008.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:08.164Z,1736367008.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:08.168Z,1736367008.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.783417 m, bearing: 6.770665 deg, approach rate: -0.048359 m/s, LOS rate: 0.140394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136524 deg. 2025-01-08T20:10:08.169Z,1736367008.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819491 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:08.196Z,1736367008.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:08.196Z,1736367008.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320191 2025-01-08T20:10:08.448Z,1736367008.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:08.448Z,1736367008.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572138 2025-01-08T20:10:08.598Z,1736367008.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:08.608Z,1736367008.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:08.611Z,1736367008.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.758591 m, bearing: 6.834033 deg, approach rate: -0.055929 m/s, LOS rate: 0.142773 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165312 deg. 2025-01-08T20:10:08.612Z,1736367008.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819994 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:08.701Z,1736367008.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:08.702Z,1736367008.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825670 2025-01-08T20:10:08.952Z,1736367008.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:08.952Z,1736367008.952 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:08.952Z,1736367008.952 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:08.953Z,1736367008.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:08.963Z,1736367008.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:08.970Z,1736367008.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:08.973Z,1736367008.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:08.976Z,1736367008.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.738129 m, bearing: 6.886133 deg, approach rate: -0.056091 m/s, LOS rate: 0.142829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131498 deg. 2025-01-08T20:10:08.977Z,1736367008.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819404 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:09.204Z,1736367009.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:09.205Z,1736367009.205 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:09.205Z,1736367009.205 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:09.205Z,1736367009.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:09.456Z,1736367009.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:09.456Z,1736367009.456 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:09.456Z,1736367009.456 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:09.457Z,1736367009.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:09.554Z,1736367009.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:09.562Z,1736367009.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:09.565Z,1736367009.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.710037 m, bearing: 6.974791 deg, approach rate: -0.047687 m/s, LOS rate: 0.150521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.241192 deg. 2025-01-08T20:10:09.566Z,1736367009.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821318 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:09.708Z,1736367009.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:09.709Z,1736367009.709 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:10:09.709Z,1736367009.709 [DAT](INFO): response not received 2025-01-08T20:10:09.709Z,1736367009.709 [DAT](INFO): DAT read: user:1159> 2025-01-08T20:10:09.710Z,1736367009.710 [DAT](INFO): DAT read: Tx time:20:10:09.0306 2025-01-08T20:10:09.710Z,1736367009.710 [DAT](INFO): Ping request sent. 2025-01-08T20:10:09.710Z,1736367009.710 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:10:09.711Z,1736367009.711 [DAT](INFO): publishing transmit ping time 2025-01-08T20:10:09.711Z,1736367009.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000874 2025-01-08T20:10:09.851Z,1736367009.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:09.874Z,1736367009.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:09.880Z,1736367009.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.696045 m, bearing: 7.019261 deg, approach rate: -0.044902 m/s, LOS rate: 0.142714 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108605 deg. 2025-01-08T20:10:09.882Z,1736367009.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819004 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:09.960Z,1736367009.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:09.961Z,1736367009.961 [DAT](INFO): DAT read: TxSync time:20:10:09.0298 2025-01-08T20:10:09.963Z,1736367009.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251967 2025-01-08T20:10:10.212Z,1736367010.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:10.212Z,1736367010.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501750 2025-01-08T20:10:10.226Z,1736367010.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:10.236Z,1736367010.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:10.239Z,1736367010.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.679108 m, bearing: 7.075761 deg, approach rate: -0.046684 m/s, LOS rate: 0.155744 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144699 deg. 2025-01-08T20:10:10.240Z,1736367010.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819634 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:10.464Z,1736367010.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:10.465Z,1736367010.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753980 2025-01-08T20:10:10.666Z,1736367010.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:10.693Z,1736367010.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:10.701Z,1736367010.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.653519 m, bearing: 7.144698 deg, approach rate: -0.056768 m/s, LOS rate: 0.152952 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182021 deg. 2025-01-08T20:10:10.702Z,1736367010.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820286 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:10.716Z,1736367010.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:10.717Z,1736367010.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006107 2025-01-08T20:10:10.968Z,1736367010.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:10.969Z,1736367010.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258152 2025-01-08T20:10:11.042Z,1736367011.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:11.049Z,1736367011.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:11.053Z,1736367011.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:11.055Z,1736367011.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.632217 m, bearing: 7.203919 deg, approach rate: -0.058292 m/s, LOS rate: 0.162076 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152865 deg. 2025-01-08T20:10:11.057Z,1736367011.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819777 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:11.220Z,1736367011.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:11.220Z,1736367011.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509905 2025-01-08T20:10:11.472Z,1736367011.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:11.472Z,1736367011.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761936 2025-01-08T20:10:11.476Z,1736367011.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:11.485Z,1736367011.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:11.488Z,1736367011.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.611343 m, bearing: 7.276048 deg, approach rate: -0.048262 m/s, LOS rate: 0.166781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191593 deg. 2025-01-08T20:10:11.489Z,1736367011.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820453 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:11.727Z,1736367011.727 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:11.728Z,1736367011.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017744 2025-01-08T20:10:11.852Z,1736367011.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:11.861Z,1736367011.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:11.864Z,1736367011.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.593155 m, bearing: 7.338723 deg, approach rate: -0.048406 m/s, LOS rate: 0.166817 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163228 deg. 2025-01-08T20:10:11.865Z,1736367011.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819958 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:11.976Z,1736367011.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:11.978Z,1736367011.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267048 2025-01-08T20:10:12.228Z,1736367012.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:12.228Z,1736367012.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517908 2025-01-08T20:10:12.257Z,1736367012.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:12.265Z,1736367012.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:12.269Z,1736367012.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.574158 m, bearing: 7.406034 deg, approach rate: -0.046987 m/s, LOS rate: 0.166496 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177134 deg. 2025-01-08T20:10:12.270Z,1736367012.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820200 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:12.481Z,1736367012.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:12.481Z,1736367012.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770667 2025-01-08T20:10:12.697Z,1736367012.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:12.706Z,1736367012.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:12.709Z,1736367012.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.555679 m, bearing: 7.483075 deg, approach rate: -0.041876 m/s, LOS rate: 0.174605 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206329 deg. 2025-01-08T20:10:12.710Z,1736367012.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820710 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:12.732Z,1736367012.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:12.733Z,1736367012.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022034 2025-01-08T20:10:12.984Z,1736367012.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:12.985Z,1736367012.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274276 2025-01-08T20:10:13.058Z,1736367013.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:13.088Z,1736367013.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:13.090Z,1736367013.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:13.097Z,1736367013.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.541275 m, bearing: 7.546245 deg, approach rate: -0.037507 m/s, LOS rate: 0.164495 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164707 deg. 2025-01-08T20:10:13.098Z,1736367013.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819983 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:13.236Z,1736367013.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:13.237Z,1736367013.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526029 2025-01-08T20:10:13.488Z,1736367013.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:13.489Z,1736367013.489 [DAT](INFO): DAT read: Rx Time:20:10:12.1599 2025-01-08T20:10:13.489Z,1736367013.489 [DAT](INFO): Rx dataTimestamp_ set to:1736367013.488992 2025-01-08T20:10:13.490Z,1736367013.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779290 2025-01-08T20:10:13.528Z,1736367013.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:13.541Z,1736367013.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:13.548Z,1736367013.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.520523 m, bearing: 7.632507 deg, approach rate: -0.046091 m/s, LOS rate: 0.191609 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233995 deg. 2025-01-08T20:10:13.549Z,1736367013.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821193 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:13.740Z,1736367013.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:13.740Z,1736367013.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029727 2025-01-08T20:10:13.864Z,1736367013.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:13.873Z,1736367013.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:13.875Z,1736367013.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.506393 m, bearing: 7.694393 deg, approach rate: -0.042582 m/s, LOS rate: 0.186516 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160857 deg. 2025-01-08T20:10:13.877Z,1736367013.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819916 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:13.992Z,1736367013.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:13.993Z,1736367013.993 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:10:13.993Z,1736367013.993 [DAT](INFO): Received a bad header 2025-01-08T20:10:14.008Z,1736367014.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297543 2025-01-08T20:10:14.244Z,1736367014.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:14.244Z,1736367014.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533798 2025-01-08T20:10:14.324Z,1736367014.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:14.342Z,1736367014.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:14.353Z,1736367014.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.488098 m, bearing: 7.778835 deg, approach rate: -0.039004 m/s, LOS rate: 0.180035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228530 deg. 2025-01-08T20:10:14.354Z,1736367014.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821097 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:14.496Z,1736367014.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:14.497Z,1736367014.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786738 2025-01-08T20:10:14.737Z,1736367014.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:14.746Z,1736367014.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:14.748Z,1736367014.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:14.748Z,1736367014.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037963 2025-01-08T20:10:14.771Z,1736367014.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.475693 m, bearing: 7.853708 deg, approach rate: -0.030700 m/s, LOS rate: 0.185301 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199816 deg. 2025-01-08T20:10:14.773Z,1736367014.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820596 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:15.001Z,1736367015.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:15.002Z,1736367015.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291879 2025-01-08T20:10:15.099Z,1736367015.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:15.107Z,1736367015.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:15.109Z,1736367015.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:15.113Z,1736367015.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.465866 m, bearing: 7.919277 deg, approach rate: -0.027026 m/s, LOS rate: 0.180340 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171903 deg. 2025-01-08T20:10:15.114Z,1736367015.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820109 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:15.253Z,1736367015.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:15.253Z,1736367015.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542643 2025-01-08T20:10:15.504Z,1736367015.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:15.504Z,1736367015.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793806 2025-01-08T20:10:15.536Z,1736367015.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:15.565Z,1736367015.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:15.572Z,1736367015.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.459427 m, bearing: 7.995664 deg, approach rate: -0.014138 m/s, LOS rate: 0.167725 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204353 deg. 2025-01-08T20:10:15.573Z,1736367015.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820675 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:15.756Z,1736367015.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:15.757Z,1736367015.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046152 2025-01-08T20:10:15.912Z,1736367015.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:15.940Z,1736367015.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:15.942Z,1736367015.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.454620 m, bearing: 8.061210 deg, approach rate: -0.013396 m/s, LOS rate: 0.182686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171827 deg. 2025-01-08T20:10:15.950Z,1736367015.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820107 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:16.009Z,1736367016.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:16.010Z,1736367016.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299049 2025-01-08T20:10:16.260Z,1736367016.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:16.260Z,1736367016.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549847 2025-01-08T20:10:16.340Z,1736367016.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:16.349Z,1736367016.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:16.353Z,1736367016.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.449493 m, bearing: 8.136257 deg, approach rate: -0.012062 m/s, LOS rate: 0.176567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200331 deg. 2025-01-08T20:10:16.354Z,1736367016.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820605 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:16.512Z,1736367016.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:16.512Z,1736367016.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801978 2025-01-08T20:10:16.749Z,1736367016.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:16.759Z,1736367016.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:16.762Z,1736367016.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.440186 m, bearing: 8.205143 deg, approach rate: -0.022703 m/s, LOS rate: 0.168026 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181854 deg. 2025-01-08T20:10:16.763Z,1736367016.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820282 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:16.764Z,1736367016.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:16.765Z,1736367016.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054034 2025-01-08T20:10:16.800Z,1736367016.800 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T20:10:17.016Z,1736367017.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:17.016Z,1736367017.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305837 2025-01-08T20:10:17.124Z,1736367017.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:17.131Z,1736367017.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:17.134Z,1736367017.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:17.137Z,1736367017.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.432281 m, bearing: 8.268342 deg, approach rate: -0.021093 m/s, LOS rate: 0.168664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164789 deg. 2025-01-08T20:10:17.138Z,1736367017.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819985 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:17.268Z,1736367017.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:17.269Z,1736367017.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558260 2025-01-08T20:10:17.520Z,1736367017.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:17.520Z,1736367017.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809786 2025-01-08T20:10:17.577Z,1736367017.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:17.595Z,1736367017.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:17.621Z,1736367017.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.428772 m, bearing: 8.339839 deg, approach rate: -0.007609 m/s, LOS rate: 0.155018 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189681 deg. 2025-01-08T20:10:17.622Z,1736367017.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820419 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:17.772Z,1736367017.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:17.772Z,1736367017.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061803 2025-01-08T20:10:17.931Z,1736367017.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:17.940Z,1736367017.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:17.944Z,1736367017.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.426178 m, bearing: 8.395650 deg, approach rate: -0.007497 m/s, LOS rate: 0.161308 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142621 deg. 2025-01-08T20:10:17.947Z,1736367017.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819598 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:18.025Z,1736367018.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:18.026Z,1736367018.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315490 2025-01-08T20:10:18.276Z,1736367018.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:18.276Z,1736367018.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565801 2025-01-08T20:10:18.337Z,1736367018.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:18.346Z,1736367018.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:18.349Z,1736367018.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.423340 m, bearing: 8.459857 deg, approach rate: -0.007006 m/s, LOS rate: 0.158491 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167809 deg. 2025-01-08T20:10:18.350Z,1736367018.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820037 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:18.531Z,1736367018.531 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:18.534Z,1736367018.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822539 2025-01-08T20:10:18.776Z,1736367018.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:18.780Z,1736367018.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:18.781Z,1736367018.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069990 2025-01-08T20:10:18.787Z,1736367018.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:18.790Z,1736367018.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.421982 m, bearing: 8.525544 deg, approach rate: -0.003079 m/s, LOS rate: 0.148921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172249 deg. 2025-01-08T20:10:18.791Z,1736367018.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820115 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:19.032Z,1736367019.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:19.033Z,1736367019.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322550 2025-01-08T20:10:19.144Z,1736367019.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:19.151Z,1736367019.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:19.153Z,1736367019.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:19.156Z,1736367019.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.420700 m, bearing: 8.580539 deg, approach rate: -0.003498 m/s, LOS rate: 0.150095 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140170 deg. 2025-01-08T20:10:19.157Z,1736367019.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819555 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:19.284Z,1736367019.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:19.285Z,1736367019.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574776 2025-01-08T20:10:19.537Z,1736367019.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:19.540Z,1736367019.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828902 2025-01-08T20:10:19.612Z,1736367019.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:19.622Z,1736367019.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:19.625Z,1736367019.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.419312 m, bearing: 8.647439 deg, approach rate: -0.002961 m/s, LOS rate: 0.142667 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175887 deg. 2025-01-08T20:10:19.626Z,1736367019.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820179 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:19.788Z,1736367019.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:19.788Z,1736367019.788 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:19.788Z,1736367019.788 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:19.788Z,1736367019.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:19.960Z,1736367019.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:19.968Z,1736367019.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:19.970Z,1736367019.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.418213 m, bearing: 8.697072 deg, approach rate: -0.003177 m/s, LOS rate: 0.143533 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124086 deg. 2025-01-08T20:10:19.988Z,1736367019.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819274 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:20.041Z,1736367020.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:20.041Z,1736367020.041 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:20.042Z,1736367020.042 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:20.042Z,1736367020.042 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:20.292Z,1736367020.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:20.292Z,1736367020.292 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:20.292Z,1736367020.292 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:20.293Z,1736367020.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:20.379Z,1736367020.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:20.401Z,1736367020.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:20.408Z,1736367020.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.416641 m, bearing: 8.756732 deg, approach rate: -0.003635 m/s, LOS rate: 0.137984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154169 deg. 2025-01-08T20:10:20.409Z,1736367020.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819799 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:20.546Z,1736367020.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:20.549Z,1736367020.549 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:10:20.549Z,1736367020.549 [DAT](INFO): response not received 2025-01-08T20:10:20.554Z,1736367020.554 [DAT](INFO): DAT read: user:1161> 2025-01-08T20:10:20.557Z,1736367020.557 [DAT](ERROR): No response from remote modem. 2025-01-08T20:10:20.558Z,1736367020.558 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:20.559Z,1736367020.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:20.788Z,1736367020.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:20.796Z,1736367020.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:20.797Z,1736367020.797 [DAT](INFO): DAT read: Tx time:20:10:19.9807 2025-01-08T20:10:20.797Z,1736367020.797 [DAT](INFO): Ping request sent. 2025-01-08T20:10:20.797Z,1736367020.797 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:10:20.798Z,1736367020.798 [DAT](INFO): DAT read: TxSync time:20:10:19.9799 2025-01-08T20:10:20.798Z,1736367020.798 [DAT](INFO): publishing transmit ping time 2025-01-08T20:10:20.799Z,1736367020.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001536 2025-01-08T20:10:20.821Z,1736367020.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:20.828Z,1736367020.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.410278 m, bearing: 8.815248 deg, approach rate: -0.015134 m/s, LOS rate: 0.139184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150738 deg. 2025-01-08T20:10:20.829Z,1736367020.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819740 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:21.048Z,1736367021.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:21.049Z,1736367021.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252042 2025-01-08T20:10:21.159Z,1736367021.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:21.169Z,1736367021.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:21.189Z,1736367021.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:21.196Z,1736367021.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.404343 m, bearing: 8.868049 deg, approach rate: -0.016117 m/s, LOS rate: 0.143373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133594 deg. 2025-01-08T20:10:21.197Z,1736367021.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819440 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:21.301Z,1736367021.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:21.302Z,1736367021.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504521 2025-01-08T20:10:21.553Z,1736367021.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:21.558Z,1736367021.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757622 2025-01-08T20:10:21.633Z,1736367021.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:21.642Z,1736367021.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:21.645Z,1736367021.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.392731 m, bearing: 8.936445 deg, approach rate: -0.025634 m/s, LOS rate: 0.150995 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180385 deg. 2025-01-08T20:10:21.646Z,1736367021.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820257 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:21.804Z,1736367021.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:21.804Z,1736367021.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007461 2025-01-08T20:10:21.984Z,1736367021.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:21.996Z,1736367021.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:21.998Z,1736367021.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.384308 m, bearing: 8.987148 deg, approach rate: -0.023794 m/s, LOS rate: 0.143239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127301 deg. 2025-01-08T20:10:21.000Z,1736367022.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819331 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:22.057Z,1736367022.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:22.059Z,1736367022.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261841 2025-01-08T20:10:22.308Z,1736367022.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:22.308Z,1736367022.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511319 2025-01-08T20:10:22.376Z,1736367022.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:22.385Z,1736367022.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:22.404Z,1736367022.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.374405 m, bearing: 9.043798 deg, approach rate: -0.025454 m/s, LOS rate: 0.145614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145144 deg. 2025-01-08T20:10:22.405Z,1736367022.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819642 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:22.561Z,1736367022.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:22.564Z,1736367022.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766365 2025-01-08T20:10:22.801Z,1736367022.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:22.809Z,1736367022.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:22.812Z,1736367022.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:22.812Z,1736367022.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015446 2025-01-08T20:10:22.814Z,1736367022.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.361420 m, bearing: 9.106546 deg, approach rate: -0.030593 m/s, LOS rate: 0.147841 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163441 deg. 2025-01-08T20:10:22.816Z,1736367022.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819962 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:23.065Z,1736367023.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:23.066Z,1736367023.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269346 2025-01-08T20:10:23.179Z,1736367023.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:23.198Z,1736367023.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:23.200Z,1736367023.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:23.208Z,1736367023.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.349899 m, bearing: 9.162587 deg, approach rate: -0.029530 m/s, LOS rate: 0.143657 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143317 deg. 2025-01-08T20:10:23.211Z,1736367023.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819610 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:23.317Z,1736367023.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:23.318Z,1736367023.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520943 2025-01-08T20:10:23.571Z,1736367023.571 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:23.574Z,1736367023.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776246 2025-01-08T20:10:23.677Z,1736367023.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:23.688Z,1736367023.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:23.691Z,1736367023.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.329422 m, bearing: 9.239850 deg, approach rate: -0.041880 m/s, LOS rate: 0.158032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206994 deg. 2025-01-08T20:10:23.692Z,1736367023.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820722 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:23.825Z,1736367023.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:23.826Z,1736367023.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028670 2025-01-08T20:10:24.008Z,1736367024.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:24.016Z,1736367024.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:24.020Z,1736367024.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.316071 m, bearing: 9.291339 deg, approach rate: -0.040725 m/s, LOS rate: 0.157065 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129665 deg. 2025-01-08T20:10:24.023Z,1736367024.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819372 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:24.076Z,1736367024.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:24.077Z,1736367024.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280000 2025-01-08T20:10:24.329Z,1736367024.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:24.331Z,1736367024.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533413 2025-01-08T20:10:24.408Z,1736367024.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:24.438Z,1736367024.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:24.445Z,1736367024.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.300247 m, bearing: 9.353427 deg, approach rate: -0.037526 m/s, LOS rate: 0.147253 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161461 deg. 2025-01-08T20:10:24.446Z,1736367024.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819927 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:24.582Z,1736367024.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:24.585Z,1736367024.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786902 2025-01-08T20:10:24.832Z,1736367024.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:24.833Z,1736367024.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035493 2025-01-08T20:10:24.863Z,1736367024.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:24.875Z,1736367024.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:24.878Z,1736367024.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.283386 m, bearing: 9.426638 deg, approach rate: -0.038598 m/s, LOS rate: 0.167610 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194837 deg. 2025-01-08T20:10:24.879Z,1736367024.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820509 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:25.086Z,1736367025.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:25.087Z,1736367025.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290350 2025-01-08T20:10:25.216Z,1736367025.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:25.224Z,1736367025.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:25.226Z,1736367025.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:25.229Z,1736367025.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.270386 m, bearing: 9.484671 deg, approach rate: -0.037047 m/s, LOS rate: 0.165381 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149294 deg. 2025-01-08T20:10:25.230Z,1736367025.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819715 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:25.336Z,1736367025.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:25.337Z,1736367025.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539492 2025-01-08T20:10:25.589Z,1736367025.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:25.592Z,1736367025.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794415 2025-01-08T20:10:25.695Z,1736367025.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:25.705Z,1736367025.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:25.724Z,1736367025.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.255402 m, bearing: 9.561862 deg, approach rate: -0.031283 m/s, LOS rate: 0.161166 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206775 deg. 2025-01-08T20:10:25.725Z,1736367025.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820718 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:25.841Z,1736367025.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:25.841Z,1736367025.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044349 2025-01-08T20:10:26.045Z,1736367026.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:26.057Z,1736367026.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:26.061Z,1736367026.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.244904 m, bearing: 9.618439 deg, approach rate: -0.029871 m/s, LOS rate: 0.160991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144923 deg. 2025-01-08T20:10:26.062Z,1736367026.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819638 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:26.092Z,1736367026.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:26.093Z,1736367026.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296115 2025-01-08T20:10:26.344Z,1736367026.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:26.344Z,1736367026.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547378 2025-01-08T20:10:26.451Z,1736367026.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:26.460Z,1736367026.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:26.462Z,1736367026.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.233124 m, bearing: 9.683728 deg, approach rate: -0.029229 m/s, LOS rate: 0.162008 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171064 deg. 2025-01-08T20:10:26.464Z,1736367026.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820095 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:26.598Z,1736367026.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:26.603Z,1736367026.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.805038 2025-01-08T20:10:26.848Z,1736367026.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:26.848Z,1736367026.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051384 2025-01-08T20:10:26.874Z,1736367026.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:26.883Z,1736367026.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:26.909Z,1736367026.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.222733 m, bearing: 9.753070 deg, approach rate: -0.024532 m/s, LOS rate: 0.163715 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183223 deg. 2025-01-08T20:10:26.910Z,1736367026.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820307 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:27.100Z,1736367027.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:27.102Z,1736367027.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304289 2025-01-08T20:10:27.268Z,1736367027.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:27.274Z,1736367027.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:27.276Z,1736367027.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:27.279Z,1736367027.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.213394 m, bearing: 9.817408 deg, approach rate: -0.023722 m/s, LOS rate: 0.163445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168207 deg. 2025-01-08T20:10:27.281Z,1736367027.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820045 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:27.352Z,1736367027.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:27.353Z,1736367027.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555525 2025-01-08T20:10:27.606Z,1736367027.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:27.608Z,1736367027.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810746 2025-01-08T20:10:27.758Z,1736367027.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:27.766Z,1736367027.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:27.770Z,1736367027.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.203766 m, bearing: 9.897348 deg, approach rate: -0.019650 m/s, LOS rate: 0.163156 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215014 deg. 2025-01-08T20:10:27.772Z,1736367027.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820861 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:27.857Z,1736367027.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:27.857Z,1736367027.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060402 2025-01-08T20:10:28.068Z,1736367028.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:28.093Z,1736367028.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:28.100Z,1736367028.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.198364 m, bearing: 9.947846 deg, approach rate: -0.016553 m/s, LOS rate: 0.154754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126684 deg. 2025-01-08T20:10:28.104Z,1736367028.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819320 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:28.108Z,1736367028.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:28.109Z,1736367028.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311563 2025-01-08T20:10:28.360Z,1736367028.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:28.361Z,1736367028.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563944 2025-01-08T20:10:28.468Z,1736367028.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:28.493Z,1736367028.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:28.501Z,1736367028.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.191879 m, bearing: 10.012977 deg, approach rate: -0.016199 m/s, LOS rate: 0.162701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170586 deg. 2025-01-08T20:10:28.502Z,1736367028.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820086 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:28.612Z,1736367028.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:28.612Z,1736367028.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815429 2025-01-08T20:10:28.864Z,1736367028.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:28.866Z,1736367028.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068522 2025-01-08T20:10:28.946Z,1736367028.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:28.955Z,1736367028.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:28.958Z,1736367028.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.191772 m, bearing: 10.089185 deg, approach rate: -0.000231 m/s, LOS rate: 0.164997 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.203810 deg. 2025-01-08T20:10:28.959Z,1736367028.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820666 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:29.116Z,1736367029.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:29.116Z,1736367029.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319265 2025-01-08T20:10:29.305Z,1736367029.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:29.311Z,1736367029.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:29.313Z,1736367029.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:29.316Z,1736367029.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.192062 m, bearing: 10.146508 deg, approach rate: 0.000809 m/s, LOS rate: 0.159946 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147154 deg. 2025-01-08T20:10:29.318Z,1736367029.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819677 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:29.368Z,1736367029.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:29.369Z,1736367029.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572191 2025-01-08T20:10:29.624Z,1736367029.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:29.626Z,1736367029.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.828603 2025-01-08T20:10:29.742Z,1736367029.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:29.752Z,1736367029.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:29.754Z,1736367029.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.200485 m, bearing: 10.216266 deg, approach rate: 0.019244 m/s, LOS rate: 0.159369 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184451 deg. 2025-01-08T20:10:29.756Z,1736367029.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820328 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:29.876Z,1736367029.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:29.877Z,1736367029.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079623 2025-01-08T20:10:30.090Z,1736367030.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:30.098Z,1736367030.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:30.128Z,1736367030.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:30.129Z,1736367030.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331567 2025-01-08T20:10:30.130Z,1736367030.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.207291 m, bearing: 10.271732 deg, approach rate: 0.019596 m/s, LOS rate: 0.159704 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141579 deg. 2025-01-08T20:10:30.131Z,1736367030.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819580 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:30.380Z,1736367030.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:30.381Z,1736367030.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583984 2025-01-08T20:10:30.496Z,1736367030.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:30.505Z,1736367030.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:30.508Z,1736367030.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.215683 m, bearing: 10.336489 deg, approach rate: 0.020622 m/s, LOS rate: 0.159120 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169452 deg. 2025-01-08T20:10:30.510Z,1736367030.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820066 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:30.633Z,1736367030.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:30.638Z,1736367030.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.840421 2025-01-08T20:10:30.884Z,1736367030.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:30.885Z,1736367030.885 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:30.885Z,1736367030.885 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:30.885Z,1736367030.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:30.932Z,1736367030.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:30.957Z,1736367030.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:30.964Z,1736367030.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.226135 m, bearing: 10.406081 deg, approach rate: 0.023161 m/s, LOS rate: 0.154201 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183951 deg. 2025-01-08T20:10:30.965Z,1736367030.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820319 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:31.136Z,1736367031.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:31.136Z,1736367031.136 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:31.137Z,1736367031.137 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:31.138Z,1736367031.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:31.292Z,1736367031.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:31.320Z,1736367031.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:31.322Z,1736367031.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:31.325Z,1736367031.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.235107 m, bearing: 10.463552 deg, approach rate: 0.024575 m/s, LOS rate: 0.157407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147592 deg. 2025-01-08T20:10:31.326Z,1736367031.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819685 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:31.388Z,1736367031.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:31.388Z,1736367031.388 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:31.388Z,1736367031.388 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:31.389Z,1736367031.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:31.640Z,1736367031.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:31.641Z,1736367031.641 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:10:31.641Z,1736367031.641 [DAT](INFO): response not received 2025-01-08T20:10:31.641Z,1736367031.641 [DAT](INFO): DAT read: user:1162> 2025-01-08T20:10:31.642Z,1736367031.642 [DAT](INFO): DAT read: Tx time:20:10:30.9308 2025-01-08T20:10:31.642Z,1736367031.642 [DAT](INFO): Ping request sent. 2025-01-08T20:10:31.642Z,1736367031.642 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:10:31.643Z,1736367031.643 [DAT](INFO): publishing transmit ping time 2025-01-08T20:10:31.643Z,1736367031.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000815 2025-01-08T20:10:31.816Z,1736367031.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:31.830Z,1736367031.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:31.834Z,1736367031.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.249969 m, bearing: 10.547940 deg, approach rate: 0.029245 m/s, LOS rate: 0.166042 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228332 deg. 2025-01-08T20:10:31.836Z,1736367031.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821094 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:31.892Z,1736367031.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:31.893Z,1736367031.893 [DAT](INFO): DAT read: TxSync time:20:10:30.9300 2025-01-08T20:10:31.894Z,1736367031.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251236 2025-01-08T20:10:32.130Z,1736367032.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:32.139Z,1736367032.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:32.144Z,1736367032.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:32.144Z,1736367032.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501907 2025-01-08T20:10:32.162Z,1736367032.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.259064 m, bearing: 10.598782 deg, approach rate: 0.029453 m/s, LOS rate: 0.164654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127709 deg. 2025-01-08T20:10:32.163Z,1736367032.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819338 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:32.396Z,1736367032.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:32.397Z,1736367032.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754473 2025-01-08T20:10:32.537Z,1736367032.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:32.546Z,1736367032.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:32.549Z,1736367032.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.271637 m, bearing: 10.664380 deg, approach rate: 0.030890 m/s, LOS rate: 0.161152 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171968 deg. 2025-01-08T20:10:32.550Z,1736367032.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820110 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:32.649Z,1736367032.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:32.650Z,1736367032.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007278 2025-01-08T20:10:32.900Z,1736367032.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:32.901Z,1736367032.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258535 2025-01-08T20:10:32.970Z,1736367032.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:32.979Z,1736367032.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:32.982Z,1736367032.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.280945 m, bearing: 10.735759 deg, approach rate: 0.021493 m/s, LOS rate: 0.164816 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189316 deg. 2025-01-08T20:10:32.984Z,1736367032.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820413 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:33.152Z,1736367033.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:33.152Z,1736367033.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509844 2025-01-08T20:10:33.331Z,1736367033.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:33.352Z,1736367033.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:33.358Z,1736367033.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:33.364Z,1736367033.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.288925 m, bearing: 10.795130 deg, approach rate: 0.021118 m/s, LOS rate: 0.157107 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153292 deg. 2025-01-08T20:10:33.366Z,1736367033.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819784 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:33.406Z,1736367033.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:33.408Z,1736367033.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765032 2025-01-08T20:10:33.657Z,1736367033.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:33.658Z,1736367033.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014790 2025-01-08T20:10:33.792Z,1736367033.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:33.805Z,1736367033.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:33.808Z,1736367033.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.296432 m, bearing: 10.874251 deg, approach rate: 0.016725 m/s, LOS rate: 0.176266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212540 deg. 2025-01-08T20:10:33.810Z,1736367033.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820818 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:33.908Z,1736367033.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:33.909Z,1736367033.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827 2025-01-08T20:10:34.158Z,1736367034.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:34.160Z,1736367034.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:34.161Z,1736367034.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517980 2025-01-08T20:10:34.188Z,1736367034.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:34.197Z,1736367034.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.302689 m, bearing: 10.937024 deg, approach rate: 0.016417 m/s, LOS rate: 0.164723 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163500 deg. 2025-01-08T20:10:34.198Z,1736367034.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819963 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:34.412Z,1736367034.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:34.412Z,1736367034.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769775 2025-01-08T20:10:34.548Z,1736367034.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:34.557Z,1736367034.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:34.560Z,1736367034.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.309708 m, bearing: 11.003704 deg, approach rate: 0.018939 m/s, LOS rate: 0.179911 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175221 deg. 2025-01-08T20:10:34.561Z,1736367034.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820167 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:34.665Z,1736367034.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:34.666Z,1736367034.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023428 2025-01-08T20:10:34.916Z,1736367034.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:34.916Z,1736367034.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273749 2025-01-08T20:10:35.022Z,1736367035.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:35.031Z,1736367035.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:35.035Z,1736367035.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.315018 m, bearing: 11.085807 deg, approach rate: 0.011215 m/s, LOS rate: 0.173405 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221487 deg. 2025-01-08T20:10:35.036Z,1736367035.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820974 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:35.169Z,1736367035.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:35.171Z,1736367035.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527790 2025-01-08T20:10:35.372Z,1736367035.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:35.400Z,1736367035.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:35.404Z,1736367035.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:35.406Z,1736367035.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.319244 m, bearing: 11.146329 deg, approach rate: 0.011339 m/s, LOS rate: 0.162361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156749 deg. 2025-01-08T20:10:35.408Z,1736367035.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819845 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:35.420Z,1736367035.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:35.421Z,1736367035.421 [DAT](INFO): DAT read: Rx Time:20:10:34.0790 2025-01-08T20:10:35.421Z,1736367035.421 [DAT](INFO): Rx dataTimestamp_ set to:1736367035.420830 2025-01-08T20:10:35.422Z,1736367035.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779113 2025-01-08T20:10:35.617Z,1736367035.617 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:10:35.672Z,1736367035.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:35.674Z,1736367035.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030951 2025-01-08T20:10:35.848Z,1736367035.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:35.857Z,1736367035.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:35.860Z,1736367035.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.317719 m, bearing: 11.227682 deg, approach rate: -0.003362 m/s, LOS rate: 0.179255 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.219248 deg. 2025-01-08T20:10:35.862Z,1736367035.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820935 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:35.924Z,1736367035.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:35.925Z,1736367035.925 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:10:35.925Z,1736367035.925 [DAT](INFO): Received a bad header 2025-01-08T20:10:35.940Z,1736367035.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297440 2025-01-08T20:10:36.177Z,1736367036.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:36.178Z,1736367036.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535319 2025-01-08T20:10:36.211Z,1736367036.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:36.220Z,1736367036.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:36.226Z,1736367036.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.317566 m, bearing: 11.289978 deg, approach rate: -0.000422 m/s, LOS rate: 0.172158 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162074 deg. 2025-01-08T20:10:36.227Z,1736367036.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819937 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:36.430Z,1736367036.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:36.432Z,1736367036.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789115 2025-01-08T20:10:36.593Z,1736367036.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:36.602Z,1736367036.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:36.605Z,1736367036.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.318069 m, bearing: 11.355339 deg, approach rate: 0.001314 m/s, LOS rate: 0.170543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171269 deg. 2025-01-08T20:10:36.607Z,1736367036.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820098 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:36.620Z,1736367036.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:10:36.681Z,1736367036.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:36.682Z,1736367036.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039303 2025-01-08T20:10:36.932Z,1736367036.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:36.932Z,1736367036.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289836 2025-01-08T20:10:37.020Z,1736367037.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:37.029Z,1736367037.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:37.032Z,1736367037.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.316284 m, bearing: 11.426565 deg, approach rate: -0.004186 m/s, LOS rate: 0.167007 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188863 deg. 2025-01-08T20:10:37.033Z,1736367037.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820405 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:37.184Z,1736367037.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:37.186Z,1736367037.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542874 2025-01-08T20:10:37.400Z,1736367037.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:37.407Z,1736367037.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:37.409Z,1736367037.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:37.412Z,1736367037.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.315262 m, bearing: 11.489795 deg, approach rate: -0.002688 m/s, LOS rate: 0.166236 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164877 deg. 2025-01-08T20:10:37.413Z,1736367037.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819986 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:37.437Z,1736367037.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:37.438Z,1736367037.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795488 2025-01-08T20:10:37.688Z,1736367037.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:37.688Z,1736367037.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045885 2025-01-08T20:10:37.863Z,1736367037.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:37.904Z,1736367037.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:37.906Z,1736367037.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.320312 m, bearing: 11.562189 deg, approach rate: 0.010303 m/s, LOS rate: 0.147669 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192363 deg. 2025-01-08T20:10:37.912Z,1736367037.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820466 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:37.940Z,1736367037.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:37.941Z,1736367037.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297974 2025-01-08T20:10:38.192Z,1736367038.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:38.192Z,1736367038.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549812 2025-01-08T20:10:38.232Z,1736367038.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:38.260Z,1736367038.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:38.262Z,1736367038.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.324799 m, bearing: 11.619915 deg, approach rate: 0.012479 m/s, LOS rate: 0.160572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148363 deg. 2025-01-08T20:10:38.268Z,1736367038.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819698 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:38.444Z,1736367038.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:38.444Z,1736367038.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801843 2025-01-08T20:10:38.626Z,1736367038.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:38.637Z,1736367038.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:38.640Z,1736367038.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.329712 m, bearing: 11.681587 deg, approach rate: 0.013009 m/s, LOS rate: 0.163289 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160196 deg. 2025-01-08T20:10:38.641Z,1736367038.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819905 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:38.697Z,1736367038.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:38.698Z,1736367038.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055237 2025-01-08T20:10:38.948Z,1736367038.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:38.948Z,1736367038.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305841 2025-01-08T20:10:39.059Z,1736367039.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:39.092Z,1736367039.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:39.095Z,1736367039.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.335083 m, bearing: 11.742382 deg, approach rate: 0.011789 m/s, LOS rate: 0.133441 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157568 deg. 2025-01-08T20:10:39.104Z,1736367039.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819859 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:39.200Z,1736367039.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:39.200Z,1736367039.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557872 2025-01-08T20:10:39.438Z,1736367039.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:39.445Z,1736367039.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:39.447Z,1736367039.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:39.450Z,1736367039.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.339783 m, bearing: 11.795737 deg, approach rate: 0.013254 m/s, LOS rate: 0.150463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135248 deg. 2025-01-08T20:10:39.453Z,1736367039.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:39.453Z,1736367039.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810802 2025-01-08T20:10:39.454Z,1736367039.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819469 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:39.704Z,1736367039.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:39.705Z,1736367039.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062021 2025-01-08T20:10:39.939Z,1736367039.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:39.948Z,1736367039.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:39.952Z,1736367039.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.351288 m, bearing: 11.863083 deg, approach rate: 0.022943 m/s, LOS rate: 0.134289 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177213 deg. 2025-01-08T20:10:39.954Z,1736367039.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820202 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:39.956Z,1736367039.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:39.957Z,1736367039.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314454 2025-01-08T20:10:40.208Z,1736367040.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:40.209Z,1736367040.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565759 2025-01-08T20:10:40.321Z,1736367040.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:40.353Z,1736367040.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:40.361Z,1736367040.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.359970 m, bearing: 11.914448 deg, approach rate: 0.021479 m/s, LOS rate: 0.127070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129276 deg. 2025-01-08T20:10:40.364Z,1736367040.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819365 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:40.460Z,1736367040.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:40.460Z,1736367040.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817869 2025-01-08T20:10:40.712Z,1736367040.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:40.713Z,1736367040.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070165 2025-01-08T20:10:40.790Z,1736367040.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:40.872Z,1736367040.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:40.875Z,1736367040.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.370346 m, bearing: 11.977582 deg, approach rate: 0.019965 m/s, LOS rate: 0.121472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164580 deg. 2025-01-08T20:10:40.880Z,1736367040.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819981 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:40.964Z,1736367040.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:40.965Z,1736367040.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322631 2025-01-08T20:10:41.216Z,1736367041.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:41.216Z,1736367041.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573939 2025-01-08T20:10:41.223Z,1736367041.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:41.231Z,1736367041.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:41.234Z,1736367041.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.384964 m, bearing: 12.031484 deg, approach rate: 0.040732 m/s, LOS rate: 0.150185 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136882 deg. 2025-01-08T20:10:41.260Z,1736367041.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819498 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:41.469Z,1736367041.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:41.470Z,1736367041.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827590 2025-01-08T20:10:41.593Z,1736367041.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:41.599Z,1736367041.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:41.602Z,1736367041.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:41.609Z,1736367041.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.397110 m, bearing: 12.077579 deg, approach rate: 0.032716 m/s, LOS rate: 0.124154 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113464 deg. 2025-01-08T20:10:41.610Z,1736367041.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819089 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:41.720Z,1736367041.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:41.721Z,1736367041.721 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:41.721Z,1736367041.721 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:41.721Z,1736367041.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:41.972Z,1736367041.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:41.972Z,1736367041.972 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:41.972Z,1736367041.972 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:41.973Z,1736367041.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:42.043Z,1736367042.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:42.052Z,1736367042.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:42.055Z,1736367042.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.415741 m, bearing: 12.134286 deg, approach rate: 0.041403 m/s, LOS rate: 0.126009 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145294 deg. 2025-01-08T20:10:42.057Z,1736367042.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819644 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:42.224Z,1736367042.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:42.224Z,1736367042.224 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:42.224Z,1736367042.224 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:42.225Z,1736367042.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:42.413Z,1736367042.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:42.447Z,1736367042.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:42.454Z,1736367042.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.430634 m, bearing: 12.180971 deg, approach rate: 0.037758 m/s, LOS rate: 0.118354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115231 deg. 2025-01-08T20:10:42.455Z,1736367042.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819120 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:42.476Z,1736367042.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:42.477Z,1736367042.477 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:10:42.478Z,1736367042.478 [DAT](INFO): response not received 2025-01-08T20:10:42.480Z,1736367042.480 [DAT](INFO): DAT read: user:1164> 2025-01-08T20:10:42.482Z,1736367042.482 [DAT](ERROR): No response from remote modem. 2025-01-08T20:10:42.483Z,1736367042.483 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:42.485Z,1736367042.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:42.728Z,1736367042.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:42.728Z,1736367042.728 [DAT](INFO): DAT read: Tx time:20:10:41.8809 2025-01-08T20:10:42.729Z,1736367042.729 [DAT](INFO): Ping request sent. 2025-01-08T20:10:42.729Z,1736367042.729 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:10:42.730Z,1736367042.730 [DAT](INFO): DAT read: TxSync time:20:10:41.8801 2025-01-08T20:10:42.730Z,1736367042.730 [DAT](INFO): publishing transmit ping time 2025-01-08T20:10:42.731Z,1736367042.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001591 2025-01-08T20:10:42.811Z,1736367042.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:42.824Z,1736367042.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:42.827Z,1736367042.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.446243 m, bearing: 12.231122 deg, approach rate: 0.041332 m/s, LOS rate: 0.132784 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125630 deg. 2025-01-08T20:10:42.829Z,1736367042.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819302 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:42.980Z,1736367042.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:42.981Z,1736367042.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252463 2025-01-08T20:10:43.232Z,1736367043.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:43.233Z,1736367043.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503640 2025-01-08T20:10:43.247Z,1736367043.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:43.255Z,1736367043.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:43.258Z,1736367043.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.463287 m, bearing: 12.290147 deg, approach rate: 0.039606 m/s, LOS rate: 0.137149 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152249 deg. 2025-01-08T20:10:43.259Z,1736367043.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819766 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:43.484Z,1736367043.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:43.486Z,1736367043.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756908 2025-01-08T20:10:43.609Z,1736367043.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:43.616Z,1736367043.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:43.619Z,1736367043.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:43.622Z,1736367043.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.477737 m, bearing: 12.339295 deg, approach rate: 0.039677 m/s, LOS rate: 0.134940 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122619 deg. 2025-01-08T20:10:43.624Z,1736367043.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819249 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:43.736Z,1736367043.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:43.737Z,1736367043.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007889 2025-01-08T20:10:43.988Z,1736367043.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:43.988Z,1736367043.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259429 2025-01-08T20:10:44.058Z,1736367044.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:44.090Z,1736367044.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:44.097Z,1736367044.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.493179 m, bearing: 12.406289 deg, approach rate: 0.032789 m/s, LOS rate: 0.142243 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176156 deg. 2025-01-08T20:10:44.098Z,1736367044.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820183 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:44.240Z,1736367044.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:44.240Z,1736367044.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511476 2025-01-08T20:10:44.427Z,1736367044.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:44.459Z,1736367044.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:44.466Z,1736367044.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.505508 m, bearing: 12.461384 deg, approach rate: 0.033597 m/s, LOS rate: 0.150126 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140463 deg. 2025-01-08T20:10:44.476Z,1736367044.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819560 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:44.492Z,1736367044.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:44.493Z,1736367044.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763765 2025-01-08T20:10:44.744Z,1736367044.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:44.744Z,1736367044.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015458 2025-01-08T20:10:44.831Z,1736367044.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:44.840Z,1736367044.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:44.849Z,1736367044.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.518677 m, bearing: 12.521726 deg, approach rate: 0.034353 m/s, LOS rate: 0.157409 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156200 deg. 2025-01-08T20:10:44.858Z,1736367044.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819835 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:44.996Z,1736367044.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:44.998Z,1736367044.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268592 2025-01-08T20:10:45.249Z,1736367045.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:45.249Z,1736367045.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520458 2025-01-08T20:10:45.299Z,1736367045.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:45.309Z,1736367045.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:45.312Z,1736367045.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.531464 m, bearing: 12.600073 deg, approach rate: 0.027256 m/s, LOS rate: 0.166993 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.210213 deg. 2025-01-08T20:10:45.313Z,1736367045.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820777 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:45.500Z,1736367045.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:45.501Z,1736367045.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772265 2025-01-08T20:10:45.634Z,1736367045.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:45.646Z,1736367045.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:45.651Z,1736367045.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:45.656Z,1736367045.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.541000 m, bearing: 12.657179 deg, approach rate: 0.027976 m/s, LOS rate: 0.167513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146498 deg. 2025-01-08T20:10:45.658Z,1736367045.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819665 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:45.752Z,1736367045.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:45.753Z,1736367045.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023665 2025-01-08T20:10:46.004Z,1736367046.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:46.004Z,1736367046.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275547 2025-01-08T20:10:46.124Z,1736367046.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:46.133Z,1736367046.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:46.137Z,1736367046.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.552475 m, bearing: 12.746412 deg, approach rate: 0.023774 m/s, LOS rate: 0.184873 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.242870 deg. 2025-01-08T20:10:46.138Z,1736367046.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821348 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:46.256Z,1736367046.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:46.257Z,1736367046.257 [DAT](INFO): DAT read: Rx Time:20:10:45.0371 2025-01-08T20:10:46.257Z,1736367046.257 [DAT](INFO): Rx dataTimestamp_ set to:1736367046.256899 2025-01-08T20:10:46.258Z,1736367046.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528822 2025-01-08T20:10:46.508Z,1736367046.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:46.508Z,1736367046.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779350 2025-01-08T20:10:46.554Z,1736367046.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:46.577Z,1736367046.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:46.580Z,1736367046.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.562973 m, bearing: 12.824407 deg, approach rate: 0.023648 m/s, LOS rate: 0.175686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209160 deg. 2025-01-08T20:10:46.581Z,1736367046.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820759 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:46.760Z,1736367046.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:46.762Z,1736367046.762 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:10:46.762Z,1736367046.762 [DAT](INFO): Received a bad header 2025-01-08T20:10:46.776Z,1736367046.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.046991 2025-01-08T20:10:47.012Z,1736367047.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:47.012Z,1736367047.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283543 2025-01-08T20:10:47.016Z,1736367047.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:47.025Z,1736367047.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:47.056Z,1736367047.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.569733 m, bearing: 12.914888 deg, approach rate: 0.015073 m/s, LOS rate: 0.201758 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.246619 deg. 2025-01-08T20:10:47.057Z,1736367047.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821413 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:47.264Z,1736367047.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:47.264Z,1736367047.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535422 2025-01-08T20:10:47.394Z,1736367047.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:47.404Z,1736367047.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:47.425Z,1736367047.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.576218 m, bearing: 12.988860 deg, approach rate: 0.017197 m/s, LOS rate: 0.196150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197094 deg. 2025-01-08T20:10:47.430Z,1736367047.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820549 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:47.516Z,1736367047.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:47.518Z,1736367047.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788974 2025-01-08T20:10:47.768Z,1736367047.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:47.769Z,1736367047.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039996 2025-01-08T20:10:47.802Z,1736367047.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:47.831Z,1736367047.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:47.833Z,1736367047.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:47.837Z,1736367047.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.584198 m, bearing: 13.068790 deg, approach rate: 0.018529 m/s, LOS rate: 0.185576 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.214969 deg. 2025-01-08T20:10:47.838Z,1736367047.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820861 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:48.021Z,1736367048.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:48.023Z,1736367048.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293514 2025-01-08T20:10:48.222Z,1736367048.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:48.231Z,1736367048.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:48.234Z,1736367048.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.596405 m, bearing: 13.152033 deg, approach rate: 0.030696 m/s, LOS rate: 0.209311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.224900 deg. 2025-01-08T20:10:48.236Z,1736367048.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821034 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:48.272Z,1736367048.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:48.273Z,1736367048.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543900 2025-01-08T20:10:48.524Z,1736367048.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:48.524Z,1736367048.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795397 2025-01-08T20:10:48.605Z,1736367048.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:48.613Z,1736367048.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:48.616Z,1736367048.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.608704 m, bearing: 13.228073 deg, approach rate: 0.032151 m/s, LOS rate: 0.198770 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.203292 deg. 2025-01-08T20:10:48.618Z,1736367048.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820657 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:48.776Z,1736367048.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:48.777Z,1736367048.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047736 2025-01-08T20:10:49.028Z,1736367049.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:49.028Z,1736367049.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299595 2025-01-08T20:10:49.049Z,1736367049.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:49.060Z,1736367049.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:49.063Z,1736367049.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.623489 m, bearing: 13.313789 deg, approach rate: 0.033144 m/s, LOS rate: 0.192133 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232318 deg. 2025-01-08T20:10:49.064Z,1736367049.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821164 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:49.281Z,1736367049.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:49.282Z,1736367049.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552744 2025-01-08T20:10:49.419Z,1736367049.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:49.427Z,1736367049.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:49.430Z,1736367049.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.636902 m, bearing: 13.385246 deg, approach rate: 0.036471 m/s, LOS rate: 0.194295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189543 deg. 2025-01-08T20:10:49.447Z,1736367049.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820417 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:49.532Z,1736367049.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:49.533Z,1736367049.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803763 2025-01-08T20:10:49.784Z,1736367049.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:49.786Z,1736367049.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056924 2025-01-08T20:10:49.828Z,1736367049.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:49.836Z,1736367049.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:49.838Z,1736367049.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:49.841Z,1736367049.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.653030 m, bearing: 13.464168 deg, approach rate: 0.039241 m/s, LOS rate: 0.192006 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.211933 deg. 2025-01-08T20:10:49.842Z,1736367049.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820807 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:50.036Z,1736367050.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:50.037Z,1736367050.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308039 2025-01-08T20:10:50.242Z,1736367050.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:50.273Z,1736367050.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:50.288Z,1736367050.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:50.289Z,1736367050.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559964 2025-01-08T20:10:50.290Z,1736367050.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.671356 m, bearing: 13.537851 deg, approach rate: 0.044345 m/s, LOS rate: 0.178288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196219 deg. 2025-01-08T20:10:50.293Z,1736367050.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820533 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:50.540Z,1736367050.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:50.542Z,1736367050.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812255 2025-01-08T20:10:50.628Z,1736367050.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:50.637Z,1736367050.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:50.640Z,1736367050.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.689255 m, bearing: 13.606309 deg, approach rate: 0.046360 m/s, LOS rate: 0.177301 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180543 deg. 2025-01-08T20:10:50.641Z,1736367050.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820260 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:50.792Z,1736367050.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:50.792Z,1736367050.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063439 2025-01-08T20:10:51.044Z,1736367051.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:51.045Z,1736367051.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315779 2025-01-08T20:10:51.064Z,1736367051.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:51.103Z,1736367051.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:51.110Z,1736367051.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.712448 m, bearing: 13.676134 deg, approach rate: 0.049834 m/s, LOS rate: 0.150012 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184640 deg. 2025-01-08T20:10:51.111Z,1736367051.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820331 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:51.296Z,1736367051.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:51.296Z,1736367051.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567491 2025-01-08T20:10:51.453Z,1736367051.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:51.461Z,1736367051.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:51.464Z,1736367051.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.733719 m, bearing: 13.738310 deg, approach rate: 0.059361 m/s, LOS rate: 0.173500 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161695 deg. 2025-01-08T20:10:51.465Z,1736367051.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819931 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:51.548Z,1736367051.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:51.549Z,1736367051.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820337 2025-01-08T20:10:51.800Z,1736367051.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:51.801Z,1736367051.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072224 2025-01-08T20:10:51.849Z,1736367051.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:51.865Z,1736367051.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:51.872Z,1736367051.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:51.874Z,1736367051.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.755905 m, bearing: 13.801648 deg, approach rate: 0.054710 m/s, LOS rate: 0.156173 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165182 deg. 2025-01-08T20:10:51.880Z,1736367051.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819992 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:52.052Z,1736367052.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:52.053Z,1736367052.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323777 2025-01-08T20:10:52.282Z,1736367052.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:52.291Z,1736367052.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:52.294Z,1736367052.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.778229 m, bearing: 13.862051 deg, approach rate: 0.052622 m/s, LOS rate: 0.142370 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156379 deg. 2025-01-08T20:10:52.295Z,1736367052.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819838 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:52.304Z,1736367052.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:52.304Z,1736367052.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575547 2025-01-08T20:10:52.557Z,1736367052.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:52.558Z,1736367052.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829190 2025-01-08T20:10:52.650Z,1736367052.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:52.688Z,1736367052.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:52.691Z,1736367052.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.797333 m, bearing: 13.913459 deg, approach rate: 0.048733 m/s, LOS rate: 0.131127 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129396 deg. 2025-01-08T20:10:52.696Z,1736367052.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819367 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:52.808Z,1736367052.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:52.809Z,1736367052.809 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:52.809Z,1736367052.809 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:52.809Z,1736367052.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:53.060Z,1736367053.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:53.060Z,1736367053.060 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:53.060Z,1736367053.060 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:53.060Z,1736367053.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:53.145Z,1736367053.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:53.155Z,1736367053.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:53.158Z,1736367053.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.824203 m, bearing: 13.973300 deg, approach rate: 0.056959 m/s, LOS rate: 0.126834 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154688 deg. 2025-01-08T20:10:53.159Z,1736367053.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819808 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:53.312Z,1736367053.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:53.312Z,1736367053.312 [DAT](INFO): Reached modem response timeout 2025-01-08T20:10:53.312Z,1736367053.312 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:10:53.312Z,1736367053.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:10:53.480Z,1736367053.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:53.488Z,1736367053.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:53.491Z,1736367053.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.842514 m, bearing: 14.013738 deg, approach rate: 0.054859 m/s, LOS rate: 0.121145 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.096492 deg. 2025-01-08T20:10:53.492Z,1736367053.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818793 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:53.565Z,1736367053.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:53.568Z,1736367053.568 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:10:53.568Z,1736367053.568 [DAT](INFO): response not received 2025-01-08T20:10:53.569Z,1736367053.569 [DAT](INFO): DAT read: user:1166> 2025-01-08T20:10:53.571Z,1736367053.571 [DAT](INFO): DAT read: Tx time:20:10:52.8310 2025-01-08T20:10:53.572Z,1736367053.572 [DAT](INFO): Ping request sent. 2025-01-08T20:10:53.572Z,1736367053.572 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:10:53.572Z,1736367053.572 [DAT](INFO): publishing transmit ping time 2025-01-08T20:10:53.574Z,1736367053.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001592 2025-01-08T20:10:53.816Z,1736367053.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:53.816Z,1736367053.816 [DAT](INFO): DAT read: TxSync time:20:10:52.8302 2025-01-08T20:10:53.818Z,1736367053.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246170 2025-01-08T20:10:53.868Z,1736367053.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:53.874Z,1736367053.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:53.876Z,1736367053.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:53.895Z,1736367053.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.862778 m, bearing: 14.060427 deg, approach rate: 0.052240 m/s, LOS rate: 0.120352 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115240 deg. 2025-01-08T20:10:53.896Z,1736367053.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819120 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:54.068Z,1736367054.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:54.069Z,1736367054.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497022 2025-01-08T20:10:54.308Z,1736367054.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:54.317Z,1736367054.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:54.328Z,1736367054.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:54.329Z,1736367054.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756834 2025-01-08T20:10:54.344Z,1736367054.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.884689 m, bearing: 14.108116 deg, approach rate: 0.049773 m/s, LOS rate: 0.108319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118242 deg. 2025-01-08T20:10:54.346Z,1736367054.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819172 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:54.581Z,1736367054.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:54.583Z,1736367054.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010444 2025-01-08T20:10:54.678Z,1736367054.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:54.689Z,1736367054.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:54.708Z,1736367054.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.902756 m, bearing: 14.148198 deg, approach rate: 0.048537 m/s, LOS rate: 0.107675 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.095423 deg. 2025-01-08T20:10:54.709Z,1736367054.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818774 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:54.832Z,1736367054.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:54.833Z,1736367054.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260706 2025-01-08T20:10:55.084Z,1736367055.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:55.085Z,1736367055.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513290 2025-01-08T20:10:55.124Z,1736367055.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:55.161Z,1736367055.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:55.168Z,1736367055.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.920441 m, bearing: 14.196621 deg, approach rate: 0.037462 m/s, LOS rate: 0.102566 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120442 deg. 2025-01-08T20:10:55.169Z,1736367055.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819211 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:55.336Z,1736367055.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:55.336Z,1736367055.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764446 2025-01-08T20:10:55.475Z,1736367055.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:55.488Z,1736367055.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:55.496Z,1736367055.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.933899 m, bearing: 14.234565 deg, approach rate: 0.041354 m/s, LOS rate: 0.116585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.089012 deg. 2025-01-08T20:10:55.497Z,1736367055.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818662 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:55.588Z,1736367055.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:55.589Z,1736367055.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016921 2025-01-08T20:10:55.840Z,1736367055.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:55.840Z,1736367055.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268587 2025-01-08T20:10:55.893Z,1736367055.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:55.906Z,1736367055.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:55.913Z,1736367055.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:55.923Z,1736367055.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.949280 m, bearing: 14.279865 deg, approach rate: 0.036105 m/s, LOS rate: 0.106332 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.111078 deg. 2025-01-08T20:10:55.935Z,1736367055.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819047 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:56.092Z,1736367056.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:56.092Z,1736367056.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520561 2025-01-08T20:10:56.311Z,1736367056.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:56.321Z,1736367056.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:56.324Z,1736367056.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.963211 m, bearing: 14.328935 deg, approach rate: 0.034119 m/s, LOS rate: 0.120172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122389 deg. 2025-01-08T20:10:56.325Z,1736367056.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819245 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:56.344Z,1736367056.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:56.344Z,1736367056.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772474 2025-01-08T20:10:56.596Z,1736367056.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:56.596Z,1736367056.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024582 2025-01-08T20:10:56.705Z,1736367056.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:56.714Z,1736367056.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:56.718Z,1736367056.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.975998 m, bearing: 14.375233 deg, approach rate: 0.032515 m/s, LOS rate: 0.117721 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114070 deg. 2025-01-08T20:10:56.719Z,1736367056.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819099 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:56.848Z,1736367056.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:56.848Z,1736367056.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276464 2025-01-08T20:10:57.102Z,1736367057.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:57.105Z,1736367057.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532405 2025-01-08T20:10:57.186Z,1736367057.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:57.195Z,1736367057.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:57.197Z,1736367057.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.986496 m, bearing: 14.441360 deg, approach rate: 0.021841 m/s, LOS rate: 0.137573 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173560 deg. 2025-01-08T20:10:57.199Z,1736367057.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820138 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:57.352Z,1736367057.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:57.353Z,1736367057.353 [DAT](INFO): DAT read: Rx Time:20:10:55.9856 2025-01-08T20:10:57.353Z,1736367057.353 [DAT](INFO): Rx dataTimestamp_ set to:1736367057.352714 2025-01-08T20:10:57.353Z,1736367057.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781685 2025-01-08T20:10:57.506Z,1736367057.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:57.514Z,1736367057.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:57.519Z,1736367057.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 227.993484 m, bearing: 14.485380 deg, approach rate: 0.021848 m/s, LOS rate: 0.137615 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107242 deg. 2025-01-08T20:10:57.521Z,1736367057.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818981 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:57.604Z,1736367057.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:57.605Z,1736367057.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032910 2025-01-08T20:10:57.856Z,1736367057.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:57.857Z,1736367057.857 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:10:57.857Z,1736367057.857 [DAT](INFO): Received a bad header 2025-01-08T20:10:57.878Z,1736367057.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.305021 2025-01-08T20:10:57.920Z,1736367057.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:57.926Z,1736367057.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:10:57.928Z,1736367057.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:57.931Z,1736367057.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.002808 m, bearing: 14.542150 deg, approach rate: 0.022524 m/s, LOS rate: 0.137146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145489 deg. 2025-01-08T20:10:57.944Z,1736367057.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819648 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:58.109Z,1736367058.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:58.111Z,1736367058.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539089 2025-01-08T20:10:58.321Z,1736367058.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:58.329Z,1736367058.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:58.348Z,1736367058.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.015213 m, bearing: 14.605505 deg, approach rate: 0.030959 m/s, LOS rate: 0.158100 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165240 deg. 2025-01-08T20:10:58.349Z,1736367058.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819993 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:58.360Z,1736367058.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:58.360Z,1736367058.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788624 2025-01-08T20:10:58.612Z,1736367058.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:58.614Z,1736367058.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041933 2025-01-08T20:10:58.722Z,1736367058.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:58.739Z,1736367058.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:58.746Z,1736367058.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.028442 m, bearing: 14.668912 deg, approach rate: 0.032277 m/s, LOS rate: 0.154693 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165396 deg. 2025-01-08T20:10:58.747Z,1736367058.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819995 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:58.864Z,1736367058.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:58.864Z,1736367058.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292529 2025-01-08T20:10:59.118Z,1736367059.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:59.120Z,1736367059.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548036 2025-01-08T20:10:59.205Z,1736367059.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:59.214Z,1736367059.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:59.216Z,1736367059.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.048904 m, bearing: 14.754464 deg, approach rate: 0.043107 m/s, LOS rate: 0.180215 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.231818 deg. 2025-01-08T20:10:59.219Z,1736367059.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821155 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:59.369Z,1736367059.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:59.369Z,1736367059.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797386 2025-01-08T20:10:59.618Z,1736367059.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:10:59.620Z,1736367059.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:59.621Z,1736367059.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049177 2025-01-08T20:10:59.633Z,1736367059.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:10:59.637Z,1736367059.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.066818 m, bearing: 14.827627 deg, approach rate: 0.042692 m/s, LOS rate: 0.174347 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194659 deg. 2025-01-08T20:10:59.638Z,1736367059.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820506 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:10:59.872Z,1736367059.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:10:59.873Z,1736367059.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301341 2025-01-08T20:11:00.038Z,1736367060.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:00.064Z,1736367060.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:00.066Z,1736367060.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:00.091Z,1736367060.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.087265 m, bearing: 14.901921 deg, approach rate: 0.047185 m/s, LOS rate: 0.171434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198047 deg. 2025-01-08T20:11:00.108Z,1736367060.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820565 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:00.126Z,1736367060.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:00.128Z,1736367060.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555652 2025-01-08T20:11:00.377Z,1736367060.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:00.378Z,1736367060.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806209 2025-01-08T20:11:00.494Z,1736367060.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:00.504Z,1736367060.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:00.507Z,1736367060.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.107666 m, bearing: 14.990605 deg, approach rate: 0.046602 m/s, LOS rate: 0.202563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.241213 deg. 2025-01-08T20:11:00.510Z,1736367060.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821319 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:00.628Z,1736367060.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:00.629Z,1736367060.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057178 2025-01-08T20:11:00.848Z,1736367060.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:00.857Z,1736367060.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:00.860Z,1736367060.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.124847 m, bearing: 15.059490 deg, approach rate: 0.048662 m/s, LOS rate: 0.195084 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181824 deg. 2025-01-08T20:11:00.861Z,1736367060.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820282 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:00.880Z,1736367060.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:00.880Z,1736367060.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308444 2025-01-08T20:11:01.134Z,1736367061.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:01.136Z,1736367061.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563951 2025-01-08T20:11:01.272Z,1736367061.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:01.281Z,1736367061.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:01.285Z,1736367061.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.158112 m, bearing: 15.145133 deg, approach rate: 0.078539 m/s, LOS rate: 0.202180 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232077 deg. 2025-01-08T20:11:01.286Z,1736367061.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821159 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:01.384Z,1736367061.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:01.385Z,1736367061.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813305 2025-01-08T20:11:01.636Z,1736367061.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:01.637Z,1736367061.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065398 2025-01-08T20:11:01.666Z,1736367061.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:01.721Z,1736367061.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:01.727Z,1736367061.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.190750 m, bearing: 15.224570 deg, approach rate: 0.074162 m/s, LOS rate: 0.180472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.213462 deg. 2025-01-08T20:11:01.737Z,1736367061.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820834 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:01.888Z,1736367061.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:01.888Z,1736367061.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316562 2025-01-08T20:11:02.067Z,1736367062.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:02.074Z,1736367062.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:02.077Z,1736367062.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:02.080Z,1736367062.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.225784 m, bearing: 15.305352 deg, approach rate: 0.098481 m/s, LOS rate: 0.227045 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217496 deg. 2025-01-08T20:11:02.081Z,1736367062.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820905 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:02.142Z,1736367062.142 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:02.145Z,1736367062.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572676 2025-01-08T20:11:02.392Z,1736367062.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:02.392Z,1736367062.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820462 2025-01-08T20:11:02.488Z,1736367062.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:02.497Z,1736367062.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:02.500Z,1736367062.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.263931 m, bearing: 15.387818 deg, approach rate: 0.090780 m/s, LOS rate: 0.196213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222540 deg. 2025-01-08T20:11:02.502Z,1736367062.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820993 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:02.644Z,1736367062.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:02.644Z,1736367062.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072593 2025-01-08T20:11:02.868Z,1736367062.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:02.876Z,1736367062.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:02.878Z,1736367062.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.299316 m, bearing: 15.461753 deg, approach rate: 0.093409 m/s, LOS rate: 0.195143 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196956 deg. 2025-01-08T20:11:02.880Z,1736367062.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820546 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:02.896Z,1736367062.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:02.896Z,1736367062.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324397 2025-01-08T20:11:03.149Z,1736367063.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:03.152Z,1736367063.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579561 2025-01-08T20:11:03.301Z,1736367063.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:03.310Z,1736367063.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:03.312Z,1736367063.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.341461 m, bearing: 15.542058 deg, approach rate: 0.097169 m/s, LOS rate: 0.185117 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.216056 deg. 2025-01-08T20:11:03.313Z,1736367063.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820879 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:03.403Z,1736367063.403 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:03.406Z,1736367063.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833622 2025-01-08T20:11:03.653Z,1736367063.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:03.653Z,1736367063.653 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:03.653Z,1736367063.653 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:03.654Z,1736367063.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:03.712Z,1736367063.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:03.720Z,1736367063.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:03.722Z,1736367063.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.382614 m, bearing: 15.618217 deg, approach rate: 0.100376 m/s, LOS rate: 0.185726 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.203623 deg. 2025-01-08T20:11:03.724Z,1736367063.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820662 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:03.904Z,1736367063.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:03.904Z,1736367063.904 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:03.904Z,1736367063.904 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:03.905Z,1736367063.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:04.079Z,1736367064.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:04.087Z,1736367064.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:04.089Z,1736367064.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:04.109Z,1736367064.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.419861 m, bearing: 15.686231 deg, approach rate: 0.100669 m/s, LOS rate: 0.183793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179192 deg. 2025-01-08T20:11:04.115Z,1736367064.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820236 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:04.158Z,1736367064.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:04.160Z,1736367064.160 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:04.161Z,1736367064.161 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:04.161Z,1736367064.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:04.408Z,1736367064.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:04.409Z,1736367064.409 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:11:04.409Z,1736367064.409 [DAT](INFO): response not received 2025-01-08T20:11:04.409Z,1736367064.409 [DAT](INFO): DAT read: user:1168> 2025-01-08T20:11:04.410Z,1736367064.410 [DAT](INFO): DAT read: Tx time:20:11:03.7811 2025-01-08T20:11:04.410Z,1736367064.410 [DAT](INFO): Ping request sent. 2025-01-08T20:11:04.410Z,1736367064.410 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:11:04.410Z,1736367064.410 [DAT](INFO): publishing transmit ping time 2025-01-08T20:11:04.412Z,1736367064.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001276 2025-01-08T20:11:04.540Z,1736367064.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:04.548Z,1736367064.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:04.552Z,1736367064.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.468338 m, bearing: 15.763221 deg, approach rate: 0.105706 m/s, LOS rate: 0.167844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206108 deg. 2025-01-08T20:11:04.553Z,1736367064.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820706 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:04.660Z,1736367064.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:04.661Z,1736367064.661 [DAT](INFO): DAT read: TxSync time:20:11:03.7803 2025-01-08T20:11:04.662Z,1736367064.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251949 2025-01-08T20:11:04.883Z,1736367064.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:04.892Z,1736367064.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:04.894Z,1736367064.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.504456 m, bearing: 15.820576 deg, approach rate: 0.105069 m/s, LOS rate: 0.166824 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147223 deg. 2025-01-08T20:11:04.896Z,1736367064.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819678 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:04.929Z,1736367064.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:04.930Z,1736367064.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.519547 2025-01-08T20:11:05.181Z,1736367065.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:05.184Z,1736367065.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.772713 2025-01-08T20:11:05.330Z,1736367065.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:05.340Z,1736367065.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:05.343Z,1736367065.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.549484 m, bearing: 15.888331 deg, approach rate: 0.100403 m/s, LOS rate: 0.151048 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178410 deg. 2025-01-08T20:11:05.344Z,1736367065.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820222 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:05.432Z,1736367065.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:05.434Z,1736367065.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.023169 2025-01-08T20:11:05.684Z,1736367065.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:05.684Z,1736367065.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.273956 2025-01-08T20:11:05.719Z,1736367065.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:05.728Z,1736367065.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:05.733Z,1736367065.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.588455 m, bearing: 15.947224 deg, approach rate: 0.100711 m/s, LOS rate: 0.152169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151836 deg. 2025-01-08T20:11:05.735Z,1736367065.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819759 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:05.936Z,1736367065.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:05.936Z,1736367065.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526109 2025-01-08T20:11:06.126Z,1736367066.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:06.133Z,1736367066.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:06.137Z,1736367066.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:06.140Z,1736367066.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.629562 m, bearing: 16.008933 deg, approach rate: 0.100347 m/s, LOS rate: 0.150611 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160279 deg. 2025-01-08T20:11:06.141Z,1736367066.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819906 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:06.190Z,1736367066.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:06.192Z,1736367066.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.781403 2025-01-08T20:11:06.440Z,1736367066.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:06.440Z,1736367066.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029997 2025-01-08T20:11:06.508Z,1736367066.508 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010812121153,3.9, 0.0,1493.1, 0 2025-01-08T20:11:06.515Z,1736367066.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:11:06.515Z,1736367066.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:06.525Z,1736367066.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:06.528Z,1736367066.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.667160 m, bearing: 16.067733 deg, approach rate: 0.096861 m/s, LOS rate: 0.151459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151559 deg. 2025-01-08T20:11:06.529Z,1736367066.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819754 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:06.692Z,1736367066.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:06.693Z,1736367066.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282324 2025-01-08T20:11:06.752Z,1736367066.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:11:06.908Z,1736367066.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:11:06.909Z,1736367066.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:06.918Z,1736367066.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:06.921Z,1736367066.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.704544 m, bearing: 16.127437 deg, approach rate: 0.095388 m/s, LOS rate: 0.152311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154266 deg. 2025-01-08T20:11:06.922Z,1736367066.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819801 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:06.944Z,1736367066.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:06.944Z,1736367066.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534176 2025-01-08T20:11:07.198Z,1736367067.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:07.201Z,1736367067.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.790011 2025-01-08T20:11:07.337Z,1736367067.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:07.345Z,1736367067.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:07.369Z,1736367067.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.732178 m, bearing: 16.179227 deg, approach rate: 0.064554 m/s, LOS rate: 0.120971 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130538 deg. 2025-01-08T20:11:07.370Z,1736367067.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819387 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:07.448Z,1736367067.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:07.449Z,1736367067.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038405 2025-01-08T20:11:07.700Z,1736367067.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:07.700Z,1736367067.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290149 2025-01-08T20:11:07.744Z,1736367067.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:07.754Z,1736367067.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:07.756Z,1736367067.756 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:11:07.758Z,1736367067.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.757629 m, bearing: 16.228189 deg, approach rate: 0.062204 m/s, LOS rate: 0.119650 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122057 deg. 2025-01-08T20:11:07.760Z,1736367067.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819239 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:07.952Z,1736367067.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:07.952Z,1736367067.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542119 2025-01-08T20:11:08.116Z,1736367068.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:08.125Z,1736367068.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:08.128Z,1736367068.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.780502 m, bearing: 16.273460 deg, approach rate: 0.061662 m/s, LOS rate: 0.122032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110987 deg. 2025-01-08T20:11:08.129Z,1736367068.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819046 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:08.206Z,1736367068.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:08.208Z,1736367068.208 [DAT](INFO): DAT read: Rx Time:20:11:06.9552 2025-01-08T20:11:08.210Z,1736367068.210 [DAT](INFO): Rx dataTimestamp_ set to:1736367068.208919 2025-01-08T20:11:08.212Z,1736367068.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.800740 2025-01-08T20:11:08.456Z,1736367068.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:08.456Z,1736367068.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.046039 2025-01-08T20:11:08.554Z,1736367068.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:08.561Z,1736367068.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:08.563Z,1736367068.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:08.566Z,1736367068.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.803558 m, bearing: 16.326783 deg, approach rate: 0.052655 m/s, LOS rate: 0.121767 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135140 deg. 2025-01-08T20:11:08.568Z,1736367068.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819468 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:08.709Z,1736367068.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:08.711Z,1736367068.711 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:11:08.712Z,1736367068.712 [DAT](INFO): Received a bad header 2025-01-08T20:11:08.724Z,1736367068.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.313377 2025-01-08T20:11:08.940Z,1736367068.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:08.948Z,1736367068.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:08.952Z,1736367068.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.823471 m, bearing: 16.373735 deg, approach rate: 0.051746 m/s, LOS rate: 0.121999 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116028 deg. 2025-01-08T20:11:08.953Z,1736367068.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819134 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:08.960Z,1736367068.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:08.961Z,1736367068.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550219 2025-01-08T20:11:09.212Z,1736367069.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:09.212Z,1736367069.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802082 2025-01-08T20:11:09.377Z,1736367069.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:09.387Z,1736367069.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:09.390Z,1736367069.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.843506 m, bearing: 16.428792 deg, approach rate: 0.045663 m/s, LOS rate: 0.125475 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140343 deg. 2025-01-08T20:11:09.391Z,1736367069.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819558 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:09.465Z,1736367069.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:09.466Z,1736367069.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.055964 2025-01-08T20:11:09.718Z,1736367069.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:09.721Z,1736367069.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.310329 2025-01-08T20:11:09.752Z,1736367069.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:09.777Z,1736367069.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:09.784Z,1736367069.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.860443 m, bearing: 16.476173 deg, approach rate: 0.043380 m/s, LOS rate: 0.121345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117320 deg. 2025-01-08T20:11:09.785Z,1736367069.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819156 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:09.968Z,1736367069.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:09.969Z,1736367069.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.558836 2025-01-08T20:11:10.140Z,1736367070.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:10.165Z,1736367070.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:10.172Z,1736367070.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.878128 m, bearing: 16.525031 deg, approach rate: 0.045619 m/s, LOS rate: 0.126021 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121749 deg. 2025-01-08T20:11:10.173Z,1736367070.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819233 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:10.222Z,1736367070.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:10.225Z,1736367070.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.813602 2025-01-08T20:11:10.472Z,1736367070.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:10.472Z,1736367070.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.062106 2025-01-08T20:11:10.573Z,1736367070.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:10.588Z,1736367070.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:10.593Z,1736367070.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:10.599Z,1736367070.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.897217 m, bearing: 16.584157 deg, approach rate: 0.044652 m/s, LOS rate: 0.138296 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152549 deg. 2025-01-08T20:11:10.601Z,1736367070.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819771 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:10.725Z,1736367070.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:10.726Z,1736367070.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.315255 2025-01-08T20:11:10.960Z,1736367070.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:10.969Z,1736367070.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:10.972Z,1736367070.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.914520 m, bearing: 16.637108 deg, approach rate: 0.045939 m/s, LOS rate: 0.140568 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134027 deg. 2025-01-08T20:11:10.973Z,1736367070.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819448 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:10.977Z,1736367070.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:10.978Z,1736367070.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.567724 2025-01-08T20:11:11.228Z,1736367071.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:11.229Z,1736367071.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.818212 2025-01-08T20:11:11.381Z,1736367071.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:11.392Z,1736367071.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:11.394Z,1736367071.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.934677 m, bearing: 16.699171 deg, approach rate: 0.047696 m/s, LOS rate: 0.146844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161360 deg. 2025-01-08T20:11:11.396Z,1736367071.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819925 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:11.481Z,1736367071.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:11.481Z,1736367071.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.071095 2025-01-08T20:11:11.733Z,1736367071.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:11.734Z,1736367071.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.322998 2025-01-08T20:11:11.761Z,1736367071.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:11.788Z,1736367071.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:11.800Z,1736367071.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.953430 m, bearing: 16.755078 deg, approach rate: 0.047891 m/s, LOS rate: 0.142762 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142894 deg. 2025-01-08T20:11:11.801Z,1736367071.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819602 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:11.985Z,1736367071.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:11.986Z,1736367071.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575208 2025-01-08T20:11:12.157Z,1736367072.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:12.165Z,1736367072.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:12.169Z,1736367072.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.973557 m, bearing: 16.813380 deg, approach rate: 0.052686 m/s, LOS rate: 0.152607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150076 deg. 2025-01-08T20:11:12.170Z,1736367072.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819728 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:12.237Z,1736367072.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:12.238Z,1736367072.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.828183 2025-01-08T20:11:12.488Z,1736367072.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:12.489Z,1736367072.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078380 2025-01-08T20:11:12.586Z,1736367072.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:12.593Z,1736367072.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:12.595Z,1736367072.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:12.598Z,1736367072.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 228.999695 m, bearing: 16.881257 deg, approach rate: 0.060807 m/s, LOS rate: 0.157887 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178793 deg. 2025-01-08T20:11:12.599Z,1736367072.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820229 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:12.740Z,1736367072.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:12.741Z,1736367072.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.330603 2025-01-08T20:11:12.964Z,1736367072.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:12.974Z,1736367072.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:12.992Z,1736367072.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:12.992Z,1736367072.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.581979 2025-01-08T20:11:12.994Z,1736367072.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.023544 m, bearing: 16.941063 deg, approach rate: 0.062991 m/s, LOS rate: 0.157941 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154586 deg. 2025-01-08T20:11:12.995Z,1736367072.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819807 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:13.244Z,1736367073.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:13.245Z,1736367073.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.834414 2025-01-08T20:11:13.396Z,1736367073.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:13.405Z,1736367073.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:13.424Z,1736367073.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.052750 m, bearing: 17.012339 deg, approach rate: 0.067644 m/s, LOS rate: 0.165065 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188988 deg. 2025-01-08T20:11:13.425Z,1736367073.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820407 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:13.497Z,1736367073.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:13.498Z,1736367073.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.087450 2025-01-08T20:11:13.748Z,1736367073.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:13.748Z,1736367073.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.337994 2025-01-08T20:11:13.792Z,1736367073.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:13.802Z,1736367073.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:13.809Z,1736367073.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.080566 m, bearing: 17.077964 deg, approach rate: 0.070366 m/s, LOS rate: 0.165987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172037 deg. 2025-01-08T20:11:13.813Z,1736367073.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820111 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:13.000Z,1736367074.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:14.000Z,1736367074.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590184 2025-01-08T20:11:14.184Z,1736367074.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:14.193Z,1736367074.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:14.196Z,1736367074.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.108704 m, bearing: 17.142516 deg, approach rate: 0.071717 m/s, LOS rate: 0.164512 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168818 deg. 2025-01-08T20:11:14.197Z,1736367074.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820055 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:14.253Z,1736367074.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:14.254Z,1736367074.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843544 2025-01-08T20:11:14.504Z,1736367074.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:14.504Z,1736367074.504 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:14.504Z,1736367074.504 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:14.505Z,1736367074.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:14.593Z,1736367074.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:11:14.593Z,1736367074.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:14.600Z,1736367074.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:14.602Z,1736367074.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:14.605Z,1736367074.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.138809 m, bearing: 17.210035 deg, approach rate: 0.073517 m/s, LOS rate: 0.164856 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177714 deg. 2025-01-08T20:11:14.607Z,1736367074.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820210 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:14.756Z,1736367074.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:14.756Z,1736367074.756 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:14.756Z,1736367074.756 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:14.756Z,1736367074.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:14.996Z,1736367074.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:11:14.996Z,1736367074.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:15.005Z,1736367075.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:15.008Z,1736367075.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:15.008Z,1736367075.008 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:15.008Z,1736367075.008 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:15.009Z,1736367075.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:15.012Z,1736367075.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.169357 m, bearing: 17.276532 deg, approach rate: 0.075848 m/s, LOS rate: 0.165084 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174650 deg. 2025-01-08T20:11:15.013Z,1736367075.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820157 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:15.260Z,1736367075.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:15.260Z,1736367075.260 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:15.260Z,1736367075.260 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:15.260Z,1736367075.260 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:15.425Z,1736367075.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:15.433Z,1736367075.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:15.437Z,1736367075.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.207001 m, bearing: 17.349772 deg, approach rate: 0.087952 m/s, LOS rate: 0.171094 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194871 deg. 2025-01-08T20:11:15.438Z,1736367075.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820510 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:15.512Z,1736367075.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:15.514Z,1736367075.514 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:11:15.514Z,1736367075.514 [DAT](INFO): response not received 2025-01-08T20:11:15.515Z,1736367075.515 [DAT](INFO): DAT read: user:1170> 2025-01-08T20:11:15.516Z,1736367075.516 [DAT](INFO): DAT read: Tx time:20:11:14.7312 2025-01-08T20:11:15.517Z,1736367075.517 [DAT](INFO): Ping request sent. 2025-01-08T20:11:15.517Z,1736367075.517 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:11:15.518Z,1736367075.518 [DAT](INFO): publishing transmit ping time 2025-01-08T20:11:15.519Z,1736367075.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001638 2025-01-08T20:11:15.764Z,1736367075.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:15.765Z,1736367075.765 [DAT](INFO): DAT read: TxSync time:20:11:14.7304 2025-01-08T20:11:15.765Z,1736367075.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248410 2025-01-08T20:11:15.796Z,1736367075.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:15.805Z,1736367075.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:15.807Z,1736367075.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.240417 m, bearing: 17.413119 deg, approach rate: 0.089984 m/s, LOS rate: 0.170556 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165200 deg. 2025-01-08T20:11:15.809Z,1736367075.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819992 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:16.016Z,1736367076.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:16.016Z,1736367076.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499431 2025-01-08T20:11:16.206Z,1736367076.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:16.214Z,1736367076.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:16.223Z,1736367076.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.278351 m, bearing: 17.482827 deg, approach rate: 0.092677 m/s, LOS rate: 0.170278 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184274 deg. 2025-01-08T20:11:16.225Z,1736367076.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820325 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:16.270Z,1736367076.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:16.270Z,1736367076.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753609 2025-01-08T20:11:16.520Z,1736367076.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:16.520Z,1736367076.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003522 2025-01-08T20:11:16.626Z,1736367076.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:16.657Z,1736367076.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:16.665Z,1736367076.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:16.674Z,1736367076.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.315887 m, bearing: 17.554051 deg, approach rate: 0.083272 m/s, LOS rate: 0.157980 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188824 deg. 2025-01-08T20:11:16.680Z,1736367076.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820405 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:16.772Z,1736367076.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:16.773Z,1736367076.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255836 2025-01-08T20:11:17.004Z,1736367077.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:17.013Z,1736367077.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:17.016Z,1736367077.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.350281 m, bearing: 17.618191 deg, approach rate: 0.098827 m/s, LOS rate: 0.184273 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167576 deg. 2025-01-08T20:11:17.017Z,1736367077.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820034 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:17.024Z,1736367077.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:17.024Z,1736367077.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507486 2025-01-08T20:11:17.276Z,1736367077.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:17.277Z,1736367077.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759712 2025-01-08T20:11:17.453Z,1736367077.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:17.461Z,1736367077.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:17.464Z,1736367077.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.394608 m, bearing: 17.693594 deg, approach rate: 0.098868 m/s, LOS rate: 0.168148 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201350 deg. 2025-01-08T20:11:17.465Z,1736367077.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820623 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:17.529Z,1736367077.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:17.530Z,1736367077.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012926 2025-01-08T20:11:17.780Z,1736367077.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:17.780Z,1736367077.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263419 2025-01-08T20:11:17.839Z,1736367077.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:17.859Z,1736367077.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:17.865Z,1736367077.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.432968 m, bearing: 17.758525 deg, approach rate: 0.097315 m/s, LOS rate: 0.164694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169947 deg. 2025-01-08T20:11:17.866Z,1736367077.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820075 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:18.032Z,1736367078.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:18.032Z,1736367078.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515603 2025-01-08T20:11:18.221Z,1736367078.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:18.230Z,1736367078.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:18.232Z,1736367078.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.471298 m, bearing: 17.822774 deg, approach rate: 0.102387 m/s, LOS rate: 0.171593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167900 deg. 2025-01-08T20:11:18.234Z,1736367078.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820039 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:18.285Z,1736367078.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:18.286Z,1736367078.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769114 2025-01-08T20:11:18.536Z,1736367078.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:18.537Z,1736367078.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019683 2025-01-08T20:11:18.662Z,1736367078.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:18.688Z,1736367078.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:18.690Z,1736367078.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:18.697Z,1736367078.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.512970 m, bearing: 17.895309 deg, approach rate: 0.090417 m/s, LOS rate: 0.157354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192751 deg. 2025-01-08T20:11:18.698Z,1736367078.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820473 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:18.788Z,1736367078.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:18.789Z,1736367078.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271855 2025-01-08T20:11:19.035Z,1736367079.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:19.040Z,1736367079.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:19.041Z,1736367079.041 [DAT](INFO): DAT read: Rx Time:20:11:17.9144 2025-01-08T20:11:19.041Z,1736367079.041 [DAT](INFO): Rx dataTimestamp_ set to:1736367079.040737 2025-01-08T20:11:19.041Z,1736367079.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524656 2025-01-08T20:11:19.068Z,1736367079.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:19.071Z,1736367079.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.548203 m, bearing: 17.956677 deg, approach rate: 0.094455 m/s, LOS rate: 0.164498 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159263 deg. 2025-01-08T20:11:19.076Z,1736367079.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819889 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:19.292Z,1736367079.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:19.293Z,1736367079.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775510 2025-01-08T20:11:19.483Z,1736367079.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:19.495Z,1736367079.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:19.498Z,1736367079.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.596359 m, bearing: 18.029147 deg, approach rate: 0.111659 m/s, LOS rate: 0.167997 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192549 deg. 2025-01-08T20:11:19.499Z,1736367079.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820469 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:19.544Z,1736367079.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:19.545Z,1736367079.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028549 2025-01-08T20:11:19.796Z,1736367079.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:19.796Z,1736367079.796 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:11:19.797Z,1736367079.797 [DAT](INFO): Received a bad header 2025-01-08T20:11:19.820Z,1736367079.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.302936 2025-01-08T20:11:19.863Z,1736367079.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:19.879Z,1736367079.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:19.886Z,1736367079.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.637283 m, bearing: 18.090536 deg, approach rate: 0.106548 m/s, LOS rate: 0.159803 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159322 deg. 2025-01-08T20:11:19.887Z,1736367079.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819890 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:20.048Z,1736367080.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:20.048Z,1736367080.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531412 2025-01-08T20:11:20.253Z,1736367080.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:20.265Z,1736367080.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:20.269Z,1736367080.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.679642 m, bearing: 18.153619 deg, approach rate: 0.109641 m/s, LOS rate: 0.163252 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164397 deg. 2025-01-08T20:11:20.270Z,1736367080.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819978 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:20.300Z,1736367080.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:20.302Z,1736367080.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784403 2025-01-08T20:11:20.552Z,1736367080.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:20.553Z,1736367080.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035866 2025-01-08T20:11:20.698Z,1736367080.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:20.706Z,1736367080.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:20.708Z,1736367080.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:20.711Z,1736367080.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.726532 m, bearing: 18.222451 deg, approach rate: 0.105802 m/s, LOS rate: 0.155280 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181641 deg. 2025-01-08T20:11:20.712Z,1736367080.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820279 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:20.805Z,1736367080.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:20.806Z,1736367080.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288820 2025-01-08T20:11:21.056Z,1736367081.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:21.056Z,1736367081.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539592 2025-01-08T20:11:21.089Z,1736367081.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:21.097Z,1736367081.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:21.100Z,1736367081.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.767944 m, bearing: 18.282826 deg, approach rate: 0.106630 m/s, LOS rate: 0.155427 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156278 deg. 2025-01-08T20:11:21.102Z,1736367081.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819836 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:21.309Z,1736367081.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:21.310Z,1736367081.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792686 2025-01-08T20:11:21.505Z,1736367081.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:21.538Z,1736367081.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:21.545Z,1736367081.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.808823 m, bearing: 18.345822 deg, approach rate: 0.092606 m/s, LOS rate: 0.142686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164140 deg. 2025-01-08T20:11:21.546Z,1736367081.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819973 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:21.562Z,1736367081.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:21.563Z,1736367081.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046047 2025-01-08T20:11:21.816Z,1736367081.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:21.817Z,1736367081.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299633 2025-01-08T20:11:21.866Z,1736367081.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:21.898Z,1736367081.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:21.905Z,1736367081.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.844131 m, bearing: 18.400215 deg, approach rate: 0.098168 m/s, LOS rate: 0.151205 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138342 deg. 2025-01-08T20:11:21.906Z,1736367081.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819523 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:22.068Z,1736367082.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:22.069Z,1736367082.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551996 2025-01-08T20:11:22.257Z,1736367082.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:22.265Z,1736367082.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:22.269Z,1736367082.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.882278 m, bearing: 18.459385 deg, approach rate: 0.103835 m/s, LOS rate: 0.161031 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152665 deg. 2025-01-08T20:11:22.270Z,1736367082.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819773 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:22.320Z,1736367082.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:22.321Z,1736367082.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804404 2025-01-08T20:11:22.572Z,1736367082.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:22.572Z,1736367082.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055593 2025-01-08T20:11:22.706Z,1736367082.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:22.713Z,1736367082.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:22.715Z,1736367082.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:22.718Z,1736367082.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.926437 m, bearing: 18.526158 deg, approach rate: 0.098244 m/s, LOS rate: 0.148529 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175469 deg. 2025-01-08T20:11:22.720Z,1736367082.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820171 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:22.824Z,1736367082.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:22.825Z,1736367082.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308580 2025-01-08T20:11:23.071Z,1736367083.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:23.076Z,1736367083.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:23.077Z,1736367083.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559779 2025-01-08T20:11:23.083Z,1736367083.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:23.086Z,1736367083.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 229.962051 m, bearing: 18.580294 deg, approach rate: 0.096736 m/s, LOS rate: 0.147023 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137568 deg. 2025-01-08T20:11:23.088Z,1736367083.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819510 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:23.328Z,1736367083.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:23.328Z,1736367083.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811623 2025-01-08T20:11:23.539Z,1736367083.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:23.547Z,1736367083.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:23.550Z,1736367083.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.002243 m, bearing: 18.648647 deg, approach rate: 0.086579 m/s, LOS rate: 0.147218 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180209 deg. 2025-01-08T20:11:23.553Z,1736367083.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820254 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:23.580Z,1736367083.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:23.580Z,1736367083.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063578 2025-01-08T20:11:23.832Z,1736367083.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:23.833Z,1736367083.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315653 2025-01-08T20:11:23.900Z,1736367083.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:23.932Z,1736367083.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:23.941Z,1736367083.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.033371 m, bearing: 18.701171 deg, approach rate: 0.080779 m/s, LOS rate: 0.136283 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132735 deg. 2025-01-08T20:11:23.942Z,1736367083.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819426 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:24.085Z,1736367084.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:24.086Z,1736367084.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568960 2025-01-08T20:11:24.280Z,1736367084.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:24.289Z,1736367084.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:24.292Z,1736367084.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.066605 m, bearing: 18.756660 deg, approach rate: 0.093194 m/s, LOS rate: 0.155580 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141629 deg. 2025-01-08T20:11:24.293Z,1736367084.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819581 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:24.336Z,1736367084.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:24.336Z,1736367084.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819604 2025-01-08T20:11:24.588Z,1736367084.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:24.588Z,1736367084.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071446 2025-01-08T20:11:24.728Z,1736367084.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:24.736Z,1736367084.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:24.738Z,1736367084.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:24.741Z,1736367084.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.104599 m, bearing: 18.821885 deg, approach rate: 0.084670 m/s, LOS rate: 0.145329 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170829 deg. 2025-01-08T20:11:24.742Z,1736367084.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820090 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:24.840Z,1736367084.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:24.841Z,1736367084.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323790 2025-01-08T20:11:25.086Z,1736367085.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:25.092Z,1736367085.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:25.092Z,1736367085.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575574 2025-01-08T20:11:25.131Z,1736367085.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:25.140Z,1736367085.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.135513 m, bearing: 18.874233 deg, approach rate: 0.080214 m/s, LOS rate: 0.135813 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132212 deg. 2025-01-08T20:11:25.141Z,1736367085.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819416 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:25.344Z,1736367085.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:25.344Z,1736367085.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827409 2025-01-08T20:11:25.581Z,1736367085.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:25.590Z,1736367085.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:25.593Z,1736367085.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.178406 m, bearing: 18.946987 deg, approach rate: 0.091916 m/s, LOS rate: 0.155877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193405 deg. 2025-01-08T20:11:25.594Z,1736367085.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820484 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:25.596Z,1736367085.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:25.596Z,1736367085.596 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:25.596Z,1736367085.596 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:25.597Z,1736367085.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:25.848Z,1736367085.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:25.848Z,1736367085.848 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:25.848Z,1736367085.848 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:25.849Z,1736367085.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:25.916Z,1736367085.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:25.937Z,1736367085.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:25.946Z,1736367085.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.208084 m, bearing: 18.996368 deg, approach rate: 0.085411 m/s, LOS rate: 0.142094 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123310 deg. 2025-01-08T20:11:25.952Z,1736367085.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819261 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:26.100Z,1736367086.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:26.100Z,1736367086.100 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:26.100Z,1736367086.100 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:26.101Z,1736367086.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:26.328Z,1736367086.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:26.337Z,1736367086.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:26.340Z,1736367086.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.244736 m, bearing: 19.056941 deg, approach rate: 0.091729 m/s, LOS rate: 0.151573 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156877 deg. 2025-01-08T20:11:26.341Z,1736367086.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819847 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:26.352Z,1736367086.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:26.353Z,1736367086.353 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:11:26.353Z,1736367086.353 [DAT](INFO): response not received 2025-01-08T20:11:26.353Z,1736367086.353 [DAT](INFO): DAT read: user:1172> 2025-01-08T20:11:26.354Z,1736367086.354 [DAT](INFO): DAT read: Tx time:20:11:25.6813 2025-01-08T20:11:26.354Z,1736367086.354 [DAT](INFO): Ping request sent. 2025-01-08T20:11:26.354Z,1736367086.354 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:11:26.355Z,1736367086.355 [DAT](INFO): publishing transmit ping time 2025-01-08T20:11:26.355Z,1736367086.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000700 2025-01-08T20:11:26.604Z,1736367086.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:26.605Z,1736367086.605 [DAT](INFO): DAT read: TxSync time:20:11:25.6805 2025-01-08T20:11:26.605Z,1736367086.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250864 2025-01-08T20:11:26.753Z,1736367086.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:26.764Z,1736367086.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:26.766Z,1736367086.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:26.777Z,1736367086.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.279099 m, bearing: 19.119973 deg, approach rate: 0.079991 m/s, LOS rate: 0.146707 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164254 deg. 2025-01-08T20:11:26.778Z,1736367086.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819975 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:26.856Z,1736367086.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:26.856Z,1736367086.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502057 2025-01-08T20:11:27.108Z,1736367087.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:27.109Z,1736367087.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754071 2025-01-08T20:11:27.117Z,1736367087.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:27.158Z,1736367087.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:27.165Z,1736367087.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.309113 m, bearing: 19.173734 deg, approach rate: 0.076688 m/s, LOS rate: 0.137345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136448 deg. 2025-01-08T20:11:27.166Z,1736367087.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819490 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:27.362Z,1736367087.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:27.363Z,1736367087.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009048 2025-01-08T20:11:27.591Z,1736367087.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:27.612Z,1736367087.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:27.613Z,1736367087.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258468 2025-01-08T20:11:27.625Z,1736367087.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:27.632Z,1736367087.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.347504 m, bearing: 19.244286 deg, approach rate: 0.082176 m/s, LOS rate: 0.150991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186806 deg. 2025-01-08T20:11:27.634Z,1736367087.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820369 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:27.864Z,1736367087.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:27.864Z,1736367087.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509998 2025-01-08T20:11:27.956Z,1736367087.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:27.964Z,1736367087.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:27.968Z,1736367087.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.377045 m, bearing: 19.298552 deg, approach rate: 0.087284 m/s, LOS rate: 0.160320 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137965 deg. 2025-01-08T20:11:27.969Z,1736367087.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819517 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:28.116Z,1736367088.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:28.117Z,1736367088.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762191 2025-01-08T20:11:28.362Z,1736367088.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:28.368Z,1736367088.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:28.369Z,1736367088.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014317 2025-01-08T20:11:28.373Z,1736367088.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:28.376Z,1736367088.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.409714 m, bearing: 19.359161 deg, approach rate: 0.079796 m/s, LOS rate: 0.148019 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156987 deg. 2025-01-08T20:11:28.377Z,1736367088.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819849 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:28.620Z,1736367088.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:28.621Z,1736367088.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266577 2025-01-08T20:11:28.776Z,1736367088.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:28.782Z,1736367088.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:28.785Z,1736367088.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:28.788Z,1736367088.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.439941 m, bearing: 19.422370 deg, approach rate: 0.073274 m/s, LOS rate: 0.153202 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164787 deg. 2025-01-08T20:11:28.790Z,1736367088.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819985 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:28.872Z,1736367088.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:28.873Z,1736367088.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518117 2025-01-08T20:11:29.124Z,1736367089.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:29.124Z,1736367089.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769930 2025-01-08T20:11:29.212Z,1736367089.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:29.222Z,1736367089.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:29.225Z,1736367089.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.472015 m, bearing: 19.489140 deg, approach rate: 0.073441 m/s, LOS rate: 0.152866 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175469 deg. 2025-01-08T20:11:29.226Z,1736367089.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820171 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:29.376Z,1736367089.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:29.377Z,1736367089.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022260 2025-01-08T20:11:29.626Z,1736367089.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:29.628Z,1736367089.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:29.628Z,1736367089.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274029 2025-01-08T20:11:29.638Z,1736367089.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:29.642Z,1736367089.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.502655 m, bearing: 19.553214 deg, approach rate: 0.073590 m/s, LOS rate: 0.153871 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167382 deg. 2025-01-08T20:11:29.643Z,1736367089.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820030 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:29.881Z,1736367089.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:29.882Z,1736367089.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527656 2025-01-08T20:11:29.984Z,1736367089.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:29.993Z,1736367089.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:30.012Z,1736367090.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.529373 m, bearing: 19.608563 deg, approach rate: 0.075375 m/s, LOS rate: 0.156128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141214 deg. 2025-01-08T20:11:30.013Z,1736367090.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819573 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:30.017Z,1736367090.017 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T20:11:30.132Z,1736367090.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:30.132Z,1736367090.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778006 2025-01-08T20:11:30.368Z,1736367090.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:30.377Z,1736367090.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:30.380Z,1736367090.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.558258 m, bearing: 19.668040 deg, approach rate: 0.075271 m/s, LOS rate: 0.154973 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153597 deg. 2025-01-08T20:11:30.381Z,1736367090.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819789 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:30.385Z,1736367090.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:30.386Z,1736367090.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031194 2025-01-08T20:11:30.638Z,1736367090.638 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:30.640Z,1736367090.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285465 2025-01-08T20:11:30.803Z,1736367090.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:30.810Z,1736367090.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:30.812Z,1736367090.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:30.815Z,1736367090.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.588470 m, bearing: 19.736381 deg, approach rate: 0.069416 m/s, LOS rate: 0.156998 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180181 deg. 2025-01-08T20:11:30.816Z,1736367090.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820253 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:30.890Z,1736367090.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:30.892Z,1736367090.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536623 2025-01-08T20:11:31.141Z,1736367091.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:31.142Z,1736367091.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787684 2025-01-08T20:11:31.184Z,1736367091.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:31.213Z,1736367091.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:31.220Z,1736367091.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.615311 m, bearing: 19.796333 deg, approach rate: 0.066882 m/s, LOS rate: 0.149373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155020 deg. 2025-01-08T20:11:31.221Z,1736367091.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819814 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:31.392Z,1736367091.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:31.392Z,1736367091.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037943 2025-01-08T20:11:31.644Z,1736367091.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:31.645Z,1736367091.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290314 2025-01-08T20:11:31.659Z,1736367091.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:31.697Z,1736367091.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:31.708Z,1736367091.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.652420 m, bearing: 19.873248 deg, approach rate: 0.076721 m/s, LOS rate: 0.158991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205894 deg. 2025-01-08T20:11:31.709Z,1736367091.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820702 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:31.896Z,1736367091.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:31.896Z,1736367091.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541898 2025-01-08T20:11:31.993Z,1736367091.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:32.003Z,1736367092.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:32.006Z,1736367092.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.678986 m, bearing: 19.927534 deg, approach rate: 0.086890 m/s, LOS rate: 0.177536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138025 deg. 2025-01-08T20:11:32.039Z,1736367092.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819518 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:32.148Z,1736367092.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:32.149Z,1736367092.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794695 2025-01-08T20:11:32.390Z,1736367092.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:32.398Z,1736367092.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:32.400Z,1736367092.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:32.402Z,1736367092.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046883 2025-01-08T20:11:32.404Z,1736367092.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.710922 m, bearing: 19.991896 deg, approach rate: 0.080801 m/s, LOS rate: 0.162816 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168246 deg. 2025-01-08T20:11:32.405Z,1736367092.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820045 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:32.652Z,1736367092.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:32.653Z,1736367092.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298593 2025-01-08T20:11:32.809Z,1736367092.809 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +77.24, +991.98, , 8.38, 0.00 2025-01-08T20:11:32.816Z,1736367092.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:11:32.816Z,1736367092.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:32.824Z,1736367092.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:32.826Z,1736367092.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:32.829Z,1736367092.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.745438 m, bearing: 20.060925 deg, approach rate: 0.080626 m/s, LOS rate: 0.161224 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182243 deg. 2025-01-08T20:11:32.830Z,1736367092.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820290 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:32.905Z,1736367092.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:32.906Z,1736367092.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551563 2025-01-08T20:11:33.156Z,1736367093.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:33.157Z,1736367093.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802813 2025-01-08T20:11:33.212Z,1736367093.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:11:33.212Z,1736367093.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:33.220Z,1736367093.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:33.223Z,1736367093.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.778015 m, bearing: 20.125006 deg, approach rate: 0.082681 m/s, LOS rate: 0.162613 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167401 deg. 2025-01-08T20:11:33.224Z,1736367093.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820030 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:33.408Z,1736367093.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:33.408Z,1736367093.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053913 2025-01-08T20:11:33.656Z,1736367093.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:11:33.657Z,1736367093.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:33.661Z,1736367093.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:33.662Z,1736367093.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307267 2025-01-08T20:11:33.674Z,1736367093.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:33.718Z,1736367093.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.814896 m, bearing: 20.196979 deg, approach rate: 0.081238 m/s, LOS rate: 0.158511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191069 deg. 2025-01-08T20:11:33.724Z,1736367093.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820444 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:33.912Z,1736367093.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:33.912Z,1736367093.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557953 2025-01-08T20:11:34.041Z,1736367094.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T20:11:34.041Z,1736367094.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:34.049Z,1736367094.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:34.053Z,1736367094.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.847214 m, bearing: 20.259363 deg, approach rate: 0.086104 m/s, LOS rate: 0.166184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162312 deg. 2025-01-08T20:11:34.054Z,1736367094.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819942 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:34.164Z,1736367094.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:34.164Z,1736367094.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810051 2025-01-08T20:11:34.416Z,1736367094.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:34.416Z,1736367094.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062002 2025-01-08T20:11:34.441Z,1736367094.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:11:34.441Z,1736367094.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:34.453Z,1736367094.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:34.456Z,1736367094.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.881165 m, bearing: 20.324038 deg, approach rate: 0.084008 m/s, LOS rate: 0.160007 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169181 deg. 2025-01-08T20:11:34.457Z,1736367094.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820062 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:34.670Z,1736367094.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:34.671Z,1736367094.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316291 2025-01-08T20:11:34.857Z,1736367094.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:34.884Z,1736367094.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:34.886Z,1736367094.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:34.894Z,1736367094.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.928528 m, bearing: 20.393374 deg, approach rate: 0.109398 m/s, LOS rate: 0.160119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183154 deg. 2025-01-08T20:11:34.895Z,1736367094.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820305 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:34.920Z,1736367094.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:34.921Z,1736367094.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566095 2025-01-08T20:11:35.173Z,1736367095.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:35.174Z,1736367095.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819285 2025-01-08T20:11:35.236Z,1736367095.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:35.245Z,1736367095.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:35.265Z,1736367095.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 230.972153 m, bearing: 20.456428 deg, approach rate: 0.121757 m/s, LOS rate: 0.175949 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164311 deg. 2025-01-08T20:11:35.272Z,1736367095.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819976 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:35.424Z,1736367095.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:35.424Z,1736367095.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070059 2025-01-08T20:11:35.678Z,1736367095.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:35.680Z,1736367095.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325469 2025-01-08T20:11:35.725Z,1736367095.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:35.733Z,1736367095.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:35.737Z,1736367095.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.036072 m, bearing: 20.538823 deg, approach rate: 0.130849 m/s, LOS rate: 0.168623 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222301 deg. 2025-01-08T20:11:35.738Z,1736367095.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820989 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:35.928Z,1736367095.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:35.928Z,1736367095.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573946 2025-01-08T20:11:36.035Z,1736367096.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:36.043Z,1736367096.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:36.046Z,1736367096.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.077179 m, bearing: 20.590890 deg, approach rate: 0.132698 m/s, LOS rate: 0.168048 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131360 deg. 2025-01-08T20:11:36.047Z,1736367096.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819401 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:36.180Z,1736367096.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:36.181Z,1736367096.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826141 2025-01-08T20:11:36.432Z,1736367096.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:36.432Z,1736367096.432 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:36.432Z,1736367096.432 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:36.433Z,1736367096.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:36.436Z,1736367096.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:36.472Z,1736367096.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:36.475Z,1736367096.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.130859 m, bearing: 20.658420 deg, approach rate: 0.125073 m/s, LOS rate: 0.157305 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177729 deg. 2025-01-08T20:11:36.477Z,1736367096.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820210 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:36.685Z,1736367096.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:36.685Z,1736367096.685 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:36.685Z,1736367096.685 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:36.685Z,1736367096.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:36.858Z,1736367096.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:36.882Z,1736367096.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:36.892Z,1736367096.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.191956 m, bearing: 20.727525 deg, approach rate: 0.148961 m/s, LOS rate: 0.168444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182447 deg. 2025-01-08T20:11:36.893Z,1736367096.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820293 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:36.936Z,1736367096.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:36.936Z,1736367096.936 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:36.937Z,1736367096.937 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:36.937Z,1736367096.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:37.189Z,1736367097.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:37.191Z,1736367097.191 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:11:37.192Z,1736367097.192 [DAT](INFO): response not received 2025-01-08T20:11:37.193Z,1736367097.193 [DAT](INFO): DAT read: user:1173> 2025-01-08T20:11:37.194Z,1736367097.194 [DAT](ERROR): No response from remote modem. 2025-01-08T20:11:37.196Z,1736367097.196 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:37.196Z,1736367097.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:37.281Z,1736367097.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:37.297Z,1736367097.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:37.307Z,1736367097.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:37.314Z,1736367097.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.253372 m, bearing: 20.796596 deg, approach rate: 0.145194 m/s, LOS rate: 0.163247 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182344 deg. 2025-01-08T20:11:37.319Z,1736367097.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820291 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:37.440Z,1736367097.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:37.440Z,1736367097.440 [DAT](INFO): DAT read: Tx time:20:11:36.6330 2025-01-08T20:11:37.441Z,1736367097.441 [DAT](INFO): Ping request sent. 2025-01-08T20:11:37.441Z,1736367097.441 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:11:37.442Z,1736367097.442 [DAT](INFO): DAT read: TxSync time:20:11:36.6322 2025-01-08T20:11:37.442Z,1736367097.442 [DAT](INFO): publishing transmit ping time 2025-01-08T20:11:37.442Z,1736367097.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001567 2025-01-08T20:11:37.693Z,1736367097.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:37.696Z,1736367097.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254082 2025-01-08T20:11:37.802Z,1736367097.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:37.827Z,1736367097.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:37.834Z,1736367097.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.330719 m, bearing: 20.880312 deg, approach rate: 0.148401 m/s, LOS rate: 0.160567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226248 deg. 2025-01-08T20:11:37.840Z,1736367097.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821057 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:37.889Z,1736367097.889 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:11:37.944Z,1736367097.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:37.945Z,1736367097.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504129 2025-01-08T20:11:38.166Z,1736367098.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:38.174Z,1736367098.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:38.177Z,1736367098.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.385162 m, bearing: 20.938756 deg, approach rate: 0.156578 m/s, LOS rate: 0.168045 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150478 deg. 2025-01-08T20:11:38.178Z,1736367098.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819735 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:38.196Z,1736367098.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:38.197Z,1736367098.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755762 2025-01-08T20:11:38.448Z,1736367098.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:38.449Z,1736367098.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007660 2025-01-08T20:11:38.564Z,1736367098.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:38.573Z,1736367098.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:38.592Z,1736367098.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.445633 m, bearing: 21.002614 deg, approach rate: 0.151604 m/s, LOS rate: 0.160055 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166710 deg. 2025-01-08T20:11:38.593Z,1736367098.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820018 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:38.702Z,1736367098.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:38.704Z,1736367098.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262610 2025-01-08T20:11:38.892Z,1736367098.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:11:38.952Z,1736367098.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:38.953Z,1736367098.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511703 2025-01-08T20:11:39.026Z,1736367099.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:39.048Z,1736367099.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:39.056Z,1736367099.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.518753 m, bearing: 21.074041 deg, approach rate: 0.153952 m/s, LOS rate: 0.150338 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189398 deg. 2025-01-08T20:11:39.057Z,1736367099.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820415 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:39.204Z,1736367099.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:39.204Z,1736367099.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763399 2025-01-08T20:11:39.380Z,1736367099.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:39.388Z,1736367099.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:39.390Z,1736367099.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:39.393Z,1736367099.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.574722 m, bearing: 21.128710 deg, approach rate: 0.163794 m/s, LOS rate: 0.159951 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139154 deg. 2025-01-08T20:11:39.394Z,1736367099.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819538 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:39.457Z,1736367099.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:39.458Z,1736367099.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016692 2025-01-08T20:11:39.709Z,1736367099.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:39.712Z,1736367099.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270491 2025-01-08T20:11:39.814Z,1736367099.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:39.823Z,1736367099.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:39.826Z,1736367099.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.636749 m, bearing: 21.194222 deg, approach rate: 0.143166 m/s, LOS rate: 0.151170 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171670 deg. 2025-01-08T20:11:39.828Z,1736367099.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820105 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:39.960Z,1736367099.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:39.960Z,1736367099.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519524 2025-01-08T20:11:40.186Z,1736367100.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:40.215Z,1736367100.215 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:40.216Z,1736367100.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774866 2025-01-08T20:11:40.221Z,1736367100.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:40.278Z,1736367100.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.690002 m, bearing: 21.250429 deg, approach rate: 0.133720 m/s, LOS rate: 0.141103 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143767 deg. 2025-01-08T20:11:40.282Z,1736367100.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819618 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:40.468Z,1736367100.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:40.469Z,1736367100.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028105 2025-01-08T20:11:40.604Z,1736367100.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:40.636Z,1736367100.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:40.638Z,1736367100.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.749802 m, bearing: 21.313568 deg, approach rate: 0.144418 m/s, LOS rate: 0.152445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164555 deg. 2025-01-08T20:11:40.640Z,1736367100.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819981 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:40.722Z,1736367100.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:40.726Z,1736367100.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284110 2025-01-08T20:11:40.973Z,1736367100.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:40.975Z,1736367100.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533984 2025-01-08T20:11:41.079Z,1736367101.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:41.116Z,1736367101.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:41.127Z,1736367101.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.810608 m, bearing: 21.382630 deg, approach rate: 0.128919 m/s, LOS rate: 0.146385 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182318 deg. 2025-01-08T20:11:41.129Z,1736367101.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820291 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:41.225Z,1736367101.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:41.225Z,1736367101.225 [DAT](INFO): DAT read: Rx Time:20:11:39.8345 2025-01-08T20:11:41.226Z,1736367101.226 [DAT](INFO): Rx dataTimestamp_ set to:1736367101.225443 2025-01-08T20:11:41.226Z,1736367101.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785334 2025-01-08T20:11:41.447Z,1736367101.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:41.456Z,1736367101.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:41.458Z,1736367101.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:41.460Z,1736367101.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.857880 m, bearing: 21.436280 deg, approach rate: 0.134825 m/s, LOS rate: 0.152986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136104 deg. 2025-01-08T20:11:41.462Z,1736367101.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819484 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:41.476Z,1736367101.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:41.476Z,1736367101.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035570 2025-01-08T20:11:41.730Z,1736367101.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:41.732Z,1736367101.732 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:11:41.733Z,1736367101.733 [DAT](INFO): Received a bad header 2025-01-08T20:11:41.749Z,1736367101.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.307733 2025-01-08T20:11:41.849Z,1736367101.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:41.875Z,1736367101.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:41.878Z,1736367101.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.904572 m, bearing: 21.493518 deg, approach rate: 0.116301 m/s, LOS rate: 0.142541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146866 deg. 2025-01-08T20:11:41.883Z,1736367101.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819672 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:41.980Z,1736367101.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:41.980Z,1736367101.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539570 2025-01-08T20:11:42.232Z,1736367102.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:42.233Z,1736367102.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791695 2025-01-08T20:11:42.242Z,1736367102.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:42.251Z,1736367102.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:42.254Z,1736367102.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.950287 m, bearing: 21.549435 deg, approach rate: 0.116880 m/s, LOS rate: 0.142933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142903 deg. 2025-01-08T20:11:42.256Z,1736367102.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819603 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:42.484Z,1736367102.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:42.485Z,1736367102.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044248 2025-01-08T20:11:42.642Z,1736367102.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:42.654Z,1736367102.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:42.659Z,1736367102.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 231.996811 m, bearing: 21.606502 deg, approach rate: 0.115294 m/s, LOS rate: 0.141393 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146353 deg. 2025-01-08T20:11:42.662Z,1736367102.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819663 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:42.738Z,1736367102.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:42.740Z,1736367102.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298402 2025-01-08T20:11:42.988Z,1736367102.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:42.988Z,1736367102.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547573 2025-01-08T20:11:43.063Z,1736367103.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:11:43.063Z,1736367103.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:43.088Z,1736367103.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:43.092Z,1736367103.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.045792 m, bearing: 21.666345 deg, approach rate: 0.112688 m/s, LOS rate: 0.137649 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154677 deg. 2025-01-08T20:11:43.093Z,1736367103.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819808 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:43.240Z,1736367103.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:43.240Z,1736367103.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799441 2025-01-08T20:11:43.440Z,1736367103.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:11:43.440Z,1736367103.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:43.473Z,1736367103.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:43.475Z,1736367103.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:43.482Z,1736367103.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.089539 m, bearing: 21.719954 deg, approach rate: 0.113224 m/s, LOS rate: 0.138722 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135983 deg. 2025-01-08T20:11:43.483Z,1736367103.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819482 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:43.492Z,1736367103.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:43.492Z,1736367103.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051565 2025-01-08T20:11:43.745Z,1736367103.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:43.764Z,1736367103.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.321869 2025-01-08T20:11:43.867Z,1736367103.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:43.892Z,1736367103.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:43.895Z,1736367103.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.132065 m, bearing: 21.781356 deg, approach rate: 0.106128 m/s, LOS rate: 0.153207 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159360 deg. 2025-01-08T20:11:43.896Z,1736367103.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819890 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:43.996Z,1736367103.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:43.997Z,1736367103.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556312 2025-01-08T20:11:44.248Z,1736367104.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:44.248Z,1736367104.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807557 2025-01-08T20:11:44.257Z,1736367104.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:44.265Z,1736367104.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:44.269Z,1736367104.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.171066 m, bearing: 21.837397 deg, approach rate: 0.100186 m/s, LOS rate: 0.143930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143279 deg. 2025-01-08T20:11:44.270Z,1736367104.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819610 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:44.500Z,1736367104.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:44.502Z,1736367104.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060607 2025-01-08T20:11:44.685Z,1736367104.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:44.693Z,1736367104.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:44.699Z,1736367104.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.214066 m, bearing: 21.898821 deg, approach rate: 0.100430 m/s, LOS rate: 0.143438 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159426 deg. 2025-01-08T20:11:44.700Z,1736367104.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819891 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:44.754Z,1736367104.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:44.757Z,1736367104.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315739 2025-01-08T20:11:45.004Z,1736367105.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:45.004Z,1736367105.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563409 2025-01-08T20:11:45.084Z,1736367105.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:45.093Z,1736367105.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:45.096Z,1736367105.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.252808 m, bearing: 21.957199 deg, approach rate: 0.096817 m/s, LOS rate: 0.145862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150289 deg. 2025-01-08T20:11:45.097Z,1736367105.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819732 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:45.256Z,1736367105.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:45.257Z,1736367105.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815619 2025-01-08T20:11:45.462Z,1736367105.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:45.472Z,1736367105.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:45.476Z,1736367105.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.289810 m, bearing: 22.012506 deg, approach rate: 0.097579 m/s, LOS rate: 0.145826 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141081 deg. 2025-01-08T20:11:45.478Z,1736367105.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819571 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:45.508Z,1736367105.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:45.508Z,1736367105.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067553 2025-01-08T20:11:45.785Z,1736367105.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:45.787Z,1736367105.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.346035 2025-01-08T20:11:45.900Z,1736367105.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:45.907Z,1736367105.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:45.909Z,1736367105.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:45.912Z,1736367105.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.337143 m, bearing: 22.079504 deg, approach rate: 0.108259 m/s, LOS rate: 0.153206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176138 deg. 2025-01-08T20:11:45.914Z,1736367105.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820183 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:46.036Z,1736367106.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:46.037Z,1736367106.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.595676 2025-01-08T20:11:46.280Z,1736367106.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:46.288Z,1736367106.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:46.289Z,1736367106.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.847583 2025-01-08T20:11:46.291Z,1736367106.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:46.294Z,1736367106.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.378891 m, bearing: 22.137672 deg, approach rate: 0.109422 m/s, LOS rate: 0.152432 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149660 deg. 2025-01-08T20:11:46.295Z,1736367106.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819721 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:46.540Z,1736367106.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:46.540Z,1736367106.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.099427 2025-01-08T20:11:46.705Z,1736367106.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:46.728Z,1736367106.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:46.731Z,1736367106.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.425797 m, bearing: 22.202615 deg, approach rate: 0.107363 m/s, LOS rate: 0.148619 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169975 deg. 2025-01-08T20:11:46.732Z,1736367106.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820076 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:46.794Z,1736367106.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:46.797Z,1736367106.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.355120 2025-01-08T20:11:47.044Z,1736367107.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:47.044Z,1736367107.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.603395 2025-01-08T20:11:47.125Z,1736367107.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:47.142Z,1736367107.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:47.149Z,1736367107.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.476532 m, bearing: 22.269841 deg, approach rate: 0.122422 m/s, LOS rate: 0.162177 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176820 deg. 2025-01-08T20:11:47.156Z,1736367107.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820195 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:47.296Z,1736367107.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:47.296Z,1736367107.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.855463 2025-01-08T20:11:47.491Z,1736367107.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:47.499Z,1736367107.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:47.502Z,1736367107.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.521240 m, bearing: 22.328474 deg, approach rate: 0.125327 m/s, LOS rate: 0.164331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151054 deg. 2025-01-08T20:11:47.503Z,1736367107.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819745 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:47.548Z,1736367107.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:47.548Z,1736367107.548 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:47.548Z,1736367107.548 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:47.549Z,1736367107.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:47.802Z,1736367107.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:47.803Z,1736367107.803 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:47.804Z,1736367107.804 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:47.805Z,1736367107.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:47.922Z,1736367107.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:47.938Z,1736367107.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:47.940Z,1736367107.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:47.943Z,1736367107.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.579010 m, bearing: 22.399078 deg, approach rate: 0.131004 m/s, LOS rate: 0.160067 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186944 deg. 2025-01-08T20:11:47.948Z,1736367107.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820372 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:48.056Z,1736367108.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:48.056Z,1736367108.056 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:48.056Z,1736367108.056 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:48.057Z,1736367108.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:48.289Z,1736367108.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:48.299Z,1736367108.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:48.308Z,1736367108.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:48.309Z,1736367108.309 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:11:48.309Z,1736367108.309 [DAT](INFO): response not received 2025-01-08T20:11:48.309Z,1736367108.309 [DAT](INFO): DAT read: user:1175> 2025-01-08T20:11:48.310Z,1736367108.310 [DAT](INFO): DAT read: Tx time:20:11:47.5815 2025-01-08T20:11:48.310Z,1736367108.310 [DAT](INFO): Ping request sent. 2025-01-08T20:11:48.310Z,1736367108.310 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:11:48.310Z,1736367108.310 [DAT](INFO): publishing transmit ping time 2025-01-08T20:11:48.311Z,1736367108.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-01-08T20:11:48.322Z,1736367108.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.628693 m, bearing: 22.459106 deg, approach rate: 0.138494 m/s, LOS rate: 0.167296 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155231 deg. 2025-01-08T20:11:48.327Z,1736367108.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819818 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:48.560Z,1736367108.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:48.562Z,1736367108.562 [DAT](INFO): DAT read: TxSync time:20:11:47.5807 2025-01-08T20:11:48.563Z,1736367108.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252432 2025-01-08T20:11:48.704Z,1736367108.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:48.713Z,1736367108.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:48.716Z,1736367108.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.685455 m, bearing: 22.527044 deg, approach rate: 0.137170 m/s, LOS rate: 0.164135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178951 deg. 2025-01-08T20:11:48.717Z,1736367108.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820232 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:48.815Z,1736367108.815 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:48.817Z,1736367108.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505883 2025-01-08T20:11:49.064Z,1736367109.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:49.064Z,1736367109.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754167 2025-01-08T20:11:49.228Z,1736367109.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:49.237Z,1736367109.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:49.240Z,1736367109.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.762283 m, bearing: 22.616020 deg, approach rate: 0.146443 m/s, LOS rate: 0.169543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.242025 deg. 2025-01-08T20:11:49.242Z,1736367109.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821333 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:49.316Z,1736367109.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:49.317Z,1736367109.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006192 2025-01-08T20:11:49.505Z,1736367109.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:49.530Z,1736367109.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:49.534Z,1736367109.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.804092 m, bearing: 22.663056 deg, approach rate: 0.142601 m/s, LOS rate: 0.160400 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116269 deg. 2025-01-08T20:11:49.535Z,1736367109.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819138 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:49.568Z,1736367109.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:49.569Z,1736367109.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258773 2025-01-08T20:11:49.820Z,1736367109.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:49.822Z,1736367109.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511524 2025-01-08T20:11:49.945Z,1736367109.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:49.969Z,1736367109.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:49.971Z,1736367109.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:49.986Z,1736367109.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.880264 m, bearing: 22.736335 deg, approach rate: 0.172908 m/s, LOS rate: 0.166286 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194950 deg. 2025-01-08T20:11:49.992Z,1736367109.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820511 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:50.073Z,1736367110.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:50.074Z,1736367110.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763627 2025-01-08T20:11:50.311Z,1736367110.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:50.324Z,1736367110.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:50.324Z,1736367110.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014153 2025-01-08T20:11:50.328Z,1736367110.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:50.330Z,1736367110.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 232.943771 m, bearing: 22.797326 deg, approach rate: 0.178222 m/s, LOS rate: 0.171115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158110 deg. 2025-01-08T20:11:50.332Z,1736367110.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819868 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:50.576Z,1736367110.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:50.578Z,1736367110.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267654 2025-01-08T20:11:50.712Z,1736367110.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:50.723Z,1736367110.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:50.726Z,1736367110.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.013809 m, bearing: 22.863992 deg, approach rate: 0.177018 m/s, LOS rate: 0.168445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175124 deg. 2025-01-08T20:11:50.743Z,1736367110.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820165 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:50.829Z,1736367110.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:50.832Z,1736367110.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521053 2025-01-08T20:11:51.080Z,1736367111.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:51.081Z,1736367111.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770246 2025-01-08T20:11:51.157Z,1736367111.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:51.198Z,1736367111.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:51.213Z,1736367111.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.089142 m, bearing: 22.937083 deg, approach rate: 0.158942 m/s, LOS rate: 0.154162 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194387 deg. 2025-01-08T20:11:51.219Z,1736367111.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820501 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:51.332Z,1736367111.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:51.333Z,1736367111.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022866 2025-01-08T20:11:51.518Z,1736367111.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:51.557Z,1736367111.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:51.561Z,1736367111.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.150528 m, bearing: 22.996175 deg, approach rate: 0.172166 m/s, LOS rate: 0.165688 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152415 deg. 2025-01-08T20:11:51.563Z,1736367111.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819769 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:51.585Z,1736367111.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:51.587Z,1736367111.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276096 2025-01-08T20:11:51.837Z,1736367111.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:51.838Z,1736367111.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527904 2025-01-08T20:11:51.976Z,1736367111.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:51.983Z,1736367111.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:51.986Z,1736367111.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:52.005Z,1736367112.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.224258 m, bearing: 23.063112 deg, approach rate: 0.170433 m/s, LOS rate: 0.154681 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175934 deg. 2025-01-08T20:11:52.006Z,1736367112.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820179 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:52.088Z,1736367112.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:52.089Z,1736367112.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778263 2025-01-08T20:11:52.340Z,1736367112.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:52.342Z,1736367112.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031076 2025-01-08T20:11:52.451Z,1736367112.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:52.477Z,1736367112.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:52.479Z,1736367112.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.300964 m, bearing: 23.132399 deg, approach rate: 0.156392 m/s, LOS rate: 0.141220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182979 deg. 2025-01-08T20:11:52.480Z,1736367112.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820302 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:52.592Z,1736367112.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:52.592Z,1736367112.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282110 2025-01-08T20:11:52.844Z,1736367112.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:52.845Z,1736367112.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534227 2025-01-08T20:11:52.850Z,1736367112.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:52.924Z,1736367112.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:52.932Z,1736367112.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.365982 m, bearing: 23.190582 deg, approach rate: 0.145198 m/s, LOS rate: 0.129898 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149686 deg. 2025-01-08T20:11:52.933Z,1736367112.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819721 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:53.096Z,1736367113.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:53.096Z,1736367113.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785987 2025-01-08T20:11:53.348Z,1736367113.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:53.348Z,1736367113.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038120 2025-01-08T20:11:53.383Z,1736367113.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:53.393Z,1736367113.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:53.396Z,1736367113.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.456650 m, bearing: 23.270732 deg, approach rate: 0.193448 m/s, LOS rate: 0.170942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215543 deg. 2025-01-08T20:11:53.397Z,1736367113.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820871 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:53.600Z,1736367113.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:53.600Z,1736367113.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290167 2025-01-08T20:11:53.753Z,1736367113.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:53.761Z,1736367113.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:53.764Z,1736367113.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.519684 m, bearing: 23.326358 deg, approach rate: 0.171163 m/s, LOS rate: 0.151005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142017 deg. 2025-01-08T20:11:53.765Z,1736367113.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819587 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:53.852Z,1736367113.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:53.853Z,1736367113.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542298 2025-01-08T20:11:54.104Z,1736367114.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:54.104Z,1736367114.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794011 2025-01-08T20:11:54.254Z,1736367114.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:54.260Z,1736367114.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:54.262Z,1736367114.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:54.265Z,1736367114.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.601425 m, bearing: 23.398512 deg, approach rate: 0.163127 m/s, LOS rate: 0.143944 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191573 deg. 2025-01-08T20:11:54.267Z,1736367114.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820452 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:54.356Z,1736367114.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:54.357Z,1736367114.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046244 2025-01-08T20:11:54.580Z,1736367114.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:54.599Z,1736367114.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:54.608Z,1736367114.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:54.608Z,1736367114.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298161 2025-01-08T20:11:54.632Z,1736367114.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.654358 m, bearing: 23.445407 deg, approach rate: 0.157155 m/s, LOS rate: 0.139197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115839 deg. 2025-01-08T20:11:54.640Z,1736367114.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819130 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:54.860Z,1736367114.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:54.862Z,1736367114.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551195 2025-01-08T20:11:54.997Z,1736367114.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:55.023Z,1736367115.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:55.026Z,1736367115.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.718002 m, bearing: 23.503369 deg, approach rate: 0.156039 m/s, LOS rate: 0.142069 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149026 deg. 2025-01-08T20:11:55.029Z,1736367115.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819710 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:55.112Z,1736367115.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:55.113Z,1736367115.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802602 2025-01-08T20:11:55.364Z,1736367115.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:55.364Z,1736367115.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054131 2025-01-08T20:11:55.370Z,1736367115.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:55.379Z,1736367115.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:55.382Z,1736367115.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.774597 m, bearing: 23.554974 deg, approach rate: 0.152156 m/s, LOS rate: 0.138708 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129964 deg. 2025-01-08T20:11:55.384Z,1736367115.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819377 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:55.616Z,1736367115.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:55.617Z,1736367115.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306489 2025-01-08T20:11:55.772Z,1736367115.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:55.780Z,1736367115.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:55.782Z,1736367115.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.835434 m, bearing: 23.610659 deg, approach rate: 0.151813 m/s, LOS rate: 0.138921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142198 deg. 2025-01-08T20:11:55.785Z,1736367115.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819591 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:55.868Z,1736367115.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:55.869Z,1736367115.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558853 2025-01-08T20:11:56.120Z,1736367116.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:56.120Z,1736367116.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810178 2025-01-08T20:11:56.222Z,1736367116.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:56.231Z,1736367116.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:56.234Z,1736367116.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.899246 m, bearing: 23.672665 deg, approach rate: 0.141553 m/s, LOS rate: 0.137507 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161152 deg. 2025-01-08T20:11:56.236Z,1736367116.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819921 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:56.372Z,1736367116.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:56.372Z,1736367116.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062020 2025-01-08T20:11:56.604Z,1736367116.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:56.614Z,1736367116.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:56.616Z,1736367116.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:56.619Z,1736367116.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 233.953690 m, bearing: 23.725337 deg, approach rate: 0.141324 m/s, LOS rate: 0.136695 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133166 deg. 2025-01-08T20:11:56.621Z,1736367116.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819433 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:56.624Z,1736367116.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:56.625Z,1736367116.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314226 2025-01-08T20:11:56.876Z,1736367116.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:56.876Z,1736367116.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566045 2025-01-08T20:11:57.038Z,1736367117.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:57.049Z,1736367117.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:57.053Z,1736367117.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.015427 m, bearing: 23.785433 deg, approach rate: 0.142609 m/s, LOS rate: 0.138781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155426 deg. 2025-01-08T20:11:57.054Z,1736367117.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819821 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:57.128Z,1736367117.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:57.129Z,1736367117.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818208 2025-01-08T20:11:57.380Z,1736367117.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:57.381Z,1736367117.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070223 2025-01-08T20:11:57.381Z,1736367117.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:57.391Z,1736367117.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:57.394Z,1736367117.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.062531 m, bearing: 23.832828 deg, approach rate: 0.137748 m/s, LOS rate: 0.138573 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117344 deg. 2025-01-08T20:11:57.395Z,1736367117.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819157 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:57.632Z,1736367117.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:57.632Z,1736367117.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322059 2025-01-08T20:11:57.789Z,1736367117.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:57.797Z,1736367117.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:57.800Z,1736367117.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.118896 m, bearing: 23.889726 deg, approach rate: 0.138611 m/s, LOS rate: 0.139885 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145838 deg. 2025-01-08T20:11:57.802Z,1736367117.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819654 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:57.884Z,1736367117.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:57.885Z,1736367117.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575012 2025-01-08T20:11:58.136Z,1736367118.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:58.137Z,1736367118.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826254 2025-01-08T20:11:58.220Z,1736367118.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:58.228Z,1736367118.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:58.232Z,1736367118.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.178848 m, bearing: 23.950506 deg, approach rate: 0.139056 m/s, LOS rate: 0.140940 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157479 deg. 2025-01-08T20:11:58.233Z,1736367118.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819857 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:58.388Z,1736367118.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:58.388Z,1736367118.388 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:58.388Z,1736367118.388 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:58.388Z,1736367118.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:58.590Z,1736367118.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:58.598Z,1736367118.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:58.620Z,1736367118.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.230026 m, bearing: 24.002628 deg, approach rate: 0.138332 m/s, LOS rate: 0.140853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131519 deg. 2025-01-08T20:11:58.628Z,1736367118.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819404 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:58.640Z,1736367118.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:58.640Z,1736367118.640 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:58.640Z,1736367118.640 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:58.641Z,1736367118.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:58.892Z,1736367118.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:58.892Z,1736367118.892 [DAT](INFO): Reached modem response timeout 2025-01-08T20:11:58.892Z,1736367118.892 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:11:58.893Z,1736367118.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:11:59.059Z,1736367119.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:59.066Z,1736367119.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:11:59.087Z,1736367119.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:59.100Z,1736367119.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.298706 m, bearing: 24.071460 deg, approach rate: 0.140788 m/s, LOS rate: 0.141060 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181623 deg. 2025-01-08T20:11:59.108Z,1736367119.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820279 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:59.144Z,1736367119.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:59.145Z,1736367119.145 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:11:59.145Z,1736367119.145 [DAT](INFO): response not received 2025-01-08T20:11:59.145Z,1736367119.145 [DAT](INFO): DAT read: user:1176> 2025-01-08T20:11:59.146Z,1736367119.146 [DAT](INFO): DAT read: Tx time:20:11:58.5316 2025-01-08T20:11:59.146Z,1736367119.146 [DAT](INFO): Ping request sent. 2025-01-08T20:11:59.146Z,1736367119.146 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:11:59.146Z,1736367119.146 [DAT](INFO): publishing transmit ping time 2025-01-08T20:11:59.147Z,1736367119.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-01-08T20:11:59.396Z,1736367119.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:59.397Z,1736367119.397 [DAT](INFO): DAT read: TxSync time:20:11:58.5308 2025-01-08T20:11:59.398Z,1736367119.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251346 2025-01-08T20:11:59.405Z,1736367119.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:59.413Z,1736367119.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:59.437Z,1736367119.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.349823 m, bearing: 24.122663 deg, approach rate: 0.156252 m/s, LOS rate: 0.156480 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128760 deg. 2025-01-08T20:11:59.438Z,1736367119.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819356 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:59.648Z,1736367119.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:59.650Z,1736367119.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503272 2025-01-08T20:11:59.805Z,1736367119.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:11:59.813Z,1736367119.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:11:59.816Z,1736367119.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.408936 m, bearing: 24.181519 deg, approach rate: 0.147863 m/s, LOS rate: 0.147184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151710 deg. 2025-01-08T20:11:59.818Z,1736367119.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819757 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:11:59.900Z,1736367119.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:11:59.901Z,1736367119.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754884 2025-01-08T20:12:00.152Z,1736367120.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:00.153Z,1736367120.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006233 2025-01-08T20:12:00.255Z,1736367120.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:00.264Z,1736367120.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:00.267Z,1736367120.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.475281 m, bearing: 24.250704 deg, approach rate: 0.147362 m/s, LOS rate: 0.153626 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182683 deg. 2025-01-08T20:12:00.268Z,1736367120.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820297 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:00.404Z,1736367120.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:00.404Z,1736367120.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258168 2025-01-08T20:12:00.628Z,1736367120.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:00.647Z,1736367120.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:00.657Z,1736367120.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:00.658Z,1736367120.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511427 2025-01-08T20:12:00.661Z,1736367120.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.528809 m, bearing: 24.306121 deg, approach rate: 0.139682 m/s, LOS rate: 0.144579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141400 deg. 2025-01-08T20:12:00.663Z,1736367120.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819577 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:00.908Z,1736367120.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:00.909Z,1736367120.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762435 2025-01-08T20:12:01.097Z,1736367121.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:01.105Z,1736367121.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:01.107Z,1736367121.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:01.110Z,1736367121.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.606842 m, bearing: 24.383808 deg, approach rate: 0.169459 m/s, LOS rate: 0.168651 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208169 deg. 2025-01-08T20:12:01.112Z,1736367121.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820742 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:01.161Z,1736367121.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:01.162Z,1736367121.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015444 2025-01-08T20:12:01.412Z,1736367121.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:01.412Z,1736367121.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266180 2025-01-08T20:12:01.440Z,1736367121.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:01.449Z,1736367121.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:01.453Z,1736367121.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.662643 m, bearing: 24.439044 deg, approach rate: 0.163288 m/s, LOS rate: 0.161595 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140855 deg. 2025-01-08T20:12:01.454Z,1736367121.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819567 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:01.664Z,1736367121.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:01.665Z,1736367121.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518703 2025-01-08T20:12:01.828Z,1736367121.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:01.858Z,1736367121.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:01.864Z,1736367121.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.726196 m, bearing: 24.501493 deg, approach rate: 0.155471 m/s, LOS rate: 0.152729 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162482 deg. 2025-01-08T20:12:01.866Z,1736367121.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819944 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:01.916Z,1736367121.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:01.917Z,1736367121.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770438 2025-01-08T20:12:02.168Z,1736367122.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:02.169Z,1736367122.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023055 2025-01-08T20:12:02.262Z,1736367122.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:02.273Z,1736367122.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:02.275Z,1736367122.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.801895 m, bearing: 24.571689 deg, approach rate: 0.182415 m/s, LOS rate: 0.169099 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185705 deg. 2025-01-08T20:12:02.277Z,1736367122.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820350 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:02.421Z,1736367122.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:02.421Z,1736367122.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275048 2025-01-08T20:12:02.661Z,1736367122.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:02.673Z,1736367122.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:02.675Z,1736367122.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528399 2025-01-08T20:12:02.703Z,1736367122.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:02.706Z,1736367122.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.871750 m, bearing: 24.636137 deg, approach rate: 0.168951 m/s, LOS rate: 0.155829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168474 deg. 2025-01-08T20:12:02.707Z,1736367122.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820049 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:02.925Z,1736367122.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:02.926Z,1736367122.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779640 2025-01-08T20:12:03.128Z,1736367123.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:03.136Z,1736367123.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:03.138Z,1736367123.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:03.141Z,1736367123.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 234.955338 m, bearing: 24.712957 deg, approach rate: 0.184935 m/s, LOS rate: 0.169901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205564 deg. 2025-01-08T20:12:03.142Z,1736367123.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820696 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:03.176Z,1736367123.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:03.177Z,1736367123.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030960 2025-01-08T20:12:03.428Z,1736367123.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:03.428Z,1736367123.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282181 2025-01-08T20:12:03.453Z,1736367123.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:03.462Z,1736367123.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:03.465Z,1736367123.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.014252 m, bearing: 24.766477 deg, approach rate: 0.181907 m/s, LOS rate: 0.165210 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135706 deg. 2025-01-08T20:12:03.466Z,1736367123.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819477 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:03.680Z,1736367123.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:03.682Z,1736367123.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534838 2025-01-08T20:12:03.852Z,1736367123.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:03.860Z,1736367123.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:03.863Z,1736367123.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.086639 m, bearing: 24.831907 deg, approach rate: 0.181855 m/s, LOS rate: 0.164325 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171415 deg. 2025-01-08T20:12:03.864Z,1736367123.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820100 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:03.933Z,1736367123.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:03.934Z,1736367123.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787690 2025-01-08T20:12:04.184Z,1736367124.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:04.188Z,1736367124.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040292 2025-01-08T20:12:04.289Z,1736367124.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:04.297Z,1736367124.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:04.300Z,1736367124.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.161316 m, bearing: 24.902373 deg, approach rate: 0.170787 m/s, LOS rate: 0.161107 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186517 deg. 2025-01-08T20:12:04.302Z,1736367124.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820364 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:04.436Z,1736367124.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:04.437Z,1736367124.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290203 2025-01-08T20:12:04.663Z,1736367124.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:04.676Z,1736367124.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:04.681Z,1736367124.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.225708 m, bearing: 24.962582 deg, approach rate: 0.169922 m/s, LOS rate: 0.158840 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155764 deg. 2025-01-08T20:12:04.683Z,1736367124.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819828 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:04.696Z,1736367124.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:04.696Z,1736367124.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550096 2025-01-08T20:12:04.948Z,1736367124.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:04.949Z,1736367124.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802252 2025-01-08T20:12:05.139Z,1736367125.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:05.146Z,1736367125.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:05.148Z,1736367125.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:05.152Z,1736367125.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.306656 m, bearing: 25.035750 deg, approach rate: 0.171512 m/s, LOS rate: 0.154974 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194613 deg. 2025-01-08T20:12:05.154Z,1736367125.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820505 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:05.201Z,1736367125.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:05.202Z,1736367125.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055440 2025-01-08T20:12:05.452Z,1736367125.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:05.453Z,1736367125.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306716 2025-01-08T20:12:05.478Z,1736367125.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:05.495Z,1736367125.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:05.498Z,1736367125.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.364441 m, bearing: 25.087771 deg, approach rate: 0.168362 m/s, LOS rate: 0.151532 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131211 deg. 2025-01-08T20:12:05.504Z,1736367125.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819399 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:05.704Z,1736367125.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:05.704Z,1736367125.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558099 2025-01-08T20:12:05.898Z,1736367125.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:05.907Z,1736367125.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:05.910Z,1736367125.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.436554 m, bearing: 25.152222 deg, approach rate: 0.173375 m/s, LOS rate: 0.154906 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168480 deg. 2025-01-08T20:12:05.912Z,1736367125.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820049 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:05.957Z,1736367125.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:05.958Z,1736367125.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811488 2025-01-08T20:12:06.208Z,1736367126.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:06.208Z,1736367126.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061978 2025-01-08T20:12:06.288Z,1736367126.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:06.296Z,1736367126.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:06.299Z,1736367126.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.499893 m, bearing: 25.210705 deg, approach rate: 0.162748 m/s, LOS rate: 0.150230 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150588 deg. 2025-01-08T20:12:06.302Z,1736367126.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819737 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:06.460Z,1736367126.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:06.460Z,1736367126.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314110 2025-01-08T20:12:06.688Z,1736367126.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:06.712Z,1736367126.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:06.712Z,1736367126.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566155 2025-01-08T20:12:06.716Z,1736367126.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:06.723Z,1736367126.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.565079 m, bearing: 25.270609 deg, approach rate: 0.155341 m/s, LOS rate: 0.142716 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154849 deg. 2025-01-08T20:12:06.724Z,1736367126.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819811 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:06.965Z,1736367126.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:06.966Z,1736367126.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819394 2025-01-08T20:12:07.188Z,1736367127.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:07.194Z,1736367127.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:07.197Z,1736367127.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:07.200Z,1736367127.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.643753 m, bearing: 25.343099 deg, approach rate: 0.163741 m/s, LOS rate: 0.150819 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192582 deg. 2025-01-08T20:12:07.201Z,1736367127.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820470 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:07.216Z,1736367127.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:07.217Z,1736367127.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070215 2025-01-08T20:12:07.468Z,1736367127.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:07.469Z,1736367127.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323115 2025-01-08T20:12:07.563Z,1736367127.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:07.593Z,1736367127.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:07.602Z,1736367127.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.702972 m, bearing: 25.397463 deg, approach rate: 0.149480 m/s, LOS rate: 0.137191 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138239 deg. 2025-01-08T20:12:07.616Z,1736367127.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819521 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:07.720Z,1736367127.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:07.720Z,1736367127.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574089 2025-01-08T20:12:07.972Z,1736367127.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:07.972Z,1736367127.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826133 2025-01-08T20:12:08.048Z,1736367128.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:08.062Z,1736367128.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:08.078Z,1736367128.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.779861 m, bearing: 25.467651 deg, approach rate: 0.163975 m/s, LOS rate: 0.149633 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185679 deg. 2025-01-08T20:12:08.084Z,1736367128.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820349 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:08.225Z,1736367128.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:08.226Z,1736367128.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079186 2025-01-08T20:12:08.476Z,1736367128.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:08.477Z,1736367128.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330375 2025-01-08T20:12:08.486Z,1736367128.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:08.543Z,1736367128.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:08.546Z,1736367128.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.845276 m, bearing: 25.529416 deg, approach rate: 0.137049 m/s, LOS rate: 0.129368 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160432 deg. 2025-01-08T20:12:08.552Z,1736367128.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819909 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:08.728Z,1736367128.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:08.728Z,1736367128.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582145 2025-01-08T20:12:08.853Z,1736367128.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:08.861Z,1736367128.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:08.869Z,1736367128.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.899750 m, bearing: 25.581069 deg, approach rate: 0.168896 m/s, LOS rate: 0.160112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130108 deg. 2025-01-08T20:12:08.870Z,1736367128.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819379 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:08.980Z,1736367128.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:08.981Z,1736367128.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835047 2025-01-08T20:12:09.032Z,1736367129.032 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:12:09.233Z,1736367129.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:09.234Z,1736367129.234 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:09.235Z,1736367129.235 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:09.236Z,1736367129.236 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:09.329Z,1736367129.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:09.352Z,1736367129.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:09.372Z,1736367129.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:09.375Z,1736367129.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 235.972000 m, bearing: 25.647796 deg, approach rate: 0.141665 m/s, LOS rate: 0.130795 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175305 deg. 2025-01-08T20:12:09.380Z,1736367129.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820168 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:09.485Z,1736367129.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:09.485Z,1736367129.485 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:09.486Z,1736367129.486 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:09.486Z,1736367129.486 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:09.661Z,1736367129.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:09.675Z,1736367129.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:09.694Z,1736367129.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.022339 m, bearing: 25.694332 deg, approach rate: 0.166214 m/s, LOS rate: 0.153627 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114767 deg. 2025-01-08T20:12:09.695Z,1736367129.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819112 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:09.736Z,1736367129.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:09.736Z,1736367129.736 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:09.736Z,1736367129.736 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:09.737Z,1736367129.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:09.988Z,1736367129.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:09.988Z,1736367129.988 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:09.988Z,1736367129.988 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:09.989Z,1736367129.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:10.036Z,1736367130.036 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:12:10.070Z,1736367130.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:10.081Z,1736367130.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:10.085Z,1736367130.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.084290 m, bearing: 25.751706 deg, approach rate: 0.152150 m/s, LOS rate: 0.140871 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147261 deg. 2025-01-08T20:12:10.086Z,1736367130.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819679 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:10.240Z,1736367130.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:10.241Z,1736367130.241 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:12:10.241Z,1736367130.241 [DAT](INFO): response not received 2025-01-08T20:12:10.242Z,1736367130.242 [DAT](INFO): DAT read: user:1177> 2025-01-08T20:12:10.242Z,1736367130.242 [DAT](INFO): DAT read: Tx time:20:12:09.4817 2025-01-08T20:12:10.243Z,1736367130.243 [DAT](INFO): Ping request sent. 2025-01-08T20:12:10.243Z,1736367130.243 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:12:10.243Z,1736367130.243 [DAT](INFO): publishing transmit ping time 2025-01-08T20:12:10.244Z,1736367130.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001034 2025-01-08T20:12:10.492Z,1736367130.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:10.493Z,1736367130.493 [DAT](INFO): DAT read: TxSync time:20:12:09.4809 2025-01-08T20:12:10.494Z,1736367130.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250846 2025-01-08T20:12:10.495Z,1736367130.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:10.522Z,1736367130.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:10.538Z,1736367130.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.148987 m, bearing: 25.811416 deg, approach rate: 0.146772 m/s, LOS rate: 0.135421 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154267 deg. 2025-01-08T20:12:10.539Z,1736367130.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819801 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:10.744Z,1736367130.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:10.744Z,1736367130.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501656 2025-01-08T20:12:10.867Z,1736367130.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:10.904Z,1736367130.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:10.912Z,1736367130.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.205719 m, bearing: 25.863706 deg, approach rate: 0.148481 m/s, LOS rate: 0.136821 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132018 deg. 2025-01-08T20:12:10.914Z,1736367130.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819413 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:10.997Z,1736367130.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:10.998Z,1736367130.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755163 2025-01-08T20:12:11.248Z,1736367131.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:11.248Z,1736367131.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005761 2025-01-08T20:12:11.309Z,1736367131.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:11.337Z,1736367131.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:11.344Z,1736367131.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.278580 m, bearing: 25.927366 deg, approach rate: 0.168374 m/s, LOS rate: 0.147067 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166108 deg. 2025-01-08T20:12:11.345Z,1736367131.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820008 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:11.502Z,1736367131.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:11.504Z,1736367131.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260587 2025-01-08T20:12:11.692Z,1736367131.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:11.698Z,1736367131.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:11.717Z,1736367131.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:11.721Z,1736367131.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.342026 m, bearing: 25.982550 deg, approach rate: 0.167182 m/s, LOS rate: 0.145374 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140696 deg. 2025-01-08T20:12:11.722Z,1736367131.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819564 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:11.752Z,1736367131.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:11.753Z,1736367131.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510429 2025-01-08T20:12:12.004Z,1736367132.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:12.005Z,1736367132.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761924 2025-01-08T20:12:12.078Z,1736367132.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:12.107Z,1736367132.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:12.110Z,1736367132.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.405670 m, bearing: 26.038084 deg, approach rate: 0.163206 m/s, LOS rate: 0.142370 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141743 deg. 2025-01-08T20:12:12.111Z,1736367132.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819582 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:12.256Z,1736367132.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:12.257Z,1736367132.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014061 2025-01-08T20:12:12.506Z,1736367132.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:12.508Z,1736367132.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:12.509Z,1736367132.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265868 2025-01-08T20:12:12.531Z,1736367132.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:12.558Z,1736367132.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.487137 m, bearing: 26.102106 deg, approach rate: 0.192127 m/s, LOS rate: 0.150934 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167186 deg. 2025-01-08T20:12:12.569Z,1736367132.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820027 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:12.760Z,1736367132.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:12.760Z,1736367132.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517668 2025-01-08T20:12:12.900Z,1736367132.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:12.908Z,1736367132.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:12.914Z,1736367132.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.561783 m, bearing: 26.161039 deg, approach rate: 0.197603 m/s, LOS rate: 0.155958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151929 deg. 2025-01-08T20:12:12.916Z,1736367132.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819760 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:13.012Z,1736367133.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:13.014Z,1736367133.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770912 2025-01-08T20:12:13.266Z,1736367133.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:13.269Z,1736367133.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025848 2025-01-08T20:12:13.356Z,1736367133.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:13.418Z,1736367133.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:13.422Z,1736367133.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.650101 m, bearing: 26.230617 deg, approach rate: 0.173496 m/s, LOS rate: 0.136631 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183841 deg. 2025-01-08T20:12:13.423Z,1736367133.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820317 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:13.517Z,1736367133.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:13.518Z,1736367133.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275136 2025-01-08T20:12:13.710Z,1736367133.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:13.718Z,1736367133.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:13.721Z,1736367133.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:13.724Z,1736367133.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.719070 m, bearing: 26.284650 deg, approach rate: 0.227495 m/s, LOS rate: 0.178175 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137239 deg. 2025-01-08T20:12:13.725Z,1736367133.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819504 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:13.770Z,1736367133.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:13.770Z,1736367133.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527632 2025-01-08T20:12:13.788Z,1736367133.788 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T20:12:14.020Z,1736367134.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:14.020Z,1736367134.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777757 2025-01-08T20:12:14.116Z,1736367134.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:14.125Z,1736367134.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:14.129Z,1736367134.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.798477 m, bearing: 26.346470 deg, approach rate: 0.196343 m/s, LOS rate: 0.152806 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160583 deg. 2025-01-08T20:12:14.130Z,1736367134.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819911 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:14.272Z,1736367134.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:14.272Z,1736367134.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029803 2025-01-08T20:12:14.524Z,1736367134.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:14.524Z,1736367134.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281793 2025-01-08T20:12:14.544Z,1736367134.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:14.556Z,1736367134.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:14.558Z,1736367134.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.890961 m, bearing: 26.414003 deg, approach rate: 0.214819 m/s, LOS rate: 0.156804 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177707 deg. 2025-01-08T20:12:14.560Z,1736367134.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820210 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:14.776Z,1736367134.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:14.778Z,1736367134.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534840 2025-01-08T20:12:14.929Z,1736367134.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:14.937Z,1736367134.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:14.940Z,1736367134.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 236.975159 m, bearing: 26.474938 deg, approach rate: 0.220583 m/s, LOS rate: 0.159581 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157926 deg. 2025-01-08T20:12:14.941Z,1736367134.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819865 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:15.028Z,1736367135.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:15.028Z,1736367135.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785711 2025-01-08T20:12:15.280Z,1736367135.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:15.280Z,1736367135.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037689 2025-01-08T20:12:15.351Z,1736367135.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:15.370Z,1736367135.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:15.378Z,1736367135.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.060303 m, bearing: 26.542921 deg, approach rate: 0.196809 m/s, LOS rate: 0.157083 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179059 deg. 2025-01-08T20:12:15.379Z,1736367135.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820234 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:15.532Z,1736367135.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:15.533Z,1736367135.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289904 2025-01-08T20:12:15.716Z,1736367135.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:15.741Z,1736367135.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:15.743Z,1736367135.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:15.746Z,1736367135.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.134796 m, bearing: 26.601714 deg, approach rate: 0.199621 m/s, LOS rate: 0.157500 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151511 deg. 2025-01-08T20:12:15.748Z,1736367135.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819753 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:15.786Z,1736367135.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:15.787Z,1736367135.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543893 2025-01-08T20:12:16.036Z,1736367136.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:16.036Z,1736367136.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793780 2025-01-08T20:12:16.127Z,1736367136.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:16.136Z,1736367136.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:16.139Z,1736367136.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.219330 m, bearing: 26.667842 deg, approach rate: 0.214948 m/s, LOS rate: 0.168086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173498 deg. 2025-01-08T20:12:16.140Z,1736367136.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820137 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:16.288Z,1736367136.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:16.289Z,1736367136.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045863 2025-01-08T20:12:16.540Z,1736367136.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:16.541Z,1736367136.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297886 2025-01-08T20:12:16.586Z,1736367136.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:16.607Z,1736367136.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:16.610Z,1736367136.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.320709 m, bearing: 26.741926 deg, approach rate: 0.217172 m/s, LOS rate: 0.158634 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197345 deg. 2025-01-08T20:12:16.615Z,1736367136.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820553 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:16.792Z,1736367136.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:16.792Z,1736367136.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549710 2025-01-08T20:12:16.950Z,1736367136.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:16.962Z,1736367136.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:16.965Z,1736367136.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.401779 m, bearing: 26.800646 deg, approach rate: 0.225659 m/s, LOS rate: 0.163390 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151284 deg. 2025-01-08T20:12:16.966Z,1736367136.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819749 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:17.046Z,1736367137.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:17.047Z,1736367137.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803840 2025-01-08T20:12:17.300Z,1736367137.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:17.301Z,1736367137.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057860 2025-01-08T20:12:17.376Z,1736367137.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:17.388Z,1736367137.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:17.390Z,1736367137.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.491653 m, bearing: 26.869211 deg, approach rate: 0.211528 m/s, LOS rate: 0.161316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180806 deg. 2025-01-08T20:12:17.392Z,1736367137.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820264 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:17.552Z,1736367137.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:17.553Z,1736367137.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310093 2025-01-08T20:12:17.740Z,1736367137.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:17.747Z,1736367137.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:17.749Z,1736367137.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:17.770Z,1736367137.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.568970 m, bearing: 26.927695 deg, approach rate: 0.213643 m/s, LOS rate: 0.161550 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150579 deg. 2025-01-08T20:12:17.772Z,1736367137.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819737 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:17.804Z,1736367137.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:17.805Z,1736367137.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561857 2025-01-08T20:12:18.056Z,1736367138.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:18.056Z,1736367138.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813745 2025-01-08T20:12:18.143Z,1736367138.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:18.168Z,1736367138.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:18.171Z,1736367138.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.655060 m, bearing: 26.992312 deg, approach rate: 0.205936 m/s, LOS rate: 0.154515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168967 deg. 2025-01-08T20:12:18.176Z,1736367138.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820058 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:18.309Z,1736367138.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:18.311Z,1736367138.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068632 2025-01-08T20:12:18.560Z,1736367138.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:18.561Z,1736367138.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317836 2025-01-08T20:12:18.571Z,1736367138.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:18.580Z,1736367138.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:18.583Z,1736367138.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.743118 m, bearing: 27.058487 deg, approach rate: 0.213588 m/s, LOS rate: 0.160451 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173639 deg. 2025-01-08T20:12:18.585Z,1736367138.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820139 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:18.812Z,1736367138.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:18.812Z,1736367138.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569799 2025-01-08T20:12:18.957Z,1736367138.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:18.982Z,1736367138.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:18.985Z,1736367138.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.822998 m, bearing: 27.118205 deg, approach rate: 0.198669 m/s, LOS rate: 0.148474 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154279 deg. 2025-01-08T20:12:18.986Z,1736367138.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819801 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:19.065Z,1736367139.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:19.066Z,1736367139.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823370 2025-01-08T20:12:19.316Z,1736367139.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:19.316Z,1736367139.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073707 2025-01-08T20:12:19.418Z,1736367139.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:19.443Z,1736367139.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:19.446Z,1736367139.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.912796 m, bearing: 27.187122 deg, approach rate: 0.194787 m/s, LOS rate: 0.149437 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181860 deg. 2025-01-08T20:12:19.447Z,1736367139.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820283 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:19.570Z,1736367139.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:19.571Z,1736367139.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328152 2025-01-08T20:12:19.758Z,1736367139.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:19.765Z,1736367139.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:19.767Z,1736367139.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:19.770Z,1736367139.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 237.979630 m, bearing: 27.238015 deg, approach rate: 0.206071 m/s, LOS rate: 0.156877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127823 deg. 2025-01-08T20:12:19.772Z,1736367139.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819340 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:19.825Z,1736367139.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:19.826Z,1736367139.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583021 2025-01-08T20:12:20.076Z,1736367140.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:20.077Z,1736367140.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833898 2025-01-08T20:12:20.169Z,1736367140.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:20.177Z,1736367140.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:20.181Z,1736367140.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.060730 m, bearing: 27.299419 deg, approach rate: 0.197513 m/s, LOS rate: 0.149492 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159334 deg. 2025-01-08T20:12:20.182Z,1736367140.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819890 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:20.329Z,1736367140.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:20.330Z,1736367140.330 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:20.331Z,1736367140.331 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:20.332Z,1736367140.332 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:20.580Z,1736367140.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:20.580Z,1736367140.580 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:20.580Z,1736367140.580 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:20.581Z,1736367140.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:20.592Z,1736367140.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:20.630Z,1736367140.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:20.637Z,1736367140.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.139496 m, bearing: 27.357719 deg, approach rate: 0.174228 m/s, LOS rate: 0.128916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150029 deg. 2025-01-08T20:12:20.638Z,1736367140.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819727 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:20.832Z,1736367140.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:20.832Z,1736367140.832 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:20.832Z,1736367140.832 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:20.833Z,1736367140.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:20.999Z,1736367140.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:21.028Z,1736367141.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:21.031Z,1736367141.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.215683 m, bearing: 27.413852 deg, approach rate: 0.191163 m/s, LOS rate: 0.140800 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143531 deg. 2025-01-08T20:12:21.037Z,1736367141.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819614 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:21.084Z,1736367141.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:21.085Z,1736367141.085 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:12:21.085Z,1736367141.085 [DAT](INFO): response not received 2025-01-08T20:12:21.085Z,1736367141.085 [DAT](INFO): DAT read: user:1178> 2025-01-08T20:12:21.086Z,1736367141.086 [DAT](INFO): DAT read: Tx time:20:12:20.4318 2025-01-08T20:12:21.086Z,1736367141.086 [DAT](INFO): Ping request sent. 2025-01-08T20:12:21.086Z,1736367141.086 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:12:21.086Z,1736367141.086 [DAT](INFO): publishing transmit ping time 2025-01-08T20:12:21.087Z,1736367141.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-01-08T20:12:21.338Z,1736367141.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:21.341Z,1736367141.341 [DAT](INFO): DAT read: TxSync time:20:12:20.4310 2025-01-08T20:12:21.342Z,1736367141.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255213 2025-01-08T20:12:21.419Z,1736367141.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:21.429Z,1736367141.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:21.433Z,1736367141.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.288254 m, bearing: 27.471701 deg, approach rate: 0.180878 m/s, LOS rate: 0.144140 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148680 deg. 2025-01-08T20:12:21.434Z,1736367141.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819704 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:21.588Z,1736367141.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:21.589Z,1736367141.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502193 2025-01-08T20:12:21.779Z,1736367141.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:21.787Z,1736367141.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:21.802Z,1736367141.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:21.809Z,1736367141.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.351227 m, bearing: 27.521255 deg, approach rate: 0.169027 m/s, LOS rate: 0.132975 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123810 deg. 2025-01-08T20:12:21.810Z,1736367141.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819270 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:21.840Z,1736367141.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:21.840Z,1736367141.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754121 2025-01-08T20:12:22.092Z,1736367142.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:22.092Z,1736367142.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006006 2025-01-08T20:12:22.179Z,1736367142.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:22.188Z,1736367142.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:22.191Z,1736367142.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.421402 m, bearing: 27.576191 deg, approach rate: 0.181604 m/s, LOS rate: 0.142124 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139944 deg. 2025-01-08T20:12:22.192Z,1736367142.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819551 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:22.356Z,1736367142.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:22.358Z,1736367142.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271577 2025-01-08T20:12:22.608Z,1736367142.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:22.608Z,1736367142.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522097 2025-01-08T20:12:22.625Z,1736367142.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:22.671Z,1736367142.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:22.684Z,1736367142.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.494202 m, bearing: 27.634925 deg, approach rate: 0.151063 m/s, LOS rate: 0.121839 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151334 deg. 2025-01-08T20:12:22.688Z,1736367142.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819750 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:22.860Z,1736367142.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:22.860Z,1736367142.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774062 2025-01-08T20:12:22.990Z,1736367142.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:23.016Z,1736367143.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:23.021Z,1736367143.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.553116 m, bearing: 27.682873 deg, approach rate: 0.171433 m/s, LOS rate: 0.139488 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118994 deg. 2025-01-08T20:12:23.028Z,1736367143.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819186 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:23.114Z,1736367143.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:23.115Z,1736367143.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.028201 2025-01-08T20:12:23.365Z,1736367143.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:23.371Z,1736367143.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280788 2025-01-08T20:12:23.453Z,1736367143.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:23.462Z,1736367143.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:23.480Z,1736367143.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.628616 m, bearing: 27.742878 deg, approach rate: 0.168638 m/s, LOS rate: 0.133985 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155145 deg. 2025-01-08T20:12:23.482Z,1736367143.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819817 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:23.616Z,1736367143.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:23.616Z,1736367143.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530042 2025-01-08T20:12:23.795Z,1736367143.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:23.804Z,1736367143.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:23.805Z,1736367143.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:23.809Z,1736367143.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.683533 m, bearing: 27.787192 deg, approach rate: 0.159666 m/s, LOS rate: 0.128810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108098 deg. 2025-01-08T20:12:23.810Z,1736367143.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818995 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:23.869Z,1736367143.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:23.870Z,1736367143.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783968 2025-01-08T20:12:24.120Z,1736367144.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:24.120Z,1736367144.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034173 2025-01-08T20:12:24.215Z,1736367144.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:24.235Z,1736367144.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:24.242Z,1736367144.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.750214 m, bearing: 27.841116 deg, approach rate: 0.155688 m/s, LOS rate: 0.125868 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136913 deg. 2025-01-08T20:12:24.243Z,1736367144.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819499 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:24.374Z,1736367144.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:24.376Z,1736367144.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289487 2025-01-08T20:12:24.624Z,1736367144.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:24.625Z,1736367144.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538190 2025-01-08T20:12:24.636Z,1736367144.636 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, , 20.00,1580.39 2025-01-08T20:12:24.644Z,1736367144.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:12:24.644Z,1736367144.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:24.696Z,1736367144.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:24.703Z,1736367144.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.819626 m, bearing: 27.897031 deg, approach rate: 0.150056 m/s, LOS rate: 0.120842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142881 deg. 2025-01-08T20:12:24.704Z,1736367144.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819602 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:24.876Z,1736367144.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:24.877Z,1736367144.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790273 2025-01-08T20:12:25.019Z,1736367145.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:12:25.019Z,1736367145.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:25.037Z,1736367145.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:25.043Z,1736367145.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.879669 m, bearing: 27.945672 deg, approach rate: 0.176316 m/s, LOS rate: 0.142799 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121074 deg. 2025-01-08T20:12:25.046Z,1736367145.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819222 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:25.130Z,1736367145.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:25.132Z,1736367145.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.045729 2025-01-08T20:12:25.381Z,1736367145.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:25.384Z,1736367145.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297228 2025-01-08T20:12:25.465Z,1736367145.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:25.476Z,1736367145.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:25.479Z,1736367145.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 238.954941 m, bearing: 28.006364 deg, approach rate: 0.171650 m/s, LOS rate: 0.138358 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157203 deg. 2025-01-08T20:12:25.480Z,1736367145.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819852 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:25.632Z,1736367145.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:25.632Z,1736367145.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.546039 2025-01-08T20:12:25.816Z,1736367145.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:25.824Z,1736367145.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:25.826Z,1736367145.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:25.829Z,1736367145.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.014175 m, bearing: 28.054126 deg, approach rate: 0.169093 m/s, LOS rate: 0.136312 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118439 deg. 2025-01-08T20:12:25.830Z,1736367145.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819176 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:25.884Z,1736367145.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:25.885Z,1736367145.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798765 2025-01-08T20:12:26.136Z,1736367146.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:26.136Z,1736367146.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050105 2025-01-08T20:12:26.225Z,1736367146.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:26.233Z,1736367146.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:26.236Z,1736367146.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.083115 m, bearing: 28.109584 deg, approach rate: 0.169373 m/s, LOS rate: 0.136212 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141511 deg. 2025-01-08T20:12:26.238Z,1736367146.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819579 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:26.394Z,1736367146.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:26.396Z,1736367146.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.309687 2025-01-08T20:12:26.644Z,1736367146.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:26.644Z,1736367146.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.558168 2025-01-08T20:12:26.669Z,1736367146.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:26.709Z,1736367146.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:26.716Z,1736367146.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.162460 m, bearing: 28.174452 deg, approach rate: 0.166677 m/s, LOS rate: 0.136220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169727 deg. 2025-01-08T20:12:26.718Z,1736367146.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820071 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:26.896Z,1736367146.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:26.896Z,1736367146.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810114 2025-01-08T20:12:27.036Z,1736367147.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:27.045Z,1736367147.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:27.048Z,1736367147.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.228485 m, bearing: 28.228138 deg, approach rate: 0.196538 m/s, LOS rate: 0.159762 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136197 deg. 2025-01-08T20:12:27.049Z,1736367147.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819486 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:27.148Z,1736367147.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:27.149Z,1736367147.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.062284 2025-01-08T20:12:27.401Z,1736367147.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:27.404Z,1736367147.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.316964 2025-01-08T20:12:27.504Z,1736367147.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:27.513Z,1736367147.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:27.516Z,1736367147.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.317337 m, bearing: 28.299158 deg, approach rate: 0.189913 m/s, LOS rate: 0.151743 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188167 deg. 2025-01-08T20:12:27.517Z,1736367147.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820393 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:27.652Z,1736367147.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:27.653Z,1736367147.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566722 2025-01-08T20:12:27.839Z,1736367147.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:27.845Z,1736367147.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:27.848Z,1736367147.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:27.851Z,1736367147.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.381241 m, bearing: 28.349878 deg, approach rate: 0.190864 m/s, LOS rate: 0.151448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127306 deg. 2025-01-08T20:12:27.853Z,1736367147.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819331 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:27.904Z,1736367147.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:27.905Z,1736367147.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.818991 2025-01-08T20:12:28.156Z,1736367148.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:28.158Z,1736367148.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.071479 2025-01-08T20:12:28.250Z,1736367148.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:28.259Z,1736367148.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:28.266Z,1736367148.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.460190 m, bearing: 28.412190 deg, approach rate: 0.191837 m/s, LOS rate: 0.151361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162060 deg. 2025-01-08T20:12:28.269Z,1736367148.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819937 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:28.410Z,1736367148.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:28.413Z,1736367148.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.326210 2025-01-08T20:12:28.662Z,1736367148.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:28.663Z,1736367148.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.576258 2025-01-08T20:12:28.716Z,1736367148.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:28.736Z,1736367148.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:28.739Z,1736367148.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.562210 m, bearing: 28.486029 deg, approach rate: 0.214922 m/s, LOS rate: 0.155488 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196609 deg. 2025-01-08T20:12:28.740Z,1736367148.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820540 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:28.912Z,1736367148.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:28.912Z,1736367148.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826067 2025-01-08T20:12:29.049Z,1736367149.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:29.078Z,1736367149.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:29.081Z,1736367149.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.635483 m, bearing: 28.538671 deg, approach rate: 0.212739 m/s, LOS rate: 0.152794 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133065 deg. 2025-01-08T20:12:29.082Z,1736367149.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819431 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:29.164Z,1736367149.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:29.166Z,1736367149.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078984 2025-01-08T20:12:29.418Z,1736367149.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:29.420Z,1736367149.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.333306 2025-01-08T20:12:29.572Z,1736367149.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:29.580Z,1736367149.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:29.582Z,1736367149.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.759109 m, bearing: 28.624013 deg, approach rate: 0.246575 m/s, LOS rate: 0.170128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.231079 deg. 2025-01-08T20:12:29.585Z,1736367149.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821142 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:29.670Z,1736367149.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:29.671Z,1736367149.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.584278 2025-01-08T20:12:29.863Z,1736367149.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:29.870Z,1736367149.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:29.872Z,1736367149.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:29.875Z,1736367149.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.828888 m, bearing: 28.671509 deg, approach rate: 0.238405 m/s, LOS rate: 0.162227 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117633 deg. 2025-01-08T20:12:29.876Z,1736367149.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819162 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:29.920Z,1736367149.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:29.922Z,1736367149.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835138 2025-01-08T20:12:30.172Z,1736367150.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:30.173Z,1736367150.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086207 2025-01-08T20:12:30.268Z,1736367150.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:30.290Z,1736367150.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:30.297Z,1736367150.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 239.926926 m, bearing: 28.737577 deg, approach rate: 0.234764 m/s, LOS rate: 0.158143 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173308 deg. 2025-01-08T20:12:30.298Z,1736367150.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820134 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:30.426Z,1736367150.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:30.428Z,1736367150.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.341475 2025-01-08T20:12:30.676Z,1736367150.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:30.678Z,1736367150.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590831 2025-01-08T20:12:30.733Z,1736367150.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:30.754Z,1736367150.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:30.757Z,1736367150.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.043427 m, bearing: 28.812359 deg, approach rate: 0.252882 m/s, LOS rate: 0.162246 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199422 deg. 2025-01-08T20:12:30.758Z,1736367150.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820590 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:30.928Z,1736367150.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:30.928Z,1736367150.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.841980 2025-01-08T20:12:31.070Z,1736367151.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:31.078Z,1736367151.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:31.081Z,1736367151.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.128571 m, bearing: 28.866561 deg, approach rate: 0.259664 m/s, LOS rate: 0.165241 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137735 deg. 2025-01-08T20:12:31.082Z,1736367151.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819513 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:31.180Z,1736367151.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:31.181Z,1736367151.181 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:31.181Z,1736367151.181 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:31.181Z,1736367151.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:31.433Z,1736367151.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:31.435Z,1736367151.435 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:31.436Z,1736367151.436 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:31.437Z,1736367151.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:31.548Z,1736367151.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:31.557Z,1736367151.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:31.561Z,1736367151.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.249008 m, bearing: 28.941858 deg, approach rate: 0.251557 m/s, LOS rate: 0.157193 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200963 deg. 2025-01-08T20:12:31.562Z,1736367151.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820616 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:31.685Z,1736367151.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:31.685Z,1736367151.685 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:31.685Z,1736367151.685 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:31.685Z,1736367151.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:31.877Z,1736367151.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:31.885Z,1736367151.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:31.887Z,1736367151.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:31.890Z,1736367151.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.332321 m, bearing: 28.993662 deg, approach rate: 0.252503 m/s, LOS rate: 0.156951 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130544 deg. 2025-01-08T20:12:31.892Z,1736367151.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819387 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:31.936Z,1736367151.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:31.937Z,1736367151.937 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:12:31.938Z,1736367151.938 [DAT](INFO): response not received 2025-01-08T20:12:31.938Z,1736367151.938 [DAT](INFO): DAT read: user:1179> 2025-01-08T20:12:31.944Z,1736367151.944 [DAT](ERROR): No response from remote modem. 2025-01-08T20:12:31.944Z,1736367151.944 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:31.945Z,1736367151.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:32.188Z,1736367152.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:32.190Z,1736367152.190 [DAT](INFO): DAT read: Tx time:20:12:31.3819 2025-01-08T20:12:32.190Z,1736367152.190 [DAT](INFO): Ping request sent. 2025-01-08T20:12:32.190Z,1736367152.190 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:12:32.191Z,1736367152.191 [DAT](INFO): DAT read: TxSync time:20:12:31.3811 2025-01-08T20:12:32.192Z,1736367152.192 [DAT](INFO): publishing transmit ping time 2025-01-08T20:12:32.192Z,1736367152.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001706 2025-01-08T20:12:32.310Z,1736367152.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:32.319Z,1736367152.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:32.322Z,1736367152.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.442383 m, bearing: 29.061625 deg, approach rate: 0.254791 m/s, LOS rate: 0.157262 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178983 deg. 2025-01-08T20:12:32.323Z,1736367152.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820232 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:32.440Z,1736367152.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:32.440Z,1736367152.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249926 2025-01-08T20:12:32.692Z,1736367152.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:32.693Z,1736367152.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502373 2025-01-08T20:12:32.714Z,1736367152.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:32.749Z,1736367152.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:32.754Z,1736367152.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.544785 m, bearing: 29.124647 deg, approach rate: 0.241438 m/s, LOS rate: 0.148527 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164171 deg. 2025-01-08T20:12:32.755Z,1736367152.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819974 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:32.947Z,1736367152.947 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:32.949Z,1736367152.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758795 2025-01-08T20:12:33.098Z,1736367153.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:33.108Z,1736367153.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:33.110Z,1736367153.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.642441 m, bearing: 29.184554 deg, approach rate: 0.268287 m/s, LOS rate: 0.164515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154836 deg. 2025-01-08T20:12:33.112Z,1736367153.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819811 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:33.197Z,1736367153.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:33.198Z,1736367153.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007717 2025-01-08T20:12:33.448Z,1736367153.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:33.448Z,1736367153.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257859 2025-01-08T20:12:33.573Z,1736367153.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:33.582Z,1736367153.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:33.586Z,1736367153.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.757675 m, bearing: 29.253693 deg, approach rate: 0.242810 m/s, LOS rate: 0.145612 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182502 deg. 2025-01-08T20:12:33.587Z,1736367153.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820294 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:33.700Z,1736367153.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:33.702Z,1736367153.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511010 2025-01-08T20:12:33.896Z,1736367153.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:33.903Z,1736367153.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:33.905Z,1736367153.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:33.908Z,1736367153.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.835922 m, bearing: 29.300587 deg, approach rate: 0.241770 m/s, LOS rate: 0.144847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115823 deg. 2025-01-08T20:12:33.909Z,1736367153.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819130 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:33.953Z,1736367153.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:33.954Z,1736367153.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763333 2025-01-08T20:12:34.204Z,1736367154.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:34.206Z,1736367154.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015149 2025-01-08T20:12:34.299Z,1736367154.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:34.329Z,1736367154.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:34.332Z,1736367154.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 240.933640 m, bearing: 29.359195 deg, approach rate: 0.230844 m/s, LOS rate: 0.138398 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150940 deg. 2025-01-08T20:12:34.333Z,1736367154.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819743 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:34.456Z,1736367154.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:34.457Z,1736367154.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266034 2025-01-08T20:12:34.708Z,1736367154.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:34.709Z,1736367154.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518183 2025-01-08T20:12:34.725Z,1736367154.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:34.763Z,1736367154.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:34.778Z,1736367154.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.029144 m, bearing: 29.420125 deg, approach rate: 0.220141 m/s, LOS rate: 0.140389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157903 deg. 2025-01-08T20:12:34.784Z,1736367154.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819865 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:34.960Z,1736367154.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:34.960Z,1736367154.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769819 2025-01-08T20:12:35.107Z,1736367155.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:35.116Z,1736367155.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:35.119Z,1736367155.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.114670 m, bearing: 29.474780 deg, approach rate: 0.242412 m/s, LOS rate: 0.154859 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139094 deg. 2025-01-08T20:12:35.120Z,1736367155.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819536 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:35.212Z,1736367155.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:35.213Z,1736367155.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023009 2025-01-08T20:12:35.465Z,1736367155.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:35.468Z,1736367155.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276955 2025-01-08T20:12:35.593Z,1736367155.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:35.602Z,1736367155.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:35.605Z,1736367155.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.220917 m, bearing: 29.541080 deg, approach rate: 0.218380 m/s, LOS rate: 0.136213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173998 deg. 2025-01-08T20:12:35.606Z,1736367155.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820146 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:35.716Z,1736367155.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:35.716Z,1736367155.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525946 2025-01-08T20:12:35.925Z,1736367155.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:35.932Z,1736367155.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:35.935Z,1736367155.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:35.938Z,1736367155.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.293289 m, bearing: 29.586445 deg, approach rate: 0.217903 m/s, LOS rate: 0.136547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.111241 deg. 2025-01-08T20:12:35.939Z,1736367155.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819050 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:35.968Z,1736367155.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:35.969Z,1736367155.969 [DAT](INFO): DAT read: Rx Time:20:12:34.6202 2025-01-08T20:12:35.970Z,1736367155.970 [DAT](INFO): Rx dataTimestamp_ set to:1736367155.969441 2025-01-08T20:12:35.986Z,1736367155.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780158 2025-01-08T20:12:36.220Z,1736367156.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:36.220Z,1736367156.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029926 2025-01-08T20:12:36.341Z,1736367156.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:36.361Z,1736367156.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:36.364Z,1736367156.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.383774 m, bearing: 29.643256 deg, approach rate: 0.212774 m/s, LOS rate: 0.133539 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145554 deg. 2025-01-08T20:12:36.365Z,1736367156.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819649 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:36.472Z,1736367156.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:36.473Z,1736367156.473 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:12:36.473Z,1736367156.473 [DAT](INFO): Received a bad header 2025-01-08T20:12:36.488Z,1736367156.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297231 2025-01-08T20:12:36.724Z,1736367156.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:36.724Z,1736367156.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533740 2025-01-08T20:12:36.755Z,1736367156.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:36.779Z,1736367156.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:36.782Z,1736367156.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.466507 m, bearing: 29.700972 deg, approach rate: 0.204795 m/s, LOS rate: 0.142819 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148275 deg. 2025-01-08T20:12:36.787Z,1736367156.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819696 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:36.978Z,1736367156.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:36.979Z,1736367156.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788872 2025-01-08T20:12:37.124Z,1736367157.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:37.133Z,1736367157.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:37.153Z,1736367157.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.540375 m, bearing: 29.752518 deg, approach rate: 0.199735 m/s, LOS rate: 0.139335 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129777 deg. 2025-01-08T20:12:37.154Z,1736367157.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819374 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:37.228Z,1736367157.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:37.229Z,1736367157.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038776 2025-01-08T20:12:37.480Z,1736367157.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:37.480Z,1736367157.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289900 2025-01-08T20:12:37.582Z,1736367157.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:37.620Z,1736367157.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:37.622Z,1736367157.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.632095 m, bearing: 29.816398 deg, approach rate: 0.191909 m/s, LOS rate: 0.133608 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166756 deg. 2025-01-08T20:12:37.624Z,1736367157.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820019 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:37.732Z,1736367157.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:37.732Z,1736367157.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541936 2025-01-08T20:12:37.952Z,1736367157.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:37.974Z,1736367157.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:37.977Z,1736367157.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:37.989Z,1736367157.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:37.989Z,1736367157.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798871 2025-01-08T20:12:37.995Z,1736367157.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.701065 m, bearing: 29.867205 deg, approach rate: 0.188232 m/s, LOS rate: 0.138621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127563 deg. 2025-01-08T20:12:37.996Z,1736367157.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819335 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:38.240Z,1736367158.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:38.240Z,1736367158.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049841 2025-01-08T20:12:38.345Z,1736367158.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:38.357Z,1736367158.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:38.375Z,1736367158.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.774765 m, bearing: 29.921340 deg, approach rate: 0.194372 m/s, LOS rate: 0.142729 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137542 deg. 2025-01-08T20:12:38.377Z,1736367158.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819510 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:38.497Z,1736367158.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:38.498Z,1736367158.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307601 2025-01-08T20:12:38.748Z,1736367158.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:38.748Z,1736367158.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557956 2025-01-08T20:12:38.785Z,1736367158.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:38.793Z,1736367158.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:38.796Z,1736367158.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.851944 m, bearing: 29.983317 deg, approach rate: 0.176735 m/s, LOS rate: 0.141878 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161058 deg. 2025-01-08T20:12:38.797Z,1736367158.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819920 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:38.000Z,1736367159.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:39.001Z,1736367159.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809968 2025-01-08T20:12:39.154Z,1736367159.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:39.162Z,1736367159.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:39.165Z,1736367159.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.917038 m, bearing: 30.035533 deg, approach rate: 0.176383 m/s, LOS rate: 0.141449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131791 deg. 2025-01-08T20:12:39.166Z,1736367159.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819409 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:39.252Z,1736367159.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:39.253Z,1736367159.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062812 2025-01-08T20:12:39.504Z,1736367159.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:39.505Z,1736367159.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314065 2025-01-08T20:12:39.624Z,1736367159.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:39.642Z,1736367159.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:39.645Z,1736367159.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 241.999954 m, bearing: 30.101787 deg, approach rate: 0.172979 m/s, LOS rate: 0.138172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173881 deg. 2025-01-08T20:12:39.646Z,1736367159.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820144 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:39.756Z,1736367159.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:39.757Z,1736367159.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566290 2025-01-08T20:12:39.978Z,1736367159.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:39.985Z,1736367159.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:39.988Z,1736367159.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:39.990Z,1736367159.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.060043 m, bearing: 30.151473 deg, approach rate: 0.173847 m/s, LOS rate: 0.143713 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124207 deg. 2025-01-08T20:12:39.000Z,1736367160.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819276 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:40.008Z,1736367160.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:40.009Z,1736367160.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818042 2025-01-08T20:12:40.172Z,1736367160.172 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:12:40.260Z,1736367160.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:40.260Z,1736367160.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069839 2025-01-08T20:12:40.369Z,1736367160.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:40.377Z,1736367160.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:40.397Z,1736367160.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.126740 m, bearing: 30.206422 deg, approach rate: 0.171251 m/s, LOS rate: 0.141051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139990 deg. 2025-01-08T20:12:40.400Z,1736367160.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819552 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:40.512Z,1736367160.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:40.513Z,1736367160.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322607 2025-01-08T20:12:40.764Z,1736367160.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:40.765Z,1736367160.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574009 2025-01-08T20:12:40.809Z,1736367160.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:40.856Z,1736367160.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:40.859Z,1736367160.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.211578 m, bearing: 30.269365 deg, approach rate: 0.176978 m/s, LOS rate: 0.131257 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163949 deg. 2025-01-08T20:12:40.869Z,1736367160.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819970 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:41.016Z,1736367161.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:41.016Z,1736367161.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825821 2025-01-08T20:12:41.168Z,1736367161.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:41.176Z,1736367161.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:12:41.198Z,1736367161.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:41.203Z,1736367161.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.280563 m, bearing: 30.320435 deg, approach rate: 0.201531 m/s, LOS rate: 0.149149 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128350 deg. 2025-01-08T20:12:41.204Z,1736367161.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819349 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:41.268Z,1736367161.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:41.268Z,1736367161.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077964 2025-01-08T20:12:41.520Z,1736367161.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:41.521Z,1736367161.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330143 2025-01-08T20:12:41.642Z,1736367161.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:41.686Z,1736367161.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:41.694Z,1736367161.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.372391 m, bearing: 30.388141 deg, approach rate: 0.190986 m/s, LOS rate: 0.140765 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178228 deg. 2025-01-08T20:12:41.695Z,1736367161.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820220 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:41.772Z,1736367161.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:41.773Z,1736367161.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582548 2025-01-08T20:12:42.010Z,1736367162.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:42.024Z,1736367162.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:42.024Z,1736367162.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833934 2025-01-08T20:12:42.041Z,1736367162.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:42.043Z,1736367162.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:42.050Z,1736367162.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.443497 m, bearing: 30.440730 deg, approach rate: 0.195553 m/s, LOS rate: 0.144586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132906 deg. 2025-01-08T20:12:42.058Z,1736367162.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819428 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:42.276Z,1736367162.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:42.276Z,1736367162.276 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:42.276Z,1736367162.276 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:42.277Z,1736367162.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:42.383Z,1736367162.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:42.396Z,1736367162.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:42.399Z,1736367162.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.515778 m, bearing: 30.493895 deg, approach rate: 0.204614 m/s, LOS rate: 0.150457 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134635 deg. 2025-01-08T20:12:42.400Z,1736367162.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819458 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:42.528Z,1736367162.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:42.528Z,1736367162.528 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:42.528Z,1736367162.528 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:42.529Z,1736367162.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:42.780Z,1736367162.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:42.780Z,1736367162.780 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:42.780Z,1736367162.780 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:42.781Z,1736367162.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:42.805Z,1736367162.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:42.814Z,1736367162.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:42.817Z,1736367162.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.606888 m, bearing: 30.555008 deg, approach rate: 0.218224 m/s, LOS rate: 0.146321 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158456 deg. 2025-01-08T20:12:42.819Z,1736367162.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819874 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:43.032Z,1736367163.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:43.033Z,1736367163.033 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:12:43.033Z,1736367163.033 [DAT](INFO): response not received 2025-01-08T20:12:43.033Z,1736367163.033 [DAT](INFO): DAT read: user:1181> 2025-01-08T20:12:43.035Z,1736367163.035 [DAT](INFO): DAT read: Tx time:20:12:42.3335 2025-01-08T20:12:43.035Z,1736367163.035 [DAT](INFO): Ping request sent. 2025-01-08T20:12:43.035Z,1736367163.035 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:12:43.035Z,1736367163.035 [DAT](INFO): publishing transmit ping time 2025-01-08T20:12:43.036Z,1736367163.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000909 2025-01-08T20:12:43.191Z,1736367163.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:43.215Z,1736367163.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:43.219Z,1736367163.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.690598 m, bearing: 30.610764 deg, approach rate: 0.217062 m/s, LOS rate: 0.144526 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142396 deg. 2025-01-08T20:12:43.224Z,1736367163.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819594 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:43.285Z,1736367163.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:43.286Z,1736367163.286 [DAT](INFO): DAT read: TxSync time:20:12:42.3328 2025-01-08T20:12:43.287Z,1736367163.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251759 2025-01-08T20:12:43.536Z,1736367163.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:43.537Z,1736367163.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501555 2025-01-08T20:12:43.604Z,1736367163.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:43.681Z,1736367163.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:43.689Z,1736367163.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.780594 m, bearing: 30.670347 deg, approach rate: 0.186992 m/s, LOS rate: 0.123755 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153870 deg. 2025-01-08T20:12:43.690Z,1736367163.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819794 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:43.789Z,1736367163.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:43.790Z,1736367163.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754715 2025-01-08T20:12:44.040Z,1736367164.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:44.041Z,1736367164.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005511 2025-01-08T20:12:44.054Z,1736367164.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:44.062Z,1736367164.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:44.064Z,1736367164.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:44.067Z,1736367164.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.888107 m, bearing: 30.736738 deg, approach rate: 0.280200 m/s, LOS rate: 0.172948 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174268 deg. 2025-01-08T20:12:44.069Z,1736367164.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820150 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:44.292Z,1736367164.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:44.292Z,1736367164.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257314 2025-01-08T20:12:44.431Z,1736367164.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:44.448Z,1736367164.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:44.457Z,1736367164.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 242.980072 m, bearing: 30.792297 deg, approach rate: 0.242783 m/s, LOS rate: 0.146619 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141802 deg. 2025-01-08T20:12:44.458Z,1736367164.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819583 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:44.544Z,1736367164.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:44.546Z,1736367164.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510596 2025-01-08T20:12:44.796Z,1736367164.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:44.796Z,1736367164.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761342 2025-01-08T20:12:44.837Z,1736367164.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:44.878Z,1736367164.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:44.886Z,1736367164.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.080429 m, bearing: 30.851353 deg, approach rate: 0.231035 m/s, LOS rate: 0.135898 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152280 deg. 2025-01-08T20:12:44.887Z,1736367164.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819767 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:45.048Z,1736367165.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:45.049Z,1736367165.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013419 2025-01-08T20:12:45.220Z,1736367165.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:45.228Z,1736367165.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:45.230Z,1736367165.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.175079 m, bearing: 30.907050 deg, approach rate: 0.270430 m/s, LOS rate: 0.159075 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142214 deg. 2025-01-08T20:12:45.232Z,1736367165.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819591 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:45.302Z,1736367165.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:45.303Z,1736367165.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267639 2025-01-08T20:12:45.556Z,1736367165.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:45.556Z,1736367165.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521263 2025-01-08T20:12:45.631Z,1736367165.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:45.702Z,1736367165.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:45.711Z,1736367165.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.276398 m, bearing: 30.966639 deg, approach rate: 0.213524 m/s, LOS rate: 0.125527 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153876 deg. 2025-01-08T20:12:45.716Z,1736367165.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819794 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:45.808Z,1736367165.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:45.808Z,1736367165.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773357 2025-01-08T20:12:46.060Z,1736367166.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:46.061Z,1736367166.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025411 2025-01-08T20:12:46.070Z,1736367166.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:46.076Z,1736367166.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:46.078Z,1736367166.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:46.081Z,1736367166.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.390274 m, bearing: 31.030850 deg, approach rate: 0.302655 m/s, LOS rate: 0.170577 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167729 deg. 2025-01-08T20:12:46.082Z,1736367166.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820036 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:46.312Z,1736367166.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:46.312Z,1736367166.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277285 2025-01-08T20:12:46.439Z,1736367166.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:46.447Z,1736367166.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:46.450Z,1736367166.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.486679 m, bearing: 31.084636 deg, approach rate: 0.261382 m/s, LOS rate: 0.145774 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136483 deg. 2025-01-08T20:12:46.454Z,1736367166.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819491 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:46.564Z,1736367166.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:46.565Z,1736367166.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530187 2025-01-08T20:12:46.818Z,1736367166.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:46.819Z,1736367166.819 [DAT](INFO): DAT read: Rx Time:20:12:45.5806 2025-01-08T20:12:46.820Z,1736367166.820 [DAT](INFO): Rx dataTimestamp_ set to:1736367166.819443 2025-01-08T20:12:46.820Z,1736367166.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785151 2025-01-08T20:12:46.877Z,1736367166.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:46.886Z,1736367166.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:46.889Z,1736367166.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.602951 m, bearing: 31.149584 deg, approach rate: 0.264733 m/s, LOS rate: 0.147805 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169935 deg. 2025-01-08T20:12:46.891Z,1736367166.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820075 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:47.068Z,1736367167.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:47.069Z,1736367167.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034039 2025-01-08T20:12:47.259Z,1736367167.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:47.267Z,1736367167.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:47.270Z,1736367167.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.704666 m, bearing: 31.206030 deg, approach rate: 0.267386 m/s, LOS rate: 0.148322 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144455 deg. 2025-01-08T20:12:47.272Z,1736367167.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819630 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:47.320Z,1736367167.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:47.322Z,1736367167.322 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:12:47.322Z,1736367167.322 [DAT](INFO): Received a bad header 2025-01-08T20:12:47.337Z,1736367167.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.301002 2025-01-08T20:12:47.572Z,1736367167.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:47.573Z,1736367167.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537403 2025-01-08T20:12:47.654Z,1736367167.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:47.724Z,1736367167.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:47.744Z,1736367167.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.810364 m, bearing: 31.264367 deg, approach rate: 0.234360 m/s, LOS rate: 0.129293 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150121 deg. 2025-01-08T20:12:47.745Z,1736367167.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819729 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:47.824Z,1736367167.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:47.825Z,1736367167.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790065 2025-01-08T20:12:48.076Z,1736367168.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:48.076Z,1736367168.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041338 2025-01-08T20:12:48.094Z,1736367168.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:48.109Z,1736367168.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:48.116Z,1736367168.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:48.123Z,1736367168.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 243.928177 m, bearing: 31.328311 deg, approach rate: 0.299175 m/s, LOS rate: 0.162302 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166926 deg. 2025-01-08T20:12:48.124Z,1736367168.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820022 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:48.330Z,1736367168.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:48.331Z,1736367168.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296350 2025-01-08T20:12:48.448Z,1736367168.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:48.460Z,1736367168.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:48.462Z,1736367168.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.023315 m, bearing: 31.379653 deg, approach rate: 0.273440 m/s, LOS rate: 0.147504 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129151 deg. 2025-01-08T20:12:48.464Z,1736367168.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819363 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:48.580Z,1736367168.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:48.582Z,1736367168.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546078 2025-01-08T20:12:48.832Z,1736367168.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:48.832Z,1736367168.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797168 2025-01-08T20:12:48.881Z,1736367168.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:48.907Z,1736367168.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:48.910Z,1736367168.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.134094 m, bearing: 31.443550 deg, approach rate: 0.249743 m/s, LOS rate: 0.143986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166790 deg. 2025-01-08T20:12:48.915Z,1736367168.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820020 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:49.084Z,1736367169.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:49.085Z,1736367169.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050045 2025-01-08T20:12:49.282Z,1736367169.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:49.291Z,1736367169.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:49.294Z,1736367169.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.236847 m, bearing: 31.502447 deg, approach rate: 0.264733 m/s, LOS rate: 0.151679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151803 deg. 2025-01-08T20:12:49.295Z,1736367169.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819758 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:49.336Z,1736367169.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:49.337Z,1736367169.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301417 2025-01-08T20:12:49.588Z,1736367169.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:49.589Z,1736367169.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553393 2025-01-08T20:12:49.666Z,1736367169.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:49.722Z,1736367169.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:49.758Z,1736367169.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.335602 m, bearing: 31.558818 deg, approach rate: 0.230803 m/s, LOS rate: 0.131694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144232 deg. 2025-01-08T20:12:49.764Z,1736367169.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819626 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:49.841Z,1736367169.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:49.844Z,1736367169.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807853 2025-01-08T20:12:50.092Z,1736367170.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:50.092Z,1736367170.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057314 2025-01-08T20:12:50.105Z,1736367170.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:50.111Z,1736367170.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:50.113Z,1736367170.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:50.116Z,1736367170.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.445007 m, bearing: 31.622939 deg, approach rate: 0.277317 m/s, LOS rate: 0.162457 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167461 deg. 2025-01-08T20:12:50.119Z,1736367170.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820032 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:50.344Z,1736367170.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:50.344Z,1736367170.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309354 2025-01-08T20:12:50.490Z,1736367170.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:50.509Z,1736367170.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:50.511Z,1736367170.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.541275 m, bearing: 31.679164 deg, approach rate: 0.243668 m/s, LOS rate: 0.142259 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143796 deg. 2025-01-08T20:12:50.513Z,1736367170.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819618 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:50.596Z,1736367170.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:50.597Z,1736367170.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561650 2025-01-08T20:12:50.848Z,1736367170.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:50.848Z,1736367170.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813168 2025-01-08T20:12:50.922Z,1736367170.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:50.931Z,1736367170.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:50.934Z,1736367170.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.644257 m, bearing: 31.741543 deg, approach rate: 0.243981 m/s, LOS rate: 0.147723 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162243 deg. 2025-01-08T20:12:50.956Z,1736367170.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819941 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:51.100Z,1736367171.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:51.101Z,1736367171.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065315 2025-01-08T20:12:51.277Z,1736367171.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:51.287Z,1736367171.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:51.289Z,1736367171.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.729309 m, bearing: 31.792736 deg, approach rate: 0.238986 m/s, LOS rate: 0.143795 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128712 deg. 2025-01-08T20:12:51.291Z,1736367171.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819355 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:51.352Z,1736367171.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:51.354Z,1736367171.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318533 2025-01-08T20:12:51.604Z,1736367171.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:51.606Z,1736367171.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570602 2025-01-08T20:12:51.709Z,1736367171.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:51.717Z,1736367171.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:51.726Z,1736367171.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.832947 m, bearing: 31.854920 deg, approach rate: 0.240631 m/s, LOS rate: 0.144321 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161659 deg. 2025-01-08T20:12:51.731Z,1736367171.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819930 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:51.856Z,1736367171.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:51.857Z,1736367171.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821481 2025-01-08T20:12:52.109Z,1736367172.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:52.110Z,1736367172.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075018 2025-01-08T20:12:52.161Z,1736367172.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:52.168Z,1736367172.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:52.170Z,1736367172.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:52.190Z,1736367172.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 244.938568 m, bearing: 31.918077 deg, approach rate: 0.233164 m/s, LOS rate: 0.139363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164577 deg. 2025-01-08T20:12:52.196Z,1736367172.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819981 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:52.360Z,1736367172.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:52.360Z,1736367172.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325173 2025-01-08T20:12:52.486Z,1736367172.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:52.517Z,1736367172.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:52.524Z,1736367172.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.014633 m, bearing: 31.963520 deg, approach rate: 0.219286 m/s, LOS rate: 0.130965 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.111472 deg. 2025-01-08T20:12:52.525Z,1736367172.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819054 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:52.613Z,1736367172.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:52.615Z,1736367172.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579361 2025-01-08T20:12:52.864Z,1736367172.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:52.864Z,1736367172.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829308 2025-01-08T20:12:52.937Z,1736367172.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:52.945Z,1736367172.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:52.948Z,1736367172.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.116760 m, bearing: 32.025308 deg, approach rate: 0.238706 m/s, LOS rate: 0.144360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160473 deg. 2025-01-08T20:12:52.949Z,1736367172.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819910 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:53.116Z,1736367173.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:53.116Z,1736367173.116 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:53.116Z,1736367173.116 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:53.117Z,1736367173.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:53.307Z,1736367173.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:53.316Z,1736367173.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:53.319Z,1736367173.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.200806 m, bearing: 32.076073 deg, approach rate: 0.227007 m/s, LOS rate: 0.137070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127430 deg. 2025-01-08T20:12:53.320Z,1736367173.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819333 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:53.369Z,1736367173.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:53.369Z,1736367173.369 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:53.370Z,1736367173.370 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:53.370Z,1736367173.370 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:53.620Z,1736367173.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:53.620Z,1736367173.620 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:53.620Z,1736367173.620 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:53.621Z,1736367173.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:53.704Z,1736367173.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:53.712Z,1736367173.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:53.715Z,1736367173.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.290970 m, bearing: 32.130462 deg, approach rate: 0.227070 m/s, LOS rate: 0.136924 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138294 deg. 2025-01-08T20:12:53.716Z,1736367173.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819522 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:53.872Z,1736367173.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:53.873Z,1736367173.873 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:12:53.873Z,1736367173.873 [DAT](INFO): response not received 2025-01-08T20:12:53.873Z,1736367173.873 [DAT](INFO): DAT read: user:1183> 2025-01-08T20:12:53.874Z,1736367173.874 [DAT](ERROR): No response from remote modem. 2025-01-08T20:12:53.875Z,1736367173.875 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:53.876Z,1736367173.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:54.124Z,1736367174.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:54.124Z,1736367174.124 [DAT](INFO): DAT read: Tx time:20:125.821 2025-01-08T20:12:54.125Z,1736367174.125 [DAT](INFO): unknown deviceResponse_: Tx time:20:125.821 2025-01-08T20:12:54.125Z,1736367174.125 [DAT](INFO): DAT read: TxSync time:20:12:53.2813 2025-01-08T20:12:54.126Z,1736367174.126 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:54.126Z,1736367174.126 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:54.126Z,1736367174.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:54.153Z,1736367174.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:54.212Z,1736367174.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:54.215Z,1736367174.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.389023 m, bearing: 32.189723 deg, approach rate: 0.196149 m/s, LOS rate: 0.118499 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152895 deg. 2025-01-08T20:12:54.224Z,1736367174.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819777 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:54.376Z,1736367174.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:54.377Z,1736367174.377 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:54.378Z,1736367174.378 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:54.378Z,1736367174.378 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:54.517Z,1736367174.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:54.523Z,1736367174.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:54.525Z,1736367174.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:54.528Z,1736367174.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.468842 m, bearing: 32.237687 deg, approach rate: 0.254785 m/s, LOS rate: 0.153054 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119032 deg. 2025-01-08T20:12:54.529Z,1736367174.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819186 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:54.628Z,1736367174.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:54.628Z,1736367174.628 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:54.629Z,1736367174.629 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:54.629Z,1736367174.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:54.880Z,1736367174.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:54.880Z,1736367174.880 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:54.880Z,1736367174.880 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:54.880Z,1736367174.880 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:54.952Z,1736367174.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:54.981Z,1736367174.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:54.988Z,1736367174.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.567978 m, bearing: 32.293674 deg, approach rate: 0.217732 m/s, LOS rate: 0.122915 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143080 deg. 2025-01-08T20:12:54.989Z,1736367174.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819606 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:55.133Z,1736367175.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:55.134Z,1736367175.134 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:55.135Z,1736367175.135 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:55.135Z,1736367175.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:55.320Z,1736367175.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:55.328Z,1736367175.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:55.331Z,1736367175.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.652054 m, bearing: 32.341008 deg, approach rate: 0.242112 m/s, LOS rate: 0.136259 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117139 deg. 2025-01-08T20:12:55.332Z,1736367175.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819153 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:55.385Z,1736367175.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:55.385Z,1736367175.385 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:55.386Z,1736367175.386 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:55.386Z,1736367175.386 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:55.636Z,1736367175.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:55.637Z,1736367175.637 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:55.637Z,1736367175.637 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:55.637Z,1736367175.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:55.728Z,1736367175.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:55.745Z,1736367175.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:55.752Z,1736367175.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.745300 m, bearing: 32.393551 deg, approach rate: 0.223639 m/s, LOS rate: 0.125969 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132755 deg. 2025-01-08T20:12:55.753Z,1736367175.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819426 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:55.888Z,1736367175.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:55.889Z,1736367175.889 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:55.890Z,1736367175.890 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:55.890Z,1736367175.890 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:56.140Z,1736367176.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:56.140Z,1736367176.140 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:56.140Z,1736367176.140 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:56.141Z,1736367176.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:56.157Z,1736367176.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:56.166Z,1736367176.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:56.169Z,1736367176.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.844055 m, bearing: 32.447546 deg, approach rate: 0.234700 m/s, LOS rate: 0.128272 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137106 deg. 2025-01-08T20:12:56.170Z,1736367176.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819502 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:56.392Z,1736367176.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:56.393Z,1736367176.393 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:56.393Z,1736367176.393 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:56.394Z,1736367176.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:56.529Z,1736367176.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:56.535Z,1736367176.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:56.537Z,1736367176.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:56.540Z,1736367176.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 245.929596 m, bearing: 32.494337 deg, approach rate: 0.230105 m/s, LOS rate: 0.125826 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115513 deg. 2025-01-08T20:12:56.541Z,1736367176.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819125 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:56.645Z,1736367176.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:56.646Z,1736367176.646 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:56.647Z,1736367176.647 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:56.653Z,1736367176.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:56.896Z,1736367176.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:56.896Z,1736367176.896 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:56.896Z,1736367176.896 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:56.896Z,1736367176.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:56.972Z,1736367176.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:56.981Z,1736367176.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:56.983Z,1736367176.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.036682 m, bearing: 32.550748 deg, approach rate: 0.241704 m/s, LOS rate: 0.127270 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144346 deg. 2025-01-08T20:12:56.985Z,1736367176.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819628 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:57.150Z,1736367177.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:57.152Z,1736367177.152 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:57.152Z,1736367177.152 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:57.153Z,1736367177.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:57.338Z,1736367177.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:57.346Z,1736367177.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:57.350Z,1736367177.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.125046 m, bearing: 32.597303 deg, approach rate: 0.241455 m/s, LOS rate: 0.127166 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114801 deg. 2025-01-08T20:12:57.352Z,1736367177.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819112 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:57.401Z,1736367177.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:57.402Z,1736367177.402 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:57.402Z,1736367177.402 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:57.402Z,1736367177.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:57.656Z,1736367177.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:57.657Z,1736367177.657 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:57.657Z,1736367177.657 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:57.657Z,1736367177.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:57.773Z,1736367177.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:57.782Z,1736367177.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:57.786Z,1736367177.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.230286 m, bearing: 32.652729 deg, approach rate: 0.241773 m/s, LOS rate: 0.127278 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141393 deg. 2025-01-08T20:12:57.787Z,1736367177.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819577 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:57.910Z,1736367177.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:57.910Z,1736367177.910 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:57.910Z,1736367177.910 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:57.910Z,1736367177.910 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:58.164Z,1736367178.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:58.164Z,1736367178.164 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:58.164Z,1736367178.164 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:58.165Z,1736367178.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:58.192Z,1736367178.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:58.234Z,1736367178.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:58.242Z,1736367178.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.336075 m, bearing: 32.707901 deg, approach rate: 0.234125 m/s, LOS rate: 0.122050 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140631 deg. 2025-01-08T20:12:58.243Z,1736367178.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819563 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:58.416Z,1736367178.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:58.416Z,1736367178.416 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:58.416Z,1736367178.416 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:58.416Z,1736367178.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:58.572Z,1736367178.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:58.578Z,1736367178.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:12:58.581Z,1736367178.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:58.583Z,1736367178.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.432709 m, bearing: 32.758153 deg, approach rate: 0.278557 m/s, LOS rate: 0.144800 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125884 deg. 2025-01-08T20:12:58.584Z,1736367178.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819306 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:58.669Z,1736367178.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:58.670Z,1736367178.670 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:58.670Z,1736367178.670 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:58.670Z,1736367178.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:58.920Z,1736367178.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:58.920Z,1736367178.920 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:58.920Z,1736367178.920 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:58.921Z,1736367178.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:59.004Z,1736367179.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:59.017Z,1736367179.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:59.025Z,1736367179.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.551926 m, bearing: 32.816672 deg, approach rate: 0.273237 m/s, LOS rate: 0.134057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150658 deg. 2025-01-08T20:12:59.026Z,1736367179.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819738 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:59.172Z,1736367179.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:59.172Z,1736367179.172 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:59.172Z,1736367179.172 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:59.173Z,1736367179.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:59.371Z,1736367179.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:59.405Z,1736367179.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:59.409Z,1736367179.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.652908 m, bearing: 32.866436 deg, approach rate: 0.259815 m/s, LOS rate: 0.127983 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124417 deg. 2025-01-08T20:12:59.410Z,1736367179.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819280 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:59.424Z,1736367179.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:59.424Z,1736367179.424 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:59.424Z,1736367179.424 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:59.424Z,1736367179.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:59.676Z,1736367179.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:59.677Z,1736367179.677 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:59.678Z,1736367179.678 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:59.678Z,1736367179.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:12:59.772Z,1736367179.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:12:59.780Z,1736367179.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:12:59.782Z,1736367179.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.763168 m, bearing: 32.920668 deg, approach rate: 0.294893 m/s, LOS rate: 0.144980 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137810 deg. 2025-01-08T20:12:59.784Z,1736367179.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819514 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:12:59.928Z,1736367179.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:12:59.928Z,1736367179.928 [DAT](INFO): Reached modem response timeout 2025-01-08T20:12:59.928Z,1736367179.928 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:12:59.929Z,1736367179.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:00.180Z,1736367180.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:00.180Z,1736367180.180 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:00.180Z,1736367180.180 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:00.181Z,1736367180.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:00.224Z,1736367180.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:00.243Z,1736367180.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:00.250Z,1736367180.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 246.898300 m, bearing: 32.984724 deg, approach rate: 0.291792 m/s, LOS rate: 0.138242 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167250 deg. 2025-01-08T20:13:00.275Z,1736367180.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820028 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:00.432Z,1736367180.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:00.432Z,1736367180.432 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:00.432Z,1736367180.432 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:00.433Z,1736367180.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:00.565Z,1736367180.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:00.589Z,1736367180.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:00.591Z,1736367180.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:00.594Z,1736367180.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.000504 m, bearing: 33.033020 deg, approach rate: 0.293136 m/s, LOS rate: 0.138463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120014 deg. 2025-01-08T20:13:00.599Z,1736367180.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819203 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:00.684Z,1736367180.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:00.684Z,1736367180.684 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:00.684Z,1736367180.684 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:00.685Z,1736367180.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:00.938Z,1736367180.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:00.939Z,1736367180.939 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:00.940Z,1736367180.940 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:00.940Z,1736367180.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:01.009Z,1736367181.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:01.018Z,1736367181.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:01.033Z,1736367181.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.138718 m, bearing: 33.098206 deg, approach rate: 0.324135 m/s, LOS rate: 0.152786 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170634 deg. 2025-01-08T20:13:01.040Z,1736367181.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820087 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:01.188Z,1736367181.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:01.188Z,1736367181.188 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:01.188Z,1736367181.188 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:01.189Z,1736367181.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:01.372Z,1736367181.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:01.381Z,1736367181.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:01.385Z,1736367181.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.252365 m, bearing: 33.151487 deg, approach rate: 0.312643 m/s, LOS rate: 0.146507 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134955 deg. 2025-01-08T20:13:01.386Z,1736367181.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819464 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:01.440Z,1736367181.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:01.440Z,1736367181.440 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:01.440Z,1736367181.440 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:01.441Z,1736367181.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:01.692Z,1736367181.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:01.692Z,1736367181.692 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:01.692Z,1736367181.692 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:01.692Z,1736367181.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:01.783Z,1736367181.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:01.793Z,1736367181.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:01.796Z,1736367181.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.381104 m, bearing: 33.211657 deg, approach rate: 0.312664 m/s, LOS rate: 0.146057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155602 deg. 2025-01-08T20:13:01.797Z,1736367181.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819825 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:01.944Z,1736367181.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:01.944Z,1736367181.944 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:01.944Z,1736367181.944 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:01.945Z,1736367181.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:02.196Z,1736367182.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:02.196Z,1736367182.196 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:02.196Z,1736367182.196 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:02.197Z,1736367182.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:02.227Z,1736367182.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:02.259Z,1736367182.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:02.277Z,1736367182.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.515594 m, bearing: 33.277983 deg, approach rate: 0.288728 m/s, LOS rate: 0.142313 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174056 deg. 2025-01-08T20:13:02.278Z,1736367182.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820147 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:02.448Z,1736367182.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:02.448Z,1736367182.448 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:02.448Z,1736367182.448 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:02.448Z,1736367182.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:02.588Z,1736367182.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:02.594Z,1736367182.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:02.596Z,1736367182.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:02.599Z,1736367182.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.625168 m, bearing: 33.331824 deg, approach rate: 0.324683 m/s, LOS rate: 0.159468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136637 deg. 2025-01-08T20:13:02.600Z,1736367182.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819493 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:02.700Z,1736367182.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:02.701Z,1736367182.701 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:02.701Z,1736367182.701 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:02.702Z,1736367182.702 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:02.953Z,1736367182.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:02.955Z,1736367182.955 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:02.956Z,1736367182.956 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:02.957Z,1736367182.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:03.040Z,1736367183.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:03.060Z,1736367183.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:03.063Z,1736367183.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.762527 m, bearing: 33.401000 deg, approach rate: 0.295899 m/s, LOS rate: 0.148936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182599 deg. 2025-01-08T20:13:03.069Z,1736367183.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820296 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:03.204Z,1736367183.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:03.204Z,1736367183.204 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:03.204Z,1736367183.204 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:03.205Z,1736367183.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:03.414Z,1736367183.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:03.424Z,1736367183.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:03.426Z,1736367183.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.876816 m, bearing: 33.458081 deg, approach rate: 0.315055 m/s, LOS rate: 0.157282 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146351 deg. 2025-01-08T20:13:03.428Z,1736367183.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819663 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:03.456Z,1736367183.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:03.456Z,1736367183.456 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:03.456Z,1736367183.456 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:03.457Z,1736367183.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:03.708Z,1736367183.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:03.708Z,1736367183.708 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:03.708Z,1736367183.708 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:03.709Z,1736367183.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:03.814Z,1736367183.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:03.824Z,1736367183.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:03.826Z,1736367183.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 247.999359 m, bearing: 33.519101 deg, approach rate: 0.305812 m/s, LOS rate: 0.152203 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158157 deg. 2025-01-08T20:13:03.828Z,1736367183.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819869 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:03.962Z,1736367183.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:03.963Z,1736367183.963 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:03.964Z,1736367183.964 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:03.965Z,1736367183.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:04.212Z,1736367184.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:04.212Z,1736367184.212 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:04.212Z,1736367184.212 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:04.213Z,1736367184.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:04.268Z,1736367184.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:04.277Z,1736367184.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:04.280Z,1736367184.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.127701 m, bearing: 33.587149 deg, approach rate: 0.283196 m/s, LOS rate: 0.150075 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179223 deg. 2025-01-08T20:13:04.281Z,1736367184.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820237 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:04.464Z,1736367184.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:04.464Z,1736367184.464 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:04.464Z,1736367184.464 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:04.465Z,1736367184.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:04.609Z,1736367184.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:04.616Z,1736367184.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:04.618Z,1736367184.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:04.622Z,1736367184.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.225037 m, bearing: 33.638479 deg, approach rate: 0.285845 m/s, LOS rate: 0.150681 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129116 deg. 2025-01-08T20:13:04.623Z,1736367184.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819362 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:04.717Z,1736367184.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:04.718Z,1736367184.718 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:04.718Z,1736367184.718 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:04.719Z,1736367184.719 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:04.970Z,1736367184.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:04.973Z,1736367184.973 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:13:04.975Z,1736367184.975 [DAT](INFO): response not received 2025-01-08T20:13:04.976Z,1736367184.976 [DAT](INFO): DAT read: user:1184> 2025-01-08T20:13:04.979Z,1736367184.979 [DAT](INFO): DAT read: Tx time:20:13:04.2322 2025-01-08T20:13:04.980Z,1736367184.980 [DAT](INFO): Ping request sent. 2025-01-08T20:13:04.980Z,1736367184.980 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:13:04.981Z,1736367184.981 [DAT](INFO): publishing transmit ping time 2025-01-08T20:13:04.988Z,1736367184.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002769 2025-01-08T20:13:05.110Z,1736367185.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:05.139Z,1736367185.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:05.142Z,1736367185.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.350677 m, bearing: 33.709995 deg, approach rate: 0.243018 m/s, LOS rate: 0.138258 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189625 deg. 2025-01-08T20:13:05.147Z,1736367185.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820418 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:05.220Z,1736367185.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:05.221Z,1736367185.221 [DAT](INFO): DAT read: TxSync time:20:13:04.2314 2025-01-08T20:13:05.222Z,1736367185.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.241439 2025-01-08T20:13:05.444Z,1736367185.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:05.453Z,1736367185.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:05.456Z,1736367185.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.432114 m, bearing: 33.755824 deg, approach rate: 0.255695 m/s, LOS rate: 0.143847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112628 deg. 2025-01-08T20:13:05.457Z,1736367185.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819075 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:05.472Z,1736367185.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:05.472Z,1736367185.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.492189 2025-01-08T20:13:05.724Z,1736367185.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:05.727Z,1736367185.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745925 2025-01-08T20:13:05.840Z,1736367185.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:05.849Z,1736367185.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:05.852Z,1736367185.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.535538 m, bearing: 33.813836 deg, approach rate: 0.261419 m/s, LOS rate: 0.146574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149151 deg. 2025-01-08T20:13:05.854Z,1736367185.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819712 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:05.979Z,1736367185.979 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:05.981Z,1736367185.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000161 2025-01-08T20:13:06.228Z,1736367186.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:06.228Z,1736367186.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247932 2025-01-08T20:13:06.258Z,1736367186.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:06.296Z,1736367186.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:06.298Z,1736367186.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.635788 m, bearing: 33.869871 deg, approach rate: 0.226599 m/s, LOS rate: 0.126606 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143223 deg. 2025-01-08T20:13:06.304Z,1736367186.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819609 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:06.480Z,1736367186.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:06.480Z,1736367186.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500076 2025-01-08T20:13:06.655Z,1736367186.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:06.666Z,1736367186.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:06.670Z,1736367186.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:06.675Z,1736367186.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.730408 m, bearing: 33.922694 deg, approach rate: 0.249773 m/s, LOS rate: 0.139385 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133593 deg. 2025-01-08T20:13:06.681Z,1736367186.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819440 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:06.732Z,1736367186.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:06.733Z,1736367186.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752314 2025-01-08T20:13:06.986Z,1736367186.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:06.988Z,1736367186.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006768 2025-01-08T20:13:07.175Z,1736367187.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:07.185Z,1736367187.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:07.188Z,1736367187.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.846024 m, bearing: 33.986774 deg, approach rate: 0.224898 m/s, LOS rate: 0.124592 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167338 deg. 2025-01-08T20:13:07.189Z,1736367187.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820029 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:07.236Z,1736367187.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:07.237Z,1736367187.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256926 2025-01-08T20:13:07.445Z,1736367187.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:07.471Z,1736367187.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:07.474Z,1736367187.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.905548 m, bearing: 34.020017 deg, approach rate: 0.208129 m/s, LOS rate: 0.116208 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.074892 deg. 2025-01-08T20:13:07.475Z,1736367187.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818416 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:07.488Z,1736367187.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:07.488Z,1736367187.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508183 2025-01-08T20:13:07.740Z,1736367187.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:07.740Z,1736367187.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760131 2025-01-08T20:13:07.857Z,1736367187.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:07.876Z,1736367187.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:07.880Z,1736367187.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 248.996201 m, bearing: 34.070706 deg, approach rate: 0.224173 m/s, LOS rate: 0.125300 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127196 deg. 2025-01-08T20:13:07.882Z,1736367187.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819329 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:07.994Z,1736367187.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:07.997Z,1736367187.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015969 2025-01-08T20:13:08.244Z,1736367188.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:08.244Z,1736367188.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264171 2025-01-08T20:13:08.307Z,1736367188.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:08.315Z,1736367188.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:08.320Z,1736367188.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.094376 m, bearing: 34.124200 deg, approach rate: 0.222734 m/s, LOS rate: 0.121316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135605 deg. 2025-01-08T20:13:08.321Z,1736367188.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819476 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:08.496Z,1736367188.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:08.497Z,1736367188.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516238 2025-01-08T20:13:08.666Z,1736367188.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:08.694Z,1736367188.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:08.701Z,1736367188.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:08.719Z,1736367188.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.172653 m, bearing: 34.166922 deg, approach rate: 0.203050 m/s, LOS rate: 0.110786 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103314 deg. 2025-01-08T20:13:08.720Z,1736367188.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818912 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:08.748Z,1736367188.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:08.749Z,1736367188.749 [DAT](INFO): DAT read: Rx Time:20:13:07.5065 2025-01-08T20:13:08.749Z,1736367188.749 [DAT](INFO): Rx dataTimestamp_ set to:1736367188.748790 2025-01-08T20:13:08.750Z,1736367188.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769300 2025-01-08T20:13:09.001Z,1736367189.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:09.003Z,1736367189.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022535 2025-01-08T20:13:09.103Z,1736367189.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:09.132Z,1736367189.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:09.140Z,1736367189.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.269623 m, bearing: 34.216456 deg, approach rate: 0.233724 m/s, LOS rate: 0.119345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123731 deg. 2025-01-08T20:13:09.142Z,1736367189.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819268 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:09.252Z,1736367189.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:09.253Z,1736367189.253 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:13:09.254Z,1736367189.254 [DAT](INFO): Received a bad header 2025-01-08T20:13:09.269Z,1736367189.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288256 2025-01-08T20:13:09.478Z,1736367189.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:09.487Z,1736367189.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:09.490Z,1736367189.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.352554 m, bearing: 34.258933 deg, approach rate: 0.223232 m/s, LOS rate: 0.114298 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102573 deg. 2025-01-08T20:13:09.492Z,1736367189.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818899 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:09.504Z,1736367189.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:09.505Z,1736367189.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524210 2025-01-08T20:13:09.756Z,1736367189.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:09.756Z,1736367189.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775996 2025-01-08T20:13:09.877Z,1736367189.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:09.885Z,1736367189.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:09.888Z,1736367189.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.440659 m, bearing: 34.304109 deg, approach rate: 0.221510 m/s, LOS rate: 0.113542 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110668 deg. 2025-01-08T20:13:09.889Z,1736367189.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819040 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:10.010Z,1736367190.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:10.013Z,1736367190.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031564 2025-01-08T20:13:10.260Z,1736367190.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:10.260Z,1736367190.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280135 2025-01-08T20:13:10.320Z,1736367190.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:10.332Z,1736367190.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:10.340Z,1736367190.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.547058 m, bearing: 34.356088 deg, approach rate: 0.237986 m/s, LOS rate: 0.116213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131057 deg. 2025-01-08T20:13:10.341Z,1736367190.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819396 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:10.512Z,1736367190.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:10.512Z,1736367190.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532145 2025-01-08T20:13:10.693Z,1736367190.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:10.700Z,1736367190.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:10.703Z,1736367190.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:10.706Z,1736367190.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.636581 m, bearing: 34.399907 deg, approach rate: 0.241223 m/s, LOS rate: 0.118028 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106595 deg. 2025-01-08T20:13:10.707Z,1736367190.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818969 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:10.764Z,1736367190.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:10.766Z,1736367190.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785242 2025-01-08T20:13:11.016Z,1736367191.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:11.016Z,1736367191.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036115 2025-01-08T20:13:11.139Z,1736367191.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:11.172Z,1736367191.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:11.174Z,1736367191.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.756470 m, bearing: 34.454934 deg, approach rate: 0.260340 m/s, LOS rate: 0.119435 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140188 deg. 2025-01-08T20:13:11.180Z,1736367191.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819555 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:11.269Z,1736367191.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:11.270Z,1736367191.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289877 2025-01-08T20:13:11.296Z,1736367191.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:13:11.496Z,1736367191.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:11.505Z,1736367191.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:11.508Z,1736367191.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.852295 m, bearing: 34.498889 deg, approach rate: 0.280214 m/s, LOS rate: 0.128485 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107001 deg. 2025-01-08T20:13:11.509Z,1736367191.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818976 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:11.520Z,1736367191.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:11.520Z,1736367191.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540206 2025-01-08T20:13:11.772Z,1736367191.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:11.772Z,1736367191.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792046 2025-01-08T20:13:11.904Z,1736367191.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:11.912Z,1736367191.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:11.915Z,1736367191.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 249.962128 m, bearing: 34.549205 deg, approach rate: 0.270035 m/s, LOS rate: 0.123654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126070 deg. 2025-01-08T20:13:11.917Z,1736367191.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819309 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:12.027Z,1736367192.027 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:12.029Z,1736367192.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048223 2025-01-08T20:13:12.276Z,1736367192.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:12.276Z,1736367192.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296092 2025-01-08T20:13:12.299Z,1736367192.299 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:13:12.338Z,1736367192.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:12.347Z,1736367192.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:12.366Z,1736367192.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 250.095230 m, bearing: 34.606005 deg, approach rate: 0.306240 m/s, LOS rate: 0.130613 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145494 deg. 2025-01-08T20:13:12.371Z,1736367192.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819648 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:12.528Z,1736367192.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:12.528Z,1736367192.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548080 2025-01-08T20:13:12.700Z,1736367192.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:12.723Z,1736367192.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:12.725Z,1736367192.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:12.732Z,1736367192.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 250.206085 m, bearing: 34.653146 deg, approach rate: 0.292810 m/s, LOS rate: 0.124464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116549 deg. 2025-01-08T20:13:12.733Z,1736367192.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819143 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:12.780Z,1736367192.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:12.780Z,1736367192.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800185 2025-01-08T20:13:13.032Z,1736367193.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:13.035Z,1736367193.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.053790 2025-01-08T20:13:13.168Z,1736367193.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:13.199Z,1736367193.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:13.203Z,1736367193.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 250.363525 m, bearing: 34.719080 deg, approach rate: 0.335239 m/s, LOS rate: 0.140305 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172863 deg. 2025-01-08T20:13:13.208Z,1736367193.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820126 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:13.284Z,1736367193.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:13.285Z,1736367193.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.304888 2025-01-08T20:13:13.520Z,1736367193.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:13.537Z,1736367193.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:13.538Z,1736367193.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557762 2025-01-08T20:13:13.558Z,1736367193.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:13.565Z,1736367193.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 250.483017 m, bearing: 34.768792 deg, approach rate: 0.329292 m/s, LOS rate: 0.136930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124252 deg. 2025-01-08T20:13:13.566Z,1736367193.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819277 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:13.788Z,1736367193.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:13.788Z,1736367193.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808084 2025-01-08T20:13:13.944Z,1736367193.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:13.952Z,1736367193.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:13.954Z,1736367193.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 250.626434 m, bearing: 34.828288 deg, approach rate: 0.364021 m/s, LOS rate: 0.150926 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153572 deg. 2025-01-08T20:13:13.974Z,1736367193.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819789 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:14.040Z,1736367194.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:14.042Z,1736367194.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.061144 2025-01-08T20:13:14.292Z,1736367194.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:14.292Z,1736367194.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312023 2025-01-08T20:13:14.492Z,1736367194.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:14.501Z,1736367194.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:14.504Z,1736367194.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 250.816360 m, bearing: 34.909667 deg, approach rate: 0.346119 m/s, LOS rate: 0.148190 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.219135 deg. 2025-01-08T20:13:14.506Z,1736367194.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820933 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:14.544Z,1736367194.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:14.545Z,1736367194.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564236 2025-01-08T20:13:14.796Z,1736367194.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:14.797Z,1736367194.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816225 2025-01-08T20:13:14.878Z,1736367194.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:14.888Z,1736367194.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:14.892Z,1736367194.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:14.894Z,1736367194.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 250.951172 m, bearing: 34.966504 deg, approach rate: 0.344936 m/s, LOS rate: 0.145348 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145606 deg. 2025-01-08T20:13:14.896Z,1736367194.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819650 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:15.048Z,1736367195.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:15.049Z,1736367195.049 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:15.049Z,1736367195.049 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:15.049Z,1736367195.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:15.300Z,1736367195.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:15.300Z,1736367195.300 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:15.301Z,1736367195.301 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:15.302Z,1736367195.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:15.315Z,1736367195.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:15.325Z,1736367195.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:15.328Z,1736367195.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 251.105240 m, bearing: 35.031910 deg, approach rate: 0.355635 m/s, LOS rate: 0.150884 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171284 deg. 2025-01-08T20:13:15.329Z,1736367195.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820098 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:15.552Z,1736367195.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:15.553Z,1736367195.553 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:15.553Z,1736367195.553 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:15.553Z,1736367195.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:15.695Z,1736367195.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:15.705Z,1736367195.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:15.708Z,1736367195.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 251.239670 m, bearing: 35.088608 deg, approach rate: 0.353591 m/s, LOS rate: 0.149053 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145190 deg. 2025-01-08T20:13:15.709Z,1736367195.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819643 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:15.804Z,1736367195.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:15.807Z,1736367195.807 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:13:15.807Z,1736367195.807 [DAT](INFO): response not received 2025-01-08T20:13:15.808Z,1736367195.808 [DAT](INFO): DAT read: user:1186> 2025-01-08T20:13:15.810Z,1736367195.810 [DAT](INFO): DAT read: Tx time:20:13:15.1824 2025-01-08T20:13:15.811Z,1736367195.811 [DAT](INFO): Ping request sent. 2025-01-08T20:13:15.811Z,1736367195.811 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:13:15.811Z,1736367195.811 [DAT](INFO): publishing transmit ping time 2025-01-08T20:13:15.813Z,1736367195.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001448 2025-01-08T20:13:16.056Z,1736367196.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:16.057Z,1736367196.057 [DAT](INFO): DAT read: TxSync time:20:13:15.1816 2025-01-08T20:13:16.057Z,1736367196.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246584 2025-01-08T20:13:16.178Z,1736367196.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:16.200Z,1736367196.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:16.208Z,1736367196.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 251.411438 m, bearing: 35.160362 deg, approach rate: 0.350145 m/s, LOS rate: 0.146169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190301 deg. 2025-01-08T20:13:16.209Z,1736367196.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820430 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:16.308Z,1736367196.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:16.310Z,1736367196.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498832 2025-01-08T20:13:16.560Z,1736367196.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:16.560Z,1736367196.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749637 2025-01-08T20:13:16.577Z,1736367196.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:16.594Z,1736367196.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:16.597Z,1736367196.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 251.551926 m, bearing: 35.220265 deg, approach rate: 0.352168 m/s, LOS rate: 0.150079 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154796 deg. 2025-01-08T20:13:16.599Z,1736367196.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819810 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:16.814Z,1736367196.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:16.816Z,1736367196.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005654 2025-01-08T20:13:16.908Z,1736367196.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:16.944Z,1736367196.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:16.946Z,1736367196.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:16.953Z,1736367196.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 251.668762 m, bearing: 35.269704 deg, approach rate: 0.332061 m/s, LOS rate: 0.140444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123433 deg. 2025-01-08T20:13:16.960Z,1736367196.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819263 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:17.066Z,1736367197.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:17.068Z,1736367197.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257447 2025-01-08T20:13:17.316Z,1736367197.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:17.316Z,1736367197.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505599 2025-01-08T20:13:17.353Z,1736367197.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:17.374Z,1736367197.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:17.400Z,1736367197.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 251.820328 m, bearing: 35.335062 deg, approach rate: 0.354354 m/s, LOS rate: 0.152713 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171142 deg. 2025-01-08T20:13:17.402Z,1736367197.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820096 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:17.569Z,1736367197.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:17.569Z,1736367197.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758716 2025-01-08T20:13:17.711Z,1736367197.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:17.742Z,1736367197.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:17.745Z,1736367197.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 251.941483 m, bearing: 35.387307 deg, approach rate: 0.329443 m/s, LOS rate: 0.141995 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131845 deg. 2025-01-08T20:13:17.746Z,1736367197.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819410 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:17.820Z,1736367197.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:17.821Z,1736367197.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010151 2025-01-08T20:13:18.072Z,1736367198.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:18.074Z,1736367198.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262843 2025-01-08T20:13:18.186Z,1736367198.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:18.208Z,1736367198.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:18.213Z,1736367198.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 252.103149 m, bearing: 35.456703 deg, approach rate: 0.350228 m/s, LOS rate: 0.150240 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183240 deg. 2025-01-08T20:13:18.214Z,1736367198.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820307 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:18.324Z,1736367198.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:18.324Z,1736367198.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513623 2025-01-08T20:13:18.547Z,1736367198.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:18.556Z,1736367198.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:18.558Z,1736367198.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 252.214737 m, bearing: 35.506937 deg, approach rate: 0.316826 m/s, LOS rate: 0.142565 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125823 deg. 2025-01-08T20:13:18.560Z,1736367198.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819305 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:18.576Z,1736367198.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:18.577Z,1736367198.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765774 2025-01-08T20:13:18.828Z,1736367198.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:18.829Z,1736367198.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017808 2025-01-08T20:13:18.927Z,1736367198.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:18.935Z,1736367198.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:18.938Z,1736367198.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 252.332779 m, bearing: 35.559846 deg, approach rate: 0.311199 m/s, LOS rate: 0.139421 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133839 deg. 2025-01-08T20:13:18.939Z,1736367198.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819445 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:19.081Z,1736367199.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:19.083Z,1736367199.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271772 2025-01-08T20:13:19.332Z,1736367199.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:19.333Z,1736367199.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521774 2025-01-08T20:13:19.386Z,1736367199.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:19.400Z,1736367199.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:19.434Z,1736367199.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:19.437Z,1736367199.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 252.466110 m, bearing: 35.620115 deg, approach rate: 0.267324 m/s, LOS rate: 0.120772 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155896 deg. 2025-01-08T20:13:19.438Z,1736367199.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819829 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:19.584Z,1736367199.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:19.585Z,1736367199.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774297 2025-01-08T20:13:19.738Z,1736367199.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:19.746Z,1736367199.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:19.749Z,1736367199.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 252.568619 m, bearing: 35.666275 deg, approach rate: 0.328062 m/s, LOS rate: 0.147668 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113610 deg. 2025-01-08T20:13:19.750Z,1736367199.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819092 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:19.837Z,1736367199.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:19.837Z,1736367199.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026599 2025-01-08T20:13:20.088Z,1736367200.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:20.088Z,1736367200.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277680 2025-01-08T20:13:20.219Z,1736367200.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:20.236Z,1736367200.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:20.238Z,1736367200.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 252.709183 m, bearing: 35.729386 deg, approach rate: 0.292018 m/s, LOS rate: 0.131039 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164415 deg. 2025-01-08T20:13:20.240Z,1736367200.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819978 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:20.340Z,1736367200.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:20.341Z,1736367200.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530543 2025-01-08T20:13:20.580Z,1736367200.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:20.589Z,1736367200.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:20.592Z,1736367200.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:20.592Z,1736367200.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781757 2025-01-08T20:13:20.594Z,1736367200.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 252.804535 m, bearing: 35.775278 deg, approach rate: 0.263493 m/s, LOS rate: 0.126769 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112811 deg. 2025-01-08T20:13:20.595Z,1736367200.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819077 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:20.844Z,1736367200.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:20.844Z,1736367200.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.033720 2025-01-08T20:13:20.952Z,1736367200.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:20.961Z,1736367200.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:20.964Z,1736367200.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 252.903351 m, bearing: 35.822797 deg, approach rate: 0.266045 m/s, LOS rate: 0.127886 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117687 deg. 2025-01-08T20:13:20.965Z,1736367200.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819163 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:21.096Z,1736367201.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:21.096Z,1736367201.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.285698 2025-01-08T20:13:21.348Z,1736367201.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:21.348Z,1736367201.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537649 2025-01-08T20:13:21.408Z,1736367201.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:21.426Z,1736367201.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:21.434Z,1736367201.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:21.448Z,1736367201.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 253.015152 m, bearing: 35.876638 deg, approach rate: 0.236296 m/s, LOS rate: 0.113745 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136639 deg. 2025-01-08T20:13:21.451Z,1736367201.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819494 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:21.600Z,1736367201.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:21.600Z,1736367201.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.789620 2025-01-08T20:13:21.752Z,1736367201.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:21.760Z,1736367201.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:21.763Z,1736367201.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 253.099182 m, bearing: 35.917210 deg, approach rate: 0.257426 m/s, LOS rate: 0.124251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.096862 deg. 2025-01-08T20:13:21.765Z,1736367201.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818799 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:21.852Z,1736367201.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:21.853Z,1736367201.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042135 2025-01-08T20:13:22.104Z,1736367202.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:22.104Z,1736367202.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293692 2025-01-08T20:13:22.205Z,1736367202.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:22.252Z,1736367202.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:22.257Z,1736367202.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 253.209732 m, bearing: 35.970719 deg, approach rate: 0.226993 m/s, LOS rate: 0.109822 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135643 deg. 2025-01-08T20:13:22.258Z,1736367202.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819476 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:22.356Z,1736367202.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:22.357Z,1736367202.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546013 2025-01-08T20:13:22.608Z,1736367202.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:22.608Z,1736367202.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797677 2025-01-08T20:13:22.625Z,1736367202.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:22.634Z,1736367202.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:22.637Z,1736367202.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 253.311020 m, bearing: 36.021151 deg, approach rate: 0.262133 m/s, LOS rate: 0.130465 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126421 deg. 2025-01-08T20:13:22.638Z,1736367202.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819315 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:22.860Z,1736367202.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:22.861Z,1736367202.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050344 2025-01-08T20:13:22.964Z,1736367202.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:22.973Z,1736367202.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:22.978Z,1736367202.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 253.392700 m, bearing: 36.061825 deg, approach rate: 0.240397 m/s, LOS rate: 0.119671 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097169 deg. 2025-01-08T20:13:22.980Z,1736367202.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818805 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:23.113Z,1736367203.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:23.115Z,1736367203.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303961 2025-01-08T20:13:23.364Z,1736367203.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:23.364Z,1736367203.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553668 2025-01-08T20:13:23.424Z,1736367203.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:23.439Z,1736367203.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:23.441Z,1736367203.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:23.448Z,1736367203.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 253.507965 m, bearing: 36.115431 deg, approach rate: 0.246340 m/s, LOS rate: 0.114514 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135933 deg. 2025-01-08T20:13:23.449Z,1736367203.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819481 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:23.616Z,1736367203.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:23.616Z,1736367203.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805649 2025-01-08T20:13:23.782Z,1736367203.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:23.792Z,1736367203.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:23.795Z,1736367203.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 253.597809 m, bearing: 36.157199 deg, approach rate: 0.256577 m/s, LOS rate: 0.119237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100444 deg. 2025-01-08T20:13:23.796Z,1736367203.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818862 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:23.869Z,1736367203.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:23.869Z,1736367203.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058553 2025-01-08T20:13:24.120Z,1736367204.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:24.120Z,1736367204.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.309607 2025-01-08T20:13:24.223Z,1736367204.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:24.277Z,1736367204.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:24.284Z,1736367204.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 253.707977 m, bearing: 36.208467 deg, approach rate: 0.226804 m/s, LOS rate: 0.105499 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128923 deg. 2025-01-08T20:13:24.286Z,1736367204.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819359 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:24.372Z,1736367204.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:24.373Z,1736367204.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562497 2025-01-08T20:13:24.610Z,1736367204.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:24.624Z,1736367204.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:24.624Z,1736367204.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.813721 2025-01-08T20:13:24.638Z,1736367204.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:24.646Z,1736367204.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 253.809677 m, bearing: 36.253531 deg, approach rate: 0.281690 m/s, LOS rate: 0.124770 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110326 deg. 2025-01-08T20:13:24.652Z,1736367204.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819034 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:24.876Z,1736367204.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:24.877Z,1736367204.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.065932 2025-01-08T20:13:24.996Z,1736367204.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:25.024Z,1736367205.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:25.026Z,1736367205.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 253.910477 m, bearing: 36.298264 deg, approach rate: 0.264444 m/s, LOS rate: 0.117308 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109331 deg. 2025-01-08T20:13:25.032Z,1736367205.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819017 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:25.129Z,1736367205.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:25.130Z,1736367205.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319150 2025-01-08T20:13:25.380Z,1736367205.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:25.381Z,1736367205.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.569773 2025-01-08T20:13:25.433Z,1736367205.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:25.465Z,1736367205.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:25.467Z,1736367205.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:25.474Z,1736367205.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 254.032898 m, bearing: 36.349470 deg, approach rate: 0.273732 m/s, LOS rate: 0.114441 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128731 deg. 2025-01-08T20:13:25.476Z,1736367205.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819355 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:25.632Z,1736367205.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:25.633Z,1736367205.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.821889 2025-01-08T20:13:25.815Z,1736367205.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:25.825Z,1736367205.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:25.828Z,1736367205.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 254.140030 m, bearing: 36.394169 deg, approach rate: 0.299279 m/s, LOS rate: 0.124817 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109228 deg. 2025-01-08T20:13:25.829Z,1736367205.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819015 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:25.885Z,1736367205.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:25.885Z,1736367205.885 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:25.886Z,1736367205.886 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:25.886Z,1736367205.886 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:26.136Z,1736367206.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:26.136Z,1736367206.136 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:26.137Z,1736367206.137 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:26.138Z,1736367206.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:26.229Z,1736367206.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:26.281Z,1736367206.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:26.304Z,1736367206.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 254.255600 m, bearing: 36.442524 deg, approach rate: 0.256626 m/s, LOS rate: 0.107324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120185 deg. 2025-01-08T20:13:26.305Z,1736367206.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819206 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:26.388Z,1736367206.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:26.388Z,1736367206.388 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:26.388Z,1736367206.388 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:26.389Z,1736367206.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:26.640Z,1736367206.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:26.640Z,1736367206.640 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:26.640Z,1736367206.640 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:26.641Z,1736367206.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:26.692Z,1736367206.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:26.710Z,1736367206.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:26.717Z,1736367206.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 254.395721 m, bearing: 36.498172 deg, approach rate: 0.322369 m/s, LOS rate: 0.127956 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142040 deg. 2025-01-08T20:13:26.719Z,1736367206.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819588 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:26.892Z,1736367206.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:26.893Z,1736367206.893 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:13:26.893Z,1736367206.893 [DAT](INFO): response not received 2025-01-08T20:13:26.893Z,1736367206.893 [DAT](INFO): DAT read: user:1187> 2025-01-08T20:13:26.894Z,1736367206.894 [DAT](INFO): DAT read: Tx time:20:13:26.1325 2025-01-08T20:13:26.894Z,1736367206.894 [DAT](INFO): Ping request sent. 2025-01-08T20:13:26.894Z,1736367206.894 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:13:26.895Z,1736367206.895 [DAT](INFO): publishing transmit ping time 2025-01-08T20:13:26.895Z,1736367206.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000861 2025-01-08T20:13:27.028Z,1736367207.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:27.037Z,1736367207.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:27.040Z,1736367207.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 254.497559 m, bearing: 36.538518 deg, approach rate: 0.310650 m/s, LOS rate: 0.123025 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.096176 deg. 2025-01-08T20:13:27.042Z,1736367207.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818787 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:27.144Z,1736367207.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:27.145Z,1736367207.145 [DAT](INFO): DAT read: TxSync time:20:13:26.1317 2025-01-08T20:13:27.145Z,1736367207.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250992 2025-01-08T20:13:27.396Z,1736367207.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:27.396Z,1736367207.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501937 2025-01-08T20:13:27.461Z,1736367207.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:27.470Z,1736367207.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:27.475Z,1736367207.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:27.478Z,1736367207.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 254.633347 m, bearing: 36.592115 deg, approach rate: 0.310475 m/s, LOS rate: 0.122482 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135890 deg. 2025-01-08T20:13:27.479Z,1736367207.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819480 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:27.648Z,1736367207.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:27.649Z,1736367207.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754518 2025-01-08T20:13:27.832Z,1736367207.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:27.841Z,1736367207.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:27.844Z,1736367207.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 254.750153 m, bearing: 36.637849 deg, approach rate: 0.319296 m/s, LOS rate: 0.124958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112324 deg. 2025-01-08T20:13:27.845Z,1736367207.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819069 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:27.901Z,1736367207.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:27.902Z,1736367207.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007423 2025-01-08T20:13:28.152Z,1736367208.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:28.152Z,1736367208.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257816 2025-01-08T20:13:28.286Z,1736367208.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:28.337Z,1736367208.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:28.344Z,1736367208.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 254.893707 m, bearing: 36.693914 deg, approach rate: 0.289284 m/s, LOS rate: 0.112916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143286 deg. 2025-01-08T20:13:28.345Z,1736367208.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819610 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:28.404Z,1736367208.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:28.406Z,1736367208.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511392 2025-01-08T20:13:28.658Z,1736367208.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:28.659Z,1736367208.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764421 2025-01-08T20:13:28.710Z,1736367208.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:28.721Z,1736367208.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:28.724Z,1736367208.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 255.033112 m, bearing: 36.747214 deg, approach rate: 0.362939 m/s, LOS rate: 0.138693 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135001 deg. 2025-01-08T20:13:28.725Z,1736367208.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819465 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:28.908Z,1736367208.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:28.909Z,1736367208.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014222 2025-01-08T20:13:29.057Z,1736367209.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:29.065Z,1736367209.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:29.070Z,1736367209.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 255.146774 m, bearing: 36.790746 deg, approach rate: 0.330163 m/s, LOS rate: 0.126392 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105723 deg. 2025-01-08T20:13:29.071Z,1736367209.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818954 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:29.161Z,1736367209.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:29.162Z,1736367209.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267324 2025-01-08T20:13:29.412Z,1736367209.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:29.412Z,1736367209.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517936 2025-01-08T20:13:29.512Z,1736367209.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:29.520Z,1736367209.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:29.522Z,1736367209.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:29.525Z,1736367209.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 255.303940 m, bearing: 36.849940 deg, approach rate: 0.344236 m/s, LOS rate: 0.129571 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152659 deg. 2025-01-08T20:13:29.526Z,1736367209.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819773 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:29.664Z,1736367209.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:29.665Z,1736367209.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770912 2025-01-08T20:13:29.857Z,1736367209.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:29.865Z,1736367209.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:29.888Z,1736367209.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 255.423065 m, bearing: 36.894883 deg, approach rate: 0.346886 m/s, LOS rate: 0.130810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109952 deg. 2025-01-08T20:13:29.890Z,1736367209.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819028 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:29.916Z,1736367209.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:29.917Z,1736367209.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022132 2025-01-08T20:13:30.172Z,1736367210.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:30.174Z,1736367210.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278878 2025-01-08T20:13:30.280Z,1736367210.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:30.289Z,1736367210.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:30.316Z,1736367210.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 255.569214 m, bearing: 36.949904 deg, approach rate: 0.345140 m/s, LOS rate: 0.129862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140155 deg. 2025-01-08T20:13:30.323Z,1736367210.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819555 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:30.424Z,1736367210.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:30.425Z,1736367210.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530916 2025-01-08T20:13:30.676Z,1736367210.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:30.678Z,1736367210.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783158 2025-01-08T20:13:30.714Z,1736367210.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:30.724Z,1736367210.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:30.727Z,1736367210.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 255.719727 m, bearing: 37.007102 deg, approach rate: 0.345858 m/s, LOS rate: 0.131357 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146680 deg. 2025-01-08T20:13:30.728Z,1736367210.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819669 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:30.930Z,1736367210.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:30.931Z,1736367210.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036809 2025-01-08T20:13:31.072Z,1736367211.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:31.087Z,1736367211.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:31.094Z,1736367211.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 255.844131 m, bearing: 37.054174 deg, approach rate: 0.342748 m/s, LOS rate: 0.129624 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116333 deg. 2025-01-08T20:13:31.095Z,1736367211.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819139 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:31.180Z,1736367211.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:31.182Z,1736367211.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286717 2025-01-08T20:13:31.432Z,1736367211.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:31.432Z,1736367211.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537989 2025-01-08T20:13:31.504Z,1736367211.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:31.516Z,1736367211.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:31.520Z,1736367211.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 255.997437 m, bearing: 37.111502 deg, approach rate: 0.357209 m/s, LOS rate: 0.133497 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147067 deg. 2025-01-08T20:13:31.521Z,1736367211.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819675 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:31.684Z,1736367211.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:31.685Z,1736367211.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790677 2025-01-08T20:13:31.882Z,1736367211.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:31.890Z,1736367211.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:31.892Z,1736367211.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:31.895Z,1736367211.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 256.131775 m, bearing: 37.161576 deg, approach rate: 0.357215 m/s, LOS rate: 0.133080 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125329 deg. 2025-01-08T20:13:31.896Z,1736367211.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819296 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:31.936Z,1736367211.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:31.937Z,1736367211.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042697 2025-01-08T20:13:32.188Z,1736367212.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:32.190Z,1736367212.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295505 2025-01-08T20:13:32.288Z,1736367212.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:32.314Z,1736367212.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:32.349Z,1736367212.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 256.276306 m, bearing: 37.215265 deg, approach rate: 0.342728 m/s, LOS rate: 0.127242 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136164 deg. 2025-01-08T20:13:32.362Z,1736367212.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819485 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:32.440Z,1736367212.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:32.440Z,1736367212.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546055 2025-01-08T20:13:32.692Z,1736367212.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:32.693Z,1736367212.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798167 2025-01-08T20:13:32.758Z,1736367212.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:32.766Z,1736367212.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:32.786Z,1736367212.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 256.439423 m, bearing: 37.278365 deg, approach rate: 0.360706 m/s, LOS rate: 0.139448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164367 deg. 2025-01-08T20:13:32.791Z,1736367212.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819977 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:32.944Z,1736367212.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:32.944Z,1736367212.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049981 2025-01-08T20:13:33.095Z,1736367213.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:33.104Z,1736367213.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:33.123Z,1736367213.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 256.556519 m, bearing: 37.323619 deg, approach rate: 0.346058 m/s, LOS rate: 0.133680 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110887 deg. 2025-01-08T20:13:33.128Z,1736367213.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819044 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:33.196Z,1736367213.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:33.197Z,1736367213.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302794 2025-01-08T20:13:33.448Z,1736367213.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:33.449Z,1736367213.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554161 2025-01-08T20:13:33.528Z,1736367213.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:33.537Z,1736367213.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:33.540Z,1736367213.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 256.698059 m, bearing: 37.380450 deg, approach rate: 0.326862 m/s, LOS rate: 0.131167 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145584 deg. 2025-01-08T20:13:33.541Z,1736367213.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819650 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:33.700Z,1736367213.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:33.701Z,1736367213.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806080 2025-01-08T20:13:33.912Z,1736367213.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:33.919Z,1736367213.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:33.921Z,1736367213.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:33.924Z,1736367213.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 256.823578 m, bearing: 37.430670 deg, approach rate: 0.327022 m/s, LOS rate: 0.130779 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125774 deg. 2025-01-08T20:13:33.925Z,1736367213.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819304 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:33.952Z,1736367213.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:33.953Z,1736367213.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058235 2025-01-08T20:13:34.204Z,1736367214.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:34.204Z,1736367214.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309934 2025-01-08T20:13:34.311Z,1736367214.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:34.319Z,1736367214.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:34.322Z,1736367214.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 256.954651 m, bearing: 37.482939 deg, approach rate: 0.329337 m/s, LOS rate: 0.131263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131911 deg. 2025-01-08T20:13:34.323Z,1736367214.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819411 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:34.456Z,1736367214.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:34.457Z,1736367214.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562181 2025-01-08T20:13:34.708Z,1736367214.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:34.708Z,1736367214.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813987 2025-01-08T20:13:34.748Z,1736367214.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:34.757Z,1736367214.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:34.772Z,1736367214.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 257.095215 m, bearing: 37.538626 deg, approach rate: 0.320830 m/s, LOS rate: 0.127034 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142158 deg. 2025-01-08T20:13:34.773Z,1736367214.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819590 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:34.960Z,1736367214.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:34.962Z,1736367214.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067728 2025-01-08T20:13:35.137Z,1736367215.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:35.145Z,1736367215.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:35.148Z,1736367215.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 257.220581 m, bearing: 37.588160 deg, approach rate: 0.322994 m/s, LOS rate: 0.127556 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123714 deg. 2025-01-08T20:13:35.149Z,1736367215.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819268 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:35.213Z,1736367215.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:35.214Z,1736367215.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319134 2025-01-08T20:13:35.464Z,1736367215.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:35.464Z,1736367215.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569935 2025-01-08T20:13:35.557Z,1736367215.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:35.566Z,1736367215.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:35.569Z,1736367215.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 257.348022 m, bearing: 37.640135 deg, approach rate: 0.303228 m/s, LOS rate: 0.123607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131035 deg. 2025-01-08T20:13:35.571Z,1736367215.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819396 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:35.716Z,1736367215.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:35.717Z,1736367215.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822123 2025-01-08T20:13:35.925Z,1736367215.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:35.931Z,1736367215.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:35.933Z,1736367215.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:35.937Z,1736367215.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 257.459351 m, bearing: 37.685495 deg, approach rate: 0.303068 m/s, LOS rate: 0.123430 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.111207 deg. 2025-01-08T20:13:35.938Z,1736367215.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819050 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:35.969Z,1736367215.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:35.969Z,1736367215.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074886 2025-01-08T20:13:36.220Z,1736367216.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:36.220Z,1736367216.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325861 2025-01-08T20:13:36.347Z,1736367216.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:36.355Z,1736367216.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:36.358Z,1736367216.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 257.587738 m, bearing: 37.737605 deg, approach rate: 0.304253 m/s, LOS rate: 0.123429 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131438 deg. 2025-01-08T20:13:36.359Z,1736367216.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819403 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:36.474Z,1736367216.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:36.474Z,1736367216.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579798 2025-01-08T20:13:36.724Z,1736367216.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:36.725Z,1736367216.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830084 2025-01-08T20:13:36.755Z,1736367216.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:36.783Z,1736367216.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:36.787Z,1736367216.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 257.708130 m, bearing: 37.786759 deg, approach rate: 0.294963 m/s, LOS rate: 0.120373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122581 deg. 2025-01-08T20:13:36.792Z,1736367216.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819248 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:36.976Z,1736367216.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:36.976Z,1736367216.976 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:36.976Z,1736367216.976 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:36.976Z,1736367216.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:37.146Z,1736367217.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:37.155Z,1736367217.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:37.158Z,1736367217.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 257.823883 m, bearing: 37.833797 deg, approach rate: 0.295588 m/s, LOS rate: 0.120063 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116238 deg. 2025-01-08T20:13:37.159Z,1736367217.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819138 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:37.228Z,1736367217.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:37.229Z,1736367217.229 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:37.230Z,1736367217.230 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:37.230Z,1736367217.230 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:37.481Z,1736367217.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:37.481Z,1736367217.481 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:37.482Z,1736367217.482 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:37.482Z,1736367217.482 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:37.582Z,1736367217.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:37.591Z,1736367217.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:37.594Z,1736367217.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 257.953430 m, bearing: 37.886710 deg, approach rate: 0.296863 m/s, LOS rate: 0.121190 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133843 deg. 2025-01-08T20:13:37.595Z,1736367217.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819445 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:37.734Z,1736367217.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:37.736Z,1736367217.736 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:13:37.737Z,1736367217.737 [DAT](INFO): response not received 2025-01-08T20:13:37.737Z,1736367217.737 [DAT](INFO): DAT read: user:1188> 2025-01-08T20:13:37.738Z,1736367217.738 [DAT](INFO): DAT read: Tx time:20:13:37.0826 2025-01-08T20:13:37.738Z,1736367217.738 [DAT](INFO): Ping request sent. 2025-01-08T20:13:37.738Z,1736367217.738 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:13:37.738Z,1736367217.738 [DAT](INFO): publishing transmit ping time 2025-01-08T20:13:37.739Z,1736367217.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-01-08T20:13:37.944Z,1736367217.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:37.952Z,1736367217.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:37.954Z,1736367217.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:37.957Z,1736367217.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 258.060974 m, bearing: 37.930461 deg, approach rate: 0.296741 m/s, LOS rate: 0.120671 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106387 deg. 2025-01-08T20:13:37.958Z,1736367217.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818965 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:37.984Z,1736367217.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:37.986Z,1736367217.986 [DAT](INFO): DAT read: TxSync time:20:13:37.0818 2025-01-08T20:13:37.986Z,1736367217.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248191 2025-01-08T20:13:38.236Z,1736367218.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:38.236Z,1736367218.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498228 2025-01-08T20:13:38.371Z,1736367218.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:38.379Z,1736367218.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:38.382Z,1736367218.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 258.189056 m, bearing: 37.982231 deg, approach rate: 0.300955 m/s, LOS rate: 0.121582 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130417 deg. 2025-01-08T20:13:38.383Z,1736367218.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819385 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:38.490Z,1736367218.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:38.491Z,1736367218.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752898 2025-01-08T20:13:38.740Z,1736367218.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:38.740Z,1736367218.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002203 2025-01-08T20:13:38.776Z,1736367218.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:38.786Z,1736367218.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:38.809Z,1736367218.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 258.310669 m, bearing: 38.030292 deg, approach rate: 0.299237 m/s, LOS rate: 0.118202 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119301 deg. 2025-01-08T20:13:38.810Z,1736367218.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819191 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:38.992Z,1736367218.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:38.992Z,1736367218.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254211 2025-01-08T20:13:39.171Z,1736367219.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:39.181Z,1736367219.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:39.185Z,1736367219.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 258.429749 m, bearing: 38.077123 deg, approach rate: 0.302593 m/s, LOS rate: 0.118949 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115617 deg. 2025-01-08T20:13:39.186Z,1736367219.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819127 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:39.244Z,1736367219.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:39.245Z,1736367219.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507062 2025-01-08T20:13:39.498Z,1736367219.498 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:39.502Z,1736367219.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762614 2025-01-08T20:13:39.608Z,1736367219.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:39.622Z,1736367219.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:39.636Z,1736367219.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 258.566101 m, bearing: 38.128087 deg, approach rate: 0.308151 m/s, LOS rate: 0.115115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127997 deg. 2025-01-08T20:13:39.637Z,1736367219.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819343 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:39.748Z,1736367219.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:39.749Z,1736367219.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011001 2025-01-08T20:13:39.961Z,1736367219.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:39.984Z,1736367219.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:39.987Z,1736367219.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:39.990Z,1736367219.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 258.675934 m, bearing: 38.169159 deg, approach rate: 0.300797 m/s, LOS rate: 0.112434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.098349 deg. 2025-01-08T20:13:39.995Z,1736367219.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818825 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:39.000Z,1736367220.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:40.001Z,1736367220.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262386 2025-01-08T20:13:40.252Z,1736367220.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:40.253Z,1736367220.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514929 2025-01-08T20:13:40.367Z,1736367220.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:40.380Z,1736367220.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:40.383Z,1736367220.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 258.802582 m, bearing: 38.216455 deg, approach rate: 0.321987 m/s, LOS rate: 0.120187 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117007 deg. 2025-01-08T20:13:40.400Z,1736367220.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819151 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:40.506Z,1736367220.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:40.508Z,1736367220.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769443 2025-01-08T20:13:40.756Z,1736367220.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:40.756Z,1736367220.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018073 2025-01-08T20:13:40.812Z,1736367220.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:40.822Z,1736367220.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:40.825Z,1736367220.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 258.947174 m, bearing: 38.268393 deg, approach rate: 0.327387 m/s, LOS rate: 0.117532 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130912 deg. 2025-01-08T20:13:40.826Z,1736367220.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819394 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:41.008Z,1736367221.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:41.009Z,1736367221.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270477 2025-01-08T20:13:41.172Z,1736367221.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:41.197Z,1736367221.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:41.200Z,1736367221.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 259.064270 m, bearing: 38.310284 deg, approach rate: 0.312302 m/s, LOS rate: 0.111676 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100804 deg. 2025-01-08T20:13:41.202Z,1736367221.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818868 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:41.261Z,1736367221.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:41.262Z,1736367221.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523578 2025-01-08T20:13:41.513Z,1736367221.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:41.516Z,1736367221.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777391 2025-01-08T20:13:41.611Z,1736367221.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:41.621Z,1736367221.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:41.624Z,1736367221.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 259.206207 m, bearing: 38.360936 deg, approach rate: 0.334307 m/s, LOS rate: 0.119236 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127059 deg. 2025-01-08T20:13:41.625Z,1736367221.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819326 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:41.764Z,1736367221.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:41.764Z,1736367221.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026270 2025-01-08T20:13:41.980Z,1736367221.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:41.988Z,1736367221.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:41.990Z,1736367221.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:41.993Z,1736367221.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 259.325958 m, bearing: 38.403503 deg, approach rate: 0.324455 m/s, LOS rate: 0.115280 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102830 deg. 2025-01-08T20:13:41.994Z,1736367221.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818903 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:42.025Z,1736367222.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:42.027Z,1736367222.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288291 2025-01-08T20:13:42.276Z,1736367222.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:42.276Z,1736367222.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538179 2025-01-08T20:13:42.388Z,1736367222.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:42.397Z,1736367222.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:42.399Z,1736367222.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 259.458466 m, bearing: 38.450462 deg, approach rate: 0.326228 m/s, LOS rate: 0.115551 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115990 deg. 2025-01-08T20:13:42.401Z,1736367222.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819133 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:42.420Z,1736367222.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:13:42.530Z,1736367222.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:42.533Z,1736367222.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793975 2025-01-08T20:13:42.780Z,1736367222.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:42.781Z,1736367222.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042343 2025-01-08T20:13:42.829Z,1736367222.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:42.839Z,1736367222.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:42.842Z,1736367222.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 259.603851 m, bearing: 38.499987 deg, approach rate: 0.328872 m/s, LOS rate: 0.111966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123678 deg. 2025-01-08T20:13:42.843Z,1736367222.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819267 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:43.032Z,1736367223.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:43.032Z,1736367223.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294129 2025-01-08T20:13:43.199Z,1736367223.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:43.209Z,1736367223.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:43.212Z,1736367223.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 259.726196 m, bearing: 38.541592 deg, approach rate: 0.330583 m/s, LOS rate: 0.112366 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.099942 deg. 2025-01-08T20:13:43.213Z,1736367223.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818853 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:43.285Z,1736367223.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:43.286Z,1736367223.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547418 2025-01-08T20:13:43.424Z,1736367223.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:13:43.537Z,1736367223.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:43.540Z,1736367223.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.801307 2025-01-08T20:13:43.630Z,1736367223.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:43.639Z,1736367223.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:43.642Z,1736367223.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 259.862091 m, bearing: 38.590157 deg, approach rate: 0.315932 m/s, LOS rate: 0.112846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120805 deg. 2025-01-08T20:13:43.643Z,1736367223.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819217 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:43.788Z,1736367223.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:43.788Z,1736367223.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050128 2025-01-08T20:13:44.027Z,1736367224.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:44.037Z,1736367224.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:44.040Z,1736367224.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:44.040Z,1736367224.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302297 2025-01-08T20:13:44.041Z,1736367224.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:44.044Z,1736367224.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 259.987579 m, bearing: 38.634908 deg, approach rate: 0.313304 m/s, LOS rate: 0.111675 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109374 deg. 2025-01-08T20:13:44.047Z,1736367224.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819018 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:44.292Z,1736367224.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:44.292Z,1736367224.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554236 2025-01-08T20:13:44.454Z,1736367224.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:44.473Z,1736367224.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:44.480Z,1736367224.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 260.122711 m, bearing: 38.683017 deg, approach rate: 0.311589 m/s, LOS rate: 0.110874 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119440 deg. 2025-01-08T20:13:44.481Z,1736367224.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819193 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:44.546Z,1736367224.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:44.548Z,1736367224.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809222 2025-01-08T20:13:44.796Z,1736367224.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:44.797Z,1736367224.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058875 2025-01-08T20:13:44.876Z,1736367224.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:44.885Z,1736367224.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:44.888Z,1736367224.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 260.260864 m, bearing: 38.729976 deg, approach rate: 0.335835 m/s, LOS rate: 0.114091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115988 deg. 2025-01-08T20:13:44.889Z,1736367224.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819133 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:45.048Z,1736367225.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:45.048Z,1736367225.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310243 2025-01-08T20:13:45.253Z,1736367225.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:45.265Z,1736367225.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:45.269Z,1736367225.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 260.384521 m, bearing: 38.772016 deg, approach rate: 0.324575 m/s, LOS rate: 0.110294 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101247 deg. 2025-01-08T20:13:45.270Z,1736367225.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818876 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:45.300Z,1736367225.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:45.302Z,1736367225.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563086 2025-01-08T20:13:45.554Z,1736367225.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:45.556Z,1736367225.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817239 2025-01-08T20:13:45.719Z,1736367225.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:45.728Z,1736367225.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:45.730Z,1736367225.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 260.535706 m, bearing: 38.823615 deg, approach rate: 0.327237 m/s, LOS rate: 0.111621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129894 deg. 2025-01-08T20:13:45.732Z,1736367225.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819376 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:45.804Z,1736367225.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:45.805Z,1736367225.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066499 2025-01-08T20:13:46.054Z,1736367226.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:46.056Z,1736367226.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:46.057Z,1736367226.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318335 2025-01-08T20:13:46.062Z,1736367226.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:46.064Z,1736367226.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:46.067Z,1736367226.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 260.644318 m, bearing: 38.860698 deg, approach rate: 0.322198 m/s, LOS rate: 0.109960 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.086389 deg. 2025-01-08T20:13:46.069Z,1736367226.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818616 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:46.308Z,1736367226.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:46.308Z,1736367226.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570287 2025-01-08T20:13:46.479Z,1736367226.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:46.487Z,1736367226.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:46.490Z,1736367226.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 260.782318 m, bearing: 38.907705 deg, approach rate: 0.326676 m/s, LOS rate: 0.111217 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116133 deg. 2025-01-08T20:13:46.491Z,1736367226.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819136 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:46.561Z,1736367226.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:46.565Z,1736367226.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826060 2025-01-08T20:13:46.814Z,1736367226.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:46.815Z,1736367226.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076369 2025-01-08T20:13:46.900Z,1736367226.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:46.937Z,1736367226.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:46.940Z,1736367226.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 260.927368 m, bearing: 38.955242 deg, approach rate: 0.322283 m/s, LOS rate: 0.105563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117719 deg. 2025-01-08T20:13:46.941Z,1736367226.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819163 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:47.064Z,1736367227.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:47.064Z,1736367227.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326286 2025-01-08T20:13:47.282Z,1736367227.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:47.291Z,1736367227.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:47.294Z,1736367227.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 261.058868 m, bearing: 38.998253 deg, approach rate: 0.371345 m/s, LOS rate: 0.121397 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.104153 deg. 2025-01-08T20:13:47.296Z,1736367227.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818926 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:47.316Z,1736367227.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:47.317Z,1736367227.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578439 2025-01-08T20:13:47.570Z,1736367227.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:47.572Z,1736367227.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833443 2025-01-08T20:13:47.718Z,1736367227.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:47.743Z,1736367227.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:47.746Z,1736367227.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 261.207855 m, bearing: 39.049502 deg, approach rate: 0.329862 m/s, LOS rate: 0.113404 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128848 deg. 2025-01-08T20:13:47.747Z,1736367227.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819357 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:47.820Z,1736367227.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:47.820Z,1736367227.820 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:47.820Z,1736367227.820 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:47.821Z,1736367227.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:48.072Z,1736367228.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:48.072Z,1736367228.072 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:48.072Z,1736367228.072 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:48.073Z,1736367228.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:48.089Z,1736367228.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:48.096Z,1736367228.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:48.098Z,1736367228.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:48.125Z,1736367228.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 261.334442 m, bearing: 39.093030 deg, approach rate: 0.356795 m/s, LOS rate: 0.122627 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105707 deg. 2025-01-08T20:13:48.126Z,1736367228.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818954 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:48.324Z,1736367228.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:48.324Z,1736367228.324 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:48.324Z,1736367228.324 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:48.325Z,1736367228.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:48.508Z,1736367228.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:48.524Z,1736367228.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:48.526Z,1736367228.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 261.477264 m, bearing: 39.142177 deg, approach rate: 0.335520 m/s, LOS rate: 0.115394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122547 deg. 2025-01-08T20:13:48.528Z,1736367228.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819248 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:48.582Z,1736367228.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:48.585Z,1736367228.585 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:13:48.586Z,1736367228.586 [DAT](INFO): response not received 2025-01-08T20:13:48.590Z,1736367228.590 [DAT](INFO): DAT read: user:1189> 2025-01-08T20:13:48.591Z,1736367228.591 [DAT](ERROR): No response from remote modem. 2025-01-08T20:13:48.592Z,1736367228.592 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:48.593Z,1736367228.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:48.832Z,1736367228.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:48.834Z,1736367228.834 [DAT](INFO): DAT read: Tx time:20:13:48.0327 2025-01-08T20:13:48.834Z,1736367228.834 [DAT](INFO): Ping request sent. 2025-01-08T20:13:48.834Z,1736367228.834 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:13:48.836Z,1736367228.836 [DAT](INFO): DAT read: TxSync time:20:13:48.0319 2025-01-08T20:13:48.837Z,1736367228.837 [DAT](INFO): publishing transmit ping time 2025-01-08T20:13:48.838Z,1736367228.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003417 2025-01-08T20:13:48.948Z,1736367228.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:48.977Z,1736367228.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:48.981Z,1736367228.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 261.630371 m, bearing: 39.195928 deg, approach rate: 0.337172 m/s, LOS rate: 0.118300 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136343 deg. 2025-01-08T20:13:48.982Z,1736367228.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819489 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:49.084Z,1736367229.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:49.085Z,1736367229.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250640 2025-01-08T20:13:49.304Z,1736367229.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:49.313Z,1736367229.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:49.315Z,1736367229.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 261.755280 m, bearing: 39.239519 deg, approach rate: 0.372597 m/s, LOS rate: 0.129969 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105898 deg. 2025-01-08T20:13:49.317Z,1736367229.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818957 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:49.336Z,1736367229.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:49.337Z,1736367229.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502572 2025-01-08T20:13:49.589Z,1736367229.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:49.592Z,1736367229.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756869 2025-01-08T20:13:49.747Z,1736367229.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:49.756Z,1736367229.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:49.759Z,1736367229.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 261.920135 m, bearing: 39.297242 deg, approach rate: 0.371640 m/s, LOS rate: 0.130044 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148245 deg. 2025-01-08T20:13:49.760Z,1736367229.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819696 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:49.841Z,1736367229.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:49.842Z,1736367229.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007746 2025-01-08T20:13:50.092Z,1736367230.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:50.092Z,1736367230.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258450 2025-01-08T20:13:50.139Z,1736367230.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:50.145Z,1736367230.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:50.148Z,1736367230.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:50.150Z,1736367230.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 262.066467 m, bearing: 39.348337 deg, approach rate: 0.374252 m/s, LOS rate: 0.130606 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128387 deg. 2025-01-08T20:13:50.152Z,1736367230.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819349 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:50.344Z,1736367230.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:50.345Z,1736367230.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510884 2025-01-08T20:13:50.520Z,1736367230.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:50.528Z,1736367230.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:50.531Z,1736367230.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 262.209412 m, bearing: 39.397944 deg, approach rate: 0.375097 m/s, LOS rate: 0.130101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123925 deg. 2025-01-08T20:13:50.532Z,1736367230.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819272 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:50.598Z,1736367230.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:50.602Z,1736367230.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766769 2025-01-08T20:13:50.848Z,1736367230.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:50.848Z,1736367230.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014360 2025-01-08T20:13:50.952Z,1736367230.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:50.969Z,1736367230.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:50.976Z,1736367230.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 262.373505 m, bearing: 39.452820 deg, approach rate: 0.372058 m/s, LOS rate: 0.124348 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139713 deg. 2025-01-08T20:13:50.977Z,1736367230.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819547 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:51.100Z,1736367231.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:51.101Z,1736367231.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267130 2025-01-08T20:13:51.333Z,1736367231.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:51.342Z,1736367231.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:51.346Z,1736367231.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 262.522125 m, bearing: 39.502412 deg, approach rate: 0.398252 m/s, LOS rate: 0.132813 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123876 deg. 2025-01-08T20:13:51.347Z,1736367231.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819271 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:51.356Z,1736367231.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:51.357Z,1736367231.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522829 2025-01-08T20:13:51.608Z,1736367231.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:51.609Z,1736367231.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774951 2025-01-08T20:13:51.757Z,1736367231.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:51.765Z,1736367231.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:51.769Z,1736367231.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 262.685608 m, bearing: 39.556748 deg, approach rate: 0.386644 m/s, LOS rate: 0.128427 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138093 deg. 2025-01-08T20:13:51.770Z,1736367231.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819519 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:51.860Z,1736367231.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:51.861Z,1736367231.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026701 2025-01-08T20:13:52.112Z,1736367232.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:52.112Z,1736367232.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278427 2025-01-08T20:13:52.150Z,1736367232.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:52.157Z,1736367232.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:52.160Z,1736367232.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:52.162Z,1736367232.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 262.837372 m, bearing: 39.607062 deg, approach rate: 0.385237 m/s, LOS rate: 0.127644 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126042 deg. 2025-01-08T20:13:52.164Z,1736367232.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819309 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:52.366Z,1736367232.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:52.368Z,1736367232.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533624 2025-01-08T20:13:52.541Z,1736367232.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:52.566Z,1736367232.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:52.569Z,1736367232.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 262.988708 m, bearing: 39.657044 deg, approach rate: 0.372137 m/s, LOS rate: 0.122834 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125045 deg. 2025-01-08T20:13:52.572Z,1736367232.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819291 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:52.617Z,1736367232.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:52.618Z,1736367232.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783843 2025-01-08T20:13:52.868Z,1736367232.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:52.869Z,1736367232.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035077 2025-01-08T20:13:52.970Z,1736367232.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:52.978Z,1736367232.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:52.982Z,1736367232.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 263.152924 m, bearing: 39.711447 deg, approach rate: 0.398373 m/s, LOS rate: 0.131895 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138293 deg. 2025-01-08T20:13:52.983Z,1736367232.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819522 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:53.120Z,1736367233.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:53.121Z,1736367233.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286544 2025-01-08T20:13:53.340Z,1736367233.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:53.365Z,1736367233.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:53.372Z,1736367233.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:53.373Z,1736367233.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538587 2025-01-08T20:13:53.373Z,1736367233.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 263.295013 m, bearing: 39.758328 deg, approach rate: 0.367513 m/s, LOS rate: 0.121191 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115753 deg. 2025-01-08T20:13:53.375Z,1736367233.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819129 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:53.624Z,1736367233.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:53.624Z,1736367233.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790457 2025-01-08T20:13:53.767Z,1736367233.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:53.776Z,1736367233.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:53.779Z,1736367233.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 263.455597 m, bearing: 39.810205 deg, approach rate: 0.390319 m/s, LOS rate: 0.126019 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130725 deg. 2025-01-08T20:13:53.780Z,1736367233.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819390 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:53.877Z,1736367233.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:53.878Z,1736367233.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043666 2025-01-08T20:13:54.129Z,1736367234.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:54.131Z,1736367234.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296364 2025-01-08T20:13:54.173Z,1736367234.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:54.202Z,1736367234.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:54.209Z,1736367234.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:54.216Z,1736367234.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 263.607941 m, bearing: 39.859300 deg, approach rate: 0.352294 m/s, LOS rate: 0.113465 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122384 deg. 2025-01-08T20:13:54.217Z,1736367234.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819245 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:54.380Z,1736367234.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:54.381Z,1736367234.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546599 2025-01-08T20:13:54.558Z,1736367234.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:54.566Z,1736367234.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:54.572Z,1736367234.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 263.753876 m, bearing: 39.906165 deg, approach rate: 0.408355 m/s, LOS rate: 0.131066 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115705 deg. 2025-01-08T20:13:54.576Z,1736367234.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819128 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:54.632Z,1736367234.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:54.634Z,1736367234.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799320 2025-01-08T20:13:54.884Z,1736367234.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:54.885Z,1736367234.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050858 2025-01-08T20:13:54.992Z,1736367234.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:55.000Z,1736367235.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:55.020Z,1736367235.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 263.910614 m, bearing: 39.955754 deg, approach rate: 0.360823 m/s, LOS rate: 0.114090 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123865 deg. 2025-01-08T20:13:55.021Z,1736367235.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819271 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:55.136Z,1736367235.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:55.137Z,1736367235.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302897 2025-01-08T20:13:55.385Z,1736367235.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:55.388Z,1736367235.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:55.396Z,1736367235.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.561807 2025-01-08T20:13:55.419Z,1736367235.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:55.422Z,1736367235.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 264.052551 m, bearing: 40.000549 deg, approach rate: 0.339344 m/s, LOS rate: 0.107038 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109499 deg. 2025-01-08T20:13:55.424Z,1736367235.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819020 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:55.640Z,1736367235.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:55.642Z,1736367235.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807965 2025-01-08T20:13:55.796Z,1736367235.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:55.806Z,1736367235.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:55.809Z,1736367235.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 264.188904 m, bearing: 40.044359 deg, approach rate: 0.352321 m/s, LOS rate: 0.113142 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106548 deg. 2025-01-08T20:13:55.810Z,1736367235.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818968 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:55.893Z,1736367235.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:55.894Z,1736367235.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059982 2025-01-08T20:13:56.144Z,1736367236.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:56.144Z,1736367236.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310360 2025-01-08T20:13:56.187Z,1736367236.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:56.195Z,1736367236.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:56.198Z,1736367236.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 264.318573 m, bearing: 40.085927 deg, approach rate: 0.333065 m/s, LOS rate: 0.106718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.099830 deg. 2025-01-08T20:13:56.199Z,1736367236.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818851 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:56.397Z,1736367236.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:56.398Z,1736367236.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563870 2025-01-08T20:13:56.577Z,1736367236.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:56.583Z,1736367236.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:56.585Z,1736367236.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:56.588Z,1736367236.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 264.447998 m, bearing: 40.127484 deg, approach rate: 0.331487 m/s, LOS rate: 0.106384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.099795 deg. 2025-01-08T20:13:56.589Z,1736367236.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818851 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:56.649Z,1736367236.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:56.650Z,1736367236.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815554 2025-01-08T20:13:56.900Z,1736367236.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:56.901Z,1736367236.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066518 2025-01-08T20:13:57.000Z,1736367237.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:57.010Z,1736367237.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:57.013Z,1736367237.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 264.580017 m, bearing: 40.171133 deg, approach rate: 0.311047 m/s, LOS rate: 0.102791 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106070 deg. 2025-01-08T20:13:57.014Z,1736367237.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818960 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:57.152Z,1736367237.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:57.153Z,1736367237.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318969 2025-01-08T20:13:57.388Z,1736367237.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:57.397Z,1736367237.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:57.400Z,1736367237.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 264.700928 m, bearing: 40.211095 deg, approach rate: 0.312582 m/s, LOS rate: 0.103264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.095018 deg. 2025-01-08T20:13:57.402Z,1736367237.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818767 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:57.404Z,1736367237.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:57.405Z,1736367237.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570547 2025-01-08T20:13:57.656Z,1736367237.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:57.657Z,1736367237.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823114 2025-01-08T20:13:57.825Z,1736367237.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:57.834Z,1736367237.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:57.837Z,1736367237.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 264.828094 m, bearing: 40.253326 deg, approach rate: 0.291090 m/s, LOS rate: 0.096620 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101817 deg. 2025-01-08T20:13:57.838Z,1736367237.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818886 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:57.909Z,1736367237.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:57.910Z,1736367237.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075676 2025-01-08T20:13:58.160Z,1736367238.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:58.160Z,1736367238.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326361 2025-01-08T20:13:58.214Z,1736367238.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:58.225Z,1736367238.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:58.228Z,1736367238.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 264.941406 m, bearing: 40.290887 deg, approach rate: 0.289196 m/s, LOS rate: 0.095824 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.087823 deg. 2025-01-08T20:13:58.230Z,1736367238.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818642 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:58.412Z,1736367238.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:58.412Z,1736367238.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578339 2025-01-08T20:13:58.600Z,1736367238.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:58.606Z,1736367238.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:13:58.609Z,1736367238.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:58.612Z,1736367238.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 265.053345 m, bearing: 40.328169 deg, approach rate: 0.291885 m/s, LOS rate: 0.097174 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.086986 deg. 2025-01-08T20:13:58.613Z,1736367238.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818627 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:58.664Z,1736367238.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:58.666Z,1736367238.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832207 2025-01-08T20:13:58.916Z,1736367238.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:58.916Z,1736367238.916 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:58.916Z,1736367238.916 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:58.916Z,1736367238.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:59.037Z,1736367239.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:59.051Z,1736367239.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:59.054Z,1736367239.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 265.179962 m, bearing: 40.370085 deg, approach rate: 0.286679 m/s, LOS rate: 0.094858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100874 deg. 2025-01-08T20:13:59.055Z,1736367239.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818869 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:59.169Z,1736367239.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:59.169Z,1736367239.169 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:59.169Z,1736367239.169 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:59.170Z,1736367239.170 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:59.409Z,1736367239.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:59.419Z,1736367239.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:59.420Z,1736367239.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:59.420Z,1736367239.420 [DAT](INFO): Reached modem response timeout 2025-01-08T20:13:59.420Z,1736367239.420 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:13:59.421Z,1736367239.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:13:59.466Z,1736367239.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 265.287415 m, bearing: 40.405833 deg, approach rate: 0.292350 m/s, LOS rate: 0.097220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.082386 deg. 2025-01-08T20:13:59.467Z,1736367239.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818547 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:59.673Z,1736367239.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:59.674Z,1736367239.674 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:13:59.674Z,1736367239.674 [DAT](INFO): response not received 2025-01-08T20:13:59.675Z,1736367239.675 [DAT](INFO): DAT read: user:1190> 2025-01-08T20:13:59.676Z,1736367239.676 [DAT](INFO): DAT read: Tx time:20:13:58.9828 2025-01-08T20:13:59.677Z,1736367239.677 [DAT](INFO): Ping request sent. 2025-01-08T20:13:59.677Z,1736367239.677 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:13:59.677Z,1736367239.677 [DAT](INFO): publishing transmit ping time 2025-01-08T20:13:59.678Z,1736367239.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001150 2025-01-08T20:13:59.887Z,1736367239.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:13:59.895Z,1736367239.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:13:59.898Z,1736367239.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 265.424042 m, bearing: 40.454179 deg, approach rate: 0.286561 m/s, LOS rate: 0.101349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120151 deg. 2025-01-08T20:13:59.899Z,1736367239.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819206 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:13:59.924Z,1736367239.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:13:59.925Z,1736367239.925 [DAT](INFO): DAT read: TxSync time:20:13:58.9820 2025-01-08T20:13:59.925Z,1736367239.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248530 2025-01-08T20:14:00.176Z,1736367240.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:00.176Z,1736367240.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499594 2025-01-08T20:14:00.249Z,1736367240.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:00.259Z,1736367240.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:00.262Z,1736367240.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 265.527557 m, bearing: 40.490876 deg, approach rate: 0.284473 m/s, LOS rate: 0.100808 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.085234 deg. 2025-01-08T20:14:00.263Z,1736367240.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818596 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:00.428Z,1736367240.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:00.428Z,1736367240.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751644 2025-01-08T20:14:00.638Z,1736367240.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:00.644Z,1736367240.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:00.647Z,1736367240.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:00.652Z,1736367240.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 265.639465 m, bearing: 40.530165 deg, approach rate: 0.288441 m/s, LOS rate: 0.101224 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.093003 deg. 2025-01-08T20:14:00.654Z,1736367240.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818732 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:00.680Z,1736367240.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:00.682Z,1736367240.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004384 2025-01-08T20:14:00.932Z,1736367240.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:00.933Z,1736367240.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255687 2025-01-08T20:14:01.058Z,1736367241.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:01.066Z,1736367241.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:01.071Z,1736367241.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 265.764709 m, bearing: 40.575804 deg, approach rate: 0.298415 m/s, LOS rate: 0.108692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112040 deg. 2025-01-08T20:14:01.073Z,1736367241.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819064 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:01.185Z,1736367241.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:01.186Z,1736367241.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509105 2025-01-08T20:14:01.436Z,1736367241.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:01.437Z,1736367241.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759947 2025-01-08T20:14:01.510Z,1736367241.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:01.520Z,1736367241.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:01.522Z,1736367241.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 265.899231 m, bearing: 40.624865 deg, approach rate: 0.297271 m/s, LOS rate: 0.108362 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122294 deg. 2025-01-08T20:14:01.544Z,1736367241.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819243 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:01.689Z,1736367241.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:01.691Z,1736367241.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013628 2025-01-08T20:14:01.906Z,1736367241.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:01.914Z,1736367241.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:01.917Z,1736367241.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 266.027740 m, bearing: 40.670994 deg, approach rate: 0.324997 m/s, LOS rate: 0.116603 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113507 deg. 2025-01-08T20:14:01.920Z,1736367241.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819090 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:01.940Z,1736367241.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:01.940Z,1736367241.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263602 2025-01-08T20:14:02.192Z,1736367242.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:02.193Z,1736367242.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515787 2025-01-08T20:14:02.278Z,1736367242.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:02.304Z,1736367242.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:02.306Z,1736367242.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 266.148407 m, bearing: 40.714193 deg, approach rate: 0.310566 m/s, LOS rate: 0.111134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.104725 deg. 2025-01-08T20:14:02.308Z,1736367242.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818936 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:02.444Z,1736367242.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:02.445Z,1736367242.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767762 2025-01-08T20:14:02.678Z,1736367242.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:02.687Z,1736367242.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:02.689Z,1736367242.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:02.692Z,1736367242.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 266.278107 m, bearing: 40.760738 deg, approach rate: 0.335829 m/s, LOS rate: 0.120459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114752 deg. 2025-01-08T20:14:02.693Z,1736367242.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819111 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:02.696Z,1736367242.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:02.696Z,1736367242.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019638 2025-01-08T20:14:02.948Z,1736367242.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:02.948Z,1736367242.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271504 2025-01-08T20:14:03.090Z,1736367243.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:03.099Z,1736367243.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:03.103Z,1736367243.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 266.421753 m, bearing: 40.811174 deg, approach rate: 0.350883 m/s, LOS rate: 0.123134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126414 deg. 2025-01-08T20:14:03.121Z,1736367243.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819315 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:03.200Z,1736367243.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:03.201Z,1736367243.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523754 2025-01-08T20:14:03.452Z,1736367243.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:03.453Z,1736367243.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776275 2025-01-08T20:14:03.477Z,1736367243.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:03.487Z,1736367243.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:03.490Z,1736367243.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 266.557159 m, bearing: 40.858616 deg, approach rate: 0.348388 m/s, LOS rate: 0.122002 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117441 deg. 2025-01-08T20:14:03.492Z,1736367243.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819159 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:03.704Z,1736367243.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:03.705Z,1736367243.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028282 2025-01-08T20:14:03.924Z,1736367243.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:03.933Z,1736367243.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:03.956Z,1736367243.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:03.956Z,1736367243.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279574 2025-01-08T20:14:03.972Z,1736367243.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 266.722778 m, bearing: 40.914349 deg, approach rate: 0.371929 m/s, LOS rate: 0.125081 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142281 deg. 2025-01-08T20:14:03.973Z,1736367243.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819592 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:04.208Z,1736367244.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:04.209Z,1736367244.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532069 2025-01-08T20:14:04.301Z,1736367244.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:04.316Z,1736367244.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:04.320Z,1736367244.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 266.861847 m, bearing: 40.961029 deg, approach rate: 0.363041 m/s, LOS rate: 0.121795 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115154 deg. 2025-01-08T20:14:04.321Z,1736367244.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819118 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:04.460Z,1736367244.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:04.461Z,1736367244.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783810 2025-01-08T20:14:04.689Z,1736367244.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:04.696Z,1736367244.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:04.698Z,1736367244.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:04.701Z,1736367244.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 267.007751 m, bearing: 41.009448 deg, approach rate: 0.381628 m/s, LOS rate: 0.126575 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120363 deg. 2025-01-08T20:14:04.702Z,1736367244.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819210 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:04.712Z,1736367244.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:04.713Z,1736367244.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035710 2025-01-08T20:14:04.964Z,1736367244.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:04.967Z,1736367244.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289446 2025-01-08T20:14:05.097Z,1736367245.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:05.133Z,1736367245.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:05.137Z,1736367245.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 267.173920 m, bearing: 41.062265 deg, approach rate: 0.381471 m/s, LOS rate: 0.121176 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133539 deg. 2025-01-08T20:14:05.139Z,1736367245.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819439 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:05.216Z,1736367245.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:05.217Z,1736367245.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539998 2025-01-08T20:14:05.469Z,1736367245.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:05.469Z,1736367245.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792521 2025-01-08T20:14:05.489Z,1736367245.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:05.497Z,1736367245.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:05.500Z,1736367245.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 267.333832 m, bearing: 41.112809 deg, approach rate: 0.439996 m/s, LOS rate: 0.138989 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126729 deg. 2025-01-08T20:14:05.502Z,1736367245.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819321 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:05.720Z,1736367245.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:05.721Z,1736367245.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044292 2025-01-08T20:14:05.934Z,1736367245.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:05.944Z,1736367245.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:05.946Z,1736367245.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 267.521515 m, bearing: 41.170853 deg, approach rate: 0.420747 m/s, LOS rate: 0.130032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149196 deg. 2025-01-08T20:14:05.948Z,1736367245.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819713 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:05.972Z,1736367245.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:05.973Z,1736367245.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295723 2025-01-08T20:14:06.225Z,1736367246.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:06.226Z,1736367246.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549196 2025-01-08T20:14:06.288Z,1736367246.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:06.296Z,1736367246.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:06.315Z,1736367246.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 267.671326 m, bearing: 41.216897 deg, approach rate: 0.424044 m/s, LOS rate: 0.130254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113240 deg. 2025-01-08T20:14:06.316Z,1736367246.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819085 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:06.476Z,1736367246.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:06.476Z,1736367246.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799473 2025-01-08T20:14:06.713Z,1736367246.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:06.719Z,1736367246.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:06.721Z,1736367246.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:06.726Z,1736367246.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 267.851471 m, bearing: 41.272018 deg, approach rate: 0.423686 m/s, LOS rate: 0.129553 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140438 deg. 2025-01-08T20:14:06.728Z,1736367246.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:06.728Z,1736367246.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051654 2025-01-08T20:14:06.729Z,1736367246.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819560 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:06.980Z,1736367246.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:06.980Z,1736367246.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303590 2025-01-08T20:14:07.136Z,1736367247.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:07.145Z,1736367247.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:07.148Z,1736367247.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 268.034882 m, bearing: 41.325569 deg, approach rate: 0.433358 m/s, LOS rate: 0.126443 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135730 deg. 2025-01-08T20:14:07.149Z,1736367247.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819478 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:07.232Z,1736367247.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:07.233Z,1736367247.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556441 2025-01-08T20:14:07.484Z,1736367247.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:07.485Z,1736367247.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808400 2025-01-08T20:14:07.502Z,1736367247.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:07.510Z,1736367247.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:07.533Z,1736367247.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 268.193481 m, bearing: 41.371510 deg, approach rate: 0.433626 m/s, LOS rate: 0.125532 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112928 deg. 2025-01-08T20:14:07.536Z,1736367247.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819080 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:07.736Z,1736367247.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:07.736Z,1736367247.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059622 2025-01-08T20:14:07.961Z,1736367247.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:07.970Z,1736367247.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:07.973Z,1736367247.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 268.386353 m, bearing: 41.427961 deg, approach rate: 0.419271 m/s, LOS rate: 0.122628 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144418 deg. 2025-01-08T20:14:07.974Z,1736367247.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819629 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:07.988Z,1736367247.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:07.989Z,1736367247.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311788 2025-01-08T20:14:08.240Z,1736367248.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:08.240Z,1736367248.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563546 2025-01-08T20:14:08.308Z,1736367248.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:08.333Z,1736367248.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:08.337Z,1736367248.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 268.532166 m, bearing: 41.470455 deg, approach rate: 0.402411 m/s, LOS rate: 0.117209 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102598 deg. 2025-01-08T20:14:08.338Z,1736367248.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818900 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:08.492Z,1736367248.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:08.493Z,1736367248.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815889 2025-01-08T20:14:08.712Z,1736367248.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:08.734Z,1736367248.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:08.741Z,1736367248.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:08.744Z,1736367248.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:08.744Z,1736367248.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067652 2025-01-08T20:14:08.750Z,1736367248.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 268.701660 m, bearing: 41.519683 deg, approach rate: 0.415085 m/s, LOS rate: 0.120481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122778 deg. 2025-01-08T20:14:08.756Z,1736367248.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819252 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:08.998Z,1736367248.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:08.000Z,1736367249.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322992 2025-01-08T20:14:09.163Z,1736367249.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:09.173Z,1736367249.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:09.176Z,1736367249.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 268.887024 m, bearing: 41.572894 deg, approach rate: 0.429084 m/s, LOS rate: 0.123090 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134710 deg. 2025-01-08T20:14:09.177Z,1736367249.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819460 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:09.248Z,1736367249.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:09.249Z,1736367249.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571731 2025-01-08T20:14:09.500Z,1736367249.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:09.500Z,1736367249.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823525 2025-01-08T20:14:09.522Z,1736367249.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:09.531Z,1736367249.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:09.554Z,1736367249.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 269.034882 m, bearing: 41.615170 deg, approach rate: 0.413328 m/s, LOS rate: 0.118113 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101943 deg. 2025-01-08T20:14:09.560Z,1736367249.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818888 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:09.752Z,1736367249.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:09.753Z,1736367249.753 [DAT](INFO): Reached modem response timeout 2025-01-08T20:14:09.753Z,1736367249.753 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:14:09.753Z,1736367249.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:14:09.995Z,1736367249.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:10.004Z,1736367250.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:10.004Z,1736367250.004 [DAT](INFO): Reached modem response timeout 2025-01-08T20:14:10.004Z,1736367250.004 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:14:10.005Z,1736367250.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:14:10.008Z,1736367250.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:10.011Z,1736367250.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 269.214600 m, bearing: 41.667198 deg, approach rate: 0.376445 m/s, LOS rate: 0.108908 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131167 deg. 2025-01-08T20:14:10.012Z,1736367250.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819398 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:10.256Z,1736367250.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:10.256Z,1736367250.256 [DAT](INFO): Reached modem response timeout 2025-01-08T20:14:10.257Z,1736367250.257 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:14:10.257Z,1736367250.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:14:10.336Z,1736367250.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:10.353Z,1736367250.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:10.364Z,1736367250.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 269.344604 m, bearing: 41.704778 deg, approach rate: 0.377047 m/s, LOS rate: 0.108940 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.087874 deg. 2025-01-08T20:14:10.365Z,1736367250.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818643 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:10.508Z,1736367250.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:10.508Z,1736367250.508 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:14:10.509Z,1736367250.509 [DAT](INFO): response not received 2025-01-08T20:14:10.509Z,1736367250.509 [DAT](INFO): DAT read: user:1191> 2025-01-08T20:14:10.509Z,1736367250.509 [DAT](ERROR): No response from remote modem. 2025-01-08T20:14:10.510Z,1736367250.510 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:14:10.510Z,1736367250.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:14:10.738Z,1736367250.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:10.745Z,1736367250.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:10.747Z,1736367250.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:10.760Z,1736367250.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:10.761Z,1736367250.761 [DAT](INFO): DAT read: Tx time:20:14:09.9329 2025-01-08T20:14:10.761Z,1736367250.761 [DAT](INFO): Ping request sent. 2025-01-08T20:14:10.761Z,1736367250.761 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:14:10.762Z,1736367250.762 [DAT](INFO): DAT read: TxSync time:20:14:09.9321 2025-01-08T20:14:10.762Z,1736367250.762 [DAT](INFO): publishing transmit ping time 2025-01-08T20:14:10.763Z,1736367250.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001625 2025-01-08T20:14:10.774Z,1736367250.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 269.497620 m, bearing: 41.748939 deg, approach rate: 0.388657 m/s, LOS rate: 0.112104 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107593 deg. 2025-01-08T20:14:10.775Z,1736367250.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818986 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:11.012Z,1736367251.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:11.013Z,1736367251.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251448 2025-01-08T20:14:11.182Z,1736367251.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:11.191Z,1736367251.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:11.194Z,1736367251.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 269.649139 m, bearing: 41.795361 deg, approach rate: 0.340957 m/s, LOS rate: 0.104401 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114373 deg. 2025-01-08T20:14:11.196Z,1736367251.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819105 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:11.264Z,1736367251.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:11.264Z,1736367251.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503268 2025-01-08T20:14:11.516Z,1736367251.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:11.516Z,1736367251.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755255 2025-01-08T20:14:11.558Z,1736367251.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:11.567Z,1736367251.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:11.571Z,1736367251.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 269.779968 m, bearing: 41.835191 deg, approach rate: 0.348143 m/s, LOS rate: 0.105941 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.094621 deg. 2025-01-08T20:14:11.572Z,1736367251.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818760 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:11.769Z,1736367251.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:11.769Z,1736367251.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008144 2025-01-08T20:14:12.024Z,1736367252.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:12.024Z,1736367252.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263323 2025-01-08T20:14:12.033Z,1736367252.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:12.051Z,1736367252.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:12.058Z,1736367252.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 269.926331 m, bearing: 41.883503 deg, approach rate: 0.302667 m/s, LOS rate: 0.099851 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120043 deg. 2025-01-08T20:14:12.059Z,1736367252.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819204 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:12.276Z,1736367252.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:12.276Z,1736367252.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515295 2025-01-08T20:14:12.352Z,1736367252.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:12.361Z,1736367252.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:12.364Z,1736367252.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 270.024292 m, bearing: 41.915808 deg, approach rate: 0.315761 m/s, LOS rate: 0.104090 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.072065 deg. 2025-01-08T20:14:12.365Z,1736367252.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818367 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:12.528Z,1736367252.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:12.528Z,1736367252.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767219 2025-01-08T20:14:12.752Z,1736367252.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:12.759Z,1736367252.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:12.761Z,1736367252.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:12.764Z,1736367252.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 270.147827 m, bearing: 41.956646 deg, approach rate: 0.308456 m/s, LOS rate: 0.101922 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097645 deg. 2025-01-08T20:14:12.765Z,1736367252.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818813 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:12.780Z,1736367252.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:12.780Z,1736367252.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019173 2025-01-08T20:14:13.032Z,1736367253.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:13.033Z,1736367253.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271679 2025-01-08T20:14:13.181Z,1736367253.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:13.190Z,1736367253.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:13.193Z,1736367253.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 270.275024 m, bearing: 41.999696 deg, approach rate: 0.296664 m/s, LOS rate: 0.100359 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.104275 deg. 2025-01-08T20:14:13.194Z,1736367253.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818929 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:13.285Z,1736367253.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:13.286Z,1736367253.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524738 2025-01-08T20:14:13.536Z,1736367253.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:13.537Z,1736367253.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775418 2025-01-08T20:14:13.544Z,1736367253.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:14:13.562Z,1736367253.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:13.572Z,1736367253.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:13.574Z,1736367253.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 270.388214 m, bearing: 42.037983 deg, approach rate: 0.296802 m/s, LOS rate: 0.100354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.090000 deg. 2025-01-08T20:14:13.596Z,1736367253.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818679 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:13.790Z,1736367253.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:13.792Z,1736367253.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030373 2025-01-08T20:14:14.024Z,1736367254.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:14.040Z,1736367254.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:14.041Z,1736367254.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279406 2025-01-08T20:14:14.042Z,1736367254.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:14.055Z,1736367254.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 270.525116 m, bearing: 42.084412 deg, approach rate: 0.290687 m/s, LOS rate: 0.098535 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114404 deg. 2025-01-08T20:14:14.057Z,1736367254.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819106 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:14.292Z,1736367254.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:14.292Z,1736367254.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531194 2025-01-08T20:14:14.392Z,1736367254.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:14.425Z,1736367254.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:14.435Z,1736367254.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 270.629761 m, bearing: 42.120376 deg, approach rate: 0.273139 m/s, LOS rate: 0.093833 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.083035 deg. 2025-01-08T20:14:14.472Z,1736367254.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818558 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:14.545Z,1736367254.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:14.546Z,1736367254.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784520 2025-01-08T20:14:14.548Z,1736367254.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:14:14.788Z,1736367254.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:14.796Z,1736367254.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:14.796Z,1736367254.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035230 2025-01-08T20:14:14.810Z,1736367254.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:14.817Z,1736367254.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:14.825Z,1736367254.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 270.742554 m, bearing: 42.159062 deg, approach rate: 0.287911 m/s, LOS rate: 0.098708 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.091197 deg. 2025-01-08T20:14:14.826Z,1736367254.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818700 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:15.048Z,1736367255.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:15.048Z,1736367255.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287359 2025-01-08T20:14:15.197Z,1736367255.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:15.206Z,1736367255.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:15.209Z,1736367255.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 270.857635 m, bearing: 42.201399 deg, approach rate: 0.295853 m/s, LOS rate: 0.108794 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102144 deg. 2025-01-08T20:14:15.210Z,1736367255.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818892 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:15.301Z,1736367255.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:15.302Z,1736367255.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540660 2025-01-08T20:14:15.552Z,1736367255.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:15.553Z,1736367255.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791863 2025-01-08T20:14:15.608Z,1736367255.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:15.616Z,1736367255.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:15.620Z,1736367255.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 270.972900 m, bearing: 42.243800 deg, approach rate: 0.281595 m/s, LOS rate: 0.103542 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102334 deg. 2025-01-08T20:14:15.621Z,1736367255.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818895 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:15.804Z,1736367255.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:15.804Z,1736367255.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043191 2025-01-08T20:14:16.027Z,1736367256.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:16.056Z,1736367256.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:16.057Z,1736367256.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295416 2025-01-08T20:14:16.067Z,1736367256.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:16.074Z,1736367256.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 271.090546 m, bearing: 42.287115 deg, approach rate: 0.260761 m/s, LOS rate: 0.095966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105075 deg. 2025-01-08T20:14:16.075Z,1736367256.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818943 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:16.308Z,1736367256.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:16.309Z,1736367256.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547625 2025-01-08T20:14:16.438Z,1736367256.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:16.446Z,1736367256.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:16.449Z,1736367256.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 271.218079 m, bearing: 42.329632 deg, approach rate: 0.336005 m/s, LOS rate: 0.111966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102679 deg. 2025-01-08T20:14:16.450Z,1736367256.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818901 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:16.560Z,1736367256.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:16.561Z,1736367256.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799497 2025-01-08T20:14:16.800Z,1736367256.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:16.812Z,1736367256.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:16.813Z,1736367256.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052124 2025-01-08T20:14:16.829Z,1736367256.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:16.831Z,1736367256.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:16.846Z,1736367256.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 271.330383 m, bearing: 42.367006 deg, approach rate: 0.291942 m/s, LOS rate: 0.097115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.087262 deg. 2025-01-08T20:14:16.852Z,1736367256.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818632 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:17.064Z,1736367257.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:17.064Z,1736367257.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303261 2025-01-08T20:14:17.222Z,1736367257.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:17.232Z,1736367257.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:17.236Z,1736367257.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 271.467712 m, bearing: 42.412692 deg, approach rate: 0.342360 m/s, LOS rate: 0.113837 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112176 deg. 2025-01-08T20:14:17.237Z,1736367257.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819067 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:17.316Z,1736367257.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:17.317Z,1736367257.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555755 2025-01-08T20:14:17.568Z,1736367257.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:17.569Z,1736367257.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808035 2025-01-08T20:14:17.617Z,1736367257.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:17.628Z,1736367257.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:17.630Z,1736367257.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 271.596497 m, bearing: 42.455520 deg, approach rate: 0.325655 m/s, LOS rate: 0.108247 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103609 deg. 2025-01-08T20:14:17.632Z,1736367257.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818917 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:17.822Z,1736367257.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:17.824Z,1736367257.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061908 2025-01-08T20:14:18.010Z,1736367258.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:18.074Z,1736367258.074 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:18.077Z,1736367258.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315122 2025-01-08T20:14:18.084Z,1736367258.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:18.092Z,1736367258.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 271.724701 m, bearing: 42.498085 deg, approach rate: 0.280651 m/s, LOS rate: 0.093135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102821 deg. 2025-01-08T20:14:18.093Z,1736367258.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818903 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:18.325Z,1736367258.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:18.326Z,1736367258.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.564528 2025-01-08T20:14:18.440Z,1736367258.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:18.469Z,1736367258.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:18.476Z,1736367258.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 271.875732 m, bearing: 42.545890 deg, approach rate: 0.393842 m/s, LOS rate: 0.124591 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118521 deg. 2025-01-08T20:14:18.477Z,1736367258.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819177 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:18.577Z,1736367258.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:18.578Z,1736367258.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816615 2025-01-08T20:14:18.812Z,1736367258.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:18.821Z,1736367258.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:18.824Z,1736367258.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 272.007019 m, bearing: 42.587321 deg, approach rate: 0.371256 m/s, LOS rate: 0.117104 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.099420 deg. 2025-01-08T20:14:18.825Z,1736367258.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818844 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:18.828Z,1736367258.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:18.829Z,1736367258.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067372 2025-01-08T20:14:19.081Z,1736367259.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:19.083Z,1736367259.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.321427 2025-01-08T20:14:19.238Z,1736367259.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:19.265Z,1736367259.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:19.267Z,1736367259.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:19.274Z,1736367259.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 272.176361 m, bearing: 42.637546 deg, approach rate: 0.380329 m/s, LOS rate: 0.112732 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125769 deg. 2025-01-08T20:14:19.275Z,1736367259.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819304 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:19.332Z,1736367259.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:19.332Z,1736367259.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571349 2025-01-08T20:14:19.584Z,1736367259.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:19.585Z,1736367259.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823594 2025-01-08T20:14:19.636Z,1736367259.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:19.655Z,1736367259.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:19.668Z,1736367259.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 272.335205 m, bearing: 42.684472 deg, approach rate: 0.409793 m/s, LOS rate: 0.120991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115882 deg. 2025-01-08T20:14:19.669Z,1736367259.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819131 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:19.836Z,1736367259.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:19.837Z,1736367259.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075484 2025-01-08T20:14:20.028Z,1736367260.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:20.038Z,1736367260.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:20.065Z,1736367260.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 272.491272 m, bearing: 42.730449 deg, approach rate: 0.407683 m/s, LOS rate: 0.120035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113039 deg. 2025-01-08T20:14:20.075Z,1736367260.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819082 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:20.090Z,1736367260.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:20.093Z,1736367260.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330998 2025-01-08T20:14:20.340Z,1736367260.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:20.341Z,1736367260.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579626 2025-01-08T20:14:20.449Z,1736367260.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:20.475Z,1736367260.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:20.482Z,1736367260.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 272.663879 m, bearing: 42.780938 deg, approach rate: 0.394374 m/s, LOS rate: 0.115285 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126558 deg. 2025-01-08T20:14:20.483Z,1736367260.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819318 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:20.592Z,1736367260.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:20.593Z,1736367260.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831476 2025-01-08T20:14:20.842Z,1736367260.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:20.844Z,1736367260.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:20.844Z,1736367260.844 [DAT](INFO): Reached modem response timeout 2025-01-08T20:14:20.845Z,1736367260.845 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:14:20.845Z,1736367260.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:14:20.857Z,1736367260.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:20.860Z,1736367260.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 272.824707 m, bearing: 42.827762 deg, approach rate: 0.421165 m/s, LOS rate: 0.122545 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115573 deg. 2025-01-08T20:14:20.861Z,1736367260.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819126 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:21.097Z,1736367261.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:21.098Z,1736367261.098 [DAT](INFO): Reached modem response timeout 2025-01-08T20:14:21.099Z,1736367261.099 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:14:21.100Z,1736367261.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:14:21.273Z,1736367261.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:21.280Z,1736367261.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:21.282Z,1736367261.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:21.286Z,1736367261.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 273.014343 m, bearing: 42.880525 deg, approach rate: 0.446143 m/s, LOS rate: 0.124046 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133366 deg. 2025-01-08T20:14:21.288Z,1736367261.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819437 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:21.349Z,1736367261.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:21.350Z,1736367261.350 [DAT](INFO): Reached modem response timeout 2025-01-08T20:14:21.350Z,1736367261.350 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:14:21.351Z,1736367261.351 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:14:21.600Z,1736367261.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:21.600Z,1736367261.600 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:14:21.601Z,1736367261.601 [DAT](INFO): response not received 2025-01-08T20:14:21.602Z,1736367261.602 [DAT](INFO): DAT read: user:1192> 2025-01-08T20:14:21.603Z,1736367261.603 [DAT](INFO): DAT read: Tx time:20:14:20.8830 2025-01-08T20:14:21.603Z,1736367261.603 [DAT](INFO): Ping request sent. 2025-01-08T20:14:21.603Z,1736367261.603 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:14:21.604Z,1736367261.604 [DAT](INFO): publishing transmit ping time 2025-01-08T20:14:21.604Z,1736367261.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000777 2025-01-08T20:14:21.704Z,1736367261.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:21.721Z,1736367261.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:21.729Z,1736367261.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 273.204712 m, bearing: 42.933350 deg, approach rate: 0.433497 m/s, LOS rate: 0.120207 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133551 deg. 2025-01-08T20:14:21.730Z,1736367261.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819439 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:21.853Z,1736367261.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:21.853Z,1736367261.853 [DAT](INFO): DAT read: TxSync time:20:14:20.8822 2025-01-08T20:14:21.854Z,1736367261.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250691 2025-01-08T20:14:22.049Z,1736367262.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:22.106Z,1736367262.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:22.108Z,1736367262.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504348 2025-01-08T20:14:22.148Z,1736367262.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:22.150Z,1736367262.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 273.357452 m, bearing: 42.975338 deg, approach rate: 0.372914 m/s, LOS rate: 0.102456 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101081 deg. 2025-01-08T20:14:22.156Z,1736367262.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818873 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:22.356Z,1736367262.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:22.358Z,1736367262.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754160 2025-01-08T20:14:22.473Z,1736367262.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:22.497Z,1736367262.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:22.500Z,1736367262.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 273.544159 m, bearing: 43.027092 deg, approach rate: 0.508935 m/s, LOS rate: 0.140979 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130344 deg. 2025-01-08T20:14:22.502Z,1736367262.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819384 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:22.608Z,1736367262.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:22.609Z,1736367262.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005297 2025-01-08T20:14:22.860Z,1736367262.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:22.861Z,1736367262.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257082 2025-01-08T20:14:22.862Z,1736367262.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:22.872Z,1736367262.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:22.874Z,1736367262.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 273.715759 m, bearing: 43.074529 deg, approach rate: 0.458629 m/s, LOS rate: 0.126702 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117407 deg. 2025-01-08T20:14:22.876Z,1736367262.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819158 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:23.114Z,1736367263.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:23.117Z,1736367263.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512971 2025-01-08T20:14:23.287Z,1736367263.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:23.314Z,1736367263.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:23.324Z,1736367263.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:23.326Z,1736367263.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 273.908051 m, bearing: 43.127848 deg, approach rate: 0.425541 m/s, LOS rate: 0.117913 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135032 deg. 2025-01-08T20:14:23.328Z,1736367263.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819466 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:23.365Z,1736367263.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:23.366Z,1736367263.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762132 2025-01-08T20:14:23.616Z,1736367263.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:23.616Z,1736367263.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012887 2025-01-08T20:14:23.693Z,1736367263.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:23.702Z,1736367263.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:23.705Z,1736367263.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 274.092651 m, bearing: 43.178639 deg, approach rate: 0.488600 m/s, LOS rate: 0.134342 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127456 deg. 2025-01-08T20:14:23.706Z,1736367263.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819333 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:23.869Z,1736367263.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:23.869Z,1736367263.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265704 2025-01-08T20:14:24.076Z,1736367264.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:24.089Z,1736367264.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:24.092Z,1736367264.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 274.267273 m, bearing: 43.226582 deg, approach rate: 0.452433 m/s, LOS rate: 0.124137 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118923 deg. 2025-01-08T20:14:24.093Z,1736367264.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819184 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:24.121Z,1736367264.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:24.124Z,1736367264.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519699 2025-01-08T20:14:24.372Z,1736367264.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:24.373Z,1736367264.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769111 2025-01-08T20:14:24.524Z,1736367264.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:24.532Z,1736367264.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:24.537Z,1736367264.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 274.461884 m, bearing: 43.281011 deg, approach rate: 0.437054 m/s, LOS rate: 0.122150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138359 deg. 2025-01-08T20:14:24.538Z,1736367264.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819523 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:24.624Z,1736367264.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:24.625Z,1736367264.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021165 2025-01-08T20:14:24.870Z,1736367264.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:24.876Z,1736367264.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:24.877Z,1736367264.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273092 2025-01-08T20:14:24.880Z,1736367264.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:24.883Z,1736367264.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 274.612274 m, bearing: 43.322906 deg, approach rate: 0.432266 m/s, LOS rate: 0.120352 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100803 deg. 2025-01-08T20:14:24.885Z,1736367264.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818868 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:25.129Z,1736367265.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:25.132Z,1736367265.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527879 2025-01-08T20:14:25.302Z,1736367265.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:25.310Z,1736367265.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:25.313Z,1736367265.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 274.789581 m, bearing: 43.373969 deg, approach rate: 0.412392 m/s, LOS rate: 0.118688 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128276 deg. 2025-01-08T20:14:25.314Z,1736367265.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819347 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:25.380Z,1736367265.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:25.382Z,1736367265.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777962 2025-01-08T20:14:25.632Z,1736367265.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:25.633Z,1736367265.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029044 2025-01-08T20:14:25.698Z,1736367265.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:25.727Z,1736367265.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:25.736Z,1736367265.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:25.745Z,1736367265.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 274.952881 m, bearing: 43.420807 deg, approach rate: 0.388300 m/s, LOS rate: 0.111308 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115618 deg. 2025-01-08T20:14:25.746Z,1736367265.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819127 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:25.884Z,1736367265.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:25.886Z,1736367265.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281775 2025-01-08T20:14:26.078Z,1736367266.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:26.106Z,1736367266.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:26.120Z,1736367266.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 275.109467 m, bearing: 43.465603 deg, approach rate: 0.418641 m/s, LOS rate: 0.119696 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109497 deg. 2025-01-08T20:14:26.121Z,1736367266.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819020 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:26.138Z,1736367266.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:26.141Z,1736367266.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536967 2025-01-08T20:14:26.388Z,1736367266.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:26.389Z,1736367266.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785341 2025-01-08T20:14:26.527Z,1736367266.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:26.537Z,1736367266.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:26.540Z,1736367266.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 275.280975 m, bearing: 43.514817 deg, approach rate: 0.396787 m/s, LOS rate: 0.113786 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122736 deg. 2025-01-08T20:14:26.541Z,1736367266.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819251 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:26.543Z,1736367266.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Running Loop=1 2025-01-08T20:14:26.543Z,1736367266.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-01-08T20:14:26.544Z,1736367266.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Running Loop=1 2025-01-08T20:14:26.545Z,1736367266.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A](IMPORTANT): Transitioning to midcourse guidance. Received last range of 515.000000 m 5.004865 min ago. 2025-01-08T20:14:26.545Z,1736367266.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Stopped 2025-01-08T20:14:26.545Z,1736367266.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Running Loop=1 2025-01-08T20:14:26.640Z,1736367266.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:26.641Z,1736367266.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037292 2025-01-08T20:14:26.892Z,1736367266.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:26.893Z,1736367266.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289740 2025-01-08T20:14:26.947Z,1736367266.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:26.963Z,1736367266.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.20 m. 2025-01-08T20:14:26.966Z,1736367266.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 454.200012 m, nav range: 275.441467 m, bearing: 43.560786 deg, approach rate: 0.376796 m/s, LOS rate: 0.107863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113015 deg. 2025-01-08T20:14:26.972Z,1736367266.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819081 target range: 454.200012 and range: 515.00 m. 2025-01-08T20:14:26.973Z,1736367266.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Stopped 2025-01-08T20:14:26.974Z,1736367266.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-01-08T20:14:26.974Z,1736367266.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Stopped 2025-01-08T20:14:26.974Z,1736367266.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-01-08T20:14:27.145Z,1736367267.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:27.148Z,1736367267.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543552 2025-01-08T20:14:27.362Z,1736367267.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:27.369Z,1736367267.369 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-01-08T20:14:27.369Z,1736367267.369 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T20:14:27.370Z,1736367267.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-01-08T20:14:27.370Z,1736367267.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T20:14:27.370Z,1736367267.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-01-08T20:14:27.370Z,1736367267.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T20:14:27.370Z,1736367267.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-01-08T20:14:27.371Z,1736367267.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T20:14:27.371Z,1736367267.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-01-08T20:14:27.371Z,1736367267.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-01-08T20:14:27.371Z,1736367267.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-01-08T20:14:27.371Z,1736367267.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-01-08T20:14:27.371Z,1736367267.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-01-08T20:14:27.371Z,1736367267.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-08T20:14:27.372Z,1736367267.372 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-01-08T20:14:27.372Z,1736367267.372 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T20:14:27.372Z,1736367267.372 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-01-08T20:14:27.372Z,1736367267.372 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T20:14:27.372Z,1736367267.372 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-01-08T20:14:27.372Z,1736367267.372 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-01-08T20:14:27.372Z,1736367267.372 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-01-08T20:14:27.372Z,1736367267.372 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-01-08T20:14:27.372Z,1736367267.372 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-01-08T20:14:27.374Z,1736367267.374 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg ) 2025-01-08T20:14:27.374Z,1736367267.374 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-01-08T20:14:27.374Z,1736367267.374 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-01-08T20:14:27.375Z,1736367267.375 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-01-08T20:14:27.392Z,1736367267.392 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.903300,-122.119000 2025-01-08T20:14:27.396Z,1736367267.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:27.397Z,1736367267.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793022 2025-01-08T20:14:27.648Z,1736367267.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:27.649Z,1736367267.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045561 2025-01-08T20:14:27.769Z,1736367267.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:27.775Z,1736367267.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:27.788Z,1736367267.788 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-01-08T20:14:27.789Z,1736367267.789 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-01-08T20:14:27.791Z,1736367267.791 [DockingStepper](INFO): Pause 2025-01-08T20:14:27.900Z,1736367267.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:27.901Z,1736367267.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297039 2025-01-08T20:14:28.152Z,1736367268.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:28.152Z,1736367268.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548915 2025-01-08T20:14:28.273Z,1736367268.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:28.404Z,1736367268.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:28.405Z,1736367268.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801021 2025-01-08T20:14:28.585Z,1736367268.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:28.656Z,1736367268.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:28.658Z,1736367268.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053684 2025-01-08T20:14:28.908Z,1736367268.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:28.909Z,1736367268.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305027 2025-01-08T20:14:28.980Z,1736367268.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:29.160Z,1736367269.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:29.162Z,1736367269.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557477 2025-01-08T20:14:29.412Z,1736367269.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:29.412Z,1736367269.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808820 2025-01-08T20:14:29.427Z,1736367269.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:29.664Z,1736367269.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:29.665Z,1736367269.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061802 2025-01-08T20:14:29.804Z,1736367269.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:29.810Z,1736367269.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:29.916Z,1736367269.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:29.917Z,1736367269.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313036 2025-01-08T20:14:30.168Z,1736367270.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:30.168Z,1736367270.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564788 2025-01-08T20:14:30.282Z,1736367270.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:30.420Z,1736367270.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:30.421Z,1736367270.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817319 2025-01-08T20:14:30.657Z,1736367270.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:30.672Z,1736367270.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:30.673Z,1736367270.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069787 2025-01-08T20:14:30.924Z,1736367270.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:30.924Z,1736367270.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320833 2025-01-08T20:14:30.000Z,1736367271.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:31.178Z,1736367271.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:31.180Z,1736367271.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576162 2025-01-08T20:14:31.428Z,1736367271.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:31.428Z,1736367271.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824874 2025-01-08T20:14:31.462Z,1736367271.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:31.680Z,1736367271.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:31.681Z,1736367271.681 [DAT](INFO): Reached modem response timeout 2025-01-08T20:14:31.681Z,1736367271.681 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:14:31.682Z,1736367271.682 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:14:31.820Z,1736367271.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:31.826Z,1736367271.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:31.932Z,1736367271.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:31.932Z,1736367271.932 [DAT](INFO): Reached modem response timeout 2025-01-08T20:14:31.932Z,1736367271.932 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:14:31.933Z,1736367271.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:14:32.184Z,1736367272.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:32.184Z,1736367272.184 [DAT](INFO): Reached modem response timeout 2025-01-08T20:14:32.184Z,1736367272.184 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:14:32.185Z,1736367272.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:14:32.334Z,1736367272.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:32.436Z,1736367272.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:32.437Z,1736367272.437 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:14:32.437Z,1736367272.437 [DAT](INFO): response not received 2025-01-08T20:14:32.438Z,1736367272.438 [DAT](INFO): DAT read: user:1193> 2025-01-08T20:14:32.439Z,1736367272.439 [DAT](INFO): DAT read: Tx time:20:14:31.8331 2025-01-08T20:14:32.439Z,1736367272.439 [DAT](INFO): Ping request sent. 2025-01-08T20:14:32.439Z,1736367272.439 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:14:32.440Z,1736367272.440 [DAT](INFO): publishing transmit ping time 2025-01-08T20:14:32.440Z,1736367272.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001168 2025-01-08T20:14:32.622Z,1736367272.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:32.688Z,1736367272.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:32.689Z,1736367272.689 [DAT](INFO): DAT read: TxSync time:20:14:31.8323 2025-01-08T20:14:32.689Z,1736367272.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250399 2025-01-08T20:14:32.940Z,1736367272.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:32.940Z,1736367272.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501304 2025-01-08T20:14:33.032Z,1736367273.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:33.192Z,1736367273.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:33.192Z,1736367273.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753286 2025-01-08T20:14:33.444Z,1736367273.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:33.444Z,1736367273.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005388 2025-01-08T20:14:33.449Z,1736367273.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:33.696Z,1736367273.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:33.696Z,1736367273.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257280 2025-01-08T20:14:33.828Z,1736367273.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:33.834Z,1736367273.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:33.948Z,1736367273.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:33.949Z,1736367273.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509576 2025-01-08T20:14:34.204Z,1736367274.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:34.204Z,1736367274.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765432 2025-01-08T20:14:34.250Z,1736367274.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:34.456Z,1736367274.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:34.457Z,1736367274.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017864 2025-01-08T20:14:34.672Z,1736367274.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:34.708Z,1736367274.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:34.708Z,1736367274.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269340 2025-01-08T20:14:34.960Z,1736367274.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:34.960Z,1736367274.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521321 2025-01-08T20:14:35.061Z,1736367275.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:35.212Z,1736367275.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:35.213Z,1736367275.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774041 2025-01-08T20:14:35.464Z,1736367275.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:35.464Z,1736367275.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025406 2025-01-08T20:14:35.511Z,1736367275.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:35.720Z,1736367275.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:35.721Z,1736367275.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282121 2025-01-08T20:14:35.875Z,1736367275.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:35.909Z,1736367275.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:14:35.972Z,1736367275.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:35.972Z,1736367275.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533382 2025-01-08T20:14:36.224Z,1736367276.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:36.224Z,1736367276.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785292 2025-01-08T20:14:36.342Z,1736367276.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:36.476Z,1736367276.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:36.476Z,1736367276.476 [DAT](INFO): DAT read: Rx Time:20:14:35.1794 2025-01-08T20:14:36.477Z,1736367276.477 [DAT](INFO): Rx dataTimestamp_ set to:1736367276.476623 2025-01-08T20:14:36.477Z,1736367276.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038385 2025-01-08T20:14:36.723Z,1736367276.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:36.728Z,1736367276.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:36.729Z,1736367276.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289587 2025-01-08T20:14:36.980Z,1736367276.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:36.987Z,1736367276.987 [DAT](INFO): DAT read: 20:14:35.1794 LVL= 26400, 28769, 17282, 32755, AGC= 70, IDX= 445,-0.14,-2.068, 0.489,-0.979,-1.219, PHS=-0.761, 1.755, 0.237, RAW= 306.8, -11.2, CAL= 311.8, -15.4, ROT= 198.2, 15.4 2025-01-08T20:14:36.988Z,1736367276.988 [DAT](INFO): got valid direction response: 20:14:35.1794 LVL= 26400, 28769, 17282, 32755, AGC= 70, IDX= 445,-0.14,-2.068, 0.489,-0.979,-1.219, PHS=-0.761, 1.755, 0.237, RAW= 306.8, -11.2, CAL= 311.8, -15.4, ROT= 198.2, 15.4 2025-01-08T20:14:36.990Z,1736367276.990 [DAT](INFO): DAT read: Range 10 to 50 : 706.6 m (Round-trip 942.2 ms) speed -0.5 m/s 2025-01-08T20:14:36.993Z,1736367276.993 [DAT](INFO): DAT read: user:1194> 2025-01-08T20:14:36.994Z,1736367276.994 [DAT](INFO): DAT read: Tx time:20:14:36.2831 2025-01-08T20:14:36.996Z,1736367276.996 [DAT](INFO): Ping request sent. 2025-01-08T20:14:36.997Z,1736367276.997 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:14:36.997Z,1736367276.997 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:14:37.001Z,1736367277.001 [DAT](INFO): direction in FSK: [0.335763,0.495812,-0.800896] 2025-01-08T20:14:37.002Z,1736367277.002 [DAT](INFO): publishing transmit ping time 2025-01-08T20:14:37.002Z,1736367277.002 [DAT](INFO): publishing direction and range info 2025-01-08T20:14:37.009Z,1736367277.009 [DAT](INFO): publishing transmit ping time 2025-01-08T20:14:37.009Z,1736367277.009 [DAT](INFO): publishing direction and range info 2025-01-08T20:14:37.110Z,1736367277.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:37.232Z,1736367277.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:37.233Z,1736367277.233 [DAT](INFO): DAT read: TxSync time:20:14:36.2823 2025-01-08T20:14:37.484Z,1736367277.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:37.553Z,1736367277.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:37.559Z,1736367277.559 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-01-08T20:14:37.559Z,1736367277.559 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T20:14:37.559Z,1736367277.559 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-01-08T20:14:37.560Z,1736367277.560 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 706.599976 m (mode 0.000000 count ). 2025-01-08T20:14:37.561Z,1736367277.561 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-01-08T20:14:37.561Z,1736367277.561 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-01-08T20:14:37.736Z,1736367277.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:37.910Z,1736367277.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:37.917Z,1736367277.917 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-01-08T20:14:37.917Z,1736367277.917 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-01-08T20:14:37.988Z,1736367277.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:38.240Z,1736367278.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:38.369Z,1736367278.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:38.393Z,1736367278.393 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-01-08T20:14:38.393Z,1736367278.393 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-01-08T20:14:38.492Z,1736367278.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:38.744Z,1736367278.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:38.758Z,1736367278.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:38.764Z,1736367278.764 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-01-08T20:14:38.765Z,1736367278.765 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T20:14:38.765Z,1736367278.765 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-01-08T20:14:38.765Z,1736367278.765 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T20:14:38.996Z,1736367278.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:39.116Z,1736367279.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:39.253Z,1736367279.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:39.504Z,1736367279.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:39.573Z,1736367279.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:39.756Z,1736367279.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:39.929Z,1736367279.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:40.008Z,1736367280.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:40.260Z,1736367280.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:40.361Z,1736367280.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:40.512Z,1736367280.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:40.764Z,1736367280.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:40.765Z,1736367280.765 [DAT](INFO): DAT read: Rx Time:20:14:39.6256 2025-01-08T20:14:40.765Z,1736367280.765 [DAT](INFO): Rx dataTimestamp_ set to:1736367280.764734 2025-01-08T20:14:40.820Z,1736367280.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:41.016Z,1736367281.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:41.177Z,1736367281.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:41.268Z,1736367281.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:41.521Z,1736367281.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:41.537Z,1736367281.537 [DAT](INFO): DAT read: 20:14:39.6256 LVL= 30512, 25233, 18674, 32755, AGC= 69, IDX= 388, 0.31,-0.364, 2.008, 1.426, 0.751, PHS=-1.027, 1.303, 0.671, RAW= 285.2, -9.1, CAL= 290.6, -14.3, ROT= 219.4, 14.3 2025-01-08T20:14:41.538Z,1736367281.538 [DAT](INFO): got valid direction response: 20:14:39.6256 LVL= 30512, 25233, 18674, 32755, AGC= 69, IDX= 388, 0.31,-0.364, 2.008, 1.426, 0.751, PHS=-1.027, 1.303, 0.671, RAW= 285.2, -9.1, CAL= 290.6, -14.3, ROT= 219.4, 14.3 2025-01-08T20:14:41.539Z,1736367281.539 [DAT](INFO): DAT read: Bearing 219.4, 14.3 (Local) 2025-01-08T20:14:41.551Z,1736367281.551 [DAT](INFO): Local bearing/azimuth received: Bearing 219.4, 14.3 (Local) 2025-01-08T20:14:41.570Z,1736367281.570 [DAT](INFO): DAT read: Range 10 to 50 : 703.7 m (Round-trip 938.3 ms) speed -0.4 m/s 2025-01-08T20:14:41.583Z,1736367281.583 [DAT](INFO): DAT read: user:1195> 2025-01-08T20:14:41.584Z,1736367281.584 [DAT](INFO): DAT read: Tx time:20:14:40.7332 2025-01-08T20:14:41.585Z,1736367281.585 [DAT](INFO): Ping request sent. 2025-01-08T20:14:41.585Z,1736367281.585 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:14:41.586Z,1736367281.586 [DAT](INFO): DAT read: TxSync time:20:14:40.7324 2025-01-08T20:14:41.586Z,1736367281.586 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-01-08T20:14:41.600Z,1736367281.600 [DAT](INFO): direction in FSK: [0.278562,0.146616,-0.949161] 2025-01-08T20:14:41.600Z,1736367281.600 [DAT](INFO): publishing transmit ping time 2025-01-08T20:14:41.600Z,1736367281.600 [DAT](INFO): publishing direction and range info 2025-01-08T20:14:41.612Z,1736367281.612 [DAT](INFO): publishing transmit ping time 2025-01-08T20:14:41.613Z,1736367281.613 [DAT](INFO): publishing direction and range info 2025-01-08T20:14:41.661Z,1736367281.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:41.772Z,1736367281.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:41.980Z,1736367281.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:42.025Z,1736367282.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:42.277Z,1736367282.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:42.450Z,1736367282.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:42.528Z,1736367282.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:42.780Z,1736367282.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:42.824Z,1736367282.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:43.032Z,1736367283.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:43.191Z,1736367283.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:43.284Z,1736367283.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:43.536Z,1736367283.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:43.613Z,1736367283.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:43.788Z,1736367283.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:44.015Z,1736367284.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:44.040Z,1736367284.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:44.292Z,1736367284.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:44.445Z,1736367284.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:44.544Z,1736367284.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:44.671Z,1736367284.671 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:14:44.796Z,1736367284.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:44.846Z,1736367284.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:45.048Z,1736367285.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:45.208Z,1736367285.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:45.300Z,1736367285.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:45.300Z,1736367285.300 [DAT](INFO): DAT read: Rx Time:20:14:44.0708 2025-01-08T20:14:45.301Z,1736367285.301 [DAT](INFO): Rx dataTimestamp_ set to:1736367285.300603 2025-01-08T20:14:45.552Z,1736367285.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:45.665Z,1736367285.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:45.672Z,1736367285.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:14:45.804Z,1736367285.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:45.810Z,1736367285.810 [DAT](INFO): DAT read: 20:14:44.0708 LVL= 19904, 20465, 13266, 27091, AGC= 69, IDX= 371,-0.39,-2.019,-0.238, 0.429,-0.558, PHS=-1.372, 0.367, 0.984, RAW= 255.4, 0.2, CAL= 258.3, 1.0, ROT= 251.7, -1.0 2025-01-08T20:14:45.811Z,1736367285.811 [DAT](INFO): got valid direction response: 20:14:44.0708 LVL= 19904, 20465, 13266, 27091, AGC= 69, IDX= 371,-0.39,-2.019,-0.238, 0.429,-0.558, PHS=-1.372, 0.367, 0.984, RAW= 255.4, 0.2, CAL= 258.3, 1.0, ROT= 251.7, -1.0 2025-01-08T20:14:45.812Z,1736367285.812 [DAT](INFO): DAT read: Bearing 251.7, -1.0 (Local) 2025-01-08T20:14:45.813Z,1736367285.813 [DAT](INFO): Local bearing/azimuth received: Bearing 251.7, -1.0 (Local) 2025-01-08T20:14:45.814Z,1736367285.814 [DAT](INFO): DAT read: Range 10 to 50 : 700.0 m (Round-trip 933.4 ms) speed -0.1 m/s 2025-01-08T20:14:45.815Z,1736367285.815 [DAT](INFO): DAT read: user:1196> 2025-01-08T20:14:45.816Z,1736367285.816 [DAT](INFO): DAT read: Tx time:20:14:45.1832 2025-01-08T20:14:45.816Z,1736367285.816 [DAT](INFO): Ping request sent. 2025-01-08T20:14:45.816Z,1736367285.816 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:14:45.816Z,1736367285.816 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-01-08T20:14:45.817Z,1736367285.817 [DAT](INFO): direction in FSK: [0.055648,-0.350448,-0.934927] 2025-01-08T20:14:45.818Z,1736367285.818 [DAT](INFO): publishing transmit ping time 2025-01-08T20:14:45.819Z,1736367285.819 [DAT](INFO): publishing direction and range info 2025-01-08T20:14:45.822Z,1736367285.822 [DAT](INFO): publishing transmit ping time 2025-01-08T20:14:45.822Z,1736367285.822 [DAT](INFO): publishing direction and range info 2025-01-08T20:14:46.048Z,1736367286.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:46.056Z,1736367286.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:46.057Z,1736367286.057 [DAT](INFO): DAT read: TxSync time:20:14:45.1824 2025-01-08T20:14:46.308Z,1736367286.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:46.444Z,1736367286.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:46.561Z,1736367286.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:46.812Z,1736367286.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:46.888Z,1736367286.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:47.064Z,1736367287.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:47.269Z,1736367287.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:47.316Z,1736367287.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:47.569Z,1736367287.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:47.709Z,1736367287.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:47.820Z,1736367287.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:48.069Z,1736367288.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:48.072Z,1736367288.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:48.324Z,1736367288.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:48.541Z,1736367288.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:48.576Z,1736367288.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:48.828Z,1736367288.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:48.904Z,1736367288.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:49.080Z,1736367289.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:49.280Z,1736367289.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:49.332Z,1736367289.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:49.584Z,1736367289.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:49.689Z,1736367289.689 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010812155483,35.0, +10.9, 0.0, 0 2025-01-08T20:14:49.697Z,1736367289.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:14:49.697Z,1736367289.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:49.836Z,1736367289.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:49.837Z,1736367289.837 [DAT](INFO): DAT read: Rx Time:20:14:48.5211 2025-01-08T20:14:49.837Z,1736367289.837 [DAT](INFO): Rx dataTimestamp_ set to:1736367289.836736 2025-01-08T20:14:50.088Z,1736367290.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:50.106Z,1736367290.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:14:50.106Z,1736367290.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:50.340Z,1736367290.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:50.341Z,1736367290.341 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:14:50.341Z,1736367290.341 [DAT](INFO): Received a bad header 2025-01-08T20:14:50.568Z,1736367290.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:14:50.568Z,1736367290.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:50.592Z,1736367290.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:50.844Z,1736367290.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:50.940Z,1736367290.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:51.097Z,1736367291.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:51.303Z,1736367291.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:51.348Z,1736367291.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:51.600Z,1736367291.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:51.743Z,1736367291.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:51.853Z,1736367291.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:52.104Z,1736367292.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:52.141Z,1736367292.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:52.356Z,1736367292.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:52.516Z,1736367292.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:52.608Z,1736367292.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:52.860Z,1736367292.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:52.941Z,1736367292.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:53.114Z,1736367293.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:53.325Z,1736367293.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:53.377Z,1736367293.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:53.629Z,1736367293.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:53.752Z,1736367293.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:53.880Z,1736367293.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:54.128Z,1736367294.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:54.132Z,1736367294.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:54.384Z,1736367294.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:54.541Z,1736367294.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:54.636Z,1736367294.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:54.888Z,1736367294.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:54.973Z,1736367294.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:55.141Z,1736367295.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:55.343Z,1736367295.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:55.392Z,1736367295.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:55.644Z,1736367295.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:55.781Z,1736367295.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:55.896Z,1736367295.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:56.148Z,1736367296.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:56.183Z,1736367296.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:56.400Z,1736367296.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:56.554Z,1736367296.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:56.654Z,1736367296.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:56.904Z,1736367296.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:56.905Z,1736367296.905 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:14:56.905Z,1736367296.905 [DAT](INFO): response not received 2025-01-08T20:14:56.905Z,1736367296.905 [DAT](INFO): DAT read: user:1198> 2025-01-08T20:14:56.906Z,1736367296.906 [DAT](INFO): DAT read: Tx time:20:14:56.1333 2025-01-08T20:14:56.906Z,1736367296.906 [DAT](INFO): Ping request sent. 2025-01-08T20:14:56.906Z,1736367296.906 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:14:56.907Z,1736367296.907 [DAT](INFO): publishing transmit ping time 2025-01-08T20:14:57.028Z,1736367297.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:57.156Z,1736367297.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:57.157Z,1736367297.157 [DAT](INFO): DAT read: TxSync time:20:14:56.1325 2025-01-08T20:14:57.379Z,1736367297.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:57.408Z,1736367297.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:57.661Z,1736367297.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:57.799Z,1736367297.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:57.912Z,1736367297.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:58.164Z,1736367298.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:58.172Z,1736367298.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:58.416Z,1736367298.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:58.588Z,1736367298.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:58.670Z,1736367298.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:58.920Z,1736367298.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:59.016Z,1736367299.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:59.172Z,1736367299.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:59.381Z,1736367299.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:59.424Z,1736367299.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:59.678Z,1736367299.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:14:59.824Z,1736367299.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:14:59.928Z,1736367299.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:00.180Z,1736367300.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:00.191Z,1736367300.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:00.432Z,1736367300.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:00.605Z,1736367300.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:00.686Z,1736367300.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:00.688Z,1736367300.688 [DAT](INFO): DAT read: Rx Time:20:14:59.4700 2025-01-08T20:15:00.690Z,1736367300.690 [DAT](INFO): Rx dataTimestamp_ set to:1736367300.689150 2025-01-08T20:15:00.936Z,1736367300.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:01.025Z,1736367301.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:01.189Z,1736367301.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:01.195Z,1736367301.195 [DAT](INFO): DAT read: 20:14:59.4699 LVL= 24624, 27009, 12866, 32755, AGC= 64, IDX= 441,-0.12, 2.772, 2.373,-1.960,-2.988, PHS=-0.436,-0.876, 1.024, RAW= 197.2, 3.4, CAL= 197.3, -4.5, ROT= 312.7, 4.5 2025-01-08T20:15:01.197Z,1736367301.197 [DAT](INFO): got valid direction response: 20:14:59.4699 LVL= 24624, 27009, 12866, 32755, AGC= 64, IDX= 441,-0.12, 2.772, 2.373,-1.960,-2.988, PHS=-0.436,-0.876, 1.024, RAW= 197.2, 3.4, CAL= 197.3, -4.5, ROT= 312.7, 4.5 2025-01-08T20:15:01.219Z,1736367301.219 [DAT](INFO): DAT read: Range 10 to 50 : 699.3 m (Round-trip 932.5 ms) speed 0.4 m/s 2025-01-08T20:15:01.220Z,1736367301.220 [DAT](INFO): DAT read: user:1199> 2025-01-08T20:15:01.221Z,1736367301.221 [DAT](INFO): DAT read: Tx time:20:15:00.5833 2025-01-08T20:15:01.221Z,1736367301.221 [DAT](INFO): Ping request sent. 2025-01-08T20:15:01.221Z,1736367301.221 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:15:01.222Z,1736367301.222 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-01-08T20:15:01.232Z,1736367301.232 [DAT](INFO): direction in FSK: [-0.120745,-0.960434,-0.250973] 2025-01-08T20:15:01.232Z,1736367301.232 [DAT](INFO): publishing transmit ping time 2025-01-08T20:15:01.233Z,1736367301.233 [DAT](INFO): publishing direction and range info 2025-01-08T20:15:01.242Z,1736367301.242 [DAT](INFO): publishing transmit ping time 2025-01-08T20:15:01.243Z,1736367301.243 [DAT](INFO): publishing direction and range info 2025-01-08T20:15:01.424Z,1736367301.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:01.440Z,1736367301.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:01.441Z,1736367301.441 [DAT](INFO): DAT read: TxSync time:20:15:00.5825 2025-01-08T20:15:01.693Z,1736367301.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:01.855Z,1736367301.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:01.944Z,1736367301.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:02.196Z,1736367302.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:02.221Z,1736367302.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:02.448Z,1736367302.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:02.632Z,1736367302.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:02.702Z,1736367302.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:02.952Z,1736367302.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:03.054Z,1736367303.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:03.204Z,1736367303.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:03.427Z,1736367303.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:03.473Z,1736367303.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:03.725Z,1736367303.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:03.854Z,1736367303.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:03.976Z,1736367303.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:04.228Z,1736367304.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:04.233Z,1736367304.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:04.481Z,1736367304.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:04.636Z,1736367304.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:04.734Z,1736367304.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:04.984Z,1736367304.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:05.065Z,1736367305.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:05.238Z,1736367305.238 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:05.448Z,1736367305.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:05.488Z,1736367305.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:05.740Z,1736367305.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:05.884Z,1736367305.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:05.992Z,1736367305.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:06.244Z,1736367306.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:06.253Z,1736367306.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:06.497Z,1736367306.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:06.670Z,1736367306.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:06.749Z,1736367306.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:06.000Z,1736367307.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:07.079Z,1736367307.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:07.253Z,1736367307.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:07.480Z,1736367307.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:07.529Z,1736367307.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:07.781Z,1736367307.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:07.909Z,1736367307.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:08.032Z,1736367308.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:08.270Z,1736367308.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:08.284Z,1736367308.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:08.537Z,1736367308.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:08.691Z,1736367308.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:08.789Z,1736367308.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:09.040Z,1736367309.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:09.104Z,1736367309.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:09.292Z,1736367309.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:09.500Z,1736367309.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:09.544Z,1736367309.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:09.809Z,1736367309.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:09.932Z,1736367309.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:10.048Z,1736367310.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:10.292Z,1736367310.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:10.300Z,1736367310.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:10.552Z,1736367310.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:10.698Z,1736367310.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:10.805Z,1736367310.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:11.056Z,1736367311.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:11.125Z,1736367311.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:11.310Z,1736367311.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:11.508Z,1736367311.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:11.560Z,1736367311.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:11.812Z,1736367311.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:11.965Z,1736367311.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:12.064Z,1736367312.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:12.316Z,1736367312.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:12.317Z,1736367312.317 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:15:12.317Z,1736367312.317 [DAT](INFO): response not received 2025-01-08T20:15:12.317Z,1736367312.317 [DAT](INFO): DAT read: user:1200> 2025-01-08T20:15:12.319Z,1736367312.319 [DAT](INFO): DAT read: Tx time:20:15:11.5333 2025-01-08T20:15:12.319Z,1736367312.319 [DAT](INFO): Ping request sent. 2025-01-08T20:15:12.324Z,1736367312.324 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:15:12.324Z,1736367312.324 [DAT](INFO): publishing transmit ping time 2025-01-08T20:15:12.336Z,1736367312.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:12.568Z,1736367312.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:12.569Z,1736367312.569 [DAT](INFO): DAT read: TxSync time:20:15:11.5326 2025-01-08T20:15:12.728Z,1736367312.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:12.820Z,1736367312.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:13.072Z,1736367313.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:13.173Z,1736367313.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:13.324Z,1736367313.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:13.521Z,1736367313.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:13.576Z,1736367313.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:13.828Z,1736367313.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:13.973Z,1736367313.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:14.080Z,1736367314.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:14.329Z,1736367314.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:14.332Z,1736367314.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:14.584Z,1736367314.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:14.747Z,1736367314.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:14.836Z,1736367314.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:15.088Z,1736367315.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:15.165Z,1736367315.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:15.341Z,1736367315.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:15.547Z,1736367315.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:15.592Z,1736367315.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:15.796Z,1736367315.796 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:15:15.844Z,1736367315.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:16.002Z,1736367316.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:16.096Z,1736367316.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:16.348Z,1736367316.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:16.351Z,1736367316.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:16.600Z,1736367316.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:16.766Z,1736367316.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:16.800Z,1736367316.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:15:16.852Z,1736367316.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:17.104Z,1736367317.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:17.188Z,1736367317.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:17.356Z,1736367317.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:17.561Z,1736367317.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:17.608Z,1736367317.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:17.860Z,1736367317.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:18.050Z,1736367318.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:18.113Z,1736367318.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:18.364Z,1736367318.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:18.393Z,1736367318.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:18.616Z,1736367318.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:18.782Z,1736367318.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:18.868Z,1736367318.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:19.121Z,1736367319.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:19.225Z,1736367319.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:19.372Z,1736367319.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:19.587Z,1736367319.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:19.632Z,1736367319.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:19.884Z,1736367319.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:20.071Z,1736367320.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:20.138Z,1736367320.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:20.388Z,1736367320.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:20.390Z,1736367320.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:20.640Z,1736367320.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:20.796Z,1736367320.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:20.892Z,1736367320.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:21.145Z,1736367321.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:21.224Z,1736367321.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:21.400Z,1736367321.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:21.621Z,1736367321.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:21.648Z,1736367321.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:21.900Z,1736367321.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:22.095Z,1736367322.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:22.152Z,1736367322.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:22.404Z,1736367322.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:22.416Z,1736367322.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:22.656Z,1736367322.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:22.825Z,1736367322.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:22.909Z,1736367322.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:23.160Z,1736367323.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:23.161Z,1736367323.161 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:15:23.161Z,1736367323.161 [DAT](INFO): response not received 2025-01-08T20:15:23.161Z,1736367323.161 [DAT](INFO): DAT read: user:1201> 2025-01-08T20:15:23.162Z,1736367323.162 [DAT](INFO): DAT read: Tx time:20:15:22.4834 2025-01-08T20:15:23.162Z,1736367323.162 [DAT](INFO): Ping request sent. 2025-01-08T20:15:23.162Z,1736367323.162 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:15:23.162Z,1736367323.162 [DAT](INFO): publishing transmit ping time 2025-01-08T20:15:23.296Z,1736367323.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:23.412Z,1736367323.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:23.412Z,1736367323.412 [DAT](INFO): DAT read: TxSync time:20:15:22.4827 2025-01-08T20:15:23.623Z,1736367323.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:23.664Z,1736367323.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:23.916Z,1736367323.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:24.088Z,1736367324.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:24.170Z,1736367324.170 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:24.420Z,1736367324.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:24.468Z,1736367324.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:24.672Z,1736367324.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:24.833Z,1736367324.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:24.924Z,1736367324.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:25.176Z,1736367325.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:25.269Z,1736367325.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:25.428Z,1736367325.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:25.654Z,1736367325.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:25.680Z,1736367325.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:25.932Z,1736367325.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:26.116Z,1736367326.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:26.184Z,1736367326.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:26.437Z,1736367326.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:26.478Z,1736367326.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:26.688Z,1736367326.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:26.866Z,1736367326.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:26.940Z,1736367326.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:26.941Z,1736367326.941 [DAT](INFO): DAT read: Rx Time:20:15:25.8145 2025-01-08T20:15:26.941Z,1736367326.941 [DAT](INFO): Rx dataTimestamp_ set to:1736367326.940847 2025-01-08T20:15:27.193Z,1736367327.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:27.301Z,1736367327.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:27.444Z,1736367327.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:27.692Z,1736367327.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:27.696Z,1736367327.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:27.697Z,1736367327.697 [DAT](INFO): DAT read: Range 10 to 50 : 695.1 m (Round-trip 926.8 ms) speed 0.4 m/s 2025-01-08T20:15:27.698Z,1736367327.698 [DAT](INFO): DAT read: user:1202> 2025-01-08T20:15:27.699Z,1736367327.699 [DAT](INFO): DAT read: Tx time:20:15:26.9335 2025-01-08T20:15:27.699Z,1736367327.699 [DAT](INFO): Ping request sent. 2025-01-08T20:15:27.700Z,1736367327.700 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:15:27.700Z,1736367327.700 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-01-08T20:15:27.700Z,1736367327.700 [DAT](INFO): publishing transmit ping time 2025-01-08T20:15:27.701Z,1736367327.701 [DAT](INFO): publishing transmit ping time 2025-01-08T20:15:27.948Z,1736367327.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:27.949Z,1736367327.949 [DAT](INFO): DAT read: TxSync time:20:15:26.9328 2025-01-08T20:15:28.073Z,1736367328.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:28.200Z,1736367328.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:28.452Z,1736367328.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:28.516Z,1736367328.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:28.708Z,1736367328.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:28.887Z,1736367328.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:28.961Z,1736367328.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:29.212Z,1736367329.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:29.315Z,1736367329.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:29.464Z,1736367329.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:29.697Z,1736367329.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:29.716Z,1736367329.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:29.968Z,1736367329.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:30.095Z,1736367330.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:30.221Z,1736367330.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:30.472Z,1736367330.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:30.616Z,1736367330.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:30.725Z,1736367330.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:30.957Z,1736367330.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:30.976Z,1736367330.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:31.153Z,1736367331.153 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T20:15:31.228Z,1736367331.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:31.373Z,1736367331.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:31.480Z,1736367331.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:31.732Z,1736367331.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:31.766Z,1736367331.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:31.984Z,1736367331.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:32.173Z,1736367332.173 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T20:15:32.226Z,1736367332.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:32.237Z,1736367332.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:32.488Z,1736367332.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:32.598Z,1736367332.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:32.740Z,1736367332.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:32.960Z,1736367332.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:32.992Z,1736367332.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:33.246Z,1736367333.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:33.428Z,1736367333.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:33.496Z,1736367333.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:33.748Z,1736367333.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:33.764Z,1736367333.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:33.000Z,1736367334.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:34.222Z,1736367334.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:34.252Z,1736367334.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:34.506Z,1736367334.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:34.603Z,1736367334.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:34.756Z,1736367334.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:34.982Z,1736367334.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:35.008Z,1736367335.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:35.262Z,1736367335.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:35.414Z,1736367335.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:35.516Z,1736367335.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:35.769Z,1736367335.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:35.846Z,1736367335.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:36.020Z,1736367336.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:36.272Z,1736367336.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:36.328Z,1736367336.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:36.334Z,1736367336.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:15:36.524Z,1736367336.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:36.524Z,1736367336.524 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:15:36.524Z,1736367336.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:15:36.630Z,1736367336.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:36.777Z,1736367336.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:36.778Z,1736367336.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078467 2025-01-08T20:15:37.031Z,1736367337.031 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:37.032Z,1736367337.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.332445 2025-01-08T20:15:37.033Z,1736367337.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:37.285Z,1736367337.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:37.286Z,1736367337.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586445 2025-01-08T20:15:37.458Z,1736367337.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:37.536Z,1736367337.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:37.537Z,1736367337.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837583 2025-01-08T20:15:37.788Z,1736367337.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:37.788Z,1736367337.788 [DAT](INFO): Reached modem response timeout 2025-01-08T20:15:37.788Z,1736367337.788 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:15:37.789Z,1736367337.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:15:37.856Z,1736367337.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:38.040Z,1736367338.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:38.040Z,1736367338.040 [DAT](INFO): Reached modem response timeout 2025-01-08T20:15:38.040Z,1736367338.040 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:15:38.041Z,1736367338.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:15:38.293Z,1736367338.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:38.293Z,1736367338.293 [DAT](INFO): Reached modem response timeout 2025-01-08T20:15:38.293Z,1736367338.293 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:15:38.293Z,1736367338.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:15:38.316Z,1736367338.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:38.544Z,1736367338.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:38.545Z,1736367338.545 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:15:38.545Z,1736367338.545 [DAT](INFO): response not received 2025-01-08T20:15:38.545Z,1736367338.545 [DAT](INFO): DAT read: user:1203> 2025-01-08T20:15:38.546Z,1736367338.546 [DAT](INFO): DAT read: Tx time:20:15:37.8836 2025-01-08T20:15:38.546Z,1736367338.546 [DAT](INFO): Ping request sent. 2025-01-08T20:15:38.546Z,1736367338.546 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:15:38.546Z,1736367338.546 [DAT](INFO): publishing transmit ping time 2025-01-08T20:15:38.548Z,1736367338.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722 2025-01-08T20:15:38.697Z,1736367338.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:38.796Z,1736367338.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:38.797Z,1736367338.797 [DAT](INFO): DAT read: TxSync time:20:15:37.8829 2025-01-08T20:15:38.797Z,1736367338.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251028 2025-01-08T20:15:39.049Z,1736367339.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:39.050Z,1736367339.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503351 2025-01-08T20:15:39.120Z,1736367339.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:39.300Z,1736367339.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:39.304Z,1736367339.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756228 2025-01-08T20:15:39.552Z,1736367339.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:39.553Z,1736367339.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006618 2025-01-08T20:15:39.579Z,1736367339.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:39.804Z,1736367339.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:39.804Z,1736367339.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257982 2025-01-08T20:15:39.926Z,1736367339.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:40.056Z,1736367340.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:40.056Z,1736367340.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510149 2025-01-08T20:15:40.313Z,1736367340.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:40.316Z,1736367340.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768549 2025-01-08T20:15:40.389Z,1736367340.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:40.564Z,1736367340.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:40.564Z,1736367340.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018024 2025-01-08T20:15:40.734Z,1736367340.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:40.816Z,1736367340.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:40.817Z,1736367340.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270730 2025-01-08T20:15:41.068Z,1736367341.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:41.069Z,1736367341.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522924 2025-01-08T20:15:41.140Z,1736367341.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:41.321Z,1736367341.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:41.323Z,1736367341.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776204 2025-01-08T20:15:41.562Z,1736367341.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:41.572Z,1736367341.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:41.572Z,1736367341.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026148 2025-01-08T20:15:41.824Z,1736367341.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:41.824Z,1736367341.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278138 2025-01-08T20:15:41.954Z,1736367341.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:42.076Z,1736367342.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:42.077Z,1736367342.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530213 2025-01-08T20:15:42.329Z,1736367342.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:42.331Z,1736367342.331 [DAT](INFO): DAT read: Rx Time:20:15:41.2023 2025-01-08T20:15:42.333Z,1736367342.333 [DAT](INFO): Rx dataTimestamp_ set to:1736367342.331936 2025-01-08T20:15:42.334Z,1736367342.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787442 2025-01-08T20:15:42.450Z,1736367342.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:42.580Z,1736367342.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:42.580Z,1736367342.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034080 2025-01-08T20:15:42.754Z,1736367342.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:42.832Z,1736367342.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:42.833Z,1736367342.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286434 2025-01-08T20:15:43.084Z,1736367343.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:43.091Z,1736367343.091 [DAT](INFO): DAT read: 20:15:41.2023 LVL= 14096, 18785, 16370, 24867, AGC= 72, IDX= 289,-0.29,-0.806,-2.681,-1.243,-1.659, PHS= 0.941,-0.975, 0.413, RAW= 134.5, -4.5, CAL= 140.1, -14.8, ROT= 9.9, 14.8 2025-01-08T20:15:43.092Z,1736367343.092 [DAT](INFO): got valid direction response: 20:15:41.2023 LVL= 14096, 18785, 16370, 24867, AGC= 72, IDX= 289,-0.29,-0.806,-2.681,-1.243,-1.659, PHS= 0.941,-0.975, 0.413, RAW= 134.5, -4.5, CAL= 140.1, -14.8, ROT= 9.9, 14.8 2025-01-08T20:15:43.093Z,1736367343.093 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:15:43.093Z,1736367343.093 [DAT](INFO): Received a bad header 2025-01-08T20:15:43.108Z,1736367343.108 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T20:15:43.108Z,1736367343.108 [DAT](INFO): direction in FSK: [-0.037708,-0.643944,0.764143] 2025-01-08T20:15:43.159Z,1736367343.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:43.337Z,1736367343.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:43.588Z,1736367343.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:43.604Z,1736367343.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:43.840Z,1736367343.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:43.976Z,1736367343.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:44.092Z,1736367344.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:44.345Z,1736367344.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:44.444Z,1736367344.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:44.596Z,1736367344.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:44.844Z,1736367344.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:44.848Z,1736367344.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:45.100Z,1736367345.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:45.243Z,1736367345.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:45.353Z,1736367345.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:45.604Z,1736367345.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:45.681Z,1736367345.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:45.856Z,1736367345.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:46.040Z,1736367346.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:46.108Z,1736367346.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:46.362Z,1736367346.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:46.479Z,1736367346.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:46.612Z,1736367346.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:46.849Z,1736367346.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:46.864Z,1736367346.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:46.929Z,1736367346.929 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:15:47.116Z,1736367347.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:47.247Z,1736367347.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:47.369Z,1736367347.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:47.620Z,1736367347.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:47.689Z,1736367347.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:47.872Z,1736367347.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:47.932Z,1736367347.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:15:48.081Z,1736367348.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:48.124Z,1736367348.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:48.377Z,1736367348.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:48.500Z,1736367348.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:48.629Z,1736367348.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:48.630Z,1736367348.630 [DAT](INFO): Reached modem response timeout 2025-01-08T20:15:48.872Z,1736367348.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:48.880Z,1736367348.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:49.132Z,1736367349.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:49.266Z,1736367349.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:49.386Z,1736367349.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:49.388Z,1736367349.388 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:15:49.389Z,1736367349.389 [DAT](INFO): response not received 2025-01-08T20:15:49.390Z,1736367349.390 [DAT](INFO): DAT read: user:1205> 2025-01-08T20:15:49.392Z,1736367349.392 [DAT](ERROR): No response from remote modem. 2025-01-08T20:15:49.636Z,1736367349.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:49.637Z,1736367349.637 [DAT](INFO): DAT read: Tx time:20:15:48.8337 2025-01-08T20:15:49.637Z,1736367349.637 [DAT](INFO): Ping request sent. 2025-01-08T20:15:49.638Z,1736367349.638 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:15:49.638Z,1736367349.638 [DAT](INFO): DAT read: TxSync time:20:15:48.8330 2025-01-08T20:15:49.639Z,1736367349.639 [DAT](INFO): publishing transmit ping time 2025-01-08T20:15:49.737Z,1736367349.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:49.888Z,1736367349.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:50.076Z,1736367350.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:50.140Z,1736367350.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:50.392Z,1736367350.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:50.544Z,1736367350.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:50.644Z,1736367350.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:50.881Z,1736367350.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:50.896Z,1736367350.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:51.148Z,1736367351.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:51.283Z,1736367351.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:51.400Z,1736367351.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:51.653Z,1736367351.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:51.729Z,1736367351.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:51.904Z,1736367351.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:52.107Z,1736367352.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:52.156Z,1736367352.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:52.408Z,1736367352.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:52.544Z,1736367352.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:52.660Z,1736367352.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:52.904Z,1736367352.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:52.912Z,1736367352.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:53.164Z,1736367353.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:53.322Z,1736367353.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:53.417Z,1736367353.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:53.668Z,1736367353.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:53.755Z,1736367353.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:53.920Z,1736367353.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:54.116Z,1736367354.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:54.174Z,1736367354.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:54.424Z,1736367354.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:54.598Z,1736367354.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:54.677Z,1736367354.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:54.928Z,1736367354.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:54.931Z,1736367354.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:55.180Z,1736367355.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:55.327Z,1736367355.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:55.432Z,1736367355.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:55.684Z,1736367355.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:55.762Z,1736367355.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:55.936Z,1736367355.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:56.133Z,1736367356.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:56.188Z,1736367356.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:56.440Z,1736367356.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:56.613Z,1736367356.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:56.692Z,1736367356.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:56.944Z,1736367356.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:56.963Z,1736367356.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:57.196Z,1736367357.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:57.345Z,1736367357.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:57.448Z,1736367357.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:57.700Z,1736367357.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:57.781Z,1736367357.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:57.952Z,1736367357.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:58.163Z,1736367358.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:58.219Z,1736367358.219 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:58.468Z,1736367358.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:58.621Z,1736367358.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:58.720Z,1736367358.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:58.961Z,1736367358.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:58.972Z,1736367358.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:59.224Z,1736367359.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:59.380Z,1736367359.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:59.476Z,1736367359.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:59.728Z,1736367359.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:15:59.773Z,1736367359.773 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010812170489,35.0, +100,1493.1, 0 2025-01-08T20:15:59.806Z,1736367359.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:15:59.806Z,1736367359.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:15:59.980Z,1736367359.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:00.174Z,1736367360.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:16:00.174Z,1736367360.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:00.233Z,1736367360.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:00.485Z,1736367360.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:00.486Z,1736367360.486 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:16:00.486Z,1736367360.486 [DAT](INFO): response not received 2025-01-08T20:16:00.488Z,1736367360.488 [DAT](INFO): DAT read: user:1206> 2025-01-08T20:16:00.489Z,1736367360.489 [DAT](INFO): DAT read: Tx time:20:15:59.7838 2025-01-08T20:16:00.490Z,1736367360.490 [DAT](INFO): Ping request sent. 2025-01-08T20:16:00.490Z,1736367360.490 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:16:00.490Z,1736367360.490 [DAT](INFO): publishing transmit ping time 2025-01-08T20:16:00.712Z,1736367360.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:00.736Z,1736367360.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:00.737Z,1736367360.737 [DAT](INFO): DAT read: TxSync time:20:15:59.7831 2025-01-08T20:16:00.988Z,1736367360.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:01.094Z,1736367361.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:01.240Z,1736367361.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:01.492Z,1736367361.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:01.498Z,1736367361.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:01.744Z,1736367361.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:01.927Z,1736367361.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:01.996Z,1736367361.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:02.248Z,1736367362.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:02.309Z,1736367362.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:02.500Z,1736367362.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:02.752Z,1736367362.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:02.768Z,1736367362.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:03.004Z,1736367363.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:03.112Z,1736367363.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:03.256Z,1736367363.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:03.508Z,1736367363.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:03.532Z,1736367363.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:03.760Z,1736367363.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:03.948Z,1736367363.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:04.012Z,1736367364.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:04.264Z,1736367364.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:04.348Z,1736367364.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:04.516Z,1736367364.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:04.749Z,1736367364.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:04.776Z,1736367364.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:05.028Z,1736367365.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:05.142Z,1736367365.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:05.280Z,1736367365.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:05.532Z,1736367365.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:05.538Z,1736367365.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:05.784Z,1736367365.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:05.979Z,1736367365.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:06.036Z,1736367366.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:06.288Z,1736367366.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:06.352Z,1736367366.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:06.541Z,1736367366.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:06.775Z,1736367366.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:06.793Z,1736367366.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:07.044Z,1736367367.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:07.154Z,1736367367.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:07.296Z,1736367367.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:07.548Z,1736367367.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:07.560Z,1736367367.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:07.800Z,1736367367.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:07.987Z,1736367367.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:08.053Z,1736367368.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:08.304Z,1736367368.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:08.390Z,1736367368.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:08.556Z,1736367368.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:08.782Z,1736367368.782 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +80 +8.76, 10.84, 0.00 2025-01-08T20:16:08.808Z,1736367368.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:08.810Z,1736367368.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:16:08.810Z,1736367368.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:09.060Z,1736367369.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:09.176Z,1736367369.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:16:09.176Z,1736367369.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:09.312Z,1736367369.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:09.564Z,1736367369.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:09.593Z,1736367369.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:16:09.593Z,1736367369.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:09.816Z,1736367369.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:10.025Z,1736367370.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:10.068Z,1736367370.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:10.320Z,1736367370.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:10.392Z,1736367370.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:10.572Z,1736367370.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:10.825Z,1736367370.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:10.841Z,1736367370.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:11.076Z,1736367371.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:11.195Z,1736367371.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:11.329Z,1736367371.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:11.330Z,1736367371.330 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:16:11.330Z,1736367371.330 [DAT](INFO): response not received 2025-01-08T20:16:11.330Z,1736367371.330 [DAT](INFO): DAT read: user:1207> 2025-01-08T20:16:11.333Z,1736367371.333 [DAT](INFO): DAT read: Tx time:20:16:10.7339 2025-01-08T20:16:11.333Z,1736367371.333 [DAT](INFO): Ping request sent. 2025-01-08T20:16:11.333Z,1736367371.333 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:16:11.333Z,1736367371.333 [DAT](INFO): publishing transmit ping time 2025-01-08T20:16:11.580Z,1736367371.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:11.580Z,1736367371.580 [DAT](INFO): DAT read: TxSync time:20:16:10.7332 2025-01-08T20:16:11.598Z,1736367371.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:11.833Z,1736367371.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:12.029Z,1736367372.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:12.085Z,1736367372.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:12.336Z,1736367372.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:12.421Z,1736367372.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:12.588Z,1736367372.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:12.840Z,1736367372.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:12.861Z,1736367372.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:13.092Z,1736367373.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:13.227Z,1736367373.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:13.344Z,1736367373.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:13.596Z,1736367373.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:13.625Z,1736367373.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:13.848Z,1736367373.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:14.065Z,1736367374.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:14.100Z,1736367374.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:14.353Z,1736367374.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:14.447Z,1736367374.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:14.604Z,1736367374.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:14.858Z,1736367374.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:14.888Z,1736367374.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:15.112Z,1736367375.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:15.244Z,1736367375.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:15.364Z,1736367375.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:15.618Z,1736367375.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:15.659Z,1736367375.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:15.868Z,1736367375.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:16.079Z,1736367376.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:16.120Z,1736367376.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:16.372Z,1736367376.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:16.452Z,1736367376.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:16.624Z,1736367376.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:16.876Z,1736367376.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:16.924Z,1736367376.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:17.128Z,1736367377.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:17.258Z,1736367377.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:17.381Z,1736367377.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:17.632Z,1736367377.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:17.688Z,1736367377.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:17.884Z,1736367377.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:18.052Z,1736367378.052 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:16:18.105Z,1736367378.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:18.136Z,1736367378.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:18.388Z,1736367378.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:18.466Z,1736367378.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:18.640Z,1736367378.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:18.893Z,1736367378.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:18.961Z,1736367378.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:19.056Z,1736367379.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:16:19.144Z,1736367379.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:19.276Z,1736367379.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:19.396Z,1736367379.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:19.648Z,1736367379.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:19.693Z,1736367379.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:19.902Z,1736367379.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:20.139Z,1736367380.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:20.152Z,1736367380.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:20.404Z,1736367380.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:20.498Z,1736367380.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:20.656Z,1736367380.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:20.909Z,1736367380.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:20.989Z,1736367380.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:21.160Z,1736367381.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:21.293Z,1736367381.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:21.412Z,1736367381.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:21.664Z,1736367381.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:21.710Z,1736367381.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:21.918Z,1736367381.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:22.130Z,1736367382.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:22.168Z,1736367382.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:22.420Z,1736367382.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:22.421Z,1736367382.421 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:16:22.421Z,1736367382.421 [DAT](INFO): response not received 2025-01-08T20:16:22.422Z,1736367382.422 [DAT](INFO): DAT read: user:1208> 2025-01-08T20:16:22.422Z,1736367382.422 [DAT](INFO): DAT read: Tx time:20:16:21.6840 2025-01-08T20:16:22.423Z,1736367382.423 [DAT](INFO): Ping request sent. 2025-01-08T20:16:22.423Z,1736367382.423 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:16:22.423Z,1736367382.423 [DAT](INFO): publishing transmit ping time 2025-01-08T20:16:22.509Z,1736367382.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:22.672Z,1736367382.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:22.673Z,1736367382.673 [DAT](INFO): DAT read: TxSync time:20:16:21.6833 2025-01-08T20:16:22.925Z,1736367382.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:23.004Z,1736367383.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:23.177Z,1736367383.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:23.312Z,1736367383.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:23.428Z,1736367383.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:23.680Z,1736367383.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:23.721Z,1736367383.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:23.934Z,1736367383.934 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:24.181Z,1736367384.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:24.185Z,1736367384.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:24.436Z,1736367384.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:24.540Z,1736367384.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:24.575Z,1736367384.575 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T20:06:24.3Z 2025-01-08T20:16:24.575Z,1736367384.575 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T20:16:24.575Z,1736367384.575 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T20:16:24.575Z,1736367384.575 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T20:16:24.576Z,1736367384.576 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T20:16:24.576Z,1736367384.576 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T20:16:24.688Z,1736367384.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:24.942Z,1736367384.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:24.996Z,1736367384.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:25.015Z,1736367385.015 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T20:16:25.020Z,1736367385.020 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T20:16:25.020Z,1736367385.020 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T20:16:25.020Z,1736367385.020 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T20:16:25.020Z,1736367385.020 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T20:16:25.192Z,1736367385.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:25.398Z,1736367385.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:25.444Z,1736367385.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:25.696Z,1736367385.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:25.765Z,1736367385.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:25.949Z,1736367385.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:26.195Z,1736367386.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:26.200Z,1736367386.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:26.201Z,1736367386.201 [DAT](INFO): DAT read: Rx Time:20:16:24.9632 2025-01-08T20:16:26.201Z,1736367386.201 [DAT](INFO): Rx dataTimestamp_ set to:1736367386.200825 2025-01-08T20:16:26.460Z,1736367386.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:26.592Z,1736367386.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:26.712Z,1736367386.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:26.718Z,1736367386.718 [DAT](INFO): DAT read: 20:16:24.9632 LVL= 16928, 24273, 14322, 24915, AGC= 73, IDX= 462,-0.32,-1.708,-2.597,-1.027,-1.674, PHS= 0.054,-0.876, 0.644, RAW= 172.7, 2.7, CAL= 173.1, -5.9, ROT= 336.9, 5.9 2025-01-08T20:16:26.720Z,1736367386.720 [DAT](INFO): got valid direction response: 20:16:24.9632 LVL= 16928, 24273, 14322, 24915, AGC= 73, IDX= 462,-0.32,-1.708,-2.597,-1.027,-1.674, PHS= 0.054,-0.876, 0.644, RAW= 172.7, 2.7, CAL= 173.1, -5.9, ROT= 336.9, 5.9 2025-01-08T20:16:26.721Z,1736367386.721 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:16:26.721Z,1736367386.721 [DAT](INFO): Received a bad header 2025-01-08T20:16:26.736Z,1736367386.736 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-01-08T20:16:26.737Z,1736367386.737 [DAT](INFO): direction in FSK: [-0.150207,-0.974367,0.167474] 2025-01-08T20:16:26.973Z,1736367386.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:27.077Z,1736367387.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:27.224Z,1736367387.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:27.469Z,1736367387.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:27.476Z,1736367387.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:27.728Z,1736367387.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:27.794Z,1736367387.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:27.982Z,1736367387.982 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:28.218Z,1736367388.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:28.232Z,1736367388.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:28.484Z,1736367388.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:28.608Z,1736367388.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:28.736Z,1736367388.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:28.989Z,1736367388.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:29.094Z,1736367389.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:29.240Z,1736367389.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:29.418Z,1736367389.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:29.492Z,1736367389.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:29.744Z,1736367389.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:29.830Z,1736367389.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:29.997Z,1736367389.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:30.249Z,1736367390.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:30.252Z,1736367390.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:30.500Z,1736367390.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:30.611Z,1736367390.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:30.752Z,1736367390.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:31.005Z,1736367391.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:31.126Z,1736367391.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:31.256Z,1736367391.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:31.431Z,1736367391.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:31.508Z,1736367391.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:31.760Z,1736367391.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:31.826Z,1736367391.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:32.014Z,1736367392.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:32.264Z,1736367392.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:32.282Z,1736367392.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:32.516Z,1736367392.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:32.640Z,1736367392.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:32.768Z,1736367392.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:33.020Z,1736367393.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:33.112Z,1736367393.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:33.273Z,1736367393.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:33.274Z,1736367393.274 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:16:33.274Z,1736367393.274 [DAT](INFO): response not received 2025-01-08T20:16:33.276Z,1736367393.276 [DAT](INFO): DAT read: user:1210> 2025-01-08T20:16:33.277Z,1736367393.277 [DAT](INFO): DAT read: Tx time:20:16:32.6341 2025-01-08T20:16:33.277Z,1736367393.277 [DAT](INFO): Ping request sent. 2025-01-08T20:16:33.278Z,1736367393.278 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:16:33.278Z,1736367393.278 [DAT](INFO): publishing transmit ping time 2025-01-08T20:16:33.473Z,1736367393.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:33.524Z,1736367393.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:33.525Z,1736367393.525 [DAT](INFO): DAT read: TxSync time:20:16:32.6333 2025-01-08T20:16:33.776Z,1736367393.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:33.847Z,1736367393.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:34.029Z,1736367394.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:34.280Z,1736367394.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:34.349Z,1736367394.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:34.532Z,1736367394.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:34.672Z,1736367394.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:34.784Z,1736367394.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:35.040Z,1736367395.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:35.061Z,1736367395.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:35.292Z,1736367395.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:35.497Z,1736367395.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:35.544Z,1736367395.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:35.796Z,1736367395.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:35.870Z,1736367395.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:36.048Z,1736367396.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:36.300Z,1736367396.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:36.310Z,1736367396.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:36.553Z,1736367396.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:36.682Z,1736367396.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:36.702Z,1736367396.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:16:36.804Z,1736367396.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:36.804Z,1736367396.804 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:16:36.804Z,1736367396.804 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:16:36.805Z,1736367396.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:16:37.060Z,1736367397.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:37.061Z,1736367397.061 [DAT](INFO): DAT read: Rx Time:20:16:35.9016 2025-01-08T20:16:37.061Z,1736367397.061 [DAT](INFO): Rx dataTimestamp_ set to:1736367397.060773 2025-01-08T20:16:37.062Z,1736367397.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784006 2025-01-08T20:16:37.149Z,1736367397.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:37.312Z,1736367397.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:37.312Z,1736367397.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034831 2025-01-08T20:16:37.507Z,1736367397.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:37.566Z,1736367397.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:37.569Z,1736367397.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290206 2025-01-08T20:16:37.816Z,1736367397.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:37.823Z,1736367397.823 [DAT](INFO): DAT read: 20:16:35.9016 LVL= 18736, 27313, 13762, 27347, AGC= 75, IDX= 326,-0.07, 2.584, 1.621,-3.027, 2.619, PHS= 0.053,-0.951, 0.634, RAW= 171.2, 3.8, CAL= 171.5, -5.1, ROT= 338.5, 5.1 2025-01-08T20:16:37.825Z,1736367397.825 [DAT](INFO): got valid direction response: 20:16:35.9016 LVL= 18736, 27313, 13762, 27347, AGC= 75, IDX= 326,-0.07, 2.584, 1.621,-3.027, 2.619, PHS= 0.053,-0.951, 0.634, RAW= 171.2, 3.8, CAL= 171.5, -5.1, ROT= 338.5, 5.1 2025-01-08T20:16:37.826Z,1736367397.826 [DAT](INFO): DAT read: Bearing 338.5, 5.1 (Local) 2025-01-08T20:16:37.826Z,1736367397.826 [DAT](INFO): Local bearing/azimuth received: Bearing 338.5, 5.1 (Local) 2025-01-08T20:16:37.828Z,1736367397.828 [DAT](INFO): DAT read: Range 10 to 50 : 647.4 m (Round-trip 863.3 ms) speed 0.4 m/s 2025-01-08T20:16:37.828Z,1736367397.828 [DAT](INFO): DAT read: user:1211> 2025-01-08T20:16:37.829Z,1736367397.829 [DAT](INFO): DAT read: Tx time:20:16:36.9841 2025-01-08T20:16:37.829Z,1736367397.829 [DAT](INFO): Ping request sent. 2025-01-08T20:16:37.829Z,1736367397.829 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:16:37.830Z,1736367397.830 [DAT](INFO): DAT read: TxSync time:20:16:36.9834 2025-01-08T20:16:37.831Z,1736367397.831 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:16:37.832Z,1736367397.832 [DAT](INFO): direction in FSK: [-0.173557,-0.966362,0.189794] 2025-01-08T20:16:37.832Z,1736367397.832 [DAT](INFO): publishing transmit ping time 2025-01-08T20:16:37.832Z,1736367397.832 [DAT](INFO): publishing direction and range info 2025-01-08T20:16:37.836Z,1736367397.836 [DAT](INFO): publishing transmit ping time 2025-01-08T20:16:37.836Z,1736367397.836 [DAT](INFO): publishing direction and range info 2025-01-08T20:16:37.929Z,1736367397.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:38.068Z,1736367398.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:38.321Z,1736367398.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:38.350Z,1736367398.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:38.363Z,1736367398.363 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-01-08T20:16:38.363Z,1736367398.363 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T20:16:38.364Z,1736367398.364 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-01-08T20:16:38.365Z,1736367398.365 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 647.400024 m (mode 0.000000 count ). 2025-01-08T20:16:38.365Z,1736367398.365 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-01-08T20:16:38.366Z,1736367398.366 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-01-08T20:16:38.368Z,1736367398.368 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-01-08T20:16:38.369Z,1736367398.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T20:16:38.369Z,1736367398.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-01-08T20:16:38.369Z,1736367398.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 647.400024 m 2025-01-08T20:16:38.369Z,1736367398.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-01-08T20:16:38.369Z,1736367398.369 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-01-08T20:16:38.572Z,1736367398.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:38.697Z,1736367398.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:38.720Z,1736367398.720 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-01-08T20:16:38.720Z,1736367398.720 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-01-08T20:16:38.721Z,1736367398.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:16:38.736Z,1736367398.736 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-01-08T20:16:38.736Z,1736367398.736 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T20:16:38.736Z,1736367398.736 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-01-08T20:16:38.736Z,1736367398.736 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T20:16:38.824Z,1736367398.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:38.825Z,1736367398.825 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:16:38.826Z,1736367398.826 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:16:38.826Z,1736367398.826 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:16:39.076Z,1736367399.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:39.076Z,1736367399.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246752 2025-01-08T20:16:39.100Z,1736367399.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:39.107Z,1736367399.107 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-01-08T20:16:39.108Z,1736367399.108 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-01-08T20:16:39.108Z,1736367399.108 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-01-08T20:16:39.108Z,1736367399.108 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T20:16:39.109Z,1736367399.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-01-08T20:16:39.109Z,1736367399.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T20:16:39.110Z,1736367399.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-01-08T20:16:39.110Z,1736367399.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T20:16:39.110Z,1736367399.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-01-08T20:16:39.110Z,1736367399.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T20:16:39.110Z,1736367399.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-01-08T20:16:39.110Z,1736367399.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-01-08T20:16:39.110Z,1736367399.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-01-08T20:16:39.110Z,1736367399.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T20:16:39.110Z,1736367399.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-01-08T20:16:39.110Z,1736367399.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-01-08T20:16:39.111Z,1736367399.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-01-08T20:16:39.111Z,1736367399.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-01-08T20:16:39.111Z,1736367399.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-01-08T20:16:39.112Z,1736367399.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-01-08T20:16:39.112Z,1736367399.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T20:16:39.112Z,1736367399.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-01-08T20:16:39.113Z,1736367399.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-01-08T20:16:39.114Z,1736367399.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-01-08T20:16:39.114Z,1736367399.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-01-08T20:16:39.114Z,1736367399.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-01-08T20:16:39.115Z,1736367399.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-01-08T20:16:39.138Z,1736367399.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-08T20:16:39.148Z,1736367399.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-01-08T20:16:39.151Z,1736367399.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00. 2025-01-08T20:16:39.168Z,1736367399.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-01-08T20:16:39.169Z,1736367399.169 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-01-08T20:16:39.170Z,1736367399.170 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T20:16:39.170Z,1736367399.170 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-01-08T20:16:39.170Z,1736367399.170 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T20:16:39.171Z,1736367399.171 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-01-08T20:16:39.171Z,1736367399.171 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-01-08T20:16:39.176Z,1736367399.176 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-01-08T20:16:39.176Z,1736367399.176 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-01-08T20:16:39.176Z,1736367399.176 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-01-08T20:16:39.328Z,1736367399.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:39.330Z,1736367399.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500263 2025-01-08T20:16:39.527Z,1736367399.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:39.533Z,1736367399.533 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-01-08T20:16:39.533Z,1736367399.533 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T20:16:39.533Z,1736367399.533 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-01-08T20:16:39.533Z,1736367399.533 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T20:16:39.537Z,1736367399.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 647.400024 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-01-08T20:16:39.540Z,1736367399.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 647.400024 m, bearing: 18.013804 deg, lat: 36.908285 deg, lon: -122.124163 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-01-08T20:16:39.541Z,1736367399.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:39.544Z,1736367399.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.202545 m, bearing: 28.574444 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.574444 deg. 2025-01-08T20:16:39.545Z,1736367399.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.498718 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:39.580Z,1736367399.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:39.580Z,1736367399.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750816 2025-01-08T20:16:39.603Z,1736367399.603 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-01-08T20:16:39.607Z,1736367399.607 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-01-08T20:16:39.636Z,1736367399.636 [DockingStepper](INFO): Resume 2025-01-08T20:16:39.832Z,1736367399.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:39.832Z,1736367399.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002797 2025-01-08T20:16:39.915Z,1736367399.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:39.924Z,1736367399.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:39.927Z,1736367399.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.215240 m, bearing: 28.537144 deg, approach rate: 0.032749 m/s, LOS rate: -0.096215 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.537144 deg. 2025-01-08T20:16:39.928Z,1736367399.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.498067 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:40.084Z,1736367400.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:40.086Z,1736367400.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256020 2025-01-08T20:16:40.120Z,1736367400.120 [DockingStepper](INFO): Resuming 2025-01-08T20:16:40.334Z,1736367400.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:40.337Z,1736367400.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:40.339Z,1736367400.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508699 2025-01-08T20:16:40.351Z,1736367400.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:40.358Z,1736367400.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.223969 m, bearing: 28.494195 deg, approach rate: 0.020440 m/s, LOS rate: -0.100577 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.494195 deg. 2025-01-08T20:16:40.359Z,1736367400.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497318 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:40.458Z,1736367400.458 [DockingStepper](INFO): Start 2025-01-08T20:16:40.458Z,1736367400.458 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-01-08T20:16:40.576Z,1736367400.576 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-01-08T20:16:40.588Z,1736367400.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:40.588Z,1736367400.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758952 2025-01-08T20:16:40.716Z,1736367400.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:40.723Z,1736367400.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:16:40.725Z,1736367400.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:40.728Z,1736367400.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.232666 m, bearing: 28.455004 deg, approach rate: 0.023258 m/s, LOS rate: -0.104798 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.455004 deg. 2025-01-08T20:16:40.729Z,1736367400.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496633 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:40.776Z,1736367400.776 [DockingStepper](INFO): Starting 2025-01-08T20:16:40.840Z,1736367400.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:40.841Z,1736367400.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011157 2025-01-08T20:16:41.093Z,1736367401.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:41.093Z,1736367401.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263932 2025-01-08T20:16:41.123Z,1736367401.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:41.131Z,1736367401.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:41.154Z,1736367401.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.242615 m, bearing: 28.413303 deg, approach rate: 0.024538 m/s, LOS rate: -0.102849 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.413303 deg. 2025-01-08T20:16:41.155Z,1736367401.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495906 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:41.344Z,1736367401.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:41.345Z,1736367401.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515052 2025-01-08T20:16:41.373Z,1736367401.373 [DockingStepper](INFO): Starting 2025-01-08T20:16:41.564Z,1736367401.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:41.572Z,1736367401.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:41.575Z,1736367401.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.240234 m, bearing: 28.365559 deg, approach rate: -0.005389 m/s, LOS rate: -0.108082 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.365559 deg. 2025-01-08T20:16:41.580Z,1736367401.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495072 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:41.596Z,1736367401.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:41.596Z,1736367401.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766970 2025-01-08T20:16:41.732Z,1736367401.732 [DockingStepper](INFO): Starting 2025-01-08T20:16:41.780Z,1736367401.780 [DockingStepper](INFO): Init string: /1z16355aE13561N3m50 2025-01-08T20:16:41.848Z,1736367401.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:41.849Z,1736367401.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019571 2025-01-08T20:16:41.948Z,1736367401.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:41.957Z,1736367401.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:41.960Z,1736367401.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.238312 m, bearing: 28.323856 deg, approach rate: -0.004993 m/s, LOS rate: -0.108296 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.323856 deg. 2025-01-08T20:16:41.961Z,1736367401.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.494345 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:41.992Z,1736367401.992 [DockingStepper](INFO): Starting 2025-01-08T20:16:42.101Z,1736367402.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:42.102Z,1736367402.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272458 2025-01-08T20:16:42.352Z,1736367402.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:42.353Z,1736367402.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523003 2025-01-08T20:16:42.388Z,1736367402.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:42.398Z,1736367402.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:42.413Z,1736367402.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.233551 m, bearing: 28.274239 deg, approach rate: -0.010804 m/s, LOS rate: -0.112599 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.274239 deg. 2025-01-08T20:16:42.414Z,1736367402.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493479 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:42.451Z,1736367402.451 [DockingStepper](INFO): Starting 2025-01-08T20:16:42.604Z,1736367402.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:42.604Z,1736367402.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774919 2025-01-08T20:16:42.759Z,1736367402.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:42.766Z,1736367402.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:16:42.769Z,1736367402.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:42.772Z,1736367402.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.230194 m, bearing: 28.232319 deg, approach rate: -0.009066 m/s, LOS rate: -0.113209 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.232319 deg. 2025-01-08T20:16:42.773Z,1736367402.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.492747 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:42.787Z,1736367402.787 [DockingStepper](INFO): Starting 2025-01-08T20:16:42.856Z,1736367402.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:42.857Z,1736367402.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027107 2025-01-08T20:16:43.108Z,1736367403.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:43.108Z,1736367403.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278900 2025-01-08T20:16:43.161Z,1736367403.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:43.170Z,1736367403.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:43.173Z,1736367403.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.227020 m, bearing: 28.186888 deg, approach rate: -0.007911 m/s, LOS rate: -0.113241 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.186888 deg. 2025-01-08T20:16:43.176Z,1736367403.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491954 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:43.247Z,1736367403.247 [DockingStepper](INFO): Starting 2025-01-08T20:16:43.360Z,1736367403.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:43.360Z,1736367403.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530896 2025-01-08T20:16:43.584Z,1736367403.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:43.593Z,1736367403.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:43.596Z,1736367403.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.204224 m, bearing: 28.138097 deg, approach rate: -0.053810 m/s, LOS rate: -0.115177 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.138097 deg. 2025-01-08T20:16:43.597Z,1736367403.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491102 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:43.611Z,1736367403.611 [DockingStepper](INFO): Starting 2025-01-08T20:16:43.645Z,1736367403.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:43.646Z,1736367403.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.816045 2025-01-08T20:16:43.692Z,1736367403.692 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2025-01-08T20:16:43.896Z,1736367403.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:43.896Z,1736367403.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.066879 2025-01-08T20:16:43.959Z,1736367403.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:43.968Z,1736367403.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:43.971Z,1736367403.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.184479 m, bearing: 28.094784 deg, approach rate: -0.052814 m/s, LOS rate: -0.115862 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.094784 deg. 2025-01-08T20:16:43.972Z,1736367403.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490346 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:43.985Z,1736367403.985 [DockingStepper](INFO): Starting 2025-01-08T20:16:44.148Z,1736367404.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:44.149Z,1736367404.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.319280 2025-01-08T20:16:44.400Z,1736367404.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:44.400Z,1736367404.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.570866 2025-01-08T20:16:44.470Z,1736367404.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:44.493Z,1736367404.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:44.496Z,1736367404.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.149780 m, bearing: 28.034641 deg, approach rate: -0.065933 m/s, LOS rate: -0.114294 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.034641 deg. 2025-01-08T20:16:44.497Z,1736367404.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.489297 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:44.510Z,1736367404.510 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T20:16:44.510Z,1736367404.510 [DockingStepper](INFO): Standby mode. 2025-01-08T20:16:44.653Z,1736367404.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:44.654Z,1736367404.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.824966 2025-01-08T20:16:44.793Z,1736367404.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:44.800Z,1736367404.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:16:44.804Z,1736367404.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:44.806Z,1736367404.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.127991 m, bearing: 27.996537 deg, approach rate: -0.070354 m/s, LOS rate: -0.123039 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.996537 deg. 2025-01-08T20:16:44.808Z,1736367404.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488632 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:44.904Z,1736367404.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:44.905Z,1736367404.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.075339 2025-01-08T20:16:45.156Z,1736367405.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:45.156Z,1736367405.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.326874 2025-01-08T20:16:45.196Z,1736367405.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:45.211Z,1736367405.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:45.231Z,1736367405.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.100891 m, bearing: 27.949510 deg, approach rate: -0.066489 m/s, LOS rate: -0.115390 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.949510 deg. 2025-01-08T20:16:45.244Z,1736367405.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.487811 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:45.408Z,1736367405.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:45.408Z,1736367405.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.578896 2025-01-08T20:16:45.629Z,1736367405.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:45.642Z,1736367405.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:45.645Z,1736367405.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.064636 m, bearing: 27.896701 deg, approach rate: -0.083999 m/s, LOS rate: -0.122367 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.896701 deg. 2025-01-08T20:16:45.647Z,1736367405.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486889 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:45.660Z,1736367405.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:45.661Z,1736367405.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.831746 2025-01-08T20:16:45.912Z,1736367405.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:45.913Z,1736367405.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.083241 2025-01-08T20:16:45.990Z,1736367405.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:45.999Z,1736367405.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:46.003Z,1736367406.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.034821 m, bearing: 27.852946 deg, approach rate: -0.083580 m/s, LOS rate: -0.122667 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.852946 deg. 2025-01-08T20:16:46.004Z,1736367406.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486126 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:46.164Z,1736367406.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:46.165Z,1736367406.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.335149 2025-01-08T20:16:46.416Z,1736367406.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:46.416Z,1736367406.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.586730 2025-01-08T20:16:46.450Z,1736367406.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:46.470Z,1736367406.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:46.473Z,1736367406.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.000824 m, bearing: 27.796479 deg, approach rate: -0.072152 m/s, LOS rate: -0.119853 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.796479 deg. 2025-01-08T20:16:46.474Z,1736367406.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.485140 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:46.668Z,1736367406.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:46.670Z,1736367406.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.840335 2025-01-08T20:16:46.816Z,1736367406.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:46.824Z,1736367406.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:16:46.826Z,1736367406.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:46.830Z,1736367406.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.973969 m, bearing: 27.751492 deg, approach rate: -0.075423 m/s, LOS rate: -0.126354 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.751492 deg. 2025-01-08T20:16:46.831Z,1736367406.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484355 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:46.920Z,1736367406.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:46.921Z,1736367406.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.091276 2025-01-08T20:16:47.172Z,1736367407.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:47.172Z,1736367407.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.342789 2025-01-08T20:16:47.206Z,1736367407.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:47.230Z,1736367407.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:47.245Z,1736367407.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.946289 m, bearing: 27.703446 deg, approach rate: -0.068479 m/s, LOS rate: -0.118876 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.703446 deg. 2025-01-08T20:16:47.246Z,1736367407.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483516 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:47.424Z,1736367407.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:47.425Z,1736367407.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.595505 2025-01-08T20:16:47.644Z,1736367407.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:47.658Z,1736367407.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:47.664Z,1736367407.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.916870 m, bearing: 27.649802 deg, approach rate: -0.068860 m/s, LOS rate: -0.125574 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.649802 deg. 2025-01-08T20:16:47.665Z,1736367407.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.482580 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:47.677Z,1736367407.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:47.678Z,1736367407.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.848218 2025-01-08T20:16:47.928Z,1736367407.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:47.928Z,1736367407.928 [DAT](INFO): Reached modem response timeout 2025-01-08T20:16:47.928Z,1736367407.928 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:16:47.929Z,1736367407.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:16:48.010Z,1736367408.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:48.020Z,1736367408.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:48.022Z,1736367408.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.892517 m, bearing: 27.604648 deg, approach rate: -0.067513 m/s, LOS rate: -0.125190 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.604648 deg. 2025-01-08T20:16:48.023Z,1736367408.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.481792 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:48.180Z,1736367408.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:48.180Z,1736367408.180 [DAT](INFO): Reached modem response timeout 2025-01-08T20:16:48.180Z,1736367408.180 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:16:48.180Z,1736367408.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:16:48.432Z,1736367408.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:48.432Z,1736367408.432 [DAT](INFO): Reached modem response timeout 2025-01-08T20:16:48.432Z,1736367408.432 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:16:48.433Z,1736367408.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:16:48.460Z,1736367408.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:48.485Z,1736367408.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:48.497Z,1736367408.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.874756 m, bearing: 27.551948 deg, approach rate: -0.038047 m/s, LOS rate: -0.112896 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.551948 deg. 2025-01-08T20:16:48.498Z,1736367408.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.480872 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:48.684Z,1736367408.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:48.685Z,1736367408.685 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:16:48.685Z,1736367408.685 [DAT](INFO): response not received 2025-01-08T20:16:48.686Z,1736367408.686 [DAT](INFO): DAT read: user:1212> 2025-01-08T20:16:48.687Z,1736367408.687 [DAT](INFO): DAT read: Tx time:20:16:47.9343 2025-01-08T20:16:48.687Z,1736367408.687 [DAT](INFO): Ping request sent. 2025-01-08T20:16:48.687Z,1736367408.687 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:16:48.687Z,1736367408.687 [DAT](INFO): publishing transmit ping time 2025-01-08T20:16:48.688Z,1736367408.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000789 2025-01-08T20:16:48.821Z,1736367408.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:48.836Z,1736367408.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:16:48.838Z,1736367408.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:48.845Z,1736367408.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.860382 m, bearing: 27.509553 deg, approach rate: -0.040739 m/s, LOS rate: -0.120165 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.509553 deg. 2025-01-08T20:16:48.846Z,1736367408.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.480132 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:48.936Z,1736367408.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:48.937Z,1736367408.937 [DAT](INFO): DAT read: TxSync time:20:16:47.9335 2025-01-08T20:16:48.938Z,1736367408.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250683 2025-01-08T20:16:49.184Z,1736367409.184 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:16:49.188Z,1736367409.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:49.188Z,1736367409.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501183 2025-01-08T20:16:49.241Z,1736367409.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:49.249Z,1736367409.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:49.266Z,1736367409.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.843872 m, bearing: 27.460264 deg, approach rate: -0.040166 m/s, LOS rate: -0.119919 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.460264 deg. 2025-01-08T20:16:49.272Z,1736367409.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.479272 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:49.440Z,1736367409.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:49.440Z,1736367409.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753053 2025-01-08T20:16:49.692Z,1736367409.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:49.693Z,1736367409.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005921 2025-01-08T20:16:49.839Z,1736367409.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:49.848Z,1736367409.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:49.851Z,1736367409.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.836243 m, bearing: 27.395236 deg, approach rate: -0.012753 m/s, LOS rate: -0.108701 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.395236 deg. 2025-01-08T20:16:49.853Z,1736367409.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478137 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:49.945Z,1736367409.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:49.946Z,1736367409.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258459 2025-01-08T20:16:50.176Z,1736367410.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:50.184Z,1736367410.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:50.188Z,1736367410.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:16:50.188Z,1736367410.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.831390 m, bearing: 27.356459 deg, approach rate: -0.014412 m/s, LOS rate: -0.115175 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.356459 deg. 2025-01-08T20:16:50.189Z,1736367410.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.477460 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:50.196Z,1736367410.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:50.196Z,1736367410.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509154 2025-01-08T20:16:50.448Z,1736367410.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:50.448Z,1736367410.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761243 2025-01-08T20:16:50.674Z,1736367410.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:50.700Z,1736367410.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:50.701Z,1736367410.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013294 2025-01-08T20:16:50.708Z,1736367410.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:50.710Z,1736367410.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.835419 m, bearing: 27.304485 deg, approach rate: 0.008001 m/s, LOS rate: -0.103232 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.304485 deg. 2025-01-08T20:16:50.719Z,1736367410.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.476553 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:50.953Z,1736367410.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:50.954Z,1736367410.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266548 2025-01-08T20:16:51.013Z,1736367411.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:51.024Z,1736367411.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:16:51.026Z,1736367411.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:51.033Z,1736367411.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.836517 m, bearing: 27.269158 deg, approach rate: 0.003241 m/s, LOS rate: -0.104231 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.269158 deg. 2025-01-08T20:16:51.034Z,1736367411.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475937 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:51.204Z,1736367411.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:51.205Z,1736367411.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517371 2025-01-08T20:16:51.445Z,1736367411.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:51.455Z,1736367411.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:51.456Z,1736367411.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:51.457Z,1736367411.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769353 2025-01-08T20:16:51.462Z,1736367411.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.848969 m, bearing: 27.227442 deg, approach rate: 0.029079 m/s, LOS rate: -0.097424 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.227442 deg. 2025-01-08T20:16:51.463Z,1736367411.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475208 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:51.708Z,1736367411.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:51.708Z,1736367411.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021104 2025-01-08T20:16:51.808Z,1736367411.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:51.817Z,1736367411.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:51.821Z,1736367411.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.859894 m, bearing: 27.189029 deg, approach rate: 0.030185 m/s, LOS rate: -0.106125 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.189029 deg. 2025-01-08T20:16:51.822Z,1736367411.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.474538 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:51.960Z,1736367411.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:51.960Z,1736367411.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273139 2025-01-08T20:16:52.212Z,1736367412.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:52.212Z,1736367412.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525137 2025-01-08T20:16:52.240Z,1736367412.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:52.250Z,1736367412.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:52.254Z,1736367412.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.872375 m, bearing: 27.145626 deg, approach rate: 0.028794 m/s, LOS rate: -0.100123 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.145626 deg. 2025-01-08T20:16:52.255Z,1736367412.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473781 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:52.464Z,1736367412.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:52.465Z,1736367412.465 [DAT](INFO): DAT read: Rx Time:20:16:51.1745 2025-01-08T20:16:52.465Z,1736367412.465 [DAT](INFO): Rx dataTimestamp_ set to:1736367412.464851 2025-01-08T20:16:52.466Z,1736367412.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778423 2025-01-08T20:16:52.678Z,1736367412.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:52.699Z,1736367412.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.40 m. 2025-01-08T20:16:52.705Z,1736367412.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.890839 m, bearing: 27.102472 deg, approach rate: 0.041151 m/s, LOS rate: -0.096177 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.102472 deg. 2025-01-08T20:16:52.706Z,1736367412.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473027 target range: 647.400024 and range: 647.40 m. 2025-01-08T20:16:52.717Z,1736367412.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:52.720Z,1736367412.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031793 2025-01-08T20:16:52.968Z,1736367412.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:52.975Z,1736367412.975 [DAT](INFO): DAT read: 20:16:51.1745 LVL= 29552, 25313, 16690, 32755, AGC= 73, IDX= 125, 0.26, 1.123,-0.027, 1.945, 1.089, PHS= 0.122,-1.069, 0.853, RAW= 172.1, 1.1, CAL= 173.0, -7.2, ROT= 337.0, 7.2 2025-01-08T20:16:52.977Z,1736367412.977 [DAT](INFO): got valid direction response: 20:16:51.1745 LVL= 29552, 25313, 16690, 32755, AGC= 73, IDX= 125, 0.26, 1.123,-0.027, 1.945, 1.089, PHS= 0.122,-1.069, 0.853, RAW= 172.1, 1.1, CAL= 173.0, -7.2, ROT= 337.0, 7.2 2025-01-08T20:16:52.978Z,1736367412.978 [DAT](INFO): DAT read: Bearing 337.0, 7.2 (Local) 2025-01-08T20:16:52.978Z,1736367412.978 [DAT](INFO): Local bearing/azimuth received: Bearing 337.0, 7.2 (Local) 2025-01-08T20:16:52.980Z,1736367412.980 [DAT](INFO): DAT read: Range 10 to 50 : 627.0 m (Round-trip 836.0 ms) speed 0.4 m/s 2025-01-08T20:16:52.981Z,1736367412.981 [DAT](INFO): DAT read: user:1213> 2025-01-08T20:16:52.981Z,1736367412.981 [DAT](INFO): DAT read: Tx time:20:16:52.2843 2025-01-08T20:16:52.982Z,1736367412.982 [DAT](INFO): Ping request sent. 2025-01-08T20:16:52.982Z,1736367412.982 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:16:52.982Z,1736367412.982 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:16:52.983Z,1736367412.983 [DAT](INFO): direction in FSK: [-0.120841,-0.976460,0.178669] 2025-01-08T20:16:52.983Z,1736367412.983 [DAT](INFO): publishing transmit ping time 2025-01-08T20:16:52.984Z,1736367412.984 [DAT](INFO): publishing direction and range info 2025-01-08T20:16:53.012Z,1736367413.012 [DAT](INFO): publishing transmit ping time 2025-01-08T20:16:53.012Z,1736367413.012 [DAT](INFO): publishing direction and range info 2025-01-08T20:16:53.074Z,1736367413.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:53.109Z,1736367413.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 627.000000 m, deltaT: 15.152014 s, deltaX: -20.400024 m, approachRate: -1.346357 m/s, rangeRepo size: 2 2025-01-08T20:16:53.121Z,1736367413.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 627.000000 m, bearing: 20.489385 deg, lat: 36.909739 deg, lon: -122.123697 deg, deltaT: 15.152014 s, deltaX: -20.400024 m, approachRate: -1.346357 m/s, posRepo size: 2 2025-01-08T20:16:53.121Z,1736367413.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:53.128Z,1736367413.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.143097 m, bearing: 22.794724 deg, approach rate: 0.000000 m/s, LOS rate: -0.096177 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776276 deg. 2025-01-08T20:16:53.129Z,1736367413.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055584 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:53.220Z,1736367413.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:53.221Z,1736367413.221 [DAT](INFO): DAT read: TxSync time:20:16:52.2835 2025-01-08T20:16:53.474Z,1736367413.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:53.526Z,1736367413.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:53.544Z,1736367413.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:16:53.546Z,1736367413.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:53.548Z,1736367413.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.180664 m, bearing: 22.765311 deg, approach rate: 0.085963 m/s, LOS rate: -0.067298 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806326 deg. 2025-01-08T20:16:53.549Z,1736367413.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056108 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:53.724Z,1736367413.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:53.724Z,1736367413.724 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:16:53.724Z,1736367413.724 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:16:53.725Z,1736367413.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:16:53.830Z,1736367413.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:53.839Z,1736367413.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:53.841Z,1736367413.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.206482 m, bearing: 22.745536 deg, approach rate: 0.088160 m/s, LOS rate: -0.067522 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.835234 deg. 2025-01-08T20:16:53.842Z,1736367413.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056613 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:53.976Z,1736367413.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:53.976Z,1736367413.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994638 2025-01-08T20:16:54.228Z,1736367414.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:54.228Z,1736367414.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246505 2025-01-08T20:16:54.235Z,1736367414.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:54.244Z,1736367414.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:54.246Z,1736367414.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.241028 m, bearing: 22.719199 deg, approach rate: 0.085334 m/s, LOS rate: -0.065052 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815551 deg. 2025-01-08T20:16:54.248Z,1736367414.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056269 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:54.480Z,1736367414.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:54.481Z,1736367414.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498853 2025-01-08T20:16:54.713Z,1736367414.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:54.723Z,1736367414.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:54.726Z,1736367414.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.279266 m, bearing: 22.686643 deg, approach rate: 0.079784 m/s, LOS rate: -0.067922 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796896 deg. 2025-01-08T20:16:54.727Z,1736367414.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055944 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:54.732Z,1736367414.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:54.733Z,1736367414.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750852 2025-01-08T20:16:54.984Z,1736367414.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:54.984Z,1736367414.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002550 2025-01-08T20:16:55.046Z,1736367415.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:55.056Z,1736367415.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:55.058Z,1736367415.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.305450 m, bearing: 22.664003 deg, approach rate: 0.078657 m/s, LOS rate: -0.068006 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826641 deg. 2025-01-08T20:16:55.060Z,1736367415.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056463 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:55.236Z,1736367415.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:55.237Z,1736367415.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255471 2025-01-08T20:16:55.488Z,1736367415.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:55.488Z,1736367415.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506528 2025-01-08T20:16:55.506Z,1736367415.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:55.526Z,1736367415.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:55.537Z,1736367415.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.341980 m, bearing: 22.630725 deg, approach rate: 0.078940 m/s, LOS rate: -0.071909 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794730 deg. 2025-01-08T20:16:55.539Z,1736367415.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055906 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:55.741Z,1736367415.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:55.742Z,1736367415.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760309 2025-01-08T20:16:55.851Z,1736367415.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:55.858Z,1736367415.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:16:55.860Z,1736367415.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:55.879Z,1736367415.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.369141 m, bearing: 22.605745 deg, approach rate: 0.079381 m/s, LOS rate: -0.073005 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819619 deg. 2025-01-08T20:16:55.881Z,1736367415.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056340 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:55.993Z,1736367415.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:55.994Z,1736367415.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012369 2025-01-08T20:16:56.244Z,1736367416.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:56.244Z,1736367416.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262508 2025-01-08T20:16:56.279Z,1736367416.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:56.304Z,1736367416.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:56.307Z,1736367416.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.402710 m, bearing: 22.574775 deg, approach rate: 0.077964 m/s, LOS rate: -0.071922 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801654 deg. 2025-01-08T20:16:56.312Z,1736367416.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056027 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:56.496Z,1736367416.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:56.497Z,1736367416.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514887 2025-01-08T20:16:56.697Z,1736367416.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:56.707Z,1736367416.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:56.710Z,1736367416.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.427948 m, bearing: 22.542629 deg, approach rate: 0.060631 m/s, LOS rate: -0.077223 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798124 deg. 2025-01-08T20:16:56.712Z,1736367416.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055965 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:56.748Z,1736367416.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:56.749Z,1736367416.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766922 2025-01-08T20:16:56.000Z,1736367417.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:57.000Z,1736367417.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018596 2025-01-08T20:16:57.075Z,1736367417.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:57.090Z,1736367417.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:57.093Z,1736367417.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.450867 m, bearing: 22.513638 deg, approach rate: 0.059931 m/s, LOS rate: -0.075807 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807586 deg. 2025-01-08T20:16:57.094Z,1736367417.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056130 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:57.252Z,1736367417.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:57.253Z,1736367417.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271420 2025-01-08T20:16:57.505Z,1736367417.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:57.506Z,1736367417.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524373 2025-01-08T20:16:57.533Z,1736367417.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:57.542Z,1736367417.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:57.544Z,1736367417.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.471924 m, bearing: 22.476050 deg, approach rate: 0.046600 m/s, LOS rate: -0.083178 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781800 deg. 2025-01-08T20:16:57.546Z,1736367417.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055680 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:57.758Z,1736367417.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:57.759Z,1736367417.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777590 2025-01-08T20:16:57.874Z,1736367417.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:57.881Z,1736367417.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:16:57.883Z,1736367417.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:57.886Z,1736367417.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.488800 m, bearing: 22.448036 deg, approach rate: 0.049485 m/s, LOS rate: -0.082142 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810516 deg. 2025-01-08T20:16:57.888Z,1736367417.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056181 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:58.009Z,1736367418.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:58.009Z,1736367418.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027464 2025-01-08T20:16:58.260Z,1736367418.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:58.261Z,1736367418.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278783 2025-01-08T20:16:58.309Z,1736367418.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:58.320Z,1736367418.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:58.323Z,1736367418.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.510742 m, bearing: 22.412349 deg, approach rate: 0.050158 m/s, LOS rate: -0.081573 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787501 deg. 2025-01-08T20:16:58.324Z,1736367418.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055780 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:58.512Z,1736367418.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:58.513Z,1736367418.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530776 2025-01-08T20:16:58.751Z,1736367418.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:58.765Z,1736367418.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:58.766Z,1736367418.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783932 2025-01-08T20:16:58.779Z,1736367418.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:58.814Z,1736367418.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.533051 m, bearing: 22.377277 deg, approach rate: 0.048650 m/s, LOS rate: -0.076481 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789345 deg. 2025-01-08T20:16:58.821Z,1736367418.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055812 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:59.016Z,1736367419.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:59.016Z,1736367419.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034613 2025-01-08T20:16:59.170Z,1736367419.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:59.178Z,1736367419.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:59.182Z,1736367419.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.557770 m, bearing: 22.338729 deg, approach rate: 0.061824 m/s, LOS rate: -0.096405 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778919 deg. 2025-01-08T20:16:59.183Z,1736367419.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055630 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:59.269Z,1736367419.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:59.270Z,1736367419.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288569 2025-01-08T20:16:59.521Z,1736367419.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:59.521Z,1736367419.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539714 2025-01-08T20:16:59.573Z,1736367419.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:59.614Z,1736367419.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:59.621Z,1736367419.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.573975 m, bearing: 22.303840 deg, approach rate: 0.037223 m/s, LOS rate: -0.080139 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789893 deg. 2025-01-08T20:16:59.622Z,1736367419.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055821 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:16:59.773Z,1736367419.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:16:59.776Z,1736367419.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793096 2025-01-08T20:16:59.939Z,1736367419.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:16:59.945Z,1736367419.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:16:59.947Z,1736367419.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:16:59.950Z,1736367419.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.589630 m, bearing: 22.271439 deg, approach rate: 0.046936 m/s, LOS rate: -0.097137 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797357 deg. 2025-01-08T20:16:59.952Z,1736367419.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055952 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:00.024Z,1736367420.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:00.024Z,1736367420.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.042736 2025-01-08T20:17:00.276Z,1736367420.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:00.276Z,1736367420.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.294549 2025-01-08T20:17:00.341Z,1736367420.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:00.349Z,1736367420.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:00.353Z,1736367420.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.607147 m, bearing: 22.236290 deg, approach rate: 0.043628 m/s, LOS rate: -0.087539 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789112 deg. 2025-01-08T20:17:00.354Z,1736367420.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055808 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:00.530Z,1736367420.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:00.531Z,1736367420.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549624 2025-01-08T20:17:00.770Z,1736367420.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:00.781Z,1736367420.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:00.783Z,1736367420.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800784 2025-01-08T20:17:00.784Z,1736367420.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:00.792Z,1736367420.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.623932 m, bearing: 22.198773 deg, approach rate: 0.039100 m/s, LOS rate: -0.087393 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782009 deg. 2025-01-08T20:17:00.793Z,1736367420.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055684 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:01.032Z,1736367421.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:01.032Z,1736367421.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.050655 2025-01-08T20:17:01.148Z,1736367421.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:01.157Z,1736367421.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:01.160Z,1736367421.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.639099 m, bearing: 22.165684 deg, approach rate: 0.039995 m/s, LOS rate: -0.087249 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795294 deg. 2025-01-08T20:17:01.162Z,1736367421.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055916 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:01.284Z,1736367421.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:01.285Z,1736367421.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.302746 2025-01-08T20:17:01.536Z,1736367421.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:01.537Z,1736367421.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555147 2025-01-08T20:17:01.593Z,1736367421.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:01.602Z,1736367421.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:01.605Z,1736367421.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.654510 m, bearing: 22.128154 deg, approach rate: 0.034686 m/s, LOS rate: -0.084467 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781968 deg. 2025-01-08T20:17:01.606Z,1736367421.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055683 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:01.788Z,1736367421.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:01.788Z,1736367421.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.806608 2025-01-08T20:17:01.965Z,1736367421.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:01.972Z,1736367421.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:01.974Z,1736367421.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:01.977Z,1736367421.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.667328 m, bearing: 22.096829 deg, approach rate: 0.034415 m/s, LOS rate: -0.084103 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800586 deg. 2025-01-08T20:17:01.978Z,1736367421.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056008 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:02.040Z,1736367422.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:02.041Z,1736367422.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.058875 2025-01-08T20:17:02.292Z,1736367422.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:02.292Z,1736367422.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.310540 2025-01-08T20:17:02.369Z,1736367422.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:02.378Z,1736367422.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:02.381Z,1736367422.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.681427 m, bearing: 22.062688 deg, approach rate: 0.034929 m/s, LOS rate: -0.084577 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792137 deg. 2025-01-08T20:17:02.382Z,1736367422.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055861 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:02.544Z,1736367422.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:02.545Z,1736367422.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562832 2025-01-08T20:17:02.796Z,1736367422.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:02.796Z,1736367422.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.814726 2025-01-08T20:17:02.803Z,1736367422.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:02.811Z,1736367422.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:02.817Z,1736367422.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.691376 m, bearing: 22.027144 deg, approach rate: 0.022970 m/s, LOS rate: -0.082063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787927 deg. 2025-01-08T20:17:02.822Z,1736367422.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055787 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:03.048Z,1736367423.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:03.049Z,1736367423.049 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:03.049Z,1736367423.049 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:03.049Z,1736367423.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:03.170Z,1736367423.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:03.178Z,1736367423.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:03.182Z,1736367423.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.699280 m, bearing: 21.997228 deg, approach rate: 0.021505 m/s, LOS rate: -0.081395 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804808 deg. 2025-01-08T20:17:03.183Z,1736367423.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056082 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:03.300Z,1736367423.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:03.300Z,1736367423.300 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:03.300Z,1736367423.300 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:03.301Z,1736367423.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:03.554Z,1736367423.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:03.555Z,1736367423.555 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:03.556Z,1736367423.556 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:03.557Z,1736367423.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:03.625Z,1736367423.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:03.676Z,1736367423.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:03.681Z,1736367423.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.710236 m, bearing: 21.960138 deg, approach rate: 0.022144 m/s, LOS rate: -0.074966 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.783290 deg. 2025-01-08T20:17:03.683Z,1736367423.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055706 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:03.805Z,1736367423.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:03.805Z,1736367423.805 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:17:03.806Z,1736367423.806 [DAT](INFO): response not received 2025-01-08T20:17:03.806Z,1736367423.806 [DAT](INFO): DAT read: user:1214> 2025-01-08T20:17:03.806Z,1736367423.806 [DAT](ERROR): No response from remote modem. 2025-01-08T20:17:03.807Z,1736367423.807 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:03.807Z,1736367423.807 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:03.964Z,1736367423.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:03.992Z,1736367423.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:03.994Z,1736367423.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:04.001Z,1736367424.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.717896 m, bearing: 21.932601 deg, approach rate: 0.023888 m/s, LOS rate: -0.085873 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811948 deg. 2025-01-08T20:17:04.003Z,1736367424.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056206 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:04.057Z,1736367424.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:04.058Z,1736367424.058 [DAT](INFO): DAT read: Tx time:20:17:03.2344 2025-01-08T20:17:04.058Z,1736367424.058 [DAT](INFO): Ping request sent. 2025-01-08T20:17:04.059Z,1736367424.059 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:17:04.060Z,1736367424.060 [DAT](INFO): DAT read: TxSync time:20:17:03.2336 2025-01-08T20:17:04.060Z,1736367424.060 [DAT](INFO): publishing transmit ping time 2025-01-08T20:17:04.061Z,1736367424.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002863 2025-01-08T20:17:04.308Z,1736367424.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:04.308Z,1736367424.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249825 2025-01-08T20:17:04.373Z,1736367424.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:04.384Z,1736367424.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:04.387Z,1736367424.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.727142 m, bearing: 21.899417 deg, approach rate: 0.023735 m/s, LOS rate: -0.085177 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795004 deg. 2025-01-08T20:17:04.389Z,1736367424.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055911 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:04.563Z,1736367424.563 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:04.564Z,1736367424.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504895 2025-01-08T20:17:04.813Z,1736367424.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:04.815Z,1736367424.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755984 2025-01-08T20:17:04.850Z,1736367424.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:04.871Z,1736367424.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:04.878Z,1736367424.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.738586 m, bearing: 21.861256 deg, approach rate: 0.023482 m/s, LOS rate: -0.078300 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780078 deg. 2025-01-08T20:17:04.879Z,1736367424.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055650 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:05.064Z,1736367425.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:05.064Z,1736367425.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005751 2025-01-08T20:17:05.185Z,1736367425.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:05.209Z,1736367425.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:05.216Z,1736367425.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.746735 m, bearing: 21.834413 deg, approach rate: 0.024099 m/s, LOS rate: -0.079390 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814028 deg. 2025-01-08T20:17:05.217Z,1736367425.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056243 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:05.316Z,1736367425.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:05.317Z,1736367425.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258601 2025-01-08T20:17:05.570Z,1736367425.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:05.573Z,1736367425.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514185 2025-01-08T20:17:05.643Z,1736367425.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:05.684Z,1736367425.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:05.694Z,1736367425.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.759949 m, bearing: 21.798928 deg, approach rate: 0.027812 m/s, LOS rate: -0.074686 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788104 deg. 2025-01-08T20:17:05.700Z,1736367425.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055790 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:05.820Z,1736367425.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:05.820Z,1736367425.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761810 2025-01-08T20:17:05.992Z,1736367425.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:06.001Z,1736367426.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:06.004Z,1736367426.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:06.006Z,1736367426.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.769318 m, bearing: 21.771867 deg, approach rate: 0.029286 m/s, LOS rate: -0.084588 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813375 deg. 2025-01-08T20:17:06.008Z,1736367426.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056231 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:06.073Z,1736367426.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:06.074Z,1736367426.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014809 2025-01-08T20:17:06.324Z,1736367426.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:06.324Z,1736367426.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265798 2025-01-08T20:17:06.405Z,1736367426.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:06.432Z,1736367426.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:06.439Z,1736367426.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.779785 m, bearing: 21.739883 deg, approach rate: 0.024435 m/s, LOS rate: -0.074659 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798608 deg. 2025-01-08T20:17:06.441Z,1736367426.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055974 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:06.578Z,1736367426.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:06.589Z,1736367426.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529752 2025-01-08T20:17:06.828Z,1736367426.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:06.829Z,1736367426.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769972 2025-01-08T20:17:06.866Z,1736367426.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:06.874Z,1736367426.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:06.877Z,1736367426.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.793823 m, bearing: 21.704339 deg, approach rate: 0.031789 m/s, LOS rate: -0.080487 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787928 deg. 2025-01-08T20:17:06.879Z,1736367426.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055787 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:07.080Z,1736367427.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:07.080Z,1736367427.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021731 2025-01-08T20:17:07.206Z,1736367427.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:07.216Z,1736367427.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:07.220Z,1736367427.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.803589 m, bearing: 21.678066 deg, approach rate: 0.028542 m/s, LOS rate: -0.076786 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815739 deg. 2025-01-08T20:17:07.221Z,1736367427.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056273 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:07.332Z,1736367427.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:07.332Z,1736367427.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273821 2025-01-08T20:17:07.585Z,1736367427.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:07.588Z,1736367427.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529156 2025-01-08T20:17:07.689Z,1736367427.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:07.698Z,1736367427.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:07.701Z,1736367427.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.817993 m, bearing: 21.639843 deg, approach rate: 0.029909 m/s, LOS rate: -0.079364 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779891 deg. 2025-01-08T20:17:07.703Z,1736367427.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055647 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:07.836Z,1736367427.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:07.836Z,1736367427.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777696 2025-01-08T20:17:08.036Z,1736367428.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:08.043Z,1736367428.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:08.045Z,1736367428.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:08.048Z,1736367428.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.828430 m, bearing: 21.612433 deg, approach rate: 0.030060 m/s, LOS rate: -0.078944 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812328 deg. 2025-01-08T20:17:08.049Z,1736367428.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056213 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:08.088Z,1736367428.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:08.089Z,1736367428.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030004 2025-01-08T20:17:08.340Z,1736367428.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:08.340Z,1736367428.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281818 2025-01-08T20:17:08.426Z,1736367428.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:08.434Z,1736367428.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:08.438Z,1736367428.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.840668 m, bearing: 21.581617 deg, approach rate: 0.031451 m/s, LOS rate: -0.079198 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802110 deg. 2025-01-08T20:17:08.439Z,1736367428.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056035 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:08.598Z,1736367428.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:08.600Z,1736367428.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540529 2025-01-08T20:17:08.844Z,1736367428.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:08.845Z,1736367428.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786092 2025-01-08T20:17:08.888Z,1736367428.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:08.896Z,1736367428.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:08.898Z,1736367428.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.860748 m, bearing: 21.543864 deg, approach rate: 0.043477 m/s, LOS rate: -0.081735 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781303 deg. 2025-01-08T20:17:08.918Z,1736367428.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055671 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:09.096Z,1736367429.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:09.096Z,1736367429.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037816 2025-01-08T20:17:09.252Z,1736367429.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:09.273Z,1736367429.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:09.279Z,1736367429.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.876801 m, bearing: 21.513969 deg, approach rate: 0.042613 m/s, LOS rate: -0.079358 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804875 deg. 2025-01-08T20:17:09.282Z,1736367429.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056083 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:09.349Z,1736367429.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:09.350Z,1736367429.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290981 2025-01-08T20:17:09.601Z,1736367429.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:09.604Z,1736367429.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544954 2025-01-08T20:17:09.729Z,1736367429.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:17:09.729Z,1736367429.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:09.738Z,1736367429.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:09.741Z,1736367429.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.899384 m, bearing: 21.474847 deg, approach rate: 0.048467 m/s, LOS rate: -0.083958 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777198 deg. 2025-01-08T20:17:09.742Z,1736367429.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055600 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:09.852Z,1736367429.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:09.853Z,1736367429.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793910 2025-01-08T20:17:10.056Z,1736367430.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:17:10.056Z,1736367430.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:10.064Z,1736367430.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:10.066Z,1736367430.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:10.069Z,1736367430.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.914978 m, bearing: 21.448064 deg, approach rate: 0.047642 m/s, LOS rate: -0.081825 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814207 deg. 2025-01-08T20:17:10.071Z,1736367430.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056246 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:10.104Z,1736367430.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:10.105Z,1736367430.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046672 2025-01-08T20:17:10.356Z,1736367430.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:10.356Z,1736367430.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297812 2025-01-08T20:17:10.476Z,1736367430.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:17:10.476Z,1736367430.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:10.512Z,1736367430.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:10.514Z,1736367430.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.935181 m, bearing: 21.413667 deg, approach rate: 0.045327 m/s, LOS rate: -0.077170 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.791371 deg. 2025-01-08T20:17:10.516Z,1736367430.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055847 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:10.610Z,1736367430.610 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:10.613Z,1736367430.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553889 2025-01-08T20:17:10.860Z,1736367430.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:10.860Z,1736367430.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801654 2025-01-08T20:17:10.920Z,1736367430.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:10.929Z,1736367430.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:10.932Z,1736367430.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.962830 m, bearing: 21.376249 deg, approach rate: 0.066235 m/s, LOS rate: -0.089631 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782310 deg. 2025-01-08T20:17:10.933Z,1736367430.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055689 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:11.112Z,1736367431.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:11.112Z,1736367431.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053698 2025-01-08T20:17:11.276Z,1736367431.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:11.285Z,1736367431.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:11.289Z,1736367431.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 493.985687 m, bearing: 21.346104 deg, approach rate: 0.064224 m/s, LOS rate: -0.084698 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804123 deg. 2025-01-08T20:17:11.290Z,1736367431.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056070 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:11.364Z,1736367431.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:11.365Z,1736367431.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306155 2025-01-08T20:17:11.617Z,1736367431.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:11.623Z,1736367431.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560396 2025-01-08T20:17:11.757Z,1736367431.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:11.765Z,1736367431.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:11.768Z,1736367431.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.017212 m, bearing: 21.305216 deg, approach rate: 0.065649 m/s, LOS rate: -0.085141 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.771902 deg. 2025-01-08T20:17:11.770Z,1736367431.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055507 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:11.868Z,1736367431.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:11.868Z,1736367431.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809812 2025-01-08T20:17:12.120Z,1736367432.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:12.121Z,1736367432.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062223 2025-01-08T20:17:12.122Z,1736367432.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:12.129Z,1736367432.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:12.131Z,1736367432.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:12.133Z,1736367432.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.042694 m, bearing: 21.274135 deg, approach rate: 0.069694 m/s, LOS rate: -0.085002 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801319 deg. 2025-01-08T20:17:12.135Z,1736367432.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056021 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:12.372Z,1736367432.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:12.372Z,1736367432.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313831 2025-01-08T20:17:12.551Z,1736367432.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:12.581Z,1736367432.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:12.584Z,1736367432.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.073242 m, bearing: 21.237633 deg, approach rate: 0.067873 m/s, LOS rate: -0.081096 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.785058 deg. 2025-01-08T20:17:12.585Z,1736367432.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055737 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:12.626Z,1736367432.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:12.629Z,1736367432.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570123 2025-01-08T20:17:12.877Z,1736367432.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:12.878Z,1736367432.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819303 2025-01-08T20:17:12.992Z,1736367432.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:13.018Z,1736367433.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:13.025Z,1736367433.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.112091 m, bearing: 21.200820 deg, approach rate: 0.088876 m/s, LOS rate: -0.084212 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784125 deg. 2025-01-08T20:17:13.026Z,1736367433.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055721 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:13.128Z,1736367433.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:13.128Z,1736367433.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069802 2025-01-08T20:17:13.357Z,1736367433.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:13.365Z,1736367433.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:13.368Z,1736367433.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.144745 m, bearing: 21.170250 deg, approach rate: 0.093993 m/s, LOS rate: -0.087988 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802853 deg. 2025-01-08T20:17:13.370Z,1736367433.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056048 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:13.380Z,1736367433.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:13.380Z,1736367433.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321675 2025-01-08T20:17:13.632Z,1736367433.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:13.633Z,1736367433.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574090 2025-01-08T20:17:13.802Z,1736367433.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:13.811Z,1736367433.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:13.814Z,1736367433.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.181885 m, bearing: 21.133563 deg, approach rate: 0.083328 m/s, LOS rate: -0.082306 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784503 deg. 2025-01-08T20:17:13.815Z,1736367433.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055727 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:13.885Z,1736367433.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:13.886Z,1736367433.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827031 2025-01-08T20:17:14.136Z,1736367434.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:14.137Z,1736367434.137 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:14.137Z,1736367434.137 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:14.137Z,1736367434.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:14.169Z,1736367434.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:14.176Z,1736367434.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:14.178Z,1736367434.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:14.197Z,1736367434.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.212860 m, bearing: 21.103259 deg, approach rate: 0.084350 m/s, LOS rate: -0.082516 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803652 deg. 2025-01-08T20:17:14.198Z,1736367434.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056062 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:14.388Z,1736367434.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:14.389Z,1736367434.389 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:14.389Z,1736367434.389 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:14.389Z,1736367434.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:14.578Z,1736367434.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:14.612Z,1736367434.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:14.614Z,1736367434.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.247437 m, bearing: 21.069599 deg, approach rate: 0.079795 m/s, LOS rate: -0.077677 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793581 deg. 2025-01-08T20:17:14.636Z,1736367434.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055886 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:14.640Z,1736367434.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:14.640Z,1736367434.640 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:14.640Z,1736367434.640 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:14.641Z,1736367434.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:14.893Z,1736367434.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:14.896Z,1736367434.896 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:17:14.896Z,1736367434.896 [DAT](INFO): response not received 2025-01-08T20:17:14.898Z,1736367434.898 [DAT](INFO): DAT read: user:1215> 2025-01-08T20:17:14.900Z,1736367434.900 [DAT](INFO): DAT read: Tx time:20:17:14.1845 2025-01-08T20:17:14.901Z,1736367434.901 [DAT](INFO): Ping request sent. 2025-01-08T20:17:14.901Z,1736367434.901 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:17:14.901Z,1736367434.901 [DAT](INFO): publishing transmit ping time 2025-01-08T20:17:14.902Z,1736367434.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001230 2025-01-08T20:17:15.061Z,1736367435.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:15.070Z,1736367435.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:15.073Z,1736367435.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.290283 m, bearing: 21.031575 deg, approach rate: 0.093383 m/s, LOS rate: -0.082864 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780496 deg. 2025-01-08T20:17:15.074Z,1736367435.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055657 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:15.144Z,1736367435.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:15.145Z,1736367435.145 [DAT](INFO): DAT read: TxSync time:20:17:14.1837 2025-01-08T20:17:15.146Z,1736367435.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244901 2025-01-08T20:17:15.396Z,1736367435.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:15.397Z,1736367435.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495914 2025-01-08T20:17:15.413Z,1736367435.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:15.424Z,1736367435.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:15.427Z,1736367435.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.321594 m, bearing: 21.003904 deg, approach rate: 0.088476 m/s, LOS rate: -0.078187 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811547 deg. 2025-01-08T20:17:15.428Z,1736367435.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056199 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:15.648Z,1736367435.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:15.649Z,1736367435.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748392 2025-01-08T20:17:15.822Z,1736367435.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:15.830Z,1736367435.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:15.833Z,1736367435.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.360535 m, bearing: 20.972908 deg, approach rate: 0.095957 m/s, LOS rate: -0.076372 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801578 deg. 2025-01-08T20:17:15.834Z,1736367435.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056026 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:15.901Z,1736367435.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:15.902Z,1736367435.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001291 2025-01-08T20:17:16.152Z,1736367436.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:16.153Z,1736367436.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252450 2025-01-08T20:17:16.228Z,1736367436.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:16.244Z,1736367436.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:16.246Z,1736367436.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:16.253Z,1736367436.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.400177 m, bearing: 20.942050 deg, approach rate: 0.095349 m/s, LOS rate: -0.074215 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801990 deg. 2025-01-08T20:17:16.255Z,1736367436.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056033 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:16.404Z,1736367436.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:16.405Z,1736367436.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504442 2025-01-08T20:17:16.618Z,1736367436.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:16.627Z,1736367436.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:16.630Z,1736367436.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.437836 m, bearing: 20.912528 deg, approach rate: 0.098770 m/s, LOS rate: -0.077425 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805996 deg. 2025-01-08T20:17:16.631Z,1736367436.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056103 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:16.657Z,1736367436.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:16.673Z,1736367436.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771454 2025-01-08T20:17:16.908Z,1736367436.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:16.908Z,1736367436.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007760 2025-01-08T20:17:17.061Z,1736367437.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:17.070Z,1736367437.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:17.073Z,1736367437.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.478546 m, bearing: 20.879859 deg, approach rate: 0.091930 m/s, LOS rate: -0.073766 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796556 deg. 2025-01-08T20:17:17.074Z,1736367437.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055938 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:17.160Z,1736367437.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:17.162Z,1736367437.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260763 2025-01-08T20:17:17.412Z,1736367437.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:17.413Z,1736367437.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511874 2025-01-08T20:17:17.442Z,1736367437.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:17.450Z,1736367437.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:17.454Z,1736367437.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.513214 m, bearing: 20.851569 deg, approach rate: 0.091112 m/s, LOS rate: -0.074344 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809693 deg. 2025-01-08T20:17:17.456Z,1736367437.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056167 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:17.664Z,1736367437.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:17.665Z,1736367437.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764693 2025-01-08T20:17:17.844Z,1736367437.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:17.872Z,1736367437.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:17.875Z,1736367437.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.549652 m, bearing: 20.822476 deg, approach rate: 0.086415 m/s, LOS rate: -0.068990 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807284 deg. 2025-01-08T20:17:17.880Z,1736367437.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056125 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:17.917Z,1736367437.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:17.918Z,1736367437.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017390 2025-01-08T20:17:18.168Z,1736367438.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:18.169Z,1736367438.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267954 2025-01-08T20:17:18.236Z,1736367438.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:18.247Z,1736367438.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:18.254Z,1736367438.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:18.261Z,1736367438.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.584808 m, bearing: 20.793997 deg, approach rate: 0.092136 m/s, LOS rate: -0.074631 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809126 deg. 2025-01-08T20:17:18.262Z,1736367438.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056157 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:18.420Z,1736367438.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:18.421Z,1736367438.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520098 2025-01-08T20:17:18.648Z,1736367438.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:18.662Z,1736367438.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:18.666Z,1736367438.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.621094 m, bearing: 20.764150 deg, approach rate: 0.088984 m/s, LOS rate: -0.073187 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805025 deg. 2025-01-08T20:17:18.669Z,1736367438.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056086 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:18.672Z,1736367438.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:18.674Z,1736367438.674 [DAT](INFO): DAT read: Rx Time:20:17:17.4097 2025-01-08T20:17:18.674Z,1736367438.674 [DAT](INFO): Rx dataTimestamp_ set to:1736367438.673730 2025-01-08T20:17:18.675Z,1736367438.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774300 2025-01-08T20:17:18.924Z,1736367438.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:18.924Z,1736367438.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023749 2025-01-08T20:17:19.123Z,1736367439.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:19.145Z,1736367439.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.00 m. 2025-01-08T20:17:19.165Z,1736367439.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 627.000000 m, nav range: 494.657654 m, bearing: 20.730032 deg, approach rate: 0.075663 m/s, LOS rate: -0.070603 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792210 deg. 2025-01-08T20:17:19.176Z,1736367439.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:19.182Z,1736367439.182 [DAT](INFO): DAT read: 20:17:17.4097 LVL= 32752, 26689, 22002, 32755, AGC= 73, IDX= 228,-0.31, 2.679, 1.684,-2.862, 2.766, PHS= 0.001,-1.036, 0.652, RAW= 172.5, 5.2, CAL= 172.4, -3.9, ROT= 337.6, 3.9 2025-01-08T20:17:19.184Z,1736367439.184 [DAT](INFO): got valid direction response: 20:17:17.4097 LVL= 32752, 26689, 22002, 32755, AGC= 73, IDX= 228,-0.31, 2.679, 1.684,-2.862, 2.766, PHS= 0.001,-1.036, 0.652, RAW= 172.5, 5.2, CAL= 172.4, -3.9, ROT= 337.6, 3.9 2025-01-08T20:17:19.186Z,1736367439.186 [DAT](INFO): DAT read: Bearing 337.6, 3.9 (Local) 2025-01-08T20:17:19.187Z,1736367439.187 [DAT](INFO): Local bearing/azimuth received: Bearing 337.6, 3.9 (Local) 2025-01-08T20:17:19.189Z,1736367439.189 [DAT](INFO): DAT read: Range 10 to 50 : 615.7 m (Round-trip 821.0 ms) speed 0.5 m/s 2025-01-08T20:17:19.190Z,1736367439.190 [DAT](INFO): DAT read: user:1216> 2025-01-08T20:17:19.190Z,1736367439.190 [DAT](INFO): DAT read: Tx time:20:17:18.5345 2025-01-08T20:17:19.191Z,1736367439.191 [DAT](INFO): Ping request sent. 2025-01-08T20:17:19.191Z,1736367439.191 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:17:19.191Z,1736367439.191 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:17:19.192Z,1736367439.192 [DAT](INFO): direction in FSK: [-0.198133,-0.965995,0.166127] 2025-01-08T20:17:19.192Z,1736367439.192 [DAT](INFO): publishing transmit ping time 2025-01-08T20:17:19.193Z,1736367439.193 [DAT](INFO): publishing direction and range info 2025-01-08T20:17:19.196Z,1736367439.196 [DAT](INFO): publishing transmit ping time 2025-01-08T20:17:19.196Z,1736367439.196 [DAT](INFO): publishing direction and range info 2025-01-08T20:17:19.208Z,1736367439.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055862 target range: 627.000000 and range: 627.00 m. 2025-01-08T20:17:19.429Z,1736367439.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:19.431Z,1736367439.431 [DAT](INFO): DAT read: TxSync time:20:17:18.5337 2025-01-08T20:17:19.515Z,1736367439.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:19.542Z,1736367439.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 615.700012 m, deltaT: 26.207960 s, deltaX: -11.299988 m, approachRate: -0.431166 m/s, rangeRepo size: 3 2025-01-08T20:17:19.548Z,1736367439.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 615.700012 m, bearing: 15.788382 deg, lat: 36.910904 deg, lon: -122.123697 deg, deltaT: 26.207960 s, deltaX: -11.299988 m, approachRate: -0.431166 m/s, posRepo size: 3 2025-01-08T20:17:19.549Z,1736367439.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:19.556Z,1736367439.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 617.571777 m, bearing: 16.447347 deg, approach rate: 0.000000 m/s, LOS rate: -0.070603 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810583 deg. 2025-01-08T20:17:19.564Z,1736367439.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056183 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:19.686Z,1736367439.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:19.936Z,1736367439.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:19.941Z,1736367439.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:19.950Z,1736367439.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:19.957Z,1736367439.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 617.620605 m, bearing: 16.421189 deg, approach rate: 0.119540 m/s, LOS rate: -0.064035 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816088 deg. 2025-01-08T20:17:19.958Z,1736367439.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056279 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:20.188Z,1736367440.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:20.297Z,1736367440.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:20.306Z,1736367440.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:20.308Z,1736367440.308 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:17:20.309Z,1736367440.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:20.312Z,1736367440.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 617.661926 m, bearing: 16.399284 deg, approach rate: 0.115017 m/s, LOS rate: -0.060967 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.828848 deg. 2025-01-08T20:17:20.313Z,1736367440.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056501 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:20.440Z,1736367440.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:20.441Z,1736367440.441 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:17:20.441Z,1736367440.441 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:17:20.441Z,1736367440.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:20.692Z,1736367440.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:20.692Z,1736367440.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501532 2025-01-08T20:17:20.725Z,1736367440.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:20.740Z,1736367440.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:20.769Z,1736367440.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 617.711609 m, bearing: 16.373059 deg, approach rate: 0.115922 m/s, LOS rate: -0.061185 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815887 deg. 2025-01-08T20:17:20.785Z,1736367440.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056275 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:20.944Z,1736367440.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:20.944Z,1736367440.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753622 2025-01-08T20:17:21.161Z,1736367441.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:21.170Z,1736367441.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:21.173Z,1736367441.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 617.760193 m, bearing: 16.344956 deg, approach rate: 0.112610 m/s, LOS rate: -0.065133 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810254 deg. 2025-01-08T20:17:21.174Z,1736367441.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056177 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:21.196Z,1736367441.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:21.196Z,1736367441.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005593 2025-01-08T20:17:21.312Z,1736367441.312 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:17:21.448Z,1736367441.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:21.448Z,1736367441.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257640 2025-01-08T20:17:21.509Z,1736367441.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:21.518Z,1736367441.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:21.538Z,1736367441.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 617.798462 m, bearing: 16.322463 deg, approach rate: 0.109705 m/s, LOS rate: -0.064476 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827082 deg. 2025-01-08T20:17:21.544Z,1736367441.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056471 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:21.700Z,1736367441.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:21.701Z,1736367441.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510031 2025-01-08T20:17:21.953Z,1736367441.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:21.954Z,1736367441.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762950 2025-01-08T20:17:21.957Z,1736367441.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:21.969Z,1736367441.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:21.975Z,1736367441.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 617.847046 m, bearing: 16.291960 deg, approach rate: 0.107741 m/s, LOS rate: -0.067638 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803056 deg. 2025-01-08T20:17:21.976Z,1736367441.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056051 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:22.204Z,1736367442.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:22.204Z,1736367442.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013581 2025-01-08T20:17:22.317Z,1736367442.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:22.330Z,1736367442.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:22.332Z,1736367442.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:22.334Z,1736367442.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 617.886047 m, bearing: 16.267431 deg, approach rate: 0.107361 m/s, LOS rate: -0.067519 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820973 deg. 2025-01-08T20:17:22.337Z,1736367442.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056364 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:22.456Z,1736367442.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:22.457Z,1736367442.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265874 2025-01-08T20:17:22.708Z,1736367442.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:22.708Z,1736367442.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517643 2025-01-08T20:17:22.728Z,1736367442.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:22.737Z,1736367442.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:22.740Z,1736367442.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 617.930786 m, bearing: 16.239481 deg, approach rate: 0.110467 m/s, LOS rate: -0.069008 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810713 deg. 2025-01-08T20:17:22.741Z,1736367442.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056185 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:22.960Z,1736367442.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:22.960Z,1736367442.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769673 2025-01-08T20:17:23.155Z,1736367443.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:23.198Z,1736367443.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:23.201Z,1736367443.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 617.977783 m, bearing: 16.209150 deg, approach rate: 0.102015 m/s, LOS rate: -0.065834 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803570 deg. 2025-01-08T20:17:23.203Z,1736367443.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056060 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:23.212Z,1736367443.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:23.212Z,1736367443.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021732 2025-01-08T20:17:23.464Z,1736367443.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:23.464Z,1736367443.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273654 2025-01-08T20:17:23.539Z,1736367443.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:23.547Z,1736367443.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:23.550Z,1736367443.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.020264 m, bearing: 16.181851 deg, approach rate: 0.121586 m/s, LOS rate: -0.078127 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812667 deg. 2025-01-08T20:17:23.551Z,1736367443.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056219 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:23.716Z,1736367443.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:23.716Z,1736367443.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525752 2025-01-08T20:17:23.968Z,1736367443.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:23.969Z,1736367443.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778484 2025-01-08T20:17:23.985Z,1736367443.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:23.995Z,1736367443.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:23.998Z,1736367443.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.062683 m, bearing: 16.149189 deg, approach rate: 0.094778 m/s, LOS rate: -0.072972 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796577 deg. 2025-01-08T20:17:23.999Z,1736367443.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055938 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:24.220Z,1736367444.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:24.221Z,1736367444.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030438 2025-01-08T20:17:24.342Z,1736367444.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:24.349Z,1736367444.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:24.351Z,1736367444.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:24.355Z,1736367444.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.096863 m, bearing: 16.123090 deg, approach rate: 0.095894 m/s, LOS rate: -0.073218 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816265 deg. 2025-01-08T20:17:24.356Z,1736367444.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056282 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:24.472Z,1736367444.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:24.473Z,1736367444.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281842 2025-01-08T20:17:24.724Z,1736367444.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:24.724Z,1736367444.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533744 2025-01-08T20:17:24.760Z,1736367444.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:24.771Z,1736367444.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:24.777Z,1736367444.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.137512 m, bearing: 16.092455 deg, approach rate: 0.097039 m/s, LOS rate: -0.073127 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802658 deg. 2025-01-08T20:17:24.780Z,1736367444.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056044 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:24.977Z,1736367444.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:24.978Z,1736367444.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787381 2025-01-08T20:17:25.228Z,1736367445.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:25.228Z,1736367445.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037698 2025-01-08T20:17:25.256Z,1736367445.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:25.273Z,1736367445.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:25.276Z,1736367445.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.186035 m, bearing: 16.055963 deg, approach rate: 0.096384 m/s, LOS rate: -0.072482 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.785087 deg. 2025-01-08T20:17:25.277Z,1736367445.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055737 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:25.482Z,1736367445.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:25.483Z,1736367445.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.292318 2025-01-08T20:17:25.605Z,1736367445.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:25.613Z,1736367445.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:25.616Z,1736367445.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.220337 m, bearing: 16.030323 deg, approach rate: 0.100857 m/s, LOS rate: -0.075384 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817641 deg. 2025-01-08T20:17:25.617Z,1736367445.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056306 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:25.732Z,1736367445.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:25.732Z,1736367445.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541718 2025-01-08T20:17:25.984Z,1736367445.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:25.985Z,1736367445.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794267 2025-01-08T20:17:26.076Z,1736367446.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:26.085Z,1736367446.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:26.088Z,1736367446.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.276855 m, bearing: 15.996308 deg, approach rate: 0.119917 m/s, LOS rate: -0.072163 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792523 deg. 2025-01-08T20:17:26.089Z,1736367446.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055867 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:26.236Z,1736367446.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:26.238Z,1736367446.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.047004 2025-01-08T20:17:26.427Z,1736367446.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:26.434Z,1736367446.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:26.437Z,1736367446.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:26.440Z,1736367446.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.319641 m, bearing: 15.971052 deg, approach rate: 0.121579 m/s, LOS rate: -0.071764 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818792 deg. 2025-01-08T20:17:26.441Z,1736367446.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056326 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:26.490Z,1736367446.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:26.491Z,1736367446.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300362 2025-01-08T20:17:26.740Z,1736367446.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:26.740Z,1736367446.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549579 2025-01-08T20:17:26.885Z,1736367446.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:26.909Z,1736367446.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:26.916Z,1736367446.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.376160 m, bearing: 15.938133 deg, approach rate: 0.119713 m/s, LOS rate: -0.069719 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795809 deg. 2025-01-08T20:17:26.922Z,1736367446.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055925 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:26.993Z,1736367446.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:26.994Z,1736367446.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802878 2025-01-08T20:17:27.244Z,1736367447.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:27.245Z,1736367447.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.053753 2025-01-08T20:17:27.297Z,1736367447.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:27.316Z,1736367447.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:27.322Z,1736367447.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.421753 m, bearing: 15.909244 deg, approach rate: 0.112143 m/s, LOS rate: -0.071052 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807895 deg. 2025-01-08T20:17:27.325Z,1736367447.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056136 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:27.496Z,1736367447.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:27.496Z,1736367447.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305569 2025-01-08T20:17:27.639Z,1736367447.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:27.649Z,1736367447.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:27.654Z,1736367447.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.459839 m, bearing: 15.885270 deg, approach rate: 0.114330 m/s, LOS rate: -0.071963 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822639 deg. 2025-01-08T20:17:27.656Z,1736367447.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056393 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:27.748Z,1736367447.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:27.749Z,1736367447.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557838 2025-01-08T20:17:27.000Z,1736367448.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:28.000Z,1736367448.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809690 2025-01-08T20:17:28.070Z,1736367448.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:28.091Z,1736367448.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:28.098Z,1736367448.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.511108 m, bearing: 15.856176 deg, approach rate: 0.115864 m/s, LOS rate: -0.065742 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807284 deg. 2025-01-08T20:17:28.099Z,1736367448.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056125 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:28.252Z,1736367448.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:28.252Z,1736367448.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.061656 2025-01-08T20:17:28.464Z,1736367448.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:28.472Z,1736367448.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:28.474Z,1736367448.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:28.477Z,1736367448.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.558167 m, bearing: 15.829563 deg, approach rate: 0.122834 m/s, LOS rate: -0.069463 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814722 deg. 2025-01-08T20:17:28.478Z,1736367448.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056255 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:28.504Z,1736367448.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:28.505Z,1736367448.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.313810 2025-01-08T20:17:28.756Z,1736367448.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:28.756Z,1736367448.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565767 2025-01-08T20:17:28.908Z,1736367448.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:28.943Z,1736367448.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:28.946Z,1736367448.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.611084 m, bearing: 15.799706 deg, approach rate: 0.112806 m/s, LOS rate: -0.063641 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804995 deg. 2025-01-08T20:17:28.947Z,1736367448.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056085 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:29.008Z,1736367449.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:29.009Z,1736367449.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817803 2025-01-08T20:17:29.260Z,1736367449.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:29.260Z,1736367449.260 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:29.260Z,1736367449.260 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:29.261Z,1736367449.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:29.306Z,1736367449.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:29.323Z,1736367449.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:29.330Z,1736367449.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.658691 m, bearing: 15.774455 deg, approach rate: 0.125428 m/s, LOS rate: -0.066523 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818808 deg. 2025-01-08T20:17:29.331Z,1736367449.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056326 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:29.512Z,1736367449.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:29.512Z,1736367449.512 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:29.512Z,1736367449.512 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:29.513Z,1736367449.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:29.663Z,1736367449.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:29.693Z,1736367449.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:29.697Z,1736367449.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.701233 m, bearing: 15.751859 deg, approach rate: 0.114868 m/s, LOS rate: -0.061007 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826774 deg. 2025-01-08T20:17:29.698Z,1736367449.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056465 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:29.764Z,1736367449.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:29.765Z,1736367449.765 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:29.765Z,1736367449.765 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:29.766Z,1736367449.766 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:30.016Z,1736367450.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:30.016Z,1736367450.016 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:30.017Z,1736367450.017 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:30.017Z,1736367450.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:30.113Z,1736367450.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:30.130Z,1736367450.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:30.137Z,1736367450.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.757507 m, bearing: 15.724712 deg, approach rate: 0.128779 m/s, LOS rate: -0.062118 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813123 deg. 2025-01-08T20:17:30.138Z,1736367450.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056227 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:30.268Z,1736367450.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:30.269Z,1736367450.269 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:17:30.269Z,1736367450.269 [DAT](INFO): response not received 2025-01-08T20:17:30.270Z,1736367450.270 [DAT](INFO): DAT read: user:1217> 2025-01-08T20:17:30.271Z,1736367450.271 [DAT](INFO): DAT read: Tx time:20:17:29.4846 2025-01-08T20:17:30.272Z,1736367450.272 [DAT](INFO): Ping request sent. 2025-01-08T20:17:30.272Z,1736367450.272 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:17:30.272Z,1736367450.272 [DAT](INFO): publishing transmit ping time 2025-01-08T20:17:30.272Z,1736367450.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000771 2025-01-08T20:17:30.474Z,1736367450.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:30.481Z,1736367450.481 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:30.483Z,1736367450.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:30.487Z,1736367450.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.802368 m, bearing: 15.702920 deg, approach rate: 0.127228 m/s, LOS rate: -0.061799 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.829186 deg. 2025-01-08T20:17:30.520Z,1736367450.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:30.521Z,1736367450.521 [DAT](INFO): DAT read: TxSync time:20:17:29.4838 2025-01-08T20:17:30.522Z,1736367450.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250203 2025-01-08T20:17:30.528Z,1736367450.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056507 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:30.772Z,1736367450.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:30.772Z,1736367450.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500652 2025-01-08T20:17:30.880Z,1736367450.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:30.915Z,1736367450.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:30.956Z,1736367450.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.853149 m, bearing: 15.678425 deg, approach rate: 0.117850 m/s, LOS rate: -0.056842 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821077 deg. 2025-01-08T20:17:30.957Z,1736367450.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056366 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:31.025Z,1736367451.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:31.026Z,1736367451.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754244 2025-01-08T20:17:31.276Z,1736367451.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:31.276Z,1736367451.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004727 2025-01-08T20:17:31.317Z,1736367451.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:31.331Z,1736367451.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:31.334Z,1736367451.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.902954 m, bearing: 15.653363 deg, approach rate: 0.119340 m/s, LOS rate: -0.060046 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819379 deg. 2025-01-08T20:17:31.336Z,1736367451.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056336 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:31.528Z,1736367451.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:31.529Z,1736367451.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256912 2025-01-08T20:17:31.695Z,1736367451.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:31.704Z,1736367451.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:31.707Z,1736367451.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 618.946716 m, bearing: 15.631638 deg, approach rate: 0.117210 m/s, LOS rate: -0.058185 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.829383 deg. 2025-01-08T20:17:31.708Z,1736367451.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056511 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:31.780Z,1736367451.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:31.781Z,1736367451.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508909 2025-01-08T20:17:32.032Z,1736367452.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:32.032Z,1736367452.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760674 2025-01-08T20:17:32.130Z,1736367452.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:32.139Z,1736367452.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:32.142Z,1736367452.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 619.002563 m, bearing: 15.606815 deg, approach rate: 0.128566 m/s, LOS rate: -0.057138 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820097 deg. 2025-01-08T20:17:32.143Z,1736367452.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056349 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:32.145Z,1736367452.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 61.242031 m. 2025-01-08T20:17:32.284Z,1736367452.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:32.284Z,1736367452.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012776 2025-01-08T20:17:32.483Z,1736367452.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:32.491Z,1736367452.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:32.493Z,1736367452.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:32.516Z,1736367452.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 619.047302 m, bearing: 15.586634 deg, approach rate: 0.126280 m/s, LOS rate: -0.056959 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.834018 deg. 2025-01-08T20:17:32.517Z,1736367452.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056592 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:32.536Z,1736367452.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:32.537Z,1736367452.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265349 2025-01-08T20:17:32.788Z,1736367452.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:32.788Z,1736367452.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516630 2025-01-08T20:17:32.893Z,1736367452.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:32.907Z,1736367452.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:32.910Z,1736367452.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 619.098389 m, bearing: 15.563229 deg, approach rate: 0.123460 m/s, LOS rate: -0.056560 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824345 deg. 2025-01-08T20:17:32.911Z,1736367452.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056423 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:33.041Z,1736367453.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:33.042Z,1736367453.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770188 2025-01-08T20:17:33.293Z,1736367453.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:33.294Z,1736367453.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022410 2025-01-08T20:17:33.344Z,1736367453.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:33.361Z,1736367453.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:33.364Z,1736367453.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 619.155823 m, bearing: 15.537830 deg, approach rate: 0.126383 m/s, LOS rate: -0.055885 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818367 deg. 2025-01-08T20:17:33.365Z,1736367453.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056319 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:33.544Z,1736367453.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:33.544Z,1736367453.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272668 2025-01-08T20:17:33.700Z,1736367453.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:33.709Z,1736367453.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:33.712Z,1736367453.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 619.200562 m, bearing: 15.517749 deg, approach rate: 0.128487 m/s, LOS rate: -0.057666 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.834319 deg. 2025-01-08T20:17:33.713Z,1736367453.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056597 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:33.796Z,1736367453.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:33.796Z,1736367453.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524727 2025-01-08T20:17:34.048Z,1736367454.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:34.048Z,1736367454.048 [DAT](INFO): DAT read: Rx Time:20:17:32.6883 2025-01-08T20:17:34.049Z,1736367454.049 [DAT](INFO): Rx dataTimestamp_ set to:1736367454.048659 2025-01-08T20:17:34.049Z,1736367454.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777799 2025-01-08T20:17:34.151Z,1736367454.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:34.161Z,1736367454.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:34.188Z,1736367454.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 619.258423 m, bearing: 15.491747 deg, approach rate: 0.128368 m/s, LOS rate: -0.057680 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816559 deg. 2025-01-08T20:17:34.189Z,1736367454.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056287 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:34.300Z,1736367454.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:34.301Z,1736367454.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028888 2025-01-08T20:17:34.514Z,1736367454.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:34.522Z,1736367454.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:34.524Z,1736367454.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 615.70 m. 2025-01-08T20:17:34.527Z,1736367454.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 615.700012 m, nav range: 619.305237 m, bearing: 15.470751 deg, approach rate: 0.128480 m/s, LOS rate: -0.057619 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.831573 deg. 2025-01-08T20:17:34.528Z,1736367454.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056549 target range: 615.700012 and range: 615.70 m. 2025-01-08T20:17:34.552Z,1736367454.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:34.570Z,1736367454.570 [DAT](INFO): DAT read: 20:17:32.6883 LVL= 32752, 32081, 20690, 32755, AGC= 73, IDX= 183, 0.40, 3.113, 2.158,-2.533, 3.030, PHS= 0.172,-0.825, 0.717, RAW= 170.4, -1.0, CAL= 171.9, -8.9, ROT= 338.1, 8.9 2025-01-08T20:17:34.571Z,1736367454.571 [DAT](INFO): got valid direction response: 20:17:32.6883 LVL= 32752, 32081, 20690, 32755, AGC= 73, IDX= 183, 0.40, 3.113, 2.158,-2.533, 3.030, PHS= 0.172,-0.825, 0.717, RAW= 170.4, -1.0, CAL= 171.9, -8.9, ROT= 338.1, 8.9 2025-01-08T20:17:34.572Z,1736367454.572 [DAT](INFO): DAT read: Bearing 338.1, 8.9 (Local) 2025-01-08T20:17:34.573Z,1736367454.573 [DAT](INFO): Local bearing/azimuth received: Bearing 338.1, 8.9 (Local) 2025-01-08T20:17:34.574Z,1736367454.574 [DAT](INFO): DAT read: Range 10 to 50 : 599.6 m (Round-trip 799.5 ms) speed 0.7 m/s 2025-01-08T20:17:34.575Z,1736367454.575 [DAT](INFO): DAT read: user:1218> 2025-01-08T20:17:34.581Z,1736367454.581 [DAT](INFO): DAT read: Tx time:20:17:33.7847 2025-01-08T20:17:34.582Z,1736367454.582 [DAT](INFO): Ping request sent. 2025-01-08T20:17:34.583Z,1736367454.583 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:17:34.583Z,1736367454.583 [DAT](INFO): DAT read: TxSync time:20:17:33.7839 2025-01-08T20:17:34.584Z,1736367454.584 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:17:34.585Z,1736367454.585 [DAT](INFO): direction in FSK: [-0.083108,-0.973793,0.211706] 2025-01-08T20:17:34.585Z,1736367454.585 [DAT](INFO): publishing transmit ping time 2025-01-08T20:17:34.586Z,1736367454.586 [DAT](INFO): publishing direction and range info 2025-01-08T20:17:34.639Z,1736367454.639 [DAT](INFO): publishing transmit ping time 2025-01-08T20:17:34.640Z,1736367454.640 [DAT](INFO): publishing direction and range info 2025-01-08T20:17:34.804Z,1736367454.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:34.934Z,1736367454.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:35.025Z,1736367455.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 599.599976 m, deltaT: 15.376183 s, deltaX: -16.100037 m, approachRate: -1.047076 m/s, rangeRepo size: 4 2025-01-08T20:17:35.032Z,1736367455.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 599.599976 m, bearing: 21.404604 deg, lat: 36.910904 deg, lon: -122.123381 deg, deltaT: 15.376183 s, deltaX: -16.100037 m, approachRate: -1.047076 m/s, posRepo size: 4 2025-01-08T20:17:35.033Z,1736367455.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:35.040Z,1736367455.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 627.413513 m, bearing: 17.916296 deg, approach rate: 0.000000 m/s, LOS rate: -0.057619 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808073 deg. 2025-01-08T20:17:35.041Z,1736367455.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056139 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:35.056Z,1736367455.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:35.308Z,1736367455.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:35.360Z,1736367455.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:35.386Z,1736367455.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:35.394Z,1736367455.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 627.457458 m, bearing: 17.890674 deg, approach rate: 0.121946 m/s, LOS rate: -0.071095 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817696 deg. 2025-01-08T20:17:35.400Z,1736367455.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056307 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:35.560Z,1736367455.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:35.806Z,1736367455.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:35.812Z,1736367455.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:35.817Z,1736367455.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:35.821Z,1736367455.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 627.505859 m, bearing: 17.863895 deg, approach rate: 0.112110 m/s, LOS rate: -0.062021 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814228 deg. 2025-01-08T20:17:35.822Z,1736367455.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056246 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:36.064Z,1736367456.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:36.239Z,1736367456.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:36.251Z,1736367456.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:36.254Z,1736367456.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 627.555237 m, bearing: 17.836973 deg, approach rate: 0.113768 m/s, LOS rate: -0.062026 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813795 deg. 2025-01-08T20:17:36.255Z,1736367456.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056239 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:36.316Z,1736367456.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:36.568Z,1736367456.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:36.629Z,1736367456.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:36.641Z,1736367456.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:36.643Z,1736367456.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:36.667Z,1736367456.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 627.599670 m, bearing: 17.812683 deg, approach rate: 0.113393 m/s, LOS rate: -0.061981 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821694 deg. 2025-01-08T20:17:36.670Z,1736367456.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056376 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:36.821Z,1736367456.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:36.821Z,1736367456.821 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:17:36.821Z,1736367456.821 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:17:36.821Z,1736367456.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:37.072Z,1736367457.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:37.073Z,1736367457.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490250 2025-01-08T20:17:37.082Z,1736367457.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:37.092Z,1736367457.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:37.094Z,1736367457.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 627.646606 m, bearing: 17.782705 deg, approach rate: 0.104502 m/s, LOS rate: -0.066741 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804629 deg. 2025-01-08T20:17:37.096Z,1736367457.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056079 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:37.325Z,1736367457.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:37.326Z,1736367457.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743403 2025-01-08T20:17:37.433Z,1736367457.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:37.442Z,1736367457.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:37.448Z,1736367457.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 627.683411 m, bearing: 17.759487 deg, approach rate: 0.105085 m/s, LOS rate: -0.066289 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824907 deg. 2025-01-08T20:17:37.451Z,1736367457.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056432 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:37.576Z,1736367457.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:37.577Z,1736367457.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994518 2025-01-08T20:17:37.821Z,1736367457.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:37.828Z,1736367457.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:37.829Z,1736367457.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246221 2025-01-08T20:17:37.850Z,1736367457.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:37.861Z,1736367457.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 627.724854 m, bearing: 17.733806 deg, approach rate: 0.101693 m/s, LOS rate: -0.063012 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817519 deg. 2025-01-08T20:17:37.862Z,1736367457.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056304 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:38.080Z,1736367458.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:38.081Z,1736367458.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498876 2025-01-08T20:17:38.332Z,1736367458.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:38.332Z,1736367458.332 [DAT](INFO): DAT read: Rx Time:20:17:36.9923 2025-01-08T20:17:38.333Z,1736367458.333 [DAT](INFO): Rx dataTimestamp_ set to:1736367458.332608 2025-01-08T20:17:38.333Z,1736367458.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751111 2025-01-08T20:17:38.388Z,1736367458.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:38.410Z,1736367458.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:38.417Z,1736367458.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 627.787537 m, bearing: 17.696039 deg, approach rate: 0.111941 m/s, LOS rate: -0.067439 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781266 deg. 2025-01-08T20:17:38.418Z,1736367458.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055671 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:38.584Z,1736367458.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:38.586Z,1736367458.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.003645 2025-01-08T20:17:38.836Z,1736367458.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:38.843Z,1736367458.843 [DAT](INFO): DAT read: 20:17:36.9923 LVL= 32752, 28913, 16962, 32755, AGC= 69, IDX= 480,-0.22, 2.974, 2.145,-2.542, 2.967, PHS= 0.096,-0.774, 0.771, RAW= 175.8, -1.4, CAL= 176.9, -9.1, ROT= 333.1, 9.1 2025-01-08T20:17:38.844Z,1736367458.844 [DAT](INFO): got valid direction response: 20:17:36.9923 LVL= 32752, 28913, 16962, 32755, AGC= 69, IDX= 480,-0.22, 2.974, 2.145,-2.542, 2.967, PHS= 0.096,-0.774, 0.771, RAW= 175.8, -1.4, CAL= 176.9, -9.1, ROT= 333.1, 9.1 2025-01-08T20:17:38.845Z,1736367458.845 [DAT](INFO): DAT read: Bearing 333.1, 9.1 (Local) 2025-01-08T20:17:38.845Z,1736367458.845 [DAT](INFO): Local bearing/azimuth received: Bearing 333.1, 9.1 (Local) 2025-01-08T20:17:38.847Z,1736367458.847 [DAT](INFO): DAT read: Range 10 to 50 : 602.6 m (Round-trip 803.5 ms) speed 0.4 m/s 2025-01-08T20:17:38.848Z,1736367458.848 [DAT](INFO): DAT read: user:1219> 2025-01-08T20:17:38.849Z,1736367458.849 [DAT](INFO): DAT read: Tx time:20:17:38.0847 2025-01-08T20:17:38.849Z,1736367458.849 [DAT](INFO): Ping request sent. 2025-01-08T20:17:38.849Z,1736367458.849 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:17:38.849Z,1736367458.849 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:17:38.850Z,1736367458.850 [DAT](INFO): direction in FSK: [-0.067054,-0.990754,0.117943] 2025-01-08T20:17:38.850Z,1736367458.850 [DAT](INFO): publishing transmit ping time 2025-01-08T20:17:38.851Z,1736367458.851 [DAT](INFO): publishing direction and range info 2025-01-08T20:17:38.853Z,1736367458.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:38.858Z,1736367458.858 [DAT](INFO): publishing transmit ping time 2025-01-08T20:17:38.858Z,1736367458.858 [DAT](INFO): publishing direction and range info 2025-01-08T20:17:38.890Z,1736367458.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 602.599976 m, deltaT: 4.284268 s, deltaX: 3.000000 m, approachRate: 0.700236 m/s, rangeRepo size: 4 2025-01-08T20:17:38.917Z,1736367458.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 602.599976 m, bearing: 23.797320 deg, lat: 36.910904 deg, lon: -122.123381 deg, deltaT: 4.284268 s, deltaX: 3.000000 m, approachRate: 0.700236 m/s, posRepo size: 4 2025-01-08T20:17:38.917Z,1736367458.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.60 m. 2025-01-08T20:17:38.933Z,1736367458.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.599976 m, nav range: 627.839905 m, bearing: 17.665101 deg, approach rate: 0.000000 m/s, LOS rate: -0.067439 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797495 deg. 2025-01-08T20:17:38.934Z,1736367458.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055954 target range: 602.599976 and range: 602.60 m. 2025-01-08T20:17:39.088Z,1736367459.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:39.089Z,1736367459.089 [DAT](INFO): DAT read: TxSync time:20:17:38.0839 2025-01-08T20:17:39.341Z,1736367459.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:39.404Z,1736367459.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:39.411Z,1736367459.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:39.432Z,1736367459.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.60 m. 2025-01-08T20:17:39.435Z,1736367459.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.599976 m, nav range: 627.896240 m, bearing: 17.628281 deg, approach rate: 0.103814 m/s, LOS rate: -0.067847 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784104 deg. 2025-01-08T20:17:39.440Z,1736367459.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055720 target range: 602.599976 and range: 602.60 m. 2025-01-08T20:17:39.592Z,1736367459.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:39.592Z,1736367459.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:17:39.592Z,1736367459.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:17:39.592Z,1736367459.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:39.763Z,1736367459.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:39.773Z,1736367459.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.60 m. 2025-01-08T20:17:39.776Z,1736367459.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.599976 m, nav range: 627.933472 m, bearing: 17.604331 deg, approach rate: 0.109179 m/s, LOS rate: -0.070226 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822712 deg. 2025-01-08T20:17:39.777Z,1736367459.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056394 target range: 602.599976 and range: 602.60 m. 2025-01-08T20:17:39.845Z,1736367459.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:39.846Z,1736367459.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996575 2025-01-08T20:17:40.097Z,1736367460.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:40.100Z,1736367460.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250499 2025-01-08T20:17:40.199Z,1736367460.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:40.209Z,1736367460.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.60 m. 2025-01-08T20:17:40.228Z,1736367460.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.599976 m, nav range: 627.973267 m, bearing: 17.575190 deg, approach rate: 0.091337 m/s, LOS rate: -0.066879 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807140 deg. 2025-01-08T20:17:40.229Z,1736367460.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056123 target range: 602.599976 and range: 602.60 m. 2025-01-08T20:17:40.348Z,1736367460.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:40.348Z,1736367460.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499445 2025-01-08T20:17:40.567Z,1736367460.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:40.593Z,1736367460.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.60 m. 2025-01-08T20:17:40.600Z,1736367460.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:40.601Z,1736367460.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751990 2025-01-08T20:17:40.609Z,1736367460.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.599976 m, nav range: 628.006592 m, bearing: 17.550552 deg, approach rate: 0.086746 m/s, LOS rate: -0.064131 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820645 deg. 2025-01-08T20:17:40.610Z,1736367460.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056358 target range: 602.599976 and range: 602.60 m. 2025-01-08T20:17:40.853Z,1736367460.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:40.854Z,1736367460.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005054 2025-01-08T20:17:40.972Z,1736367460.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:40.980Z,1736367460.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.60 m. 2025-01-08T20:17:40.983Z,1736367460.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.599976 m, nav range: 628.042847 m, bearing: 17.523401 deg, approach rate: 0.093539 m/s, LOS rate: -0.070045 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813109 deg. 2025-01-08T20:17:40.984Z,1736367460.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056227 target range: 602.599976 and range: 602.60 m. 2025-01-08T20:17:41.104Z,1736367461.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:41.105Z,1736367461.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255801 2025-01-08T20:17:41.356Z,1736367461.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:41.356Z,1736367461.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507511 2025-01-08T20:17:41.429Z,1736367461.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:41.445Z,1736367461.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:41.453Z,1736367461.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.60 m. 2025-01-08T20:17:41.461Z,1736367461.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.599976 m, nav range: 628.076050 m, bearing: 17.492549 deg, approach rate: 0.070321 m/s, LOS rate: -0.065337 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802006 deg. 2025-01-08T20:17:41.462Z,1736367461.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056033 target range: 602.599976 and range: 602.60 m. 2025-01-08T20:17:41.608Z,1736367461.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:41.609Z,1736367461.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759920 2025-01-08T20:17:41.779Z,1736367461.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:41.808Z,1736367461.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.60 m. 2025-01-08T20:17:41.810Z,1736367461.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.599976 m, nav range: 628.101624 m, bearing: 17.468951 deg, approach rate: 0.072100 m/s, LOS rate: -0.066528 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823764 deg. 2025-01-08T20:17:41.820Z,1736367461.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056413 target range: 602.599976 and range: 602.60 m. 2025-01-08T20:17:41.860Z,1736367461.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:41.861Z,1736367461.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012589 2025-01-08T20:17:42.113Z,1736367462.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:42.116Z,1736367462.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266156 2025-01-08T20:17:42.209Z,1736367462.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:42.218Z,1736367462.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.60 m. 2025-01-08T20:17:42.221Z,1736367462.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.599976 m, nav range: 628.125977 m, bearing: 17.440067 deg, approach rate: 0.059360 m/s, LOS rate: -0.070401 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807908 deg. 2025-01-08T20:17:42.222Z,1736367462.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056136 target range: 602.599976 and range: 602.60 m. 2025-01-08T20:17:42.364Z,1736367462.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:42.364Z,1736367462.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515562 2025-01-08T20:17:42.589Z,1736367462.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:42.598Z,1736367462.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.60 m. 2025-01-08T20:17:42.601Z,1736367462.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.599976 m, nav range: 628.147888 m, bearing: 17.414525 deg, approach rate: 0.057649 m/s, LOS rate: -0.067198 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817933 deg. 2025-01-08T20:17:42.602Z,1736367462.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056311 target range: 602.599976 and range: 602.60 m. 2025-01-08T20:17:42.616Z,1736367462.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:42.616Z,1736367462.616 [DAT](INFO): DAT read: Rx Time:20:17:41.2883 2025-01-08T20:17:42.617Z,1736367462.617 [DAT](INFO): Rx dataTimestamp_ set to:1736367462.616672 2025-01-08T20:17:42.617Z,1736367462.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768583 2025-01-08T20:17:42.868Z,1736367462.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:42.869Z,1736367462.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019596 2025-01-08T20:17:43.028Z,1736367463.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:43.037Z,1736367463.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.60 m. 2025-01-08T20:17:43.041Z,1736367463.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.599976 m, nav range: 628.173706 m, bearing: 17.385057 deg, approach rate: 0.058757 m/s, LOS rate: -0.067063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806155 deg. 2025-01-08T20:17:43.042Z,1736367463.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056105 target range: 602.599976 and range: 602.60 m. 2025-01-08T20:17:43.122Z,1736367463.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:43.145Z,1736367463.145 [DAT](INFO): DAT read: 20:17:41.2883 LVL= 32752, 32753, 21842, 32755, AGC= 70, IDX= 488,-0.43, 2.785, 1.839,-2.794, 2.691, PHS= 0.181,-0.805, 0.795, RAW= 172.3, -2.5, CAL= 173.9, -10.1, ROT= 336.1, 10.1 2025-01-08T20:17:43.146Z,1736367463.146 [DAT](INFO): got valid direction response: 20:17:41.2883 LVL= 32752, 32753, 21842, 32755, AGC= 70, IDX= 488,-0.43, 2.785, 1.839,-2.794, 2.691, PHS= 0.181,-0.805, 0.795, RAW= 172.3, -2.5, CAL= 173.9, -10.1, ROT= 336.1, 10.1 2025-01-08T20:17:43.147Z,1736367463.147 [DAT](INFO): DAT read: Bearing 336.1, 10.1 (Local) 2025-01-08T20:17:43.147Z,1736367463.147 [DAT](INFO): Local bearing/azimuth received: Bearing 336.1, 10.1 (Local) 2025-01-08T20:17:43.153Z,1736367463.153 [DAT](INFO): DAT read: Range 10 to 50 : 599.6 m (Round-trip 799.5 ms) speed 0.4 m/s 2025-01-08T20:17:43.154Z,1736367463.154 [DAT](INFO): DAT read: user:1220> 2025-01-08T20:17:43.155Z,1736367463.155 [DAT](INFO): DAT read: Tx time:20:17:42.3847 2025-01-08T20:17:43.168Z,1736367463.168 [DAT](INFO): Ping request sent. 2025-01-08T20:17:43.168Z,1736367463.168 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:17:43.169Z,1736367463.169 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:17:43.170Z,1736367463.170 [DAT](INFO): direction in FSK: [-0.051263,-0.982382,0.179716] 2025-01-08T20:17:43.170Z,1736367463.170 [DAT](INFO): publishing transmit ping time 2025-01-08T20:17:43.171Z,1736367463.171 [DAT](INFO): publishing direction and range info 2025-01-08T20:17:43.208Z,1736367463.208 [DAT](INFO): publishing transmit ping time 2025-01-08T20:17:43.208Z,1736367463.208 [DAT](INFO): publishing direction and range info 2025-01-08T20:17:43.372Z,1736367463.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:43.372Z,1736367463.372 [DAT](INFO): DAT read: TxSync time:20:17:42.3839 2025-01-08T20:17:43.446Z,1736367463.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:43.477Z,1736367463.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 599.599976 m, deltaT: 4.286444 s, deltaX: -3.000000 m, approachRate: -0.699881 m/s, rangeRepo size: 4 2025-01-08T20:17:43.485Z,1736367463.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 599.599976 m, bearing: 24.821205 deg, lat: 36.910545 deg, lon: -122.123097 deg, deltaT: 4.286444 s, deltaX: -3.000000 m, approachRate: -0.699881 m/s, posRepo size: 4 2025-01-08T20:17:43.486Z,1736367463.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:43.499Z,1736367463.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.684753 m, bearing: 20.812977 deg, approach rate: 0.000000 m/s, LOS rate: -0.067063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806126 deg. 2025-01-08T20:17:43.500Z,1736367463.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056105 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:43.624Z,1736367463.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:43.804Z,1736367463.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:43.811Z,1736367463.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:43.813Z,1736367463.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:43.816Z,1736367463.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.691589 m, bearing: 20.787664 deg, approach rate: 0.020336 m/s, LOS rate: -0.075302 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818619 deg. 2025-01-08T20:17:43.817Z,1736367463.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056323 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:43.877Z,1736367463.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:43.877Z,1736367463.877 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:17:43.877Z,1736367463.877 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:17:43.878Z,1736367463.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:44.129Z,1736367464.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:44.132Z,1736367464.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.962835 2025-01-08T20:17:44.261Z,1736367464.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:44.270Z,1736367464.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:44.277Z,1736367464.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.700989 m, bearing: 20.755416 deg, approach rate: 0.020548 m/s, LOS rate: -0.070498 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797813 deg. 2025-01-08T20:17:44.278Z,1736367464.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055960 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:44.380Z,1736367464.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:44.381Z,1736367464.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213266 2025-01-08T20:17:44.632Z,1736367464.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:44.632Z,1736367464.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464416 2025-01-08T20:17:44.651Z,1736367464.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:44.689Z,1736367464.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:44.696Z,1736367464.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.710144 m, bearing: 20.727906 deg, approach rate: 0.021851 m/s, LOS rate: -0.065657 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812027 deg. 2025-01-08T20:17:44.697Z,1736367464.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056208 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:44.884Z,1736367464.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:44.884Z,1736367464.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716353 2025-01-08T20:17:45.013Z,1736367465.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:45.022Z,1736367465.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:45.026Z,1736367465.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.718567 m, bearing: 20.702249 deg, approach rate: 0.025279 m/s, LOS rate: -0.077000 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817589 deg. 2025-01-08T20:17:45.027Z,1736367465.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056305 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:45.140Z,1736367465.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:45.146Z,1736367465.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974744 2025-01-08T20:17:45.392Z,1736367465.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:45.393Z,1736367465.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225417 2025-01-08T20:17:45.478Z,1736367465.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:45.486Z,1736367465.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:45.493Z,1736367465.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.727356 m, bearing: 20.669870 deg, approach rate: 0.018955 m/s, LOS rate: -0.069829 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797420 deg. 2025-01-08T20:17:45.495Z,1736367465.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055953 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:45.644Z,1736367465.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:45.644Z,1736367465.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476356 2025-01-08T20:17:45.833Z,1736367465.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:45.841Z,1736367465.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:45.843Z,1736367465.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:45.846Z,1736367465.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.733948 m, bearing: 20.645093 deg, approach rate: 0.018474 m/s, LOS rate: -0.069441 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820225 deg. 2025-01-08T20:17:45.847Z,1736367465.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056351 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:45.896Z,1736367465.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:45.897Z,1736367465.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728499 2025-01-08T20:17:46.150Z,1736367466.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:46.155Z,1736367466.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986197 2025-01-08T20:17:46.264Z,1736367466.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:46.274Z,1736367466.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:46.276Z,1736367466.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.749817 m, bearing: 20.614784 deg, approach rate: 0.036846 m/s, LOS rate: -0.070371 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803633 deg. 2025-01-08T20:17:46.278Z,1736367466.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056061 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:46.402Z,1736367466.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:46.402Z,1736367466.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234477 2025-01-08T20:17:46.643Z,1736367466.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:46.653Z,1736367466.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:46.654Z,1736367466.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485919 2025-01-08T20:17:46.666Z,1736367466.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:46.671Z,1736367466.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.763794 m, bearing: 20.588106 deg, approach rate: 0.035635 m/s, LOS rate: -0.068015 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814525 deg. 2025-01-08T20:17:46.673Z,1736367466.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056251 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:46.904Z,1736367466.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:46.905Z,1736367466.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.737202 2025-01-08T20:17:47.043Z,1736367467.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:47.053Z,1736367467.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:47.056Z,1736367467.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.778625 m, bearing: 20.559923 deg, approach rate: 0.038291 m/s, LOS rate: -0.072760 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810009 deg. 2025-01-08T20:17:47.057Z,1736367467.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056173 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:47.159Z,1736367467.159 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:47.164Z,1736367467.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.995684 2025-01-08T20:17:47.408Z,1736367467.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:47.408Z,1736367467.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.240304 2025-01-08T20:17:47.498Z,1736367467.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:47.520Z,1736367467.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:47.529Z,1736367467.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.802856 m, bearing: 20.528363 deg, approach rate: 0.051899 m/s, LOS rate: -0.067592 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.799882 deg. 2025-01-08T20:17:47.530Z,1736367467.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055996 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:47.660Z,1736367467.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:47.661Z,1736367467.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.493245 2025-01-08T20:17:47.854Z,1736367467.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:47.861Z,1736367467.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:47.863Z,1736367467.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:47.866Z,1736367467.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.822144 m, bearing: 20.503685 deg, approach rate: 0.056287 m/s, LOS rate: -0.072020 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820523 deg. 2025-01-08T20:17:47.867Z,1736367467.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056356 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:47.913Z,1736367467.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:47.914Z,1736367467.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.745713 2025-01-08T20:17:48.166Z,1736367468.166 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:48.171Z,1736367468.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.002121 2025-01-08T20:17:48.284Z,1736367468.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:48.298Z,1736367468.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:48.301Z,1736367468.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.851257 m, bearing: 20.474476 deg, approach rate: 0.066945 m/s, LOS rate: -0.067161 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806935 deg. 2025-01-08T20:17:48.323Z,1736367468.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056119 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:48.416Z,1736367468.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:48.417Z,1736367468.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.249267 2025-01-08T20:17:48.669Z,1736367468.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:48.670Z,1736367468.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.501694 2025-01-08T20:17:48.674Z,1736367468.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:48.687Z,1736367468.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:48.690Z,1736367468.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.877747 m, bearing: 20.448057 deg, approach rate: 0.067991 m/s, LOS rate: -0.067808 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815303 deg. 2025-01-08T20:17:48.691Z,1736367468.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056265 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:48.921Z,1736367468.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:48.922Z,1736367468.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.753728 2025-01-08T20:17:49.084Z,1736367469.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:49.093Z,1736367469.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:49.096Z,1736367469.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.905762 m, bearing: 20.420312 deg, approach rate: 0.069014 m/s, LOS rate: -0.068345 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811325 deg. 2025-01-08T20:17:49.097Z,1736367469.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056195 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:49.173Z,1736367469.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:49.176Z,1736367469.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.007078 2025-01-08T20:17:49.424Z,1736367469.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:49.424Z,1736367469.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.256329 2025-01-08T20:17:49.533Z,1736367469.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:49.541Z,1736367469.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:49.544Z,1736367469.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.949280 m, bearing: 20.390766 deg, approach rate: 0.097094 m/s, LOS rate: -0.065916 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805925 deg. 2025-01-08T20:17:49.545Z,1736367469.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056101 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:49.677Z,1736367469.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:49.678Z,1736367469.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.509761 2025-01-08T20:17:49.891Z,1736367469.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:49.911Z,1736367469.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:49.913Z,1736367469.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:49.917Z,1736367469.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 598.983704 m, bearing: 20.367261 deg, approach rate: 0.092558 m/s, LOS rate: -0.063194 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824048 deg. 2025-01-08T20:17:49.918Z,1736367469.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056417 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:49.928Z,1736367469.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:49.929Z,1736367469.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.760506 2025-01-08T20:17:50.180Z,1736367470.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:50.181Z,1736367470.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.012543 2025-01-08T20:17:50.314Z,1736367470.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:50.324Z,1736367470.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:50.326Z,1736367470.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.032043 m, bearing: 20.340562 deg, approach rate: 0.117738 m/s, LOS rate: -0.065026 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814463 deg. 2025-01-08T20:17:50.328Z,1736367470.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056250 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:50.432Z,1736367470.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:50.433Z,1736367470.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.264630 2025-01-08T20:17:50.684Z,1736367470.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:50.685Z,1736367470.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.516506 2025-01-08T20:17:50.692Z,1736367470.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:50.729Z,1736367470.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:50.732Z,1736367470.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.075562 m, bearing: 20.316655 deg, approach rate: 0.107515 m/s, LOS rate: -0.059060 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822841 deg. 2025-01-08T20:17:50.733Z,1736367470.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056396 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:50.937Z,1736367470.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:50.938Z,1736367470.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.769778 2025-01-08T20:17:51.086Z,1736367471.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:51.095Z,1736367471.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:51.098Z,1736367471.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.120361 m, bearing: 20.291861 deg, approach rate: 0.122224 m/s, LOS rate: -0.067636 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820183 deg. 2025-01-08T20:17:51.099Z,1736367471.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056350 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:51.190Z,1736367471.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:51.205Z,1736367471.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.036331 2025-01-08T20:17:51.440Z,1736367471.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:51.440Z,1736367471.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.272442 2025-01-08T20:17:51.445Z,1736367471.445 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:17:51.550Z,1736367471.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:51.562Z,1736367471.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:51.565Z,1736367471.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.178894 m, bearing: 20.263655 deg, approach rate: 0.125245 m/s, LOS rate: -0.060349 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809946 deg. 2025-01-08T20:17:51.566Z,1736367471.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056171 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:51.692Z,1736367471.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:51.692Z,1736367471.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.524443 2025-01-08T20:17:51.902Z,1736367471.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:51.911Z,1736367471.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:51.914Z,1736367471.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.222900 m, bearing: 20.242272 deg, approach rate: 0.126301 m/s, LOS rate: -0.061368 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830411 deg. 2025-01-08T20:17:51.915Z,1736367471.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056529 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:51.944Z,1736367471.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:51.944Z,1736367471.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.776440 2025-01-08T20:17:52.202Z,1736367472.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:52.203Z,1736367472.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.035353 2025-01-08T20:17:52.386Z,1736367472.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:52.393Z,1736367472.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:52.395Z,1736367472.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:52.398Z,1736367472.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.282654 m, bearing: 20.212873 deg, approach rate: 0.123435 m/s, LOS rate: -0.060723 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806370 deg. 2025-01-08T20:17:52.399Z,1736367472.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056109 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:52.448Z,1736367472.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:52.450Z,1736367472.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.281310 2025-01-08T20:17:52.451Z,1736367472.451 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:17:52.700Z,1736367472.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:52.700Z,1736367472.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.532344 2025-01-08T20:17:52.747Z,1736367472.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:52.757Z,1736367472.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:52.776Z,1736367472.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.327026 m, bearing: 20.190854 deg, approach rate: 0.122659 m/s, LOS rate: -0.060863 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.828505 deg. 2025-01-08T20:17:52.777Z,1736367472.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056495 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:52.953Z,1736367472.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:52.954Z,1736367472.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.785643 2025-01-08T20:17:53.155Z,1736367473.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:53.164Z,1736367473.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:53.167Z,1736367473.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.376892 m, bearing: 20.166021 deg, approach rate: 0.122665 m/s, LOS rate: -0.061083 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820062 deg. 2025-01-08T20:17:53.168Z,1736367473.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056348 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:53.204Z,1736367473.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:53.204Z,1736367473.204 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:53.205Z,1736367473.205 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:53.205Z,1736367473.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:53.456Z,1736367473.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:53.456Z,1736367473.456 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:53.456Z,1736367473.456 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:53.457Z,1736367473.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:53.573Z,1736367473.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:53.588Z,1736367473.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:53.593Z,1736367473.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.422119 m, bearing: 20.141204 deg, approach rate: 0.106752 m/s, LOS rate: -0.058571 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820113 deg. 2025-01-08T20:17:53.594Z,1736367473.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056349 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:53.709Z,1736367473.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:53.709Z,1736367473.709 [DAT](INFO): Reached modem response timeout 2025-01-08T20:17:53.710Z,1736367473.710 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:17:53.710Z,1736367473.710 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:17:53.951Z,1736367473.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:53.960Z,1736367473.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:53.961Z,1736367473.961 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:17:53.961Z,1736367473.961 [DAT](INFO): response not received 2025-01-08T20:17:53.961Z,1736367473.961 [DAT](INFO): DAT read: user:1221> 2025-01-08T20:17:53.962Z,1736367473.962 [DAT](INFO): DAT read: Tx time:20:17:53.3348 2025-01-08T20:17:53.962Z,1736367473.962 [DAT](INFO): Ping request sent. 2025-01-08T20:17:53.962Z,1736367473.962 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:17:53.963Z,1736367473.963 [DAT](INFO): publishing transmit ping time 2025-01-08T20:17:53.963Z,1736367473.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000873 2025-01-08T20:17:53.985Z,1736367473.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:53.993Z,1736367473.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.463501 m, bearing: 20.118474 deg, approach rate: 0.103984 m/s, LOS rate: -0.057112 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826371 deg. 2025-01-08T20:17:53.994Z,1736367473.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056458 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:54.212Z,1736367474.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:54.212Z,1736367474.212 [DAT](INFO): DAT read: TxSync time:20:17:53.3340 2025-01-08T20:17:54.213Z,1736367474.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250723 2025-01-08T20:17:54.408Z,1736367474.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:54.415Z,1736367474.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:54.417Z,1736367474.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:54.421Z,1736367474.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.505005 m, bearing: 20.090347 deg, approach rate: 0.096022 m/s, LOS rate: -0.065070 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810180 deg. 2025-01-08T20:17:54.422Z,1736367474.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056175 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:54.465Z,1736367474.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:54.466Z,1736367474.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503116 2025-01-08T20:17:54.716Z,1736367474.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:54.716Z,1736367474.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753959 2025-01-08T20:17:54.773Z,1736367474.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:54.782Z,1736367474.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:54.785Z,1736367474.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.538574 m, bearing: 20.067905 deg, approach rate: 0.091983 m/s, LOS rate: -0.061489 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827235 deg. 2025-01-08T20:17:54.787Z,1736367474.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056473 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:54.968Z,1736367474.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:54.969Z,1736367474.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005841 2025-01-08T20:17:55.160Z,1736367475.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:55.170Z,1736367475.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:55.173Z,1736367475.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.573914 m, bearing: 20.044108 deg, approach rate: 0.091129 m/s, LOS rate: -0.061361 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823170 deg. 2025-01-08T20:17:55.174Z,1736367475.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056402 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:55.220Z,1736367475.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:55.221Z,1736367475.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258473 2025-01-08T20:17:55.472Z,1736367475.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:55.473Z,1736367475.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510077 2025-01-08T20:17:55.583Z,1736367475.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:55.624Z,1736367475.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:55.627Z,1736367475.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.605164 m, bearing: 20.017638 deg, approach rate: 0.069543 m/s, LOS rate: -0.058902 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815152 deg. 2025-01-08T20:17:55.632Z,1736367475.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056262 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:55.725Z,1736367475.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:55.726Z,1736367475.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763559 2025-01-08T20:17:55.970Z,1736367475.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:55.976Z,1736367475.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:55.976Z,1736367475.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013948 2025-01-08T20:17:55.995Z,1736367475.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:55.998Z,1736367475.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.633423 m, bearing: 19.993366 deg, approach rate: 0.075260 m/s, LOS rate: -0.064640 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821742 deg. 2025-01-08T20:17:55.999Z,1736367475.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056377 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:56.228Z,1736367476.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:56.228Z,1736367476.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265944 2025-01-08T20:17:56.416Z,1736367476.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:56.424Z,1736367476.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:56.426Z,1736367476.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:56.430Z,1736367476.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.650818 m, bearing: 19.965694 deg, approach rate: 0.040306 m/s, LOS rate: -0.064118 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811542 deg. 2025-01-08T20:17:56.431Z,1736367476.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056199 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:56.481Z,1736367476.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:56.482Z,1736367476.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519206 2025-01-08T20:17:56.733Z,1736367476.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:56.735Z,1736367476.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771927 2025-01-08T20:17:56.781Z,1736367476.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:56.790Z,1736367476.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:56.793Z,1736367476.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.666321 m, bearing: 19.941057 deg, approach rate: 0.042613 m/s, LOS rate: -0.067717 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820649 deg. 2025-01-08T20:17:56.795Z,1736367476.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056358 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:56.984Z,1736367476.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:56.984Z,1736367476.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021904 2025-01-08T20:17:57.191Z,1736367477.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:57.200Z,1736367477.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:57.204Z,1736367477.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.683105 m, bearing: 19.914594 deg, approach rate: 0.040893 m/s, LOS rate: -0.064470 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815169 deg. 2025-01-08T20:17:57.205Z,1736367477.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056263 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:57.237Z,1736367477.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:57.237Z,1736367477.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274811 2025-01-08T20:17:57.488Z,1736367477.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:57.489Z,1736367477.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526237 2025-01-08T20:17:57.626Z,1736367477.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:57.634Z,1736367477.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:57.640Z,1736367477.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.686951 m, bearing: 19.885019 deg, approach rate: 0.008870 m/s, LOS rate: -0.068222 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805831 deg. 2025-01-08T20:17:57.644Z,1736367477.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056100 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:57.740Z,1736367477.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:57.740Z,1736367477.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777945 2025-01-08T20:17:57.992Z,1736367477.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:57.992Z,1736367477.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029890 2025-01-08T20:17:58.011Z,1736367478.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:58.020Z,1736367478.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:58.023Z,1736367478.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.690796 m, bearing: 19.858790 deg, approach rate: 0.009953 m/s, LOS rate: -0.067890 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815872 deg. 2025-01-08T20:17:58.024Z,1736367478.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056275 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:58.244Z,1736367478.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:58.245Z,1736367478.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282174 2025-01-08T20:17:58.433Z,1736367478.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:58.440Z,1736367478.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:17:58.442Z,1736367478.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:58.445Z,1736367478.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.687805 m, bearing: 19.828753 deg, approach rate: -0.007090 m/s, LOS rate: -0.071206 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804445 deg. 2025-01-08T20:17:58.446Z,1736367478.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056075 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:58.496Z,1736367478.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:58.497Z,1736367478.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535026 2025-01-08T20:17:58.748Z,1736367478.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:58.748Z,1736367478.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785878 2025-01-08T20:17:58.821Z,1736367478.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:58.829Z,1736367478.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:58.832Z,1736367478.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.685242 m, bearing: 19.801104 deg, approach rate: -0.006625 m/s, LOS rate: -0.071460 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811610 deg. 2025-01-08T20:17:58.833Z,1736367478.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056201 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:58.000Z,1736367479.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:59.000Z,1736367479.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037898 2025-01-08T20:17:59.199Z,1736367479.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:59.208Z,1736367479.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:59.211Z,1736367479.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.683899 m, bearing: 19.774197 deg, approach rate: -0.003541 m/s, LOS rate: -0.070954 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813834 deg. 2025-01-08T20:17:59.232Z,1736367479.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056239 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:59.253Z,1736367479.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:59.254Z,1736367479.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291049 2025-01-08T20:17:59.504Z,1736367479.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:59.504Z,1736367479.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541961 2025-01-08T20:17:59.664Z,1736367479.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:17:59.683Z,1736367479.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:17:59.704Z,1736367479.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.684753 m, bearing: 19.740028 deg, approach rate: 0.001801 m/s, LOS rate: -0.072016 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792051 deg. 2025-01-08T20:17:59.705Z,1736367479.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055859 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:17:59.757Z,1736367479.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:17:59.758Z,1736367479.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795518 2025-01-08T20:18:00.012Z,1736367480.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:00.013Z,1736367480.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050906 2025-01-08T20:18:00.043Z,1736367480.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:00.056Z,1736367480.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:00.059Z,1736367480.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.686157 m, bearing: 19.712250 deg, approach rate: 0.003808 m/s, LOS rate: -0.075359 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811221 deg. 2025-01-08T20:18:00.064Z,1736367480.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056194 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:00.264Z,1736367480.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:00.264Z,1736367480.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301846 2025-01-08T20:18:00.444Z,1736367480.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:00.450Z,1736367480.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:00.469Z,1736367480.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:00.476Z,1736367480.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.687622 m, bearing: 19.681807 deg, approach rate: 0.003514 m/s, LOS rate: -0.073026 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803227 deg. 2025-01-08T20:18:00.477Z,1736367480.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056054 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:00.517Z,1736367480.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:00.518Z,1736367480.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555255 2025-01-08T20:18:00.768Z,1736367480.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:00.769Z,1736367480.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806225 2025-01-08T20:18:00.824Z,1736367480.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:00.851Z,1736367480.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:00.855Z,1736367480.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.689453 m, bearing: 19.652872 deg, approach rate: 0.004785 m/s, LOS rate: -0.075614 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807752 deg. 2025-01-08T20:18:00.856Z,1736367480.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056133 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:01.020Z,1736367481.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:01.020Z,1736367481.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058028 2025-01-08T20:18:01.220Z,1736367481.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:01.229Z,1736367481.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:01.232Z,1736367481.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.692261 m, bearing: 19.622772 deg, approach rate: 0.007421 m/s, LOS rate: -0.079558 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804258 deg. 2025-01-08T20:18:01.233Z,1736367481.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056072 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:01.273Z,1736367481.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:01.273Z,1736367481.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310907 2025-01-08T20:18:01.524Z,1736367481.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:01.524Z,1736367481.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561934 2025-01-08T20:18:01.679Z,1736367481.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:01.689Z,1736367481.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:01.692Z,1736367481.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.699890 m, bearing: 19.587988 deg, approach rate: 0.016598 m/s, LOS rate: -0.075673 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790204 deg. 2025-01-08T20:18:01.693Z,1736367481.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055827 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:01.776Z,1736367481.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:01.777Z,1736367481.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814622 2025-01-08T20:18:02.028Z,1736367482.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:02.028Z,1736367482.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065982 2025-01-08T20:18:02.032Z,1736367482.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:02.041Z,1736367482.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:02.045Z,1736367482.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.706726 m, bearing: 19.561165 deg, approach rate: 0.019410 m/s, LOS rate: -0.076160 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814089 deg. 2025-01-08T20:18:02.046Z,1736367482.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056244 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:02.280Z,1736367482.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:02.282Z,1736367482.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319289 2025-01-08T20:18:02.476Z,1736367482.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:02.483Z,1736367482.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:02.487Z,1736367482.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:02.490Z,1736367482.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.728088 m, bearing: 19.528382 deg, approach rate: 0.048087 m/s, LOS rate: -0.073792 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796212 deg. 2025-01-08T20:18:02.492Z,1736367482.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055932 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:02.532Z,1736367482.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:02.533Z,1736367482.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570046 2025-01-08T20:18:02.784Z,1736367482.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:02.785Z,1736367482.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822436 2025-01-08T20:18:02.853Z,1736367482.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:02.878Z,1736367482.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:02.884Z,1736367482.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.746582 m, bearing: 19.500721 deg, approach rate: 0.047159 m/s, LOS rate: -0.070533 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811577 deg. 2025-01-08T20:18:02.887Z,1736367482.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056200 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:03.036Z,1736367483.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:03.037Z,1736367483.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074720 2025-01-08T20:18:03.258Z,1736367483.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:03.267Z,1736367483.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:03.270Z,1736367483.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.766785 m, bearing: 19.470677 deg, approach rate: 0.051918 m/s, LOS rate: -0.077207 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804428 deg. 2025-01-08T20:18:03.272Z,1736367483.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056075 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:03.290Z,1736367483.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:03.290Z,1736367483.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327723 2025-01-08T20:18:03.540Z,1736367483.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:03.541Z,1736367483.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578237 2025-01-08T20:18:03.688Z,1736367483.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:03.716Z,1736367483.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:03.718Z,1736367483.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.796448 m, bearing: 19.440412 deg, approach rate: 0.066053 m/s, LOS rate: -0.067391 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803765 deg. 2025-01-08T20:18:03.724Z,1736367483.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056064 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:03.799Z,1736367483.799 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:03.800Z,1736367483.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837705 2025-01-08T20:18:04.047Z,1736367484.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:04.052Z,1736367484.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:04.053Z,1736367484.053 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:04.053Z,1736367484.053 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:04.053Z,1736367484.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:04.060Z,1736367484.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:04.062Z,1736367484.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.821777 m, bearing: 19.415093 deg, approach rate: 0.073697 m/s, LOS rate: -0.073663 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818603 deg. 2025-01-08T20:18:04.065Z,1736367484.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056323 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:04.304Z,1736367484.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:04.305Z,1736367484.305 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:04.305Z,1736367484.305 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:04.305Z,1736367484.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:04.518Z,1736367484.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:04.532Z,1736367484.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:04.538Z,1736367484.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:04.558Z,1736367484.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:04.559Z,1736367484.559 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:04.559Z,1736367484.559 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:04.559Z,1736367484.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:04.565Z,1736367484.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.865479 m, bearing: 19.383767 deg, approach rate: 0.091584 m/s, LOS rate: -0.065645 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800585 deg. 2025-01-08T20:18:04.566Z,1736367484.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056008 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:04.809Z,1736367484.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:04.809Z,1736367484.809 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:04.810Z,1736367484.810 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:04.811Z,1736367484.811 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:04.901Z,1736367484.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:04.910Z,1736367484.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:04.913Z,1736367484.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.901367 m, bearing: 19.358228 deg, approach rate: 0.096165 m/s, LOS rate: -0.068428 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817944 deg. 2025-01-08T20:18:04.914Z,1736367484.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056311 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:05.060Z,1736367485.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:05.061Z,1736367485.061 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:18:05.061Z,1736367485.061 [DAT](INFO): response not received 2025-01-08T20:18:05.061Z,1736367485.061 [DAT](INFO): DAT read: user:1222> 2025-01-08T20:18:05.062Z,1736367485.062 [DAT](INFO): DAT read: Tx time:20:18:04.2850 2025-01-08T20:18:05.062Z,1736367485.062 [DAT](INFO): Ping request sent. 2025-01-08T20:18:05.062Z,1736367485.062 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:18:05.063Z,1736367485.063 [DAT](INFO): publishing transmit ping time 2025-01-08T20:18:05.063Z,1736367485.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727 2025-01-08T20:18:05.292Z,1736367485.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:05.301Z,1736367485.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:05.306Z,1736367485.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.938110 m, bearing: 19.332150 deg, approach rate: 0.093949 m/s, LOS rate: -0.066673 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816329 deg. 2025-01-08T20:18:05.308Z,1736367485.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056283 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:05.312Z,1736367485.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:05.313Z,1736367485.313 [DAT](INFO): DAT read: TxSync time:20:18:04.2842 2025-01-08T20:18:05.313Z,1736367485.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251061 2025-01-08T20:18:05.564Z,1736367485.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:05.565Z,1736367485.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502509 2025-01-08T20:18:05.720Z,1736367485.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:05.729Z,1736367485.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:05.732Z,1736367485.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 599.994080 m, bearing: 19.305435 deg, approach rate: 0.130777 m/s, LOS rate: -0.062417 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814418 deg. 2025-01-08T20:18:05.733Z,1736367485.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056249 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:05.816Z,1736367485.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:05.817Z,1736367485.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754140 2025-01-08T20:18:06.068Z,1736367486.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:06.069Z,1736367486.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006308 2025-01-08T20:18:06.086Z,1736367486.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:06.094Z,1736367486.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:06.097Z,1736367486.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.042480 m, bearing: 19.282562 deg, approach rate: 0.132367 m/s, LOS rate: -0.062549 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.825942 deg. 2025-01-08T20:18:06.098Z,1736367486.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056451 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:06.320Z,1736367486.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:06.321Z,1736367486.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258411 2025-01-08T20:18:06.552Z,1736367486.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:06.560Z,1736367486.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:06.562Z,1736367486.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:06.565Z,1736367486.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.110046 m, bearing: 19.255288 deg, approach rate: 0.144615 m/s, LOS rate: -0.058368 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812746 deg. 2025-01-08T20:18:06.566Z,1736367486.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056220 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:06.584Z,1736367486.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:06.585Z,1736367486.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522233 2025-01-08T20:18:06.836Z,1736367486.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:06.836Z,1736367486.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774029 2025-01-08T20:18:06.913Z,1736367486.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:06.928Z,1736367486.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:06.930Z,1736367486.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.161926 m, bearing: 19.234046 deg, approach rate: 0.141899 m/s, LOS rate: -0.058096 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830835 deg. 2025-01-08T20:18:06.932Z,1736367486.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056536 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:07.088Z,1736367487.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:07.088Z,1736367487.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026032 2025-01-08T20:18:07.301Z,1736367487.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:07.310Z,1736367487.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:07.313Z,1736367487.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.216492 m, bearing: 19.211280 deg, approach rate: 0.142563 m/s, LOS rate: -0.059475 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826266 deg. 2025-01-08T20:18:07.314Z,1736367487.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056456 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:07.357Z,1736367487.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:07.358Z,1736367487.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.295355 2025-01-08T20:18:07.608Z,1736367487.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:07.608Z,1736367487.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.546027 2025-01-08T20:18:07.733Z,1736367487.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:07.765Z,1736367487.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:07.772Z,1736367487.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.273438 m, bearing: 19.186289 deg, approach rate: 0.125081 m/s, LOS rate: -0.054889 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819588 deg. 2025-01-08T20:18:07.774Z,1736367487.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056340 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:07.861Z,1736367487.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:07.862Z,1736367487.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.799214 2025-01-08T20:18:08.114Z,1736367488.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:08.116Z,1736367488.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.053615 2025-01-08T20:18:08.198Z,1736367488.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:08.222Z,1736367488.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:08.236Z,1736367488.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.332886 m, bearing: 19.159362 deg, approach rate: 0.130075 m/s, LOS rate: -0.058911 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813785 deg. 2025-01-08T20:18:08.237Z,1736367488.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056238 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:08.364Z,1736367488.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:08.365Z,1736367488.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.302817 2025-01-08T20:18:08.616Z,1736367488.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:08.616Z,1736367488.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.554051 2025-01-08T20:18:08.637Z,1736367488.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:08.673Z,1736367488.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:08.677Z,1736367488.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:08.685Z,1736367488.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.397339 m, bearing: 19.134398 deg, approach rate: 0.142252 m/s, LOS rate: -0.055091 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819673 deg. 2025-01-08T20:18:08.691Z,1736367488.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056341 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:08.868Z,1736367488.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:08.870Z,1736367488.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.806787 2025-01-08T20:18:09.109Z,1736367489.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:09.120Z,1736367489.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:09.121Z,1736367489.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.058497 2025-01-08T20:18:09.145Z,1736367489.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:09.156Z,1736367489.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.466736 m, bearing: 19.107584 deg, approach rate: 0.147860 m/s, LOS rate: -0.057125 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814123 deg. 2025-01-08T20:18:09.157Z,1736367489.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056244 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:09.372Z,1736367489.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:09.372Z,1736367489.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.309908 2025-01-08T20:18:09.567Z,1736367489.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:09.576Z,1736367489.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:09.579Z,1736367489.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.520081 m, bearing: 19.081088 deg, approach rate: 0.123680 m/s, LOS rate: -0.061424 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815078 deg. 2025-01-08T20:18:09.580Z,1736367489.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056261 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:09.624Z,1736367489.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:09.625Z,1736367489.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.562554 2025-01-08T20:18:09.876Z,1736367489.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:09.877Z,1736367489.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.814112 2025-01-08T20:18:09.913Z,1736367489.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:09.924Z,1736367489.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:09.928Z,1736367489.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.559814 m, bearing: 19.061107 deg, approach rate: 0.114096 m/s, LOS rate: -0.057371 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.834618 deg. 2025-01-08T20:18:09.929Z,1736367489.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056602 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:10.128Z,1736367490.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:10.128Z,1736367490.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.065901 2025-01-08T20:18:10.297Z,1736367490.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:10.306Z,1736367490.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:10.310Z,1736367490.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.604004 m, bearing: 19.038799 deg, approach rate: 0.115653 m/s, LOS rate: -0.058382 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827636 deg. 2025-01-08T20:18:10.311Z,1736367490.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056480 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:10.378Z,1736367490.378 [CTD_Seabird](ERROR): Failed to parse device response: 62.99,10.1745,3.084.00 2025-01-08T20:18:10.380Z,1736367490.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:10.380Z,1736367490.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.318070 2025-01-08T20:18:10.632Z,1736367490.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:10.632Z,1736367490.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.569989 2025-01-08T20:18:10.735Z,1736367490.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:10.757Z,1736367490.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:10.760Z,1736367490.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:10.762Z,1736367490.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.645081 m, bearing: 19.012188 deg, approach rate: 0.090712 m/s, LOS rate: -0.058763 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814729 deg. 2025-01-08T20:18:10.764Z,1736367490.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056255 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:10.884Z,1736367490.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:10.884Z,1736367490.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.822016 2025-01-08T20:18:11.104Z,1736367491.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:11.128Z,1736367491.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:11.131Z,1736367491.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.679565 m, bearing: 18.989770 deg, approach rate: 0.093467 m/s, LOS rate: -0.060758 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827306 deg. 2025-01-08T20:18:11.136Z,1736367491.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:11.137Z,1736367491.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.074582 2025-01-08T20:18:11.138Z,1736367491.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056474 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:11.388Z,1736367491.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:11.389Z,1736367491.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.326788 2025-01-08T20:18:11.571Z,1736367491.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:11.588Z,1736367491.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:11.591Z,1736367491.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.723145 m, bearing: 18.961606 deg, approach rate: 0.094778 m/s, LOS rate: -0.061248 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810071 deg. 2025-01-08T20:18:11.592Z,1736367491.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056174 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:11.640Z,1736367491.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:11.641Z,1736367491.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.578597 2025-01-08T20:18:11.892Z,1736367491.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:11.893Z,1736367491.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.830229 2025-01-08T20:18:11.955Z,1736367491.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:11.963Z,1736367491.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:11.966Z,1736367491.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.748596 m, bearing: 18.937239 deg, approach rate: 0.067885 m/s, LOS rate: -0.064990 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821458 deg. 2025-01-08T20:18:11.968Z,1736367491.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056372 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:12.144Z,1736367492.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:12.144Z,1736367492.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.081978 2025-01-08T20:18:12.324Z,1736367492.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:12.333Z,1736367492.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:12.336Z,1736367492.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.773438 m, bearing: 18.914000 deg, approach rate: 0.067176 m/s, LOS rate: -0.062838 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824844 deg. 2025-01-08T20:18:12.337Z,1736367492.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056432 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:12.396Z,1736367492.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:12.397Z,1736367492.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.334287 2025-01-08T20:18:12.649Z,1736367492.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:12.650Z,1736367492.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.587308 2025-01-08T20:18:12.743Z,1736367492.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:12.751Z,1736367492.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:12.755Z,1736367492.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.794128 m, bearing: 18.886337 deg, approach rate: 0.049445 m/s, LOS rate: -0.066105 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811569 deg. 2025-01-08T20:18:12.777Z,1736367492.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056200 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:12.900Z,1736367492.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:12.901Z,1736367492.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.838768 2025-01-08T20:18:13.125Z,1736367493.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:13.131Z,1736367493.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:13.133Z,1736367493.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:13.152Z,1736367493.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:13.153Z,1736367493.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.090806 2025-01-08T20:18:13.154Z,1736367493.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.813599 m, bearing: 18.861111 deg, approach rate: 0.050989 m/s, LOS rate: -0.066059 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818883 deg. 2025-01-08T20:18:13.160Z,1736367493.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056327 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:13.404Z,1736367493.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:13.404Z,1736367493.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.342043 2025-01-08T20:18:13.597Z,1736367493.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:13.613Z,1736367493.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:13.621Z,1736367493.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.838257 m, bearing: 18.829910 deg, approach rate: 0.051347 m/s, LOS rate: -0.064969 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800957 deg. 2025-01-08T20:18:13.622Z,1736367493.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056015 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:13.656Z,1736367493.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:13.658Z,1736367493.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.594938 2025-01-08T20:18:13.909Z,1736367493.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:13.911Z,1736367493.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.847960 2025-01-08T20:18:13.988Z,1736367493.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:13.997Z,1736367493.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:13.999Z,1736367493.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.848877 m, bearing: 18.802385 deg, approach rate: 0.027715 m/s, LOS rate: -0.071831 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811981 deg. 2025-01-08T20:18:14.001Z,1736367494.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056207 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:14.160Z,1736367494.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:14.161Z,1736367494.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.098186 2025-01-08T20:18:14.346Z,1736367494.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:14.356Z,1736367494.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:14.358Z,1736367494.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.859192 m, bearing: 18.777250 deg, approach rate: 0.028751 m/s, LOS rate: -0.070058 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819153 deg. 2025-01-08T20:18:14.360Z,1736367494.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056332 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:14.413Z,1736367494.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:14.414Z,1736367494.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.351418 2025-01-08T20:18:14.665Z,1736367494.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:14.667Z,1736367494.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.604149 2025-01-08T20:18:14.777Z,1736367494.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:14.786Z,1736367494.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:14.789Z,1736367494.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.868530 m, bearing: 18.746342 deg, approach rate: 0.021719 m/s, LOS rate: -0.071881 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801837 deg. 2025-01-08T20:18:14.790Z,1736367494.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056030 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:14.916Z,1736367494.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:14.916Z,1736367494.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.854049 2025-01-08T20:18:15.151Z,1736367495.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:15.168Z,1736367495.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:15.168Z,1736367495.168 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:15.169Z,1736367495.169 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:15.170Z,1736367495.170 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:15.175Z,1736367495.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:15.177Z,1736367495.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:15.180Z,1736367495.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.877563 m, bearing: 18.719519 deg, approach rate: 0.023037 m/s, LOS rate: -0.068405 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814088 deg. 2025-01-08T20:18:15.181Z,1736367495.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056244 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:15.420Z,1736367495.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:15.421Z,1736367495.421 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:15.421Z,1736367495.421 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:15.422Z,1736367495.422 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:15.628Z,1736367495.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:15.638Z,1736367495.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:15.641Z,1736367495.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.889526 m, bearing: 18.685285 deg, approach rate: 0.025978 m/s, LOS rate: -0.074341 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.791855 deg. 2025-01-08T20:18:15.642Z,1736367495.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055856 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:15.672Z,1736367495.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:15.673Z,1736367495.673 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:15.673Z,1736367495.673 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:15.674Z,1736367495.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:15.924Z,1736367495.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:15.925Z,1736367495.925 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:18:15.925Z,1736367495.925 [DAT](INFO): response not received 2025-01-08T20:18:15.925Z,1736367495.925 [DAT](INFO): DAT read: user:1223> 2025-01-08T20:18:15.926Z,1736367495.926 [DAT](INFO): DAT read: Tx time:20:18:15.2350 2025-01-08T20:18:15.926Z,1736367495.926 [DAT](INFO): Ping request sent. 2025-01-08T20:18:15.926Z,1736367495.926 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:18:15.926Z,1736367495.926 [DAT](INFO): publishing transmit ping time 2025-01-08T20:18:15.927Z,1736367495.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765 2025-01-08T20:18:16.075Z,1736367496.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:16.089Z,1736367496.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:16.096Z,1736367496.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.901733 m, bearing: 18.652092 deg, approach rate: 0.027052 m/s, LOS rate: -0.073556 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794980 deg. 2025-01-08T20:18:16.097Z,1736367496.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055910 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:16.176Z,1736367496.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:16.177Z,1736367496.177 [DAT](INFO): DAT read: TxSync time:20:18:15.2342 2025-01-08T20:18:16.177Z,1736367496.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251057 2025-01-08T20:18:16.389Z,1736367496.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:16.410Z,1736367496.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:16.412Z,1736367496.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.911133 m, bearing: 18.628709 deg, approach rate: 0.029330 m/s, LOS rate: -0.072964 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824408 deg. 2025-01-08T20:18:16.414Z,1736367496.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056424 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:16.437Z,1736367496.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:16.438Z,1736367496.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.511334 2025-01-08T20:18:16.688Z,1736367496.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:16.689Z,1736367496.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762686 2025-01-08T20:18:16.830Z,1736367496.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:16.840Z,1736367496.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:16.842Z,1736367496.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.927917 m, bearing: 18.595555 deg, approach rate: 0.039057 m/s, LOS rate: -0.077146 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795097 deg. 2025-01-08T20:18:16.844Z,1736367496.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055912 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:16.941Z,1736367496.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:16.942Z,1736367496.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015623 2025-01-08T20:18:17.177Z,1736367497.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:17.188Z,1736367497.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:17.192Z,1736367497.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:17.193Z,1736367497.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266183 2025-01-08T20:18:17.193Z,1736367497.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:17.196Z,1736367497.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.941711 m, bearing: 18.569437 deg, approach rate: 0.039190 m/s, LOS rate: -0.074200 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816206 deg. 2025-01-08T20:18:17.197Z,1736367497.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056281 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:17.444Z,1736367497.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:17.445Z,1736367497.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518733 2025-01-08T20:18:17.618Z,1736367497.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:17.681Z,1736367497.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:17.689Z,1736367497.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.960144 m, bearing: 18.536334 deg, approach rate: 0.038085 m/s, LOS rate: -0.068396 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795248 deg. 2025-01-08T20:18:17.690Z,1736367497.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055915 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:17.696Z,1736367497.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:17.697Z,1736367497.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770278 2025-01-08T20:18:17.949Z,1736367497.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:17.949Z,1736367497.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022927 2025-01-08T20:18:18.115Z,1736367498.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:18.132Z,1736367498.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:18.135Z,1736367498.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 600.987793 m, bearing: 18.499257 deg, approach rate: 0.060527 m/s, LOS rate: -0.081163 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.783331 deg. 2025-01-08T20:18:18.140Z,1736367498.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055707 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:18.200Z,1736367498.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:18.202Z,1736367498.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275206 2025-01-08T20:18:18.441Z,1736367498.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:18.452Z,1736367498.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:18.453Z,1736367498.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526825 2025-01-08T20:18:18.457Z,1736367498.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:18.464Z,1736367498.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.006409 m, bearing: 18.474531 deg, approach rate: 0.057316 m/s, LOS rate: -0.076127 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820381 deg. 2025-01-08T20:18:18.465Z,1736367498.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056354 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:18.704Z,1736367498.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:18.704Z,1736367498.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778119 2025-01-08T20:18:18.854Z,1736367498.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:18.862Z,1736367498.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:18.865Z,1736367498.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.039062 m, bearing: 18.444395 deg, approach rate: 0.080533 m/s, LOS rate: -0.074318 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804155 deg. 2025-01-08T20:18:18.866Z,1736367498.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056070 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:18.956Z,1736367498.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:18.957Z,1736367498.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030269 2025-01-08T20:18:19.208Z,1736367499.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:19.209Z,1736367499.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282212 2025-01-08T20:18:19.242Z,1736367499.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:19.248Z,1736367499.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:19.250Z,1736367499.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:19.254Z,1736367499.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.070007 m, bearing: 18.416083 deg, approach rate: 0.079736 m/s, LOS rate: -0.072948 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809625 deg. 2025-01-08T20:18:19.256Z,1736367499.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056166 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:19.460Z,1736367499.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:19.461Z,1736367499.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534700 2025-01-08T20:18:19.712Z,1736367499.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:19.712Z,1736367499.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785941 2025-01-08T20:18:19.774Z,1736367499.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:18:19.774Z,1736367499.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:19.799Z,1736367499.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:19.803Z,1736367499.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.112732 m, bearing: 18.377269 deg, approach rate: 0.077908 m/s, LOS rate: -0.070773 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778122 deg. 2025-01-08T20:18:19.804Z,1736367499.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055616 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:19.964Z,1736367499.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:19.964Z,1736367499.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038014 2025-01-08T20:18:20.064Z,1736367500.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:18:20.065Z,1736367500.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:20.073Z,1736367500.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:20.076Z,1736367500.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.136047 m, bearing: 18.356111 deg, approach rate: 0.085005 m/s, LOS rate: -0.077136 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.831086 deg. 2025-01-08T20:18:20.077Z,1736367500.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056540 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:20.216Z,1736367500.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:20.217Z,1736367500.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290289 2025-01-08T20:18:20.468Z,1736367500.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:20.469Z,1736367500.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542208 2025-01-08T20:18:20.492Z,1736367500.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:18:20.492Z,1736367500.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:20.510Z,1736367500.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:20.517Z,1736367500.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.170410 m, bearing: 18.324926 deg, approach rate: 0.078662 m/s, LOS rate: -0.071384 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801007 deg. 2025-01-08T20:18:20.523Z,1736367500.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056015 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:20.720Z,1736367500.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:20.721Z,1736367500.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794316 2025-01-08T20:18:20.881Z,1736367500.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:20.891Z,1736367500.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:20.894Z,1736367500.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.217041 m, bearing: 18.298561 deg, approach rate: 0.122497 m/s, LOS rate: -0.069255 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815467 deg. 2025-01-08T20:18:20.895Z,1736367500.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056268 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:20.972Z,1736367500.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:20.973Z,1736367500.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046949 2025-01-08T20:18:21.224Z,1736367501.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:21.224Z,1736367501.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298155 2025-01-08T20:18:21.276Z,1736367501.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:21.282Z,1736367501.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:21.284Z,1736367501.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:21.288Z,1736367501.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.264282 m, bearing: 18.271840 deg, approach rate: 0.119962 m/s, LOS rate: -0.067848 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814401 deg. 2025-01-08T20:18:21.289Z,1736367501.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056249 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:21.477Z,1736367501.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:21.477Z,1736367501.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550837 2025-01-08T20:18:21.728Z,1736367501.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:21.729Z,1736367501.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802366 2025-01-08T20:18:21.743Z,1736367501.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:21.780Z,1736367501.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:21.782Z,1736367501.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.327942 m, bearing: 18.241942 deg, approach rate: 0.129682 m/s, LOS rate: -0.060900 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804871 deg. 2025-01-08T20:18:21.788Z,1736367501.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056083 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:21.980Z,1736367501.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:21.980Z,1736367501.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054127 2025-01-08T20:18:22.079Z,1736367502.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:22.087Z,1736367502.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:22.094Z,1736367502.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.373901 m, bearing: 18.220438 deg, approach rate: 0.147492 m/s, LOS rate: -0.069005 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830049 deg. 2025-01-08T20:18:22.096Z,1736367502.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056522 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:22.232Z,1736367502.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:22.232Z,1736367502.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306152 2025-01-08T20:18:22.477Z,1736367502.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:22.484Z,1736367502.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:22.484Z,1736367502.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558159 2025-01-08T20:18:22.489Z,1736367502.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:22.493Z,1736367502.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.428406 m, bearing: 18.194938 deg, approach rate: 0.135614 m/s, LOS rate: -0.063441 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818065 deg. 2025-01-08T20:18:22.494Z,1736367502.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056313 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:22.577Z,1736367502.577 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:18:22.738Z,1736367502.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:22.741Z,1736367502.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814103 2025-01-08T20:18:22.912Z,1736367502.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:22.946Z,1736367502.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:22.954Z,1736367502.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.491516 m, bearing: 18.168921 deg, approach rate: 0.140141 m/s, LOS rate: -0.057766 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816514 deg. 2025-01-08T20:18:22.960Z,1736367502.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056286 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:22.988Z,1736367502.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:22.988Z,1736367502.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062165 2025-01-08T20:18:23.240Z,1736367503.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:23.240Z,1736367503.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314093 2025-01-08T20:18:23.279Z,1736367503.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:23.287Z,1736367503.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:23.306Z,1736367503.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:23.312Z,1736367503.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.544983 m, bearing: 18.147018 deg, approach rate: 0.145960 m/s, LOS rate: -0.059788 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.828853 deg. 2025-01-08T20:18:23.314Z,1736367503.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056501 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:23.492Z,1736367503.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:23.492Z,1736367503.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566115 2025-01-08T20:18:23.580Z,1736367503.580 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:18:23.744Z,1736367503.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:23.744Z,1736367503.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818145 2025-01-08T20:18:23.753Z,1736367503.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:23.777Z,1736367503.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:23.784Z,1736367503.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.614380 m, bearing: 18.118741 deg, approach rate: 0.147286 m/s, LOS rate: -0.060007 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809735 deg. 2025-01-08T20:18:23.785Z,1736367503.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056168 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:23.996Z,1736367503.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:23.997Z,1736367503.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070299 2025-01-08T20:18:24.125Z,1736367504.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:24.133Z,1736367504.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:24.137Z,1736367504.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.670410 m, bearing: 18.097344 deg, approach rate: 0.157321 m/s, LOS rate: -0.060073 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830371 deg. 2025-01-08T20:18:24.141Z,1736367504.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056528 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:24.248Z,1736367504.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:24.249Z,1736367504.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322320 2025-01-08T20:18:24.499Z,1736367504.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:24.500Z,1736367504.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:24.500Z,1736367504.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574112 2025-01-08T20:18:24.510Z,1736367504.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:24.513Z,1736367504.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.726624 m, bearing: 18.075838 deg, approach rate: 0.148947 m/s, LOS rate: -0.056978 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830045 deg. 2025-01-08T20:18:24.514Z,1736367504.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056522 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:24.754Z,1736367504.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:24.758Z,1736367504.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830992 2025-01-08T20:18:24.916Z,1736367504.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:24.946Z,1736367504.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:24.955Z,1736367504.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.783081 m, bearing: 18.052576 deg, approach rate: 0.129451 m/s, LOS rate: -0.053333 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824776 deg. 2025-01-08T20:18:24.967Z,1736367504.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056430 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:25.004Z,1736367505.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:25.005Z,1736367505.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078549 2025-01-08T20:18:25.256Z,1736367505.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:25.256Z,1736367505.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330083 2025-01-08T20:18:25.315Z,1736367505.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:25.323Z,1736367505.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:25.325Z,1736367505.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:25.328Z,1736367505.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.836853 m, bearing: 18.030374 deg, approach rate: 0.142063 m/s, LOS rate: -0.058651 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827957 deg. 2025-01-08T20:18:25.329Z,1736367505.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056486 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:25.508Z,1736367505.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:25.508Z,1736367505.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582010 2025-01-08T20:18:25.762Z,1736367505.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:25.765Z,1736367505.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837506 2025-01-08T20:18:25.767Z,1736367505.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:25.782Z,1736367505.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:25.789Z,1736367505.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.896362 m, bearing: 18.005888 deg, approach rate: 0.130139 m/s, LOS rate: -0.053542 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821107 deg. 2025-01-08T20:18:25.790Z,1736367505.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056366 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:26.012Z,1736367506.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:26.012Z,1736367506.012 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:26.012Z,1736367506.012 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:26.013Z,1736367506.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:26.160Z,1736367506.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:26.168Z,1736367506.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:26.172Z,1736367506.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.947876 m, bearing: 17.982898 deg, approach rate: 0.133448 m/s, LOS rate: -0.059552 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.825592 deg. 2025-01-08T20:18:26.176Z,1736367506.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056444 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:26.269Z,1736367506.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:26.270Z,1736367506.270 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:26.270Z,1736367506.270 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:26.271Z,1736367506.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:26.516Z,1736367506.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:26.520Z,1736367506.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:26.521Z,1736367506.521 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:26.521Z,1736367506.521 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:26.521Z,1736367506.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:26.529Z,1736367506.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:26.532Z,1736367506.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 601.993286 m, bearing: 17.962716 deg, approach rate: 0.125872 m/s, LOS rate: -0.055938 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.834015 deg. 2025-01-08T20:18:26.533Z,1736367506.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056592 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:26.773Z,1736367506.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:26.776Z,1736367506.776 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:18:26.777Z,1736367506.777 [DAT](INFO): response not received 2025-01-08T20:18:26.778Z,1736367506.778 [DAT](INFO): DAT read: user:1224> 2025-01-08T20:18:26.780Z,1736367506.780 [DAT](ERROR): No response from remote modem. 2025-01-08T20:18:26.781Z,1736367506.781 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:26.782Z,1736367506.782 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:26.943Z,1736367506.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:26.951Z,1736367506.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:26.955Z,1736367506.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.038025 m, bearing: 17.937701 deg, approach rate: 0.105966 m/s, LOS rate: -0.059244 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819518 deg. 2025-01-08T20:18:26.956Z,1736367506.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056339 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:27.024Z,1736367507.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:27.025Z,1736367507.025 [DAT](INFO): DAT read: Tx time:20:18:2.15 2025-01-08T20:18:27.025Z,1736367507.025 [DAT](INFO): Ping request sent. 2025-01-08T20:18:27.025Z,1736367507.025 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:18:27.026Z,1736367507.026 [DAT](INFO): DAT read: TxSync time:20:18:26.1843 2025-01-08T20:18:27.026Z,1736367507.026 [DAT](INFO): publishing transmit ping time 2025-01-08T20:18:27.027Z,1736367507.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001570 2025-01-08T20:18:27.276Z,1736367507.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:27.276Z,1736367507.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251350 2025-01-08T20:18:27.333Z,1736367507.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:27.340Z,1736367507.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:27.342Z,1736367507.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:27.345Z,1736367507.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.079102 m, bearing: 17.914863 deg, approach rate: 0.105067 m/s, LOS rate: -0.058412 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826047 deg. 2025-01-08T20:18:27.346Z,1736367507.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056453 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:27.530Z,1736367507.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:27.531Z,1736367507.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506320 2025-01-08T20:18:27.729Z,1736367507.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:27.782Z,1736367507.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:27.785Z,1736367507.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759161 2025-01-08T20:18:27.802Z,1736367507.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:27.809Z,1736367507.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.121521 m, bearing: 17.891665 deg, approach rate: 0.093726 m/s, LOS rate: -0.051253 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824967 deg. 2025-01-08T20:18:27.811Z,1736367507.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056434 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:28.032Z,1736367508.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:28.032Z,1736367508.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007355 2025-01-08T20:18:28.142Z,1736367508.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:28.172Z,1736367508.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:28.181Z,1736367508.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.159424 m, bearing: 17.865734 deg, approach rate: 0.101688 m/s, LOS rate: -0.069564 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816769 deg. 2025-01-08T20:18:28.182Z,1736367508.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056291 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:28.285Z,1736367508.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:28.286Z,1736367508.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261043 2025-01-08T20:18:28.537Z,1736367508.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:28.538Z,1736367508.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512696 2025-01-08T20:18:28.556Z,1736367508.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:28.584Z,1736367508.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:28.592Z,1736367508.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.197571 m, bearing: 17.839735 deg, approach rate: 0.091541 m/s, LOS rate: -0.062386 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816564 deg. 2025-01-08T20:18:28.594Z,1736367508.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056287 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:28.789Z,1736367508.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:28.792Z,1736367508.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766487 2025-01-08T20:18:28.954Z,1736367508.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:28.963Z,1736367508.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:28.966Z,1736367508.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.228760 m, bearing: 17.811837 deg, approach rate: 0.082375 m/s, LOS rate: -0.073677 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810870 deg. 2025-01-08T20:18:28.967Z,1736367508.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056188 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:29.041Z,1736367509.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:29.042Z,1736367509.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016348 2025-01-08T20:18:29.293Z,1736367509.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:29.295Z,1736367509.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269435 2025-01-08T20:18:29.370Z,1736367509.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:29.377Z,1736367509.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:29.379Z,1736367509.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:29.382Z,1736367509.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.261658 m, bearing: 17.782700 deg, approach rate: 0.079008 m/s, LOS rate: -0.069972 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807151 deg. 2025-01-08T20:18:29.391Z,1736367509.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056123 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:29.544Z,1736367509.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:29.544Z,1736367509.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519334 2025-01-08T20:18:29.752Z,1736367509.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:29.761Z,1736367509.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:29.797Z,1736367509.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:29.800Z,1736367509.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774288 2025-01-08T20:18:29.811Z,1736367509.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.291870 m, bearing: 17.755934 deg, approach rate: 0.079085 m/s, LOS rate: -0.070062 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814261 deg. 2025-01-08T20:18:29.826Z,1736367509.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056247 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:30.051Z,1736367510.051 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:30.052Z,1736367510.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026458 2025-01-08T20:18:30.181Z,1736367510.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:30.218Z,1736367510.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:30.225Z,1736367510.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.321716 m, bearing: 17.725591 deg, approach rate: 0.065374 m/s, LOS rate: -0.066458 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803532 deg. 2025-01-08T20:18:30.226Z,1736367510.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056060 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:30.304Z,1736367510.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:30.307Z,1736367510.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281232 2025-01-08T20:18:30.556Z,1736367510.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:30.556Z,1736367510.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531401 2025-01-08T20:18:30.566Z,1736367510.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:30.591Z,1736367510.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:30.594Z,1736367510.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.349060 m, bearing: 17.698398 deg, approach rate: 0.076524 m/s, LOS rate: -0.076098 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812981 deg. 2025-01-08T20:18:30.599Z,1736367510.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056224 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:30.810Z,1736367510.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:30.813Z,1736367510.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787552 2025-01-08T20:18:30.991Z,1736367510.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:31.021Z,1736367511.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:31.028Z,1736367511.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.374512 m, bearing: 17.666428 deg, approach rate: 0.057113 m/s, LOS rate: -0.071738 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798650 deg. 2025-01-08T20:18:31.029Z,1736367511.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055974 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:31.060Z,1736367511.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:31.061Z,1736367511.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035454 2025-01-08T20:18:31.312Z,1736367511.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:31.314Z,1736367511.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288796 2025-01-08T20:18:31.368Z,1736367511.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:31.378Z,1736367511.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:31.381Z,1736367511.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.397400 m, bearing: 17.638097 deg, approach rate: 0.064107 m/s, LOS rate: -0.079349 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809566 deg. 2025-01-08T20:18:31.382Z,1736367511.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056165 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:31.564Z,1736367511.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:31.565Z,1736367511.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539446 2025-01-08T20:18:31.764Z,1736367511.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:31.772Z,1736367511.772 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:31.776Z,1736367511.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:31.818Z,1736367511.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:31.821Z,1736367511.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795053 2025-01-08T20:18:31.822Z,1736367511.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.421753 m, bearing: 17.608321 deg, approach rate: 0.061392 m/s, LOS rate: -0.075059 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805233 deg. 2025-01-08T20:18:31.837Z,1736367511.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056089 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:32.070Z,1736367512.070 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:32.077Z,1736367512.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046044 2025-01-08T20:18:32.196Z,1736367512.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:32.228Z,1736367512.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:32.239Z,1736367512.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.453979 m, bearing: 17.576003 deg, approach rate: 0.072012 m/s, LOS rate: -0.072212 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797608 deg. 2025-01-08T20:18:32.244Z,1736367512.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055956 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:32.321Z,1736367512.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:32.322Z,1736367512.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296521 2025-01-08T20:18:32.572Z,1736367512.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:32.573Z,1736367512.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547491 2025-01-08T20:18:32.591Z,1736367512.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:32.600Z,1736367512.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:32.604Z,1736367512.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.483826 m, bearing: 17.546452 deg, approach rate: 0.078935 m/s, LOS rate: -0.078149 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805909 deg. 2025-01-08T20:18:32.605Z,1736367512.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056101 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:32.826Z,1736367512.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:32.828Z,1736367512.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802234 2025-01-08T20:18:33.006Z,1736367513.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:33.039Z,1736367513.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:33.046Z,1736367513.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.518799 m, bearing: 17.515522 deg, approach rate: 0.079691 m/s, LOS rate: -0.070476 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801770 deg. 2025-01-08T20:18:33.051Z,1736367513.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056029 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:33.076Z,1736367513.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:33.077Z,1736367513.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051504 2025-01-08T20:18:33.328Z,1736367513.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:33.328Z,1736367513.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303290 2025-01-08T20:18:33.409Z,1736367513.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:33.417Z,1736367513.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:33.441Z,1736367513.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.552612 m, bearing: 17.485469 deg, approach rate: 0.089309 m/s, LOS rate: -0.079370 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804405 deg. 2025-01-08T20:18:33.442Z,1736367513.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056075 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:33.580Z,1736367513.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:33.580Z,1736367513.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555228 2025-01-08T20:18:33.804Z,1736367513.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:33.833Z,1736367513.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:33.836Z,1736367513.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810314 2025-01-08T20:18:33.866Z,1736367513.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:33.889Z,1736367513.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:33.897Z,1736367513.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.585388 m, bearing: 17.456424 deg, approach rate: 0.070416 m/s, LOS rate: -0.062397 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807426 deg. 2025-01-08T20:18:33.899Z,1736367513.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056128 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:34.084Z,1736367514.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:34.084Z,1736367514.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059350 2025-01-08T20:18:34.281Z,1736367514.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:34.289Z,1736367514.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:34.292Z,1736367514.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.631775 m, bearing: 17.421672 deg, approach rate: 0.114145 m/s, LOS rate: -0.085509 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790308 deg. 2025-01-08T20:18:34.293Z,1736367514.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055829 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:34.337Z,1736367514.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:34.338Z,1736367514.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312733 2025-01-08T20:18:34.588Z,1736367514.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:34.588Z,1736367514.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563380 2025-01-08T20:18:34.623Z,1736367514.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:34.631Z,1736367514.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:34.634Z,1736367514.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.664795 m, bearing: 17.397053 deg, approach rate: 0.096631 m/s, LOS rate: -0.072041 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820704 deg. 2025-01-08T20:18:34.637Z,1736367514.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056359 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:34.840Z,1736367514.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:34.841Z,1736367514.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815668 2025-01-08T20:18:35.031Z,1736367515.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:35.064Z,1736367515.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:35.066Z,1736367515.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.710815 m, bearing: 17.368921 deg, approach rate: 0.107419 m/s, LOS rate: -0.065661 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810166 deg. 2025-01-08T20:18:35.072Z,1736367515.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056175 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:35.092Z,1736367515.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:35.092Z,1736367515.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067353 2025-01-08T20:18:35.346Z,1736367515.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:35.348Z,1736367515.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322502 2025-01-08T20:18:35.416Z,1736367515.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:35.425Z,1736367515.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:35.428Z,1736367515.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.754333 m, bearing: 17.342439 deg, approach rate: 0.119045 m/s, LOS rate: -0.072438 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815116 deg. 2025-01-08T20:18:35.429Z,1736367515.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056262 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:35.598Z,1736367515.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:35.599Z,1736367515.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574286 2025-01-08T20:18:35.809Z,1736367515.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:35.818Z,1736367515.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:35.821Z,1736367515.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.798767 m, bearing: 17.315349 deg, approach rate: 0.113188 m/s, LOS rate: -0.069002 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813293 deg. 2025-01-08T20:18:35.822Z,1736367515.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056230 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:35.848Z,1736367515.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:35.848Z,1736367515.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823170 2025-01-08T20:18:36.101Z,1736367516.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:36.102Z,1736367516.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076822 2025-01-08T20:18:36.238Z,1736367516.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:36.245Z,1736367516.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:36.247Z,1736367516.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:36.250Z,1736367516.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.847839 m, bearing: 17.287425 deg, approach rate: 0.114243 m/s, LOS rate: -0.065002 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810793 deg. 2025-01-08T20:18:36.252Z,1736367516.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056186 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:36.352Z,1736367516.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:36.353Z,1736367516.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327605 2025-01-08T20:18:36.604Z,1736367516.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:36.605Z,1736367516.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579426 2025-01-08T20:18:36.617Z,1736367516.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:36.626Z,1736367516.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:36.654Z,1736367516.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.890930 m, bearing: 17.262758 deg, approach rate: 0.113604 m/s, LOS rate: -0.065029 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820559 deg. 2025-01-08T20:18:36.660Z,1736367516.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056357 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:36.856Z,1736367516.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:36.857Z,1736367516.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831630 2025-01-08T20:18:37.076Z,1736367517.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:37.084Z,1736367517.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:37.088Z,1736367517.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.943298 m, bearing: 17.233474 deg, approach rate: 0.114580 m/s, LOS rate: -0.064066 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806713 deg. 2025-01-08T20:18:37.089Z,1736367517.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056115 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:37.108Z,1736367517.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:37.108Z,1736367517.108 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:37.109Z,1736367517.109 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:37.109Z,1736367517.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:37.360Z,1736367517.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:37.361Z,1736367517.361 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:37.361Z,1736367517.361 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:37.361Z,1736367517.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:37.433Z,1736367517.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:37.459Z,1736367517.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:37.462Z,1736367517.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 602.983215 m, bearing: 17.210670 deg, approach rate: 0.106269 m/s, LOS rate: -0.060706 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826149 deg. 2025-01-08T20:18:37.463Z,1736367517.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056454 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:37.612Z,1736367517.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:37.612Z,1736367517.612 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:37.612Z,1736367517.612 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:37.613Z,1736367517.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:37.844Z,1736367517.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:37.853Z,1736367517.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:37.864Z,1736367517.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:37.867Z,1736367517.867 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:18:37.868Z,1736367517.868 [DAT](INFO): response not received 2025-01-08T20:18:37.869Z,1736367517.869 [DAT](INFO): DAT read: user:1225> 2025-01-08T20:18:37.870Z,1736367517.870 [DAT](INFO): DAT read: Tx time:20:18:37.1353 2025-01-08T20:18:37.870Z,1736367517.870 [DAT](INFO): Ping request sent. 2025-01-08T20:18:37.870Z,1736367517.870 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:18:37.871Z,1736367517.871 [DAT](INFO): publishing transmit ping time 2025-01-08T20:18:37.872Z,1736367517.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001050 2025-01-08T20:18:37.880Z,1736367517.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.029297 m, bearing: 17.184382 deg, approach rate: 0.116874 m/s, LOS rate: -0.066667 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815700 deg. 2025-01-08T20:18:37.881Z,1736367517.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056272 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:38.116Z,1736367518.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:38.116Z,1736367518.116 [DAT](INFO): DAT read: TxSync time:20:18:37.1345 2025-01-08T20:18:38.117Z,1736367518.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246728 2025-01-08T20:18:38.251Z,1736367518.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:38.275Z,1736367518.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:38.281Z,1736367518.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:38.288Z,1736367518.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.073303 m, bearing: 17.159550 deg, approach rate: 0.102904 m/s, LOS rate: -0.058063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820065 deg. 2025-01-08T20:18:38.289Z,1736367518.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056348 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:38.368Z,1736367518.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:38.370Z,1736367518.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499374 2025-01-08T20:18:38.620Z,1736367518.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:38.621Z,1736367518.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750393 2025-01-08T20:18:38.638Z,1736367518.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:38.681Z,1736367518.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:38.686Z,1736367518.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.115479 m, bearing: 17.135903 deg, approach rate: 0.105519 m/s, LOS rate: -0.059159 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823620 deg. 2025-01-08T20:18:38.688Z,1736367518.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056410 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:38.872Z,1736367518.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:38.872Z,1736367518.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001786 2025-01-08T20:18:39.078Z,1736367519.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:39.111Z,1736367519.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:39.114Z,1736367519.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.165527 m, bearing: 17.108853 deg, approach rate: 0.117412 m/s, LOS rate: -0.063451 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813416 deg. 2025-01-08T20:18:39.124Z,1736367519.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:39.125Z,1736367519.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254242 2025-01-08T20:18:39.125Z,1736367519.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056232 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:39.376Z,1736367519.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:39.377Z,1736367519.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506123 2025-01-08T20:18:39.460Z,1736367519.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:39.488Z,1736367519.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:39.498Z,1736367519.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.209045 m, bearing: 17.085385 deg, approach rate: 0.115887 m/s, LOS rate: -0.062492 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824155 deg. 2025-01-08T20:18:39.516Z,1736367519.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056419 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:39.628Z,1736367519.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:39.628Z,1736367519.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757937 2025-01-08T20:18:39.862Z,1736367519.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:39.872Z,1736367519.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:39.874Z,1736367519.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.252808 m, bearing: 17.061377 deg, approach rate: 0.112577 m/s, LOS rate: -0.061753 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822540 deg. 2025-01-08T20:18:39.876Z,1736367519.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056391 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:39.880Z,1736367519.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:39.880Z,1736367519.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009949 2025-01-08T20:18:40.132Z,1736367520.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:40.132Z,1736367520.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261842 2025-01-08T20:18:40.288Z,1736367520.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:40.297Z,1736367520.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:40.300Z,1736367520.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:40.302Z,1736367520.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.303284 m, bearing: 17.034035 deg, approach rate: 0.117877 m/s, LOS rate: -0.063848 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812536 deg. 2025-01-08T20:18:40.304Z,1736367520.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056217 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:40.384Z,1736367520.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:40.385Z,1736367520.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514060 2025-01-08T20:18:40.637Z,1736367520.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:40.637Z,1736367520.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766717 2025-01-08T20:18:40.668Z,1736367520.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:40.702Z,1736367520.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:40.710Z,1736367520.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.346802 m, bearing: 17.010281 deg, approach rate: 0.108183 m/s, LOS rate: -0.059047 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823299 deg. 2025-01-08T20:18:40.711Z,1736367520.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056405 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:40.888Z,1736367520.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:40.888Z,1736367520.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017909 2025-01-08T20:18:41.084Z,1736367521.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:41.093Z,1736367521.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:41.116Z,1736367521.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.393982 m, bearing: 16.983670 deg, approach rate: 0.120552 m/s, LOS rate: -0.067989 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814730 deg. 2025-01-08T20:18:41.117Z,1736367521.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056255 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:41.140Z,1736367521.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:41.141Z,1736367521.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270118 2025-01-08T20:18:41.392Z,1736367521.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:41.393Z,1736367521.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522357 2025-01-08T20:18:41.477Z,1736367521.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:41.486Z,1736367521.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:41.489Z,1736367521.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.438599 m, bearing: 16.958444 deg, approach rate: 0.113656 m/s, LOS rate: -0.064256 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818884 deg. 2025-01-08T20:18:41.490Z,1736367521.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056327 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:41.644Z,1736367521.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:41.644Z,1736367521.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773920 2025-01-08T20:18:41.873Z,1736367521.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:41.881Z,1736367521.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:41.884Z,1736367521.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.483704 m, bearing: 16.933105 deg, approach rate: 0.113971 m/s, LOS rate: -0.064022 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818545 deg. 2025-01-08T20:18:41.886Z,1736367521.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056322 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:41.896Z,1736367521.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:41.896Z,1736367521.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025707 2025-01-08T20:18:42.148Z,1736367522.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:42.148Z,1736367522.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277847 2025-01-08T20:18:42.298Z,1736367522.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:42.306Z,1736367522.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:42.309Z,1736367522.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:42.312Z,1736367522.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.532410 m, bearing: 16.905256 deg, approach rate: 0.113974 m/s, LOS rate: -0.065161 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811018 deg. 2025-01-08T20:18:42.313Z,1736367522.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056190 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:42.400Z,1736367522.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:42.401Z,1736367522.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530950 2025-01-08T20:18:42.652Z,1736367522.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:42.654Z,1736367522.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782880 2025-01-08T20:18:42.700Z,1736367522.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:42.710Z,1736367522.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:42.713Z,1736367522.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.578918 m, bearing: 16.878932 deg, approach rate: 0.115944 m/s, LOS rate: -0.065619 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815592 deg. 2025-01-08T20:18:42.714Z,1736367522.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056270 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:42.904Z,1736367522.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:42.905Z,1736367522.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034550 2025-01-08T20:18:43.102Z,1736367523.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:43.111Z,1736367523.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:43.114Z,1736367523.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.625000 m, bearing: 16.852195 deg, approach rate: 0.114817 m/s, LOS rate: -0.066613 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814351 deg. 2025-01-08T20:18:43.140Z,1736367523.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056248 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:43.156Z,1736367523.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:43.157Z,1736367523.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286077 2025-01-08T20:18:43.408Z,1736367523.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:43.408Z,1736367523.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537800 2025-01-08T20:18:43.496Z,1736367523.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:43.504Z,1736367523.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:43.506Z,1736367523.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.670349 m, bearing: 16.825948 deg, approach rate: 0.115623 m/s, LOS rate: -0.066917 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815819 deg. 2025-01-08T20:18:43.508Z,1736367523.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056274 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:43.660Z,1736367523.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:43.661Z,1736367523.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790849 2025-01-08T20:18:43.889Z,1736367523.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:43.898Z,1736367523.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:43.901Z,1736367523.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.715820 m, bearing: 16.799700 deg, approach rate: 0.115280 m/s, LOS rate: -0.066540 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815819 deg. 2025-01-08T20:18:43.902Z,1736367523.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056274 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:43.912Z,1736367523.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:43.913Z,1736367523.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042001 2025-01-08T20:18:44.164Z,1736367524.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:44.164Z,1736367524.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293685 2025-01-08T20:18:44.329Z,1736367524.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:44.337Z,1736367524.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:44.339Z,1736367524.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:44.342Z,1736367524.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.767090 m, bearing: 16.770219 deg, approach rate: 0.116211 m/s, LOS rate: -0.066816 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806124 deg. 2025-01-08T20:18:44.344Z,1736367524.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056105 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:44.416Z,1736367524.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:44.416Z,1736367524.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.545863 2025-01-08T20:18:44.669Z,1736367524.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:44.670Z,1736367524.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799719 2025-01-08T20:18:44.748Z,1736367524.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:44.757Z,1736367524.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:44.760Z,1736367524.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.815979 m, bearing: 16.742190 deg, approach rate: 0.117036 m/s, LOS rate: -0.067095 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810475 deg. 2025-01-08T20:18:44.761Z,1736367524.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056181 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:44.920Z,1736367524.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:44.921Z,1736367524.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050424 2025-01-08T20:18:45.164Z,1736367525.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:45.172Z,1736367525.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:45.173Z,1736367525.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.301998 2025-01-08T20:18:45.183Z,1736367525.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:45.187Z,1736367525.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.867004 m, bearing: 16.714650 deg, approach rate: 0.121972 m/s, LOS rate: -0.065826 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811944 deg. 2025-01-08T20:18:45.193Z,1736367525.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056206 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:45.426Z,1736367525.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:45.429Z,1736367525.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557677 2025-01-08T20:18:45.509Z,1736367525.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:45.517Z,1736367525.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:45.520Z,1736367525.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.909546 m, bearing: 16.691854 deg, approach rate: 0.124382 m/s, LOS rate: -0.066647 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826173 deg. 2025-01-08T20:18:45.523Z,1736367525.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056455 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:45.676Z,1736367525.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:45.677Z,1736367525.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.806510 2025-01-08T20:18:45.928Z,1736367525.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:45.928Z,1736367525.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.057952 2025-01-08T20:18:45.929Z,1736367525.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:45.939Z,1736367525.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:45.966Z,1736367525.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 603.961548 m, bearing: 16.664061 deg, approach rate: 0.123395 m/s, LOS rate: -0.065944 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811185 deg. 2025-01-08T20:18:45.975Z,1736367525.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056193 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:46.180Z,1736367526.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:46.180Z,1736367526.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.309850 2025-01-08T20:18:46.366Z,1736367526.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:46.374Z,1736367526.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:46.376Z,1736367526.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:46.379Z,1736367526.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.015747 m, bearing: 16.635736 deg, approach rate: 0.123898 m/s, LOS rate: -0.064744 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809590 deg. 2025-01-08T20:18:46.381Z,1736367526.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056165 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:46.432Z,1736367526.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:46.433Z,1736367526.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562042 2025-01-08T20:18:46.684Z,1736367526.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:46.684Z,1736367526.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.813734 2025-01-08T20:18:46.744Z,1736367526.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:46.753Z,1736367526.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:46.756Z,1736367526.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.062805 m, bearing: 16.611217 deg, approach rate: 0.124801 m/s, LOS rate: -0.065021 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821005 deg. 2025-01-08T20:18:46.757Z,1736367526.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056365 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:46.936Z,1736367526.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:46.937Z,1736367526.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066706 2025-01-08T20:18:47.162Z,1736367527.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:47.188Z,1736367527.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:47.188Z,1736367527.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.317802 2025-01-08T20:18:47.171Z,1736367527.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:47.192Z,1736367527.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.116272 m, bearing: 16.584822 deg, approach rate: 0.127968 m/s, LOS rate: -0.063168 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815380 deg. 2025-01-08T20:18:47.193Z,1736367527.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056266 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:47.440Z,1736367527.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:47.441Z,1736367527.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570181 2025-01-08T20:18:47.563Z,1736367527.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:47.595Z,1736367527.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:47.598Z,1736367527.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.167908 m, bearing: 16.559469 deg, approach rate: 0.122897 m/s, LOS rate: -0.060339 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818502 deg. 2025-01-08T20:18:47.599Z,1736367527.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056321 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:47.692Z,1736367527.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:47.694Z,1736367527.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822581 2025-01-08T20:18:47.944Z,1736367527.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:47.944Z,1736367527.944 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:47.944Z,1736367527.944 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:47.945Z,1736367527.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:47.952Z,1736367527.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:47.961Z,1736367527.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:47.989Z,1736367527.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.218140 m, bearing: 16.534860 deg, approach rate: 0.135682 m/s, LOS rate: -0.066466 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820736 deg. 2025-01-08T20:18:47.990Z,1736367527.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056360 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:48.196Z,1736367528.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:48.197Z,1736367528.197 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:48.197Z,1736367528.197 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:48.197Z,1736367528.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:48.377Z,1736367528.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:48.404Z,1736367528.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:48.406Z,1736367528.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:48.413Z,1736367528.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.270447 m, bearing: 16.508405 deg, approach rate: 0.117595 m/s, LOS rate: -0.059470 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815199 deg. 2025-01-08T20:18:48.414Z,1736367528.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056263 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:48.449Z,1736367528.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:48.449Z,1736367528.449 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:48.450Z,1736367528.450 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:48.450Z,1736367528.450 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:48.700Z,1736367528.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:48.700Z,1736367528.700 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:18:48.701Z,1736367528.701 [DAT](INFO): response not received 2025-01-08T20:18:48.701Z,1736367528.701 [DAT](INFO): DAT read: user:1226> 2025-01-08T20:18:48.702Z,1736367528.702 [DAT](INFO): DAT read: Tx time:20:18:48.0854 2025-01-08T20:18:48.703Z,1736367528.703 [DAT](INFO): Ping request sent. 2025-01-08T20:18:48.703Z,1736367528.703 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:18:48.704Z,1736367528.704 [DAT](INFO): publishing transmit ping time 2025-01-08T20:18:48.704Z,1736367528.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001262 2025-01-08T20:18:48.796Z,1736367528.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:48.813Z,1736367528.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:48.824Z,1736367528.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.322083 m, bearing: 16.482317 deg, approach rate: 0.126900 m/s, LOS rate: -0.064107 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816301 deg. 2025-01-08T20:18:48.825Z,1736367528.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056282 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:48.952Z,1736367528.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:48.954Z,1736367528.954 [DAT](INFO): DAT read: TxSync time:20:18:48.0846 2025-01-08T20:18:48.955Z,1736367528.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251937 2025-01-08T20:18:49.204Z,1736367529.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:49.205Z,1736367529.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501515 2025-01-08T20:18:49.208Z,1736367529.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:49.217Z,1736367529.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:49.221Z,1736367529.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.372314 m, bearing: 16.456988 deg, approach rate: 0.124445 m/s, LOS rate: -0.062747 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818574 deg. 2025-01-08T20:18:49.222Z,1736367529.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056322 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:49.456Z,1736367529.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:49.456Z,1736367529.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753317 2025-01-08T20:18:49.583Z,1736367529.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:49.598Z,1736367529.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:49.600Z,1736367529.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.418091 m, bearing: 16.433978 deg, approach rate: 0.120173 m/s, LOS rate: -0.060399 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.825534 deg. 2025-01-08T20:18:49.602Z,1736367529.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056443 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:49.708Z,1736367529.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:49.709Z,1736367529.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006140 2025-01-08T20:18:49.960Z,1736367529.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:49.960Z,1736367529.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257469 2025-01-08T20:18:49.990Z,1736367529.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:49.998Z,1736367529.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:50.001Z,1736367530.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.468201 m, bearing: 16.408957 deg, approach rate: 0.124977 m/s, LOS rate: -0.062399 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819499 deg. 2025-01-08T20:18:50.004Z,1736367530.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056338 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:50.212Z,1736367530.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:50.213Z,1736367530.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510285 2025-01-08T20:18:50.392Z,1736367530.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:50.401Z,1736367530.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:50.421Z,1736367530.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.508972 m, bearing: 16.383973 deg, approach rate: 0.101276 m/s, LOS rate: -0.062056 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819610 deg. 2025-01-08T20:18:50.422Z,1736367530.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056340 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:50.464Z,1736367530.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:50.465Z,1736367530.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761612 2025-01-08T20:18:50.716Z,1736367530.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:50.716Z,1736367530.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013394 2025-01-08T20:18:50.793Z,1736367530.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:50.816Z,1736367530.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:50.822Z,1736367530.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:50.824Z,1736367530.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.548645 m, bearing: 16.359075 deg, approach rate: 0.094365 m/s, LOS rate: -0.059219 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819866 deg. 2025-01-08T20:18:50.826Z,1736367530.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056345 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:50.968Z,1736367530.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:50.969Z,1736367530.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265549 2025-01-08T20:18:51.220Z,1736367531.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:51.221Z,1736367531.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517834 2025-01-08T20:18:51.228Z,1736367531.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:51.238Z,1736367531.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:51.241Z,1736367531.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.583313 m, bearing: 16.330975 deg, approach rate: 0.083324 m/s, LOS rate: -0.067534 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810262 deg. 2025-01-08T20:18:51.242Z,1736367531.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056177 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:51.472Z,1736367531.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:51.472Z,1736367531.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769445 2025-01-08T20:18:51.604Z,1736367531.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:51.612Z,1736367531.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:51.615Z,1736367531.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.612427 m, bearing: 16.306696 deg, approach rate: 0.077662 m/s, LOS rate: -0.064763 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821722 deg. 2025-01-08T20:18:51.616Z,1736367531.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056377 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:51.724Z,1736367531.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:51.725Z,1736367531.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021965 2025-01-08T20:18:51.976Z,1736367531.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:51.976Z,1736367531.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273331 2025-01-08T20:18:52.006Z,1736367532.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:52.028Z,1736367532.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:52.030Z,1736367532.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.643738 m, bearing: 16.280719 deg, approach rate: 0.076259 m/s, LOS rate: -0.063264 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816629 deg. 2025-01-08T20:18:52.032Z,1736367532.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056288 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:52.228Z,1736367532.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:52.228Z,1736367532.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525415 2025-01-08T20:18:52.425Z,1736367532.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:52.434Z,1736367532.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:52.438Z,1736367532.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.675110 m, bearing: 16.252432 deg, approach rate: 0.076257 m/s, LOS rate: -0.068754 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809701 deg. 2025-01-08T20:18:52.440Z,1736367532.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056167 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:52.481Z,1736367532.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:52.482Z,1736367532.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779205 2025-01-08T20:18:52.732Z,1736367532.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:52.732Z,1736367532.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029348 2025-01-08T20:18:52.808Z,1736367532.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:52.816Z,1736367532.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:52.819Z,1736367532.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.704102 m, bearing: 16.226639 deg, approach rate: 0.075981 m/s, LOS rate: -0.067593 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817182 deg. 2025-01-08T20:18:52.820Z,1736367532.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056298 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:52.984Z,1736367532.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:52.984Z,1736367532.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281363 2025-01-08T20:18:53.237Z,1736367533.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:53.237Z,1736367533.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534149 2025-01-08T20:18:53.247Z,1736367533.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:53.254Z,1736367533.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:53.257Z,1736367533.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:53.260Z,1736367533.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.727722 m, bearing: 16.195152 deg, approach rate: 0.053583 m/s, LOS rate: -0.071426 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800098 deg. 2025-01-08T20:18:53.261Z,1736367533.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056000 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:53.488Z,1736367533.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:53.488Z,1736367533.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785325 2025-01-08T20:18:53.623Z,1736367533.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:53.632Z,1736367533.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:53.651Z,1736367533.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.748779 m, bearing: 16.168250 deg, approach rate: 0.056085 m/s, LOS rate: -0.071649 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813855 deg. 2025-01-08T20:18:53.654Z,1736367533.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056240 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:53.717Z,1736367533.717 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:18:53.740Z,1736367533.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:53.741Z,1736367533.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038432 2025-01-08T20:18:53.992Z,1736367533.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:53.992Z,1736367533.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289413 2025-01-08T20:18:54.024Z,1736367534.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:54.032Z,1736367534.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:54.034Z,1736367534.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.772034 m, bearing: 16.139494 deg, approach rate: 0.058258 m/s, LOS rate: -0.072041 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808289 deg. 2025-01-08T20:18:54.037Z,1736367534.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056143 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:54.244Z,1736367534.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:54.245Z,1736367534.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542065 2025-01-08T20:18:54.453Z,1736367534.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:54.470Z,1736367534.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:54.477Z,1736367534.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.797607 m, bearing: 16.106956 deg, approach rate: 0.058344 m/s, LOS rate: -0.074230 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796947 deg. 2025-01-08T20:18:54.478Z,1736367534.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055945 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:54.496Z,1736367534.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:54.497Z,1736367534.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793498 2025-01-08T20:18:54.720Z,1736367534.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:18:54.751Z,1736367534.751 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:54.751Z,1736367534.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048324 2025-01-08T20:18:54.859Z,1736367534.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:54.867Z,1736367534.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:54.871Z,1736367534.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.822083 m, bearing: 16.076083 deg, approach rate: 0.061599 m/s, LOS rate: -0.077698 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801942 deg. 2025-01-08T20:18:54.872Z,1736367534.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056032 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:55.004Z,1736367535.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:55.005Z,1736367535.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301508 2025-01-08T20:18:55.256Z,1736367535.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:55.257Z,1736367535.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553547 2025-01-08T20:18:55.262Z,1736367535.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:55.296Z,1736367535.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:55.304Z,1736367535.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:55.306Z,1736367535.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.850708 m, bearing: 16.045181 deg, approach rate: 0.066201 m/s, LOS rate: -0.071462 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801856 deg. 2025-01-08T20:18:55.312Z,1736367535.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056030 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:55.508Z,1736367535.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:55.508Z,1736367535.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805306 2025-01-08T20:18:55.632Z,1736367535.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:55.651Z,1736367535.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:55.658Z,1736367535.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.877991 m, bearing: 16.016853 deg, approach rate: 0.077770 m/s, LOS rate: -0.080746 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809576 deg. 2025-01-08T20:18:55.660Z,1736367535.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056165 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:55.761Z,1736367535.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:55.761Z,1736367535.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058228 2025-01-08T20:18:56.012Z,1736367536.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:56.013Z,1736367536.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309493 2025-01-08T20:18:56.036Z,1736367536.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:56.062Z,1736367536.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:56.070Z,1736367536.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.908447 m, bearing: 15.986011 deg, approach rate: 0.073964 m/s, LOS rate: -0.074896 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802036 deg. 2025-01-08T20:18:56.075Z,1736367536.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056033 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:56.266Z,1736367536.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:56.266Z,1736367536.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563186 2025-01-08T20:18:56.464Z,1736367536.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:56.473Z,1736367536.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:56.476Z,1736367536.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.944702 m, bearing: 15.952705 deg, approach rate: 0.088169 m/s, LOS rate: -0.080992 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794646 deg. 2025-01-08T20:18:56.478Z,1736367536.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055904 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:56.517Z,1736367536.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:56.518Z,1736367536.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814557 2025-01-08T20:18:56.768Z,1736367536.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:56.770Z,1736367536.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066645 2025-01-08T20:18:56.844Z,1736367536.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:56.853Z,1736367536.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:56.856Z,1736367536.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 604.977417 m, bearing: 15.923190 deg, approach rate: 0.086113 m/s, LOS rate: -0.077686 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806016 deg. 2025-01-08T20:18:56.857Z,1736367536.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056103 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:57.020Z,1736367537.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:57.021Z,1736367537.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317830 2025-01-08T20:18:57.272Z,1736367537.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:57.272Z,1736367537.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569455 2025-01-08T20:18:57.295Z,1736367537.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:57.301Z,1736367537.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:57.305Z,1736367537.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:57.308Z,1736367537.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.026917 m, bearing: 15.889540 deg, approach rate: 0.109650 m/s, LOS rate: -0.074536 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793613 deg. 2025-01-08T20:18:57.309Z,1736367537.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055886 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:57.525Z,1736367537.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:57.527Z,1736367537.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823606 2025-01-08T20:18:57.664Z,1736367537.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:57.682Z,1736367537.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:57.694Z,1736367537.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.067688 m, bearing: 15.861981 deg, approach rate: 0.107966 m/s, LOS rate: -0.072973 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811886 deg. 2025-01-08T20:18:57.700Z,1736367537.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056205 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:57.776Z,1736367537.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:57.777Z,1736367537.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074288 2025-01-08T20:18:58.028Z,1736367538.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:58.028Z,1736367538.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325418 2025-01-08T20:18:58.067Z,1736367538.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:58.085Z,1736367538.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:58.094Z,1736367538.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.111877 m, bearing: 15.832176 deg, approach rate: 0.109693 m/s, LOS rate: -0.073981 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805147 deg. 2025-01-08T20:18:58.095Z,1736367538.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056088 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:58.280Z,1736367538.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:58.280Z,1736367538.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577371 2025-01-08T20:18:58.496Z,1736367538.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:58.505Z,1736367538.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:58.509Z,1736367538.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.171143 m, bearing: 15.801095 deg, approach rate: 0.141040 m/s, LOS rate: -0.073958 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801325 deg. 2025-01-08T20:18:58.510Z,1736367538.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056021 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:58.532Z,1736367538.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:58.532Z,1736367538.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829437 2025-01-08T20:18:58.784Z,1736367538.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:58.784Z,1736367538.784 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:58.784Z,1736367538.784 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:58.784Z,1736367538.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:58.860Z,1736367538.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:58.885Z,1736367538.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:58.893Z,1736367538.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.220886 m, bearing: 15.774901 deg, approach rate: 0.131093 m/s, LOS rate: -0.069027 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815979 deg. 2025-01-08T20:18:58.894Z,1736367538.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056277 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:59.040Z,1736367539.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:59.040Z,1736367539.040 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:59.040Z,1736367539.040 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:59.040Z,1736367539.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:59.292Z,1736367539.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:59.292Z,1736367539.292 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:59.293Z,1736367539.293 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:59.293Z,1736367539.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:59.342Z,1736367539.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:59.349Z,1736367539.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:18:59.351Z,1736367539.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:59.354Z,1736367539.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.296753 m, bearing: 15.742482 deg, approach rate: 0.162877 m/s, LOS rate: -0.069590 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797314 deg. 2025-01-08T20:18:59.356Z,1736367539.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055951 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:59.546Z,1736367539.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:59.547Z,1736367539.547 [DAT](INFO): Reached modem response timeout 2025-01-08T20:18:59.547Z,1736367539.547 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:18:59.547Z,1736367539.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:18:59.726Z,1736367539.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:18:59.747Z,1736367539.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:18:59.750Z,1736367539.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.357117 m, bearing: 15.716591 deg, approach rate: 0.153701 m/s, LOS rate: -0.065918 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816891 deg. 2025-01-08T20:18:59.756Z,1736367539.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056293 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:18:59.797Z,1736367539.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:18:59.798Z,1736367539.798 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:18:59.799Z,1736367539.799 [DAT](INFO): response not received 2025-01-08T20:18:59.800Z,1736367539.800 [DAT](INFO): DAT read: user:1227> 2025-01-08T20:18:59.801Z,1736367539.801 [DAT](INFO): DAT read: Tx time:20:18:59.0355 2025-01-08T20:18:59.802Z,1736367539.802 [DAT](INFO): Ping request sent. 2025-01-08T20:18:59.802Z,1736367539.802 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:18:59.802Z,1736367539.802 [DAT](INFO): publishing transmit ping time 2025-01-08T20:18:59.804Z,1736367539.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002420 2025-01-08T20:19:00.052Z,1736367540.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:00.053Z,1736367540.053 [DAT](INFO): DAT read: TxSync time:20:18:59.0347 2025-01-08T20:19:00.054Z,1736367540.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252192 2025-01-08T20:19:00.094Z,1736367540.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:00.115Z,1736367540.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:00.118Z,1736367540.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.414795 m, bearing: 15.691782 deg, approach rate: 0.156728 m/s, LOS rate: -0.067408 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820136 deg. 2025-01-08T20:19:00.124Z,1736367540.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056349 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:00.304Z,1736367540.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:00.305Z,1736367540.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502823 2025-01-08T20:19:00.513Z,1736367540.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:00.522Z,1736367540.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:00.525Z,1736367540.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.487793 m, bearing: 15.666117 deg, approach rate: 0.177665 m/s, LOS rate: -0.062457 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817570 deg. 2025-01-08T20:19:00.526Z,1736367540.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056304 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:00.556Z,1736367540.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:00.560Z,1736367540.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757886 2025-01-08T20:19:00.808Z,1736367540.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:00.808Z,1736367540.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006623 2025-01-08T20:19:00.900Z,1736367540.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:00.916Z,1736367540.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:00.923Z,1736367540.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.554749 m, bearing: 15.642413 deg, approach rate: 0.169798 m/s, LOS rate: -0.060104 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823455 deg. 2025-01-08T20:19:00.926Z,1736367540.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056407 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:01.062Z,1736367541.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:01.063Z,1736367541.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261286 2025-01-08T20:19:01.316Z,1736367541.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:01.317Z,1736367541.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514798 2025-01-08T20:19:01.368Z,1736367541.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:01.375Z,1736367541.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:01.377Z,1736367541.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:01.400Z,1736367541.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.639160 m, bearing: 15.616078 deg, approach rate: 0.183095 m/s, LOS rate: -0.057116 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815561 deg. 2025-01-08T20:19:01.402Z,1736367541.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056269 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:01.568Z,1736367541.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:01.568Z,1736367541.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766521 2025-01-08T20:19:01.711Z,1736367541.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:01.720Z,1736367541.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:01.723Z,1736367541.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.700500 m, bearing: 15.596663 deg, approach rate: 0.179478 m/s, LOS rate: -0.056802 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.836317 deg. 2025-01-08T20:19:01.724Z,1736367541.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056632 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:01.821Z,1736367541.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:01.822Z,1736367541.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019735 2025-01-08T20:19:02.072Z,1736367542.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:02.072Z,1736367542.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270675 2025-01-08T20:19:02.111Z,1736367542.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:02.137Z,1736367542.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:02.144Z,1736367542.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.771179 m, bearing: 15.574099 deg, approach rate: 0.169016 m/s, LOS rate: -0.053950 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826875 deg. 2025-01-08T20:19:02.146Z,1736367542.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056467 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:02.324Z,1736367542.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:02.324Z,1736367542.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522521 2025-01-08T20:19:02.531Z,1736367542.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:02.560Z,1736367542.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:02.562Z,1736367542.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.844849 m, bearing: 15.552008 deg, approach rate: 0.174676 m/s, LOS rate: -0.052374 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.828291 deg. 2025-01-08T20:19:02.564Z,1736367542.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056492 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:02.578Z,1736367542.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:02.581Z,1736367542.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779347 2025-01-08T20:19:02.829Z,1736367542.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:02.832Z,1736367542.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029272 2025-01-08T20:19:02.916Z,1736367542.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:02.925Z,1736367542.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:02.928Z,1736367542.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.912170 m, bearing: 15.531718 deg, approach rate: 0.183941 m/s, LOS rate: -0.055432 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.833693 deg. 2025-01-08T20:19:02.929Z,1736367542.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056586 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:03.080Z,1736367543.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:03.080Z,1736367543.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278491 2025-01-08T20:19:03.332Z,1736367543.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:03.332Z,1736367543.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530499 2025-01-08T20:19:03.378Z,1736367543.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:03.400Z,1736367543.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:03.407Z,1736367543.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:03.410Z,1736367543.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 605.992310 m, bearing: 15.507427 deg, approach rate: 0.167994 m/s, LOS rate: -0.050914 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821694 deg. 2025-01-08T20:19:03.416Z,1736367543.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056376 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:03.584Z,1736367543.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:03.585Z,1736367543.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782825 2025-01-08T20:19:03.748Z,1736367543.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:03.757Z,1736367543.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:03.765Z,1736367543.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.056763 m, bearing: 15.487916 deg, approach rate: 0.181619 m/s, LOS rate: -0.054974 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.836029 deg. 2025-01-08T20:19:03.766Z,1736367543.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056627 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:03.838Z,1736367543.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:03.839Z,1736367543.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037236 2025-01-08T20:19:04.088Z,1736367544.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:04.088Z,1736367544.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286620 2025-01-08T20:19:04.145Z,1736367544.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:04.164Z,1736367544.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:04.167Z,1736367544.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.125183 m, bearing: 15.467007 deg, approach rate: 0.168017 m/s, LOS rate: -0.051338 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.831838 deg. 2025-01-08T20:19:04.172Z,1736367544.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056554 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:04.342Z,1736367544.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:04.343Z,1736367544.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.541242 2025-01-08T20:19:04.568Z,1736367544.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:19:04.568Z,1736367544.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:04.578Z,1736367544.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:04.581Z,1736367544.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.197998 m, bearing: 15.444753 deg, approach rate: 0.176127 m/s, LOS rate: -0.053824 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827800 deg. 2025-01-08T20:19:04.582Z,1736367544.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056483 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:04.592Z,1736367544.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:04.592Z,1736367544.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790657 2025-01-08T20:19:04.844Z,1736367544.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:04.844Z,1736367544.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042562 2025-01-08T20:19:04.950Z,1736367544.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:19:04.950Z,1736367544.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:04.960Z,1736367544.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:04.963Z,1736367544.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.263733 m, bearing: 15.424653 deg, approach rate: 0.172002 m/s, LOS rate: -0.052587 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.834264 deg. 2025-01-08T20:19:04.964Z,1736367544.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056596 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:05.096Z,1736367545.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:05.097Z,1736367545.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294717 2025-01-08T20:19:05.350Z,1736367545.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:05.352Z,1736367545.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549679 2025-01-08T20:19:05.439Z,1736367545.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:05.453Z,1736367545.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:05.456Z,1736367545.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:05.458Z,1736367545.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.322021 m, bearing: 15.396203 deg, approach rate: 0.117665 m/s, LOS rate: -0.057426 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809214 deg. 2025-01-08T20:19:05.460Z,1736367545.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056159 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:05.600Z,1736367545.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:05.600Z,1736367545.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798671 2025-01-08T20:19:05.752Z,1736367545.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:05.764Z,1736367545.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:05.767Z,1736367545.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.359192 m, bearing: 15.377943 deg, approach rate: 0.120678 m/s, LOS rate: -0.059279 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.839781 deg. 2025-01-08T20:19:05.768Z,1736367545.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056692 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:05.852Z,1736367545.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:05.853Z,1736367545.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050808 2025-01-08T20:19:06.104Z,1736367546.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:06.104Z,1736367546.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302637 2025-01-08T20:19:06.160Z,1736367546.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:06.172Z,1736367546.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:06.175Z,1736367546.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.407776 m, bearing: 15.354164 deg, approach rate: 0.118777 m/s, LOS rate: -0.058129 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823226 deg. 2025-01-08T20:19:06.176Z,1736367546.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056403 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:06.357Z,1736367546.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:06.360Z,1736367546.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557268 2025-01-08T20:19:06.598Z,1736367546.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:06.608Z,1736367546.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:06.609Z,1736367546.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806723 2025-01-08T20:19:06.640Z,1736367546.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:06.642Z,1736367546.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.451599 m, bearing: 15.326108 deg, approach rate: 0.094672 m/s, LOS rate: -0.060607 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810393 deg. 2025-01-08T20:19:06.653Z,1736367546.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056179 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:06.860Z,1736367546.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:06.860Z,1736367546.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058621 2025-01-08T20:19:06.975Z,1736367546.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:06.983Z,1736367546.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:06.987Z,1736367546.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.489502 m, bearing: 15.301983 deg, approach rate: 0.109036 m/s, LOS rate: -0.069397 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822186 deg. 2025-01-08T20:19:06.988Z,1736367546.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056385 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:07.113Z,1736367547.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:07.114Z,1736367547.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312290 2025-01-08T20:19:07.366Z,1736367547.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:07.369Z,1736367547.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566108 2025-01-08T20:19:07.460Z,1736367547.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:07.467Z,1736367547.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:07.470Z,1736367547.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:07.473Z,1736367547.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.527771 m, bearing: 15.268199 deg, approach rate: 0.078710 m/s, LOS rate: -0.069480 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793212 deg. 2025-01-08T20:19:07.474Z,1736367547.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055879 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:07.616Z,1736367547.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:07.616Z,1736367547.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814527 2025-01-08T20:19:07.765Z,1736367547.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:07.791Z,1736367547.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:07.797Z,1736367547.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.552429 m, bearing: 15.246984 deg, approach rate: 0.076696 m/s, LOS rate: -0.065983 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830915 deg. 2025-01-08T20:19:07.799Z,1736367547.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056537 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:07.869Z,1736367547.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:07.869Z,1736367547.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067568 2025-01-08T20:19:08.120Z,1736367548.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:08.121Z,1736367548.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319190 2025-01-08T20:19:08.173Z,1736367548.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:08.182Z,1736367548.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:08.185Z,1736367548.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.586121 m, bearing: 15.218641 deg, approach rate: 0.086112 m/s, LOS rate: -0.072437 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809533 deg. 2025-01-08T20:19:08.187Z,1736367548.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056164 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:08.374Z,1736367548.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:08.376Z,1736367548.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574068 2025-01-08T20:19:08.598Z,1736367548.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:08.608Z,1736367548.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:08.610Z,1736367548.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.617920 m, bearing: 15.187423 deg, approach rate: 0.074699 m/s, LOS rate: -0.073329 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800908 deg. 2025-01-08T20:19:08.613Z,1736367548.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056014 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:08.624Z,1736367548.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:08.625Z,1736367548.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822745 2025-01-08T20:19:08.877Z,1736367548.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:08.879Z,1736367548.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076821 2025-01-08T20:19:08.981Z,1736367548.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:09.015Z,1736367549.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:09.017Z,1736367549.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.647278 m, bearing: 15.159329 deg, approach rate: 0.072688 m/s, LOS rate: -0.069555 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810279 deg. 2025-01-08T20:19:09.019Z,1736367549.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056177 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:09.128Z,1736367549.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:09.128Z,1736367549.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326562 2025-01-08T20:19:09.382Z,1736367549.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:09.384Z,1736367549.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581622 2025-01-08T20:19:09.470Z,1736367549.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:09.476Z,1736367549.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:09.478Z,1736367549.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:09.482Z,1736367549.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.684082 m, bearing: 15.120668 deg, approach rate: 0.078810 m/s, LOS rate: -0.082782 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778579 deg. 2025-01-08T20:19:09.483Z,1736367549.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055624 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:09.632Z,1736367549.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:09.632Z,1736367549.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830611 2025-01-08T20:19:09.804Z,1736367549.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:09.812Z,1736367549.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:09.815Z,1736367549.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.709412 m, bearing: 15.094234 deg, approach rate: 0.075820 m/s, LOS rate: -0.079123 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815257 deg. 2025-01-08T20:19:09.816Z,1736367549.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056264 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:09.885Z,1736367549.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:09.885Z,1736367549.885 [DAT](INFO): Reached modem response timeout 2025-01-08T20:19:09.886Z,1736367549.886 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:09.886Z,1736367549.886 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:10.136Z,1736367550.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:10.137Z,1736367550.137 [DAT](INFO): Reached modem response timeout 2025-01-08T20:19:10.137Z,1736367550.137 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:10.137Z,1736367550.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:10.206Z,1736367550.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:10.226Z,1736367550.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:10.232Z,1736367550.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.741272 m, bearing: 15.062511 deg, approach rate: 0.077043 m/s, LOS rate: -0.076705 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.799395 deg. 2025-01-08T20:19:10.233Z,1736367550.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055987 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:10.389Z,1736367550.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:10.391Z,1736367550.391 [DAT](INFO): Reached modem response timeout 2025-01-08T20:19:10.392Z,1736367550.392 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:10.392Z,1736367550.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:10.623Z,1736367550.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:10.631Z,1736367550.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:10.634Z,1736367550.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.778381 m, bearing: 15.029232 deg, approach rate: 0.091675 m/s, LOS rate: -0.082209 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794725 deg. 2025-01-08T20:19:10.636Z,1736367550.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055906 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:10.640Z,1736367550.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:10.641Z,1736367550.641 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:19:10.641Z,1736367550.641 [DAT](INFO): response not received 2025-01-08T20:19:10.641Z,1736367550.641 [DAT](INFO): DAT read: user:1228> 2025-01-08T20:19:10.642Z,1736367550.642 [DAT](INFO): DAT read: Tx time:20:19:09.9856 2025-01-08T20:19:10.642Z,1736367550.642 [DAT](INFO): Ping request sent. 2025-01-08T20:19:10.643Z,1736367550.643 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:19:10.643Z,1736367550.643 [DAT](INFO): publishing transmit ping time 2025-01-08T20:19:10.644Z,1736367550.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000886 2025-01-08T20:19:10.892Z,1736367550.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:10.893Z,1736367550.893 [DAT](INFO): DAT read: TxSync time:20:19:09.9848 2025-01-08T20:19:10.893Z,1736367550.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250663 2025-01-08T20:19:10.999Z,1736367550.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:11.007Z,1736367551.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:11.032Z,1736367551.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.812500 m, bearing: 14.999186 deg, approach rate: 0.090716 m/s, LOS rate: -0.079882 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804424 deg. 2025-01-08T20:19:11.033Z,1736367551.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056075 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:11.144Z,1736367551.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:11.145Z,1736367551.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502598 2025-01-08T20:19:11.398Z,1736367551.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:11.400Z,1736367551.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756839 2025-01-08T20:19:11.465Z,1736367551.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:11.484Z,1736367551.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:11.486Z,1736367551.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:11.493Z,1736367551.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.854980 m, bearing: 14.961983 deg, approach rate: 0.088749 m/s, LOS rate: -0.077717 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782956 deg. 2025-01-08T20:19:11.494Z,1736367551.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055700 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:11.648Z,1736367551.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:11.650Z,1736367551.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007099 2025-01-08T20:19:11.828Z,1736367551.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:11.837Z,1736367551.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:11.840Z,1736367551.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.889038 m, bearing: 14.933534 deg, approach rate: 0.096838 m/s, LOS rate: -0.080887 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809214 deg. 2025-01-08T20:19:11.842Z,1736367551.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056159 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:11.901Z,1736367551.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:11.902Z,1736367551.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259106 2025-01-08T20:19:12.152Z,1736367552.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:12.153Z,1736367552.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510457 2025-01-08T20:19:12.229Z,1736367552.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:12.238Z,1736367552.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:12.242Z,1736367552.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.927734 m, bearing: 14.902144 deg, approach rate: 0.096448 m/s, LOS rate: -0.078232 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800393 deg. 2025-01-08T20:19:12.243Z,1736367552.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056005 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:12.405Z,1736367552.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:12.408Z,1736367552.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764836 2025-01-08T20:19:12.650Z,1736367552.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:12.657Z,1736367552.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:12.658Z,1736367552.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015014 2025-01-08T20:19:12.701Z,1736367552.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:12.709Z,1736367552.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 606.974304 m, bearing: 14.869404 deg, approach rate: 0.100773 m/s, LOS rate: -0.070841 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796344 deg. 2025-01-08T20:19:12.710Z,1736367552.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055934 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:12.908Z,1736367552.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:12.908Z,1736367552.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265640 2025-01-08T20:19:13.023Z,1736367553.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:13.032Z,1736367553.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:13.034Z,1736367553.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 607.015076 m, bearing: 14.840380 deg, approach rate: 0.123290 m/s, LOS rate: -0.087760 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807491 deg. 2025-01-08T20:19:13.036Z,1736367553.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056129 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:13.160Z,1736367553.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:13.160Z,1736367553.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517803 2025-01-08T20:19:13.412Z,1736367553.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:13.412Z,1736367553.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769723 2025-01-08T20:19:13.502Z,1736367553.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:13.517Z,1736367553.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:13.524Z,1736367553.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:13.530Z,1736367553.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 607.067383 m, bearing: 14.803126 deg, approach rate: 0.106145 m/s, LOS rate: -0.075592 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782804 deg. 2025-01-08T20:19:13.536Z,1736367553.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055698 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:13.664Z,1736367553.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:13.665Z,1736367553.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022411 2025-01-08T20:19:13.871Z,1736367553.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:13.880Z,1736367553.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:13.882Z,1736367553.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 607.116211 m, bearing: 14.775615 deg, approach rate: 0.137459 m/s, LOS rate: -0.077443 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812029 deg. 2025-01-08T20:19:13.884Z,1736367553.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056208 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:13.916Z,1736367553.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:13.917Z,1736367553.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274607 2025-01-08T20:19:14.168Z,1736367554.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:14.169Z,1736367554.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525941 2025-01-08T20:19:14.249Z,1736367554.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:14.259Z,1736367554.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:14.261Z,1736367554.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 607.166199 m, bearing: 14.747390 deg, approach rate: 0.131827 m/s, LOS rate: -0.074428 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809889 deg. 2025-01-08T20:19:14.262Z,1736367554.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056170 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:14.423Z,1736367554.423 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:14.425Z,1736367554.425 [DAT](INFO): DAT read: Rx Time:20:19:13.1167 2025-01-08T20:19:14.427Z,1736367554.427 [DAT](INFO): Rx dataTimestamp_ set to:1736367554.425570 2025-01-08T20:19:14.430Z,1736367554.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787182 2025-01-08T20:19:14.673Z,1736367554.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:14.674Z,1736367554.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031012 2025-01-08T20:19:14.737Z,1736367554.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:14.760Z,1736367554.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 599.60 m. 2025-01-08T20:19:14.768Z,1736367554.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 599.599976 m, nav range: 607.231201 m, bearing: 14.713730 deg, approach rate: 0.129524 m/s, LOS rate: -0.067063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793589 deg. 2025-01-08T20:19:14.778Z,1736367554.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055886 target range: 599.599976 and range: 599.60 m. 2025-01-08T20:19:14.924Z,1736367554.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:14.933Z,1736367554.933 [DAT](INFO): DAT read: 20:19:13.1167 LVL= 30896, 28513, 17474, 31699, AGC= 70, IDX= 464, 0.20,-0.178,-1.314, 0.519,-0.290, PHS= 0.199,-0.977, 0.806, RAW= 169.5, -0.4, CAL= 170.9, -8.5, ROT= 339.1, 8.5 2025-01-08T20:19:14.935Z,1736367554.935 [DAT](INFO): got valid direction response: 20:19:13.1167 LVL= 30896, 28513, 17474, 31699, AGC= 70, IDX= 464, 0.20,-0.178,-1.314, 0.519,-0.290, PHS= 0.199,-0.977, 0.806, RAW= 169.5, -0.4, CAL= 170.9, -8.5, ROT= 339.1, 8.5 2025-01-08T20:19:14.937Z,1736367554.937 [DAT](INFO): DAT read: Bearing 339.1, 8.5 (Local) 2025-01-08T20:19:14.937Z,1736367554.937 [DAT](INFO): Local bearing/azimuth received: Bearing 339.1, 8.5 (Local) 2025-01-08T20:19:14.939Z,1736367554.939 [DAT](INFO): DAT read: Range 10 to 50 : 545.2 m (Round-trip 727.0 ms) speed 0.5 m/s 2025-01-08T20:19:14.940Z,1736367554.940 [DAT](INFO): DAT read: user:1229> 2025-01-08T20:19:14.941Z,1736367554.941 [DAT](INFO): DAT read: Tx time:20:19:14.2357 2025-01-08T20:19:14.941Z,1736367554.941 [DAT](INFO): Ping request sent. 2025-01-08T20:19:14.941Z,1736367554.941 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:19:14.941Z,1736367554.941 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:19:14.942Z,1736367554.942 [DAT](INFO): direction in FSK: [-0.095651,-0.969586,0.225288] 2025-01-08T20:19:14.943Z,1736367554.943 [DAT](INFO): publishing transmit ping time 2025-01-08T20:19:14.943Z,1736367554.943 [DAT](INFO): publishing direction and range info 2025-01-08T20:19:14.946Z,1736367554.946 [DAT](INFO): publishing transmit ping time 2025-01-08T20:19:14.946Z,1736367554.946 [DAT](INFO): publishing direction and range info 2025-01-08T20:19:15.126Z,1736367555.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:15.164Z,1736367555.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 545.200012 m, deltaT: 91.801162 s, deltaX: -54.399963 m, approachRate: -0.592585 m/s, rangeRepo size: 4 2025-01-08T20:19:15.166Z,1736367555.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 545.200012 m, bearing: 22.527337 deg, lat: 36.910481 deg, lon: -122.122791 deg, deltaT: 91.801162 s, deltaX: -54.399963 m, approachRate: -0.592585 m/s, posRepo size: 4 2025-01-08T20:19:15.173Z,1736367555.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:15.176Z,1736367555.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:15.176Z,1736367555.176 [DAT](INFO): DAT read: TxSync time:20:19:14.2349 2025-01-08T20:19:15.184Z,1736367555.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 607.931274 m, bearing: 17.337082 deg, approach rate: 0.000000 m/s, LOS rate: -0.067063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814295 deg. 2025-01-08T20:19:15.187Z,1736367555.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056247 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:15.428Z,1736367555.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:15.559Z,1736367555.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:15.566Z,1736367555.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:15.568Z,1736367555.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:15.577Z,1736367555.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 607.979065 m, bearing: 17.308710 deg, approach rate: 0.116854 m/s, LOS rate: -0.069367 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809449 deg. 2025-01-08T20:19:15.581Z,1736367555.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056163 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:15.682Z,1736367555.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:15.683Z,1736367555.683 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:15.683Z,1736367555.683 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:15.684Z,1736367555.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:15.904Z,1736367555.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:15.913Z,1736367555.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:15.916Z,1736367555.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.017151 m, bearing: 17.286437 deg, approach rate: 0.110615 m/s, LOS rate: -0.064685 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827741 deg. 2025-01-08T20:19:15.917Z,1736367555.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056482 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:15.932Z,1736367555.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:15.932Z,1736367555.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991337 2025-01-08T20:19:16.184Z,1736367556.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:16.184Z,1736367556.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243318 2025-01-08T20:19:16.308Z,1736367556.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:16.316Z,1736367556.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:16.319Z,1736367556.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.062500 m, bearing: 17.259685 deg, approach rate: 0.112373 m/s, LOS rate: -0.066285 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814307 deg. 2025-01-08T20:19:16.321Z,1736367556.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056247 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:16.438Z,1736367556.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:16.440Z,1736367556.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498845 2025-01-08T20:19:16.688Z,1736367556.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:16.688Z,1736367556.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747336 2025-01-08T20:19:16.772Z,1736367556.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:16.781Z,1736367556.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:16.784Z,1736367556.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.121155 m, bearing: 17.231139 deg, approach rate: 0.126226 m/s, LOS rate: -0.061425 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808928 deg. 2025-01-08T20:19:16.790Z,1736367556.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056154 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:16.940Z,1736367556.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:16.940Z,1736367556.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999288 2025-01-08T20:19:17.129Z,1736367557.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:17.138Z,1736367557.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:17.141Z,1736367557.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.165283 m, bearing: 17.209210 deg, approach rate: 0.123591 m/s, LOS rate: -0.061413 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.828774 deg. 2025-01-08T20:19:17.142Z,1736367557.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056500 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:17.193Z,1736367557.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:17.194Z,1736367557.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252530 2025-01-08T20:19:17.444Z,1736367557.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:17.445Z,1736367557.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503452 2025-01-08T20:19:17.593Z,1736367557.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:17.600Z,1736367557.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:17.603Z,1736367557.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:17.606Z,1736367557.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.221619 m, bearing: 17.182737 deg, approach rate: 0.121296 m/s, LOS rate: -0.056994 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815144 deg. 2025-01-08T20:19:17.608Z,1736367557.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056262 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:17.696Z,1736367557.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:17.697Z,1736367557.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755525 2025-01-08T20:19:17.944Z,1736367557.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:17.948Z,1736367557.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:17.948Z,1736367557.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007339 2025-01-08T20:19:17.979Z,1736367557.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:17.982Z,1736367557.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.263489 m, bearing: 17.162771 deg, approach rate: 0.114006 m/s, LOS rate: -0.054361 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.834663 deg. 2025-01-08T20:19:17.987Z,1736367557.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056603 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:18.200Z,1736367558.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:18.200Z,1736367558.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259257 2025-01-08T20:19:18.326Z,1736367558.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:18.334Z,1736367558.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:18.338Z,1736367558.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.308838 m, bearing: 17.140973 deg, approach rate: 0.124461 m/s, LOS rate: -0.059820 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.829167 deg. 2025-01-08T20:19:18.339Z,1736367558.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056507 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:18.452Z,1736367558.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:18.453Z,1736367558.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511934 2025-01-08T20:19:18.704Z,1736367558.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:18.704Z,1736367558.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763387 2025-01-08T20:19:18.765Z,1736367558.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:18.782Z,1736367558.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:18.789Z,1736367558.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.360901 m, bearing: 17.117043 deg, approach rate: 0.116263 m/s, LOS rate: -0.053434 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822773 deg. 2025-01-08T20:19:18.790Z,1736367558.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056395 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:18.957Z,1736367558.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:18.960Z,1736367558.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017840 2025-01-08T20:19:19.197Z,1736367559.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:19.208Z,1736367559.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:19.208Z,1736367559.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.267250 2025-01-08T20:19:19.222Z,1736367559.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:19.270Z,1736367559.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.411682 m, bearing: 17.093565 deg, approach rate: 0.115311 m/s, LOS rate: -0.053308 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824129 deg. 2025-01-08T20:19:19.271Z,1736367559.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056419 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:19.460Z,1736367559.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:19.460Z,1736367559.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519338 2025-01-08T20:19:19.712Z,1736367559.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:19.713Z,1736367559.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.771940 2025-01-08T20:19:19.816Z,1736367559.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:19.823Z,1736367559.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:19.825Z,1736367559.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:19.829Z,1736367559.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.477173 m, bearing: 17.059900 deg, approach rate: 0.108629 m/s, LOS rate: -0.055834 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793572 deg. 2025-01-08T20:19:19.830Z,1736367559.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055886 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:19.964Z,1736367559.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:19.964Z,1736367559.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.023269 2025-01-08T20:19:20.209Z,1736367560.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:20.216Z,1736367560.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:20.217Z,1736367560.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.275592 2025-01-08T20:19:20.221Z,1736367560.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:20.240Z,1736367560.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.518127 m, bearing: 17.038469 deg, approach rate: 0.103515 m/s, LOS rate: -0.054163 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830269 deg. 2025-01-08T20:19:20.241Z,1736367560.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056526 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:20.468Z,1736367560.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:20.470Z,1736367560.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.528234 2025-01-08T20:19:20.690Z,1736367560.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:20.704Z,1736367560.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:20.706Z,1736367560.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.566711 m, bearing: 17.011330 deg, approach rate: 0.100619 m/s, LOS rate: -0.056203 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813144 deg. 2025-01-08T20:19:20.708Z,1736367560.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056227 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:20.724Z,1736367560.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:20.725Z,1736367560.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783754 2025-01-08T20:19:20.976Z,1736367560.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:20.976Z,1736367560.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035346 2025-01-08T20:19:21.049Z,1736367561.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:21.102Z,1736367561.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:21.114Z,1736367561.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.603088 m, bearing: 16.991096 deg, approach rate: 0.091304 m/s, LOS rate: -0.050783 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.833858 deg. 2025-01-08T20:19:21.125Z,1736367561.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056589 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:21.229Z,1736367561.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:21.230Z,1736367561.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288703 2025-01-08T20:19:21.461Z,1736367561.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:21.470Z,1736367561.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:21.473Z,1736367561.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.644897 m, bearing: 16.967829 deg, approach rate: 0.113674 m/s, LOS rate: -0.063255 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824761 deg. 2025-01-08T20:19:21.474Z,1736367561.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056430 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:21.480Z,1736367561.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:21.481Z,1736367561.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539579 2025-01-08T20:19:21.732Z,1736367561.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:21.733Z,1736367561.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791435 2025-01-08T20:19:21.868Z,1736367561.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:21.892Z,1736367561.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:21.894Z,1736367561.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:21.899Z,1736367561.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.683411 m, bearing: 16.943044 deg, approach rate: 0.090827 m/s, LOS rate: -0.058447 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820207 deg. 2025-01-08T20:19:21.908Z,1736367561.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056350 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:21.985Z,1736367561.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:21.986Z,1736367561.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044270 2025-01-08T20:19:22.237Z,1736367562.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:22.237Z,1736367562.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296168 2025-01-08T20:19:22.264Z,1736367562.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:22.273Z,1736367562.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:22.276Z,1736367562.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.721069 m, bearing: 16.918949 deg, approach rate: 0.099425 m/s, LOS rate: -0.063611 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822276 deg. 2025-01-08T20:19:22.277Z,1736367562.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056387 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:22.489Z,1736367562.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:22.490Z,1736367562.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549086 2025-01-08T20:19:22.696Z,1736367562.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:22.728Z,1736367562.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:22.730Z,1736367562.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.760498 m, bearing: 16.890550 deg, approach rate: 0.087471 m/s, LOS rate: -0.062999 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809363 deg. 2025-01-08T20:19:22.736Z,1736367562.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056161 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:22.740Z,1736367562.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:22.741Z,1736367562.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.799446 2025-01-08T20:19:22.992Z,1736367562.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:22.992Z,1736367562.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051287 2025-01-08T20:19:23.062Z,1736367563.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:23.084Z,1736367563.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:23.087Z,1736367563.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.794373 m, bearing: 16.866467 deg, approach rate: 0.093856 m/s, LOS rate: -0.066723 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822312 deg. 2025-01-08T20:19:23.088Z,1736367563.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056387 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:23.244Z,1736367563.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:23.244Z,1736367563.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303391 2025-01-08T20:19:23.476Z,1736367563.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:23.500Z,1736367563.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:23.501Z,1736367563.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559755 2025-01-08T20:19:23.508Z,1736367563.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:23.511Z,1736367563.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.833374 m, bearing: 16.839348 deg, approach rate: 0.091990 m/s, LOS rate: -0.063958 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813206 deg. 2025-01-08T20:19:23.516Z,1736367563.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056228 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:23.752Z,1736367563.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:23.754Z,1736367563.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812431 2025-01-08T20:19:23.897Z,1736367563.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:23.905Z,1736367563.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:23.907Z,1736367563.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:23.910Z,1736367563.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.864380 m, bearing: 16.809799 deg, approach rate: 0.077724 m/s, LOS rate: -0.074069 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805913 deg. 2025-01-08T20:19:23.927Z,1736367563.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056101 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:24.004Z,1736367564.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:24.005Z,1736367564.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063595 2025-01-08T20:19:24.257Z,1736367564.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:24.259Z,1736367564.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.317208 2025-01-08T20:19:24.293Z,1736367564.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:24.310Z,1736367564.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:24.317Z,1736367564.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.894348 m, bearing: 16.782136 deg, approach rate: 0.074376 m/s, LOS rate: -0.068650 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811574 deg. 2025-01-08T20:19:24.318Z,1736367564.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056200 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:24.508Z,1736367564.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:24.508Z,1736367564.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.567232 2025-01-08T20:19:24.745Z,1736367564.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:24.760Z,1736367564.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:24.760Z,1736367564.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.819379 2025-01-08T20:19:24.770Z,1736367564.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:24.773Z,1736367564.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.928284 m, bearing: 16.748692 deg, approach rate: 0.073945 m/s, LOS rate: -0.072872 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794228 deg. 2025-01-08T20:19:24.774Z,1736367564.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055897 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:24.853Z,1736367564.853 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:19:25.012Z,1736367565.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:25.012Z,1736367565.012 [DAT](INFO): Reached modem response timeout 2025-01-08T20:19:25.012Z,1736367565.012 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:25.013Z,1736367565.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:25.094Z,1736367565.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:25.110Z,1736367565.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:25.117Z,1736367565.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.954651 m, bearing: 16.722833 deg, approach rate: 0.077256 m/s, LOS rate: -0.075764 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816983 deg. 2025-01-08T20:19:25.118Z,1736367565.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056294 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:25.265Z,1736367565.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:25.266Z,1736367565.266 [DAT](INFO): Reached modem response timeout 2025-01-08T20:19:25.267Z,1736367565.267 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:25.268Z,1736367565.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:25.513Z,1736367565.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:25.516Z,1736367565.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:25.516Z,1736367565.516 [DAT](INFO): Reached modem response timeout 2025-01-08T20:19:25.516Z,1736367565.516 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:25.517Z,1736367565.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:25.526Z,1736367565.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:25.528Z,1736367565.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 608.986450 m, bearing: 16.691838 deg, approach rate: 0.076577 m/s, LOS rate: -0.074634 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801578 deg. 2025-01-08T20:19:25.530Z,1736367565.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056026 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:25.768Z,1736367565.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:25.768Z,1736367565.768 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:19:25.769Z,1736367565.769 [DAT](INFO): response not received 2025-01-08T20:19:25.770Z,1736367565.770 [DAT](INFO): DAT read: user:1230> 2025-01-08T20:19:25.770Z,1736367565.770 [DAT](ERROR): No response from remote modem. 2025-01-08T20:19:25.771Z,1736367565.771 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:25.771Z,1736367565.771 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:25.856Z,1736367565.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:19:25.930Z,1736367565.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:25.938Z,1736367565.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:25.941Z,1736367565.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:25.943Z,1736367565.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 609.021362 m, bearing: 16.659837 deg, approach rate: 0.084123 m/s, LOS rate: -0.077104 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798559 deg. 2025-01-08T20:19:25.945Z,1736367565.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055973 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:26.021Z,1736367566.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:26.021Z,1736367566.021 [DAT](INFO): DAT read: Tx time:20:19:25.1857 2025-01-08T20:19:26.022Z,1736367566.022 [DAT](INFO): Ping request sent. 2025-01-08T20:19:26.022Z,1736367566.022 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:19:26.022Z,1736367566.022 [DAT](INFO): DAT read: TxSync time:20:19:25.1849 2025-01-08T20:19:26.023Z,1736367566.023 [DAT](INFO): publishing transmit ping time 2025-01-08T20:19:26.024Z,1736367566.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001723 2025-01-08T20:19:26.272Z,1736367566.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:26.272Z,1736367566.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250584 2025-01-08T20:19:26.316Z,1736367566.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:26.325Z,1736367566.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:26.328Z,1736367566.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 609.054382 m, bearing: 16.630251 deg, approach rate: 0.085931 m/s, LOS rate: -0.076991 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805802 deg. 2025-01-08T20:19:26.329Z,1736367566.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056099 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:26.524Z,1736367566.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:26.524Z,1736367566.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502628 2025-01-08T20:19:26.742Z,1736367566.742 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 835, -4,A 2025-01-08T20:19:26.750Z,1736367566.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:19:26.750Z,1736367566.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:26.760Z,1736367566.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:26.763Z,1736367566.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 609.091614 m, bearing: 16.597046 deg, approach rate: 0.085564 m/s, LOS rate: -0.076306 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794947 deg. 2025-01-08T20:19:26.764Z,1736367566.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055910 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:26.776Z,1736367566.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:26.776Z,1736367566.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754672 2025-01-08T20:19:27.028Z,1736367567.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:27.028Z,1736367567.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006626 2025-01-08T20:19:27.106Z,1736367567.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:19:27.107Z,1736367567.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:27.115Z,1736367567.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:27.118Z,1736367567.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 609.122559 m, bearing: 16.569723 deg, approach rate: 0.087200 m/s, LOS rate: -0.076989 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812593 deg. 2025-01-08T20:19:27.120Z,1736367567.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056218 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:27.280Z,1736367567.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:27.280Z,1736367567.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258686 2025-01-08T20:19:27.510Z,1736367567.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:19:27.510Z,1736367567.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:27.518Z,1736367567.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:27.522Z,1736367567.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 609.157471 m, bearing: 16.538818 deg, approach rate: 0.086520 m/s, LOS rate: -0.076587 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801845 deg. 2025-01-08T20:19:27.523Z,1736367567.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056030 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:27.532Z,1736367567.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:27.532Z,1736367567.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510687 2025-01-08T20:19:27.784Z,1736367567.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:27.785Z,1736367567.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762716 2025-01-08T20:19:27.950Z,1736367567.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:27.958Z,1736367567.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:27.960Z,1736367567.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:27.963Z,1736367567.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 609.197815 m, bearing: 16.505090 deg, approach rate: 0.091325 m/s, LOS rate: -0.076343 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793379 deg. 2025-01-08T20:19:27.964Z,1736367567.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055882 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:28.036Z,1736367568.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:28.037Z,1736367568.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015356 2025-01-08T20:19:28.288Z,1736367568.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:28.289Z,1736367568.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267273 2025-01-08T20:19:28.334Z,1736367568.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:28.343Z,1736367568.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:28.345Z,1736367568.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 609.232910 m, bearing: 16.475724 deg, approach rate: 0.091739 m/s, LOS rate: -0.076758 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806464 deg. 2025-01-08T20:19:28.346Z,1736367568.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056111 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:28.540Z,1736367568.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:28.541Z,1736367568.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518801 2025-01-08T20:19:28.756Z,1736367568.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:28.764Z,1736367568.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:28.768Z,1736367568.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 609.275574 m, bearing: 16.444806 deg, approach rate: 0.101174 m/s, LOS rate: -0.073314 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801810 deg. 2025-01-08T20:19:28.770Z,1736367568.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056030 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:28.792Z,1736367568.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:28.793Z,1736367568.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770865 2025-01-08T20:19:29.044Z,1736367569.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:29.044Z,1736367569.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022554 2025-01-08T20:19:29.161Z,1736367569.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:29.177Z,1736367569.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:29.184Z,1736367569.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 609.316406 m, bearing: 16.415151 deg, approach rate: 0.098861 m/s, LOS rate: -0.071793 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805599 deg. 2025-01-08T20:19:29.185Z,1736367569.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056096 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:29.300Z,1736367569.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:29.301Z,1736367569.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279376 2025-01-08T20:19:29.530Z,1736367569.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:29.548Z,1736367569.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:29.548Z,1736367569.548 [DAT](INFO): DAT read: Rx Time:20:19:28.2830 2025-01-08T20:19:29.549Z,1736367569.549 [DAT](INFO): Rx dataTimestamp_ set to:1736367569.548589 2025-01-08T20:19:29.549Z,1736367569.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527628 2025-01-08T20:19:29.558Z,1736367569.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:29.565Z,1736367569.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 609.353760 m, bearing: 16.388108 deg, approach rate: 0.098180 m/s, LOS rate: -0.071076 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813431 deg. 2025-01-08T20:19:29.566Z,1736367569.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056232 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:29.800Z,1736367569.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:29.800Z,1736367569.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778563 2025-01-08T20:19:29.932Z,1736367569.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:29.985Z,1736367569.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:30.000Z,1736367570.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.20 m. 2025-01-08T20:19:30.008Z,1736367570.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.200012 m, nav range: 609.394043 m, bearing: 16.358663 deg, approach rate: 0.091033 m/s, LOS rate: -0.066537 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806227 deg. 2025-01-08T20:19:30.009Z,1736367570.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056107 target range: 545.200012 and range: 545.20 m. 2025-01-08T20:19:30.052Z,1736367570.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:30.059Z,1736367570.059 [DAT](INFO): DAT read: 20:19:28.2830 LVL= 32752, 26017, 22450, 32755, AGC= 71, IDX= 69, 0.06,-1.744,-2.623,-0.931,-1.722, PHS= 0.065,-0.854, 0.788, RAW= 176.0, 0.0, CAL= 176.8, -8.0, ROT= 333.2, 8.0 2025-01-08T20:19:30.060Z,1736367570.060 [DAT](INFO): got valid direction response: 20:19:28.2830 LVL= 32752, 26017, 22450, 32755, AGC= 71, IDX= 69, 0.06,-1.744,-2.623,-0.931,-1.722, PHS= 0.065,-0.854, 0.788, RAW= 176.0, 0.0, CAL= 176.8, -8.0, ROT= 333.2, 8.0 2025-01-08T20:19:30.061Z,1736367570.061 [DAT](INFO): DAT read: Bearing 333.2, 8.0 (Local) 2025-01-08T20:19:30.062Z,1736367570.062 [DAT](INFO): Local bearing/azimuth received: Bearing 333.2, 8.0 (Local) 2025-01-08T20:19:30.066Z,1736367570.066 [DAT](INFO): DAT read: Range 10 to 50 : 519.7 m (Round-trip 693.0 ms) speed 0.4 m/s 2025-01-08T20:19:30.068Z,1736367570.068 [DAT](INFO): DAT read: user:1231> 2025-01-08T20:19:30.069Z,1736367570.069 [DAT](INFO): DAT read: Tx time:20:19:29.3858 2025-01-08T20:19:30.070Z,1736367570.070 [DAT](INFO): Ping request sent. 2025-01-08T20:19:30.070Z,1736367570.070 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:19:30.071Z,1736367570.071 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:19:30.073Z,1736367570.073 [DAT](INFO): direction in FSK: [-0.093862,-0.989248,0.112153] 2025-01-08T20:19:30.073Z,1736367570.073 [DAT](INFO): publishing transmit ping time 2025-01-08T20:19:30.073Z,1736367570.073 [DAT](INFO): publishing direction and range info 2025-01-08T20:19:30.089Z,1736367570.089 [DAT](INFO): publishing transmit ping time 2025-01-08T20:19:30.090Z,1736367570.090 [DAT](INFO): publishing direction and range info 2025-01-08T20:19:30.304Z,1736367570.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:30.305Z,1736367570.305 [DAT](INFO): DAT read: TxSync time:20:19:29.3850 2025-01-08T20:19:30.374Z,1736367570.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:30.406Z,1736367570.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 519.700012 m, deltaT: 15.128488 s, deltaX: -25.500000 m, approachRate: -1.685562 m/s, rangeRepo size: 4 2025-01-08T20:19:30.408Z,1736367570.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 519.700012 m, bearing: 23.035904 deg, lat: 36.910402 deg, lon: -122.122661 deg, deltaT: 15.128488 s, deltaX: -25.500000 m, approachRate: -1.685562 m/s, posRepo size: 4 2025-01-08T20:19:30.409Z,1736367570.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:30.421Z,1736367570.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.478516 m, bearing: 17.611003 deg, approach rate: 0.000000 m/s, LOS rate: -0.066537 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813921 deg. 2025-01-08T20:19:30.422Z,1736367570.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056241 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:30.556Z,1736367570.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:30.798Z,1736367570.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:19:30.798Z,1736367570.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:30.808Z,1736367570.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:30.810Z,1736367570.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:30.813Z,1736367570.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.513855 m, bearing: 17.579586 deg, approach rate: 0.087100 m/s, LOS rate: -0.077427 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800312 deg. 2025-01-08T20:19:30.814Z,1736367570.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056003 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:31.060Z,1736367571.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:31.162Z,1736367571.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:19:31.163Z,1736367571.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:31.188Z,1736367571.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:31.191Z,1736367571.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.543640 m, bearing: 17.552625 deg, approach rate: 0.078980 m/s, LOS rate: -0.071488 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813676 deg. 2025-01-08T20:19:31.192Z,1736367571.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056237 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:31.312Z,1736367571.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:31.564Z,1736367571.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:31.567Z,1736367571.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:19:31.567Z,1736367571.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:31.577Z,1736367571.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:31.579Z,1736367571.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.576843 m, bearing: 17.522699 deg, approach rate: 0.085258 m/s, LOS rate: -0.076838 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804784 deg. 2025-01-08T20:19:31.581Z,1736367571.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056081 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:31.822Z,1736367571.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:31.000Z,1736367572.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:32.007Z,1736367572.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:32.009Z,1736367572.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:32.012Z,1736367572.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.623108 m, bearing: 17.496509 deg, approach rate: 0.106975 m/s, LOS rate: -0.060554 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815991 deg. 2025-01-08T20:19:32.013Z,1736367572.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056277 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:32.077Z,1736367572.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:32.078Z,1736367572.078 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:32.078Z,1736367572.078 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:32.078Z,1736367572.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:32.328Z,1736367572.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:32.329Z,1736367572.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258785 2025-01-08T20:19:32.381Z,1736367572.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:32.396Z,1736367572.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:32.399Z,1736367572.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.663147 m, bearing: 17.473445 deg, approach rate: 0.103450 m/s, LOS rate: -0.059585 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.825372 deg. 2025-01-08T20:19:32.400Z,1736367572.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056441 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:32.580Z,1736367572.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:32.580Z,1736367572.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510291 2025-01-08T20:19:32.827Z,1736367572.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:32.832Z,1736367572.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:32.832Z,1736367572.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762289 2025-01-08T20:19:32.838Z,1736367572.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:32.841Z,1736367572.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.710144 m, bearing: 17.447447 deg, approach rate: 0.106429 m/s, LOS rate: -0.058871 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816568 deg. 2025-01-08T20:19:32.842Z,1736367572.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056287 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:33.086Z,1736367573.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:33.087Z,1736367573.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016493 2025-01-08T20:19:33.178Z,1736367573.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:33.187Z,1736367573.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:33.190Z,1736367573.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.746704 m, bearing: 17.426981 deg, approach rate: 0.104693 m/s, LOS rate: -0.058602 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.833163 deg. 2025-01-08T20:19:33.212Z,1736367573.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056577 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:33.336Z,1736367573.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:33.336Z,1736367573.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266275 2025-01-08T20:19:33.580Z,1736367573.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:33.588Z,1736367573.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:33.588Z,1736367573.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518341 2025-01-08T20:19:33.591Z,1736367573.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:33.594Z,1736367573.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.788086 m, bearing: 17.403527 deg, approach rate: 0.102396 m/s, LOS rate: -0.058031 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824200 deg. 2025-01-08T20:19:33.595Z,1736367573.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056420 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:33.840Z,1736367573.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:33.841Z,1736367573.841 [DAT](INFO): DAT read: Rx Time:20:19:32.4890 2025-01-08T20:19:33.841Z,1736367573.841 [DAT](INFO): Rx dataTimestamp_ set to:1736367573.840787 2025-01-08T20:19:33.842Z,1736367573.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771459 2025-01-08T20:19:34.017Z,1736367574.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:34.025Z,1736367574.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:34.027Z,1736367574.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:34.030Z,1736367574.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.832886 m, bearing: 17.378007 deg, approach rate: 0.102719 m/s, LOS rate: -0.058511 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818000 deg. 2025-01-08T20:19:34.032Z,1736367574.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056312 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:34.093Z,1736367574.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:34.094Z,1736367574.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023709 2025-01-08T20:19:34.344Z,1736367574.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:34.350Z,1736367574.350 [DAT](INFO): DAT read: 20:19:32.4890 LVL= 31168, 32753, 19314, 32755, AGC= 71, IDX= 499,-0.27,-1.277,-2.133,-0.492,-1.292, PHS= 0.102,-0.794, 0.796, RAW= 175.8, -1.5, CAL= 176.8, -9.2, ROT= 333.2, 9.2 2025-01-08T20:19:34.352Z,1736367574.352 [DAT](INFO): got valid direction response: 20:19:32.4890 LVL= 31168, 32753, 19314, 32755, AGC= 71, IDX= 499,-0.27,-1.277,-2.133,-0.492,-1.292, PHS= 0.102,-0.794, 0.796, RAW= 175.8, -1.5, CAL= 176.8, -9.2, ROT= 333.2, 9.2 2025-01-08T20:19:34.352Z,1736367574.352 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:19:34.353Z,1736367574.353 [DAT](INFO): Received a bad header 2025-01-08T20:19:34.363Z,1736367574.363 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T20:19:34.364Z,1736367574.364 [DAT](INFO): direction in FSK: [-0.064763,-0.990831,0.118574] 2025-01-08T20:19:34.388Z,1736367574.388 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:34.388Z,1736367574.388 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:34.388Z,1736367574.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:34.461Z,1736367574.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:34.478Z,1736367574.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:34.486Z,1736367574.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.878174 m, bearing: 17.352138 deg, approach rate: 0.100347 m/s, LOS rate: -0.057314 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816957 deg. 2025-01-08T20:19:34.492Z,1736367574.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056294 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:34.596Z,1736367574.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:34.596Z,1736367574.596 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:34.597Z,1736367574.597 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:34.597Z,1736367574.597 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:34.848Z,1736367574.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:34.848Z,1736367574.848 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:34.848Z,1736367574.848 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:34.848Z,1736367574.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:34.861Z,1736367574.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:34.896Z,1736367574.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:34.899Z,1736367574.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.914490 m, bearing: 17.327433 deg, approach rate: 0.092558 m/s, LOS rate: -0.062961 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820447 deg. 2025-01-08T20:19:34.905Z,1736367574.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056355 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:35.100Z,1736367575.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:35.100Z,1736367575.100 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:35.100Z,1736367575.100 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:35.100Z,1736367575.100 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:35.238Z,1736367575.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:35.246Z,1736367575.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:35.249Z,1736367575.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.948669 m, bearing: 17.304230 deg, approach rate: 0.091119 m/s, LOS rate: -0.061855 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824949 deg. 2025-01-08T20:19:35.250Z,1736367575.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056433 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:35.352Z,1736367575.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:35.352Z,1736367575.352 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:35.352Z,1736367575.352 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:35.352Z,1736367575.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:35.604Z,1736367575.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:35.605Z,1736367575.605 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:35.605Z,1736367575.605 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:35.605Z,1736367575.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:35.642Z,1736367575.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:35.683Z,1736367575.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:35.694Z,1736367575.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 604.985352 m, bearing: 17.279288 deg, approach rate: 0.084020 m/s, LOS rate: -0.057125 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819736 deg. 2025-01-08T20:19:35.699Z,1736367575.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056342 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:35.856Z,1736367575.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:35.857Z,1736367575.857 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:35.857Z,1736367575.857 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:35.857Z,1736367575.857 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:36.082Z,1736367576.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:36.090Z,1736367576.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:36.093Z,1736367576.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:36.096Z,1736367576.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.021545 m, bearing: 17.251070 deg, approach rate: 0.088275 m/s, LOS rate: -0.068818 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809908 deg. 2025-01-08T20:19:36.097Z,1736367576.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056171 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:36.108Z,1736367576.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:36.109Z,1736367576.109 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:36.109Z,1736367576.109 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:36.109Z,1736367576.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:36.360Z,1736367576.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:36.360Z,1736367576.360 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:36.360Z,1736367576.360 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:36.360Z,1736367576.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:36.460Z,1736367576.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:36.473Z,1736367576.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:36.476Z,1736367576.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.052795 m, bearing: 17.226886 deg, approach rate: 0.082049 m/s, LOS rate: -0.063493 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822009 deg. 2025-01-08T20:19:36.477Z,1736367576.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056382 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:36.612Z,1736367576.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:36.612Z,1736367576.612 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:36.612Z,1736367576.612 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:36.612Z,1736367576.612 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:36.864Z,1736367576.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:36.864Z,1736367576.864 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:36.865Z,1736367576.865 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:36.865Z,1736367576.865 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:36.873Z,1736367576.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:36.906Z,1736367576.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:36.909Z,1736367576.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.084839 m, bearing: 17.198900 deg, approach rate: 0.074144 m/s, LOS rate: -0.064754 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810601 deg. 2025-01-08T20:19:36.910Z,1736367576.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056183 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:37.116Z,1736367577.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:37.116Z,1736367577.116 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:37.116Z,1736367577.116 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:37.116Z,1736367577.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:37.264Z,1736367577.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:37.302Z,1736367577.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:37.318Z,1736367577.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.115601 m, bearing: 17.172434 deg, approach rate: 0.077563 m/s, LOS rate: -0.066728 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815162 deg. 2025-01-08T20:19:37.320Z,1736367577.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056262 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:37.368Z,1736367577.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:37.368Z,1736367577.368 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:37.368Z,1736367577.368 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:37.368Z,1736367577.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:37.621Z,1736367577.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:37.621Z,1736367577.621 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:37.621Z,1736367577.621 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:37.622Z,1736367577.622 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:37.712Z,1736367577.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:37.729Z,1736367577.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:37.737Z,1736367577.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.151245 m, bearing: 17.142054 deg, approach rate: 0.083423 m/s, LOS rate: -0.071098 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803422 deg. 2025-01-08T20:19:37.738Z,1736367577.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056058 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:37.872Z,1736367577.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:37.873Z,1736367577.873 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:37.873Z,1736367577.873 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:37.874Z,1736367577.874 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:38.116Z,1736367578.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:38.124Z,1736367578.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:38.124Z,1736367578.124 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:38.124Z,1736367578.124 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:38.124Z,1736367578.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:38.125Z,1736367578.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:38.127Z,1736367578.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:38.134Z,1736367578.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.173706 m, bearing: 17.112798 deg, approach rate: 0.056535 m/s, LOS rate: -0.073636 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806792 deg. 2025-01-08T20:19:38.138Z,1736367578.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056116 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:38.377Z,1736367578.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:38.378Z,1736367578.378 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:38.378Z,1736367578.378 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:38.379Z,1736367578.379 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:38.502Z,1736367578.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:38.523Z,1736367578.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:38.526Z,1736367578.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.195618 m, bearing: 17.084812 deg, approach rate: 0.055337 m/s, LOS rate: -0.070675 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810602 deg. 2025-01-08T20:19:38.527Z,1736367578.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056183 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:38.628Z,1736367578.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:38.628Z,1736367578.628 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:38.628Z,1736367578.628 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:38.629Z,1736367578.629 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:38.880Z,1736367578.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:38.880Z,1736367578.880 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:38.880Z,1736367578.880 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:38.880Z,1736367578.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:38.957Z,1736367578.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:38.965Z,1736367578.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:38.969Z,1736367578.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.227112 m, bearing: 17.050986 deg, approach rate: 0.071202 m/s, LOS rate: -0.076469 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793085 deg. 2025-01-08T20:19:38.971Z,1736367578.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055877 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:39.132Z,1736367579.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:39.132Z,1736367579.132 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:39.132Z,1736367579.132 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:39.133Z,1736367579.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:39.333Z,1736367579.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:39.341Z,1736367579.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:39.344Z,1736367579.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.253296 m, bearing: 17.022997 deg, approach rate: 0.069598 m/s, LOS rate: -0.074393 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810592 deg. 2025-01-08T20:19:39.345Z,1736367579.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056183 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:39.384Z,1736367579.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:39.385Z,1736367579.385 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:39.385Z,1736367579.385 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:39.386Z,1736367579.386 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:39.637Z,1736367579.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:39.638Z,1736367579.638 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:39.638Z,1736367579.638 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:39.638Z,1736367579.638 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:39.754Z,1736367579.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:39.776Z,1736367579.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:39.779Z,1736367579.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.283875 m, bearing: 16.991729 deg, approach rate: 0.070311 m/s, LOS rate: -0.071891 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800759 deg. 2025-01-08T20:19:39.792Z,1736367579.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056011 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:39.888Z,1736367579.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:39.889Z,1736367579.889 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:39.889Z,1736367579.889 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:39.889Z,1736367579.889 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:19:40.140Z,1736367580.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:40.140Z,1736367580.140 [DAT](INFO): Reached modem response timeout 2025-01-08T20:19:40.140Z,1736367580.140 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:40.141Z,1736367580.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:40.190Z,1736367580.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:40.205Z,1736367580.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:40.211Z,1736367580.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:40.214Z,1736367580.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.314697 m, bearing: 16.958721 deg, approach rate: 0.071507 m/s, LOS rate: -0.076573 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795537 deg. 2025-01-08T20:19:40.220Z,1736367580.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055920 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:40.392Z,1736367580.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:40.393Z,1736367580.393 [DAT](INFO): Reached modem response timeout 2025-01-08T20:19:40.393Z,1736367580.393 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:40.394Z,1736367580.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:40.552Z,1736367580.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:40.561Z,1736367580.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:40.580Z,1736367580.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.340942 m, bearing: 16.931335 deg, approach rate: 0.074216 m/s, LOS rate: -0.077440 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812400 deg. 2025-01-08T20:19:40.581Z,1736367580.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056214 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:40.644Z,1736367580.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:40.644Z,1736367580.644 [DAT](INFO): Reached modem response timeout 2025-01-08T20:19:40.644Z,1736367580.644 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:40.645Z,1736367580.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:40.896Z,1736367580.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:40.897Z,1736367580.897 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:19:40.897Z,1736367580.897 [DAT](INFO): response not received 2025-01-08T20:19:40.897Z,1736367580.897 [DAT](INFO): DAT read: user:1233> 2025-01-08T20:19:40.897Z,1736367580.897 [DAT](ERROR): No response from remote modem. 2025-01-08T20:19:40.898Z,1736367580.898 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:40.898Z,1736367580.898 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:40.994Z,1736367580.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:41.004Z,1736367581.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:41.006Z,1736367581.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.376160 m, bearing: 16.897898 deg, approach rate: 0.079770 m/s, LOS rate: -0.075732 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794253 deg. 2025-01-08T20:19:41.024Z,1736367581.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055897 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:41.148Z,1736367581.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:41.148Z,1736367581.148 [DAT](INFO): DAT read: Tx time:20:19:40.3359 2025-01-08T20:19:41.149Z,1736367581.149 [DAT](INFO): Ping request sent. 2025-01-08T20:19:41.149Z,1736367581.149 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:19:41.150Z,1736367581.150 [DAT](INFO): DAT read: TxSync time:20:19:40.3351 2025-01-08T20:19:41.150Z,1736367581.150 [DAT](INFO): publishing transmit ping time 2025-01-08T20:19:41.151Z,1736367581.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001553 2025-01-08T20:19:41.352Z,1736367581.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:41.364Z,1736367581.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:41.367Z,1736367581.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.405151 m, bearing: 16.870898 deg, approach rate: 0.080145 m/s, LOS rate: -0.074635 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813561 deg. 2025-01-08T20:19:41.368Z,1736367581.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056235 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:41.400Z,1736367581.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:41.401Z,1736367581.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252115 2025-01-08T20:19:41.654Z,1736367581.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:41.657Z,1736367581.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508289 2025-01-08T20:19:41.756Z,1736367581.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:41.792Z,1736367581.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:41.795Z,1736367581.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.439087 m, bearing: 16.840348 deg, approach rate: 0.079281 m/s, LOS rate: -0.071369 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802910 deg. 2025-01-08T20:19:41.796Z,1736367581.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056049 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:41.907Z,1736367581.907 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:41.910Z,1736367581.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759921 2025-01-08T20:19:42.156Z,1736367582.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:42.156Z,1736367582.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007475 2025-01-08T20:19:42.208Z,1736367582.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:42.218Z,1736367582.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:42.225Z,1736367582.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:42.232Z,1736367582.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.478638 m, bearing: 16.807195 deg, approach rate: 0.091373 m/s, LOS rate: -0.076587 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795105 deg. 2025-01-08T20:19:42.233Z,1736367582.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055912 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:42.408Z,1736367582.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:42.408Z,1736367582.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259457 2025-01-08T20:19:42.568Z,1736367582.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:42.577Z,1736367582.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:42.580Z,1736367582.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.510315 m, bearing: 16.780746 deg, approach rate: 0.089909 m/s, LOS rate: -0.075065 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815214 deg. 2025-01-08T20:19:42.581Z,1736367582.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056263 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:42.661Z,1736367582.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:42.663Z,1736367582.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513330 2025-01-08T20:19:42.913Z,1736367582.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:42.914Z,1736367582.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764836 2025-01-08T20:19:42.997Z,1736367582.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:43.006Z,1736367583.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:43.021Z,1736367583.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.552368 m, bearing: 16.750662 deg, approach rate: 0.098108 m/s, LOS rate: -0.070180 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804311 deg. 2025-01-08T20:19:43.023Z,1736367583.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056073 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:43.166Z,1736367583.166 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:43.167Z,1736367583.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017671 2025-01-08T20:19:43.369Z,1736367583.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:43.379Z,1736367583.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:43.382Z,1736367583.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.588318 m, bearing: 16.724546 deg, approach rate: 0.096353 m/s, LOS rate: -0.069992 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816214 deg. 2025-01-08T20:19:43.383Z,1736367583.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056281 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:43.420Z,1736367583.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:43.421Z,1736367583.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272030 2025-01-08T20:19:43.672Z,1736367583.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:43.673Z,1736367583.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523878 2025-01-08T20:19:43.822Z,1736367583.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:43.842Z,1736367583.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:43.845Z,1736367583.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.631226 m, bearing: 16.692744 deg, approach rate: 0.093182 m/s, LOS rate: -0.069060 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.799156 deg. 2025-01-08T20:19:43.846Z,1736367583.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055983 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:43.925Z,1736367583.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:43.930Z,1736367583.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781070 2025-01-08T20:19:44.176Z,1736367584.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:44.176Z,1736367584.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027504 2025-01-08T20:19:44.225Z,1736367584.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:44.232Z,1736367584.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:44.234Z,1736367584.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:44.238Z,1736367584.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.666382 m, bearing: 16.666052 deg, approach rate: 0.089176 m/s, LOS rate: -0.067700 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814488 deg. 2025-01-08T20:19:44.251Z,1736367584.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056251 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:44.428Z,1736367584.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:44.428Z,1736367584.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279396 2025-01-08T20:19:44.594Z,1736367584.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:44.626Z,1736367584.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:44.630Z,1736367584.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.697693 m, bearing: 16.641693 deg, approach rate: 0.080442 m/s, LOS rate: -0.062579 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821482 deg. 2025-01-08T20:19:44.631Z,1736367584.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056373 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:44.681Z,1736367584.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:44.682Z,1736367584.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532962 2025-01-08T20:19:44.933Z,1736367584.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:44.936Z,1736367584.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786135 2025-01-08T20:19:45.061Z,1736367585.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:45.073Z,1736367585.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:45.080Z,1736367585.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.747498 m, bearing: 16.612593 deg, approach rate: 0.110603 m/s, LOS rate: -0.064618 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807264 deg. 2025-01-08T20:19:45.081Z,1736367585.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056125 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:45.184Z,1736367585.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:45.186Z,1736367585.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037322 2025-01-08T20:19:45.436Z,1736367585.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:45.437Z,1736367585.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287560 2025-01-08T20:19:45.440Z,1736367585.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:45.448Z,1736367585.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:45.451Z,1736367585.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.787415 m, bearing: 16.588974 deg, approach rate: 0.106502 m/s, LOS rate: -0.063013 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823705 deg. 2025-01-08T20:19:45.452Z,1736367585.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056412 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:45.688Z,1736367585.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:45.688Z,1736367585.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539480 2025-01-08T20:19:45.840Z,1736367585.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:45.849Z,1736367585.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:45.868Z,1736367585.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.829102 m, bearing: 16.564058 deg, approach rate: 0.104055 m/s, LOS rate: -0.062191 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819812 deg. 2025-01-08T20:19:45.869Z,1736367585.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056344 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:45.942Z,1736367585.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:45.948Z,1736367585.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798816 2025-01-08T20:19:46.192Z,1736367586.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:46.192Z,1736367586.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043450 2025-01-08T20:19:46.265Z,1736367586.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:46.273Z,1736367586.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:46.275Z,1736367586.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:46.278Z,1736367586.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.874023 m, bearing: 16.537975 deg, approach rate: 0.105399 m/s, LOS rate: -0.061193 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816313 deg. 2025-01-08T20:19:46.279Z,1736367586.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056283 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:46.445Z,1736367586.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:46.446Z,1736367586.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296803 2025-01-08T20:19:46.653Z,1736367586.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:46.670Z,1736367586.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:46.674Z,1736367586.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.914612 m, bearing: 16.514236 deg, approach rate: 0.102978 m/s, LOS rate: -0.060224 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823346 deg. 2025-01-08T20:19:46.677Z,1736367586.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056405 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:46.696Z,1736367586.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:46.696Z,1736367586.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547381 2025-01-08T20:19:46.949Z,1736367586.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:46.952Z,1736367586.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802409 2025-01-08T20:19:47.077Z,1736367587.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:47.087Z,1736367587.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:47.090Z,1736367587.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.956604 m, bearing: 16.488746 deg, approach rate: 0.100764 m/s, LOS rate: -0.061163 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818090 deg. 2025-01-08T20:19:47.091Z,1736367587.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056314 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:47.200Z,1736367587.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:47.200Z,1736367587.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051516 2025-01-08T20:19:47.452Z,1736367587.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:47.454Z,1736367587.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304289 2025-01-08T20:19:47.476Z,1736367587.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:47.484Z,1736367587.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:47.486Z,1736367587.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 605.995850 m, bearing: 16.464855 deg, approach rate: 0.098704 m/s, LOS rate: -0.060080 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822891 deg. 2025-01-08T20:19:47.488Z,1736367587.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056397 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:47.704Z,1736367587.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:47.705Z,1736367587.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555788 2025-01-08T20:19:47.882Z,1736367587.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:47.891Z,1736367587.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:47.894Z,1736367587.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.036011 m, bearing: 16.440477 deg, approach rate: 0.098651 m/s, LOS rate: -0.059877 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821427 deg. 2025-01-08T20:19:47.895Z,1736367587.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056372 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:47.961Z,1736367587.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:47.964Z,1736367587.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813675 2025-01-08T20:19:48.212Z,1736367588.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:48.212Z,1736367588.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063413 2025-01-08T20:19:48.319Z,1736367588.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:48.326Z,1736367588.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:48.328Z,1736367588.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:48.331Z,1736367588.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.084167 m, bearing: 16.412962 deg, approach rate: 0.109960 m/s, LOS rate: -0.062824 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812015 deg. 2025-01-08T20:19:48.333Z,1736367588.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056208 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:48.464Z,1736367588.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:48.465Z,1736367588.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315583 2025-01-08T20:19:48.688Z,1736367588.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:48.696Z,1736367588.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:48.699Z,1736367588.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.125061 m, bearing: 16.389733 deg, approach rate: 0.111262 m/s, LOS rate: -0.063194 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824877 deg. 2025-01-08T20:19:48.716Z,1736367588.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:48.716Z,1736367588.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567514 2025-01-08T20:19:48.720Z,1736367588.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056432 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:48.969Z,1736367588.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:48.972Z,1736367588.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.821976 2025-01-08T20:19:49.088Z,1736367589.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:49.113Z,1736367589.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:49.117Z,1736367589.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.167969 m, bearing: 16.364691 deg, approach rate: 0.103002 m/s, LOS rate: -0.060111 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819436 deg. 2025-01-08T20:19:49.118Z,1736367589.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056337 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:49.225Z,1736367589.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:49.226Z,1736367589.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.076995 2025-01-08T20:19:49.473Z,1736367589.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:49.476Z,1736367589.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:49.476Z,1736367589.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.327503 2025-01-08T20:19:49.484Z,1736367589.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:49.488Z,1736367589.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.209595 m, bearing: 16.340568 deg, approach rate: 0.112252 m/s, LOS rate: -0.065048 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822192 deg. 2025-01-08T20:19:49.489Z,1736367589.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056385 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:49.728Z,1736367589.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:49.728Z,1736367589.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579439 2025-01-08T20:19:49.889Z,1736367589.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:49.900Z,1736367589.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:49.903Z,1736367589.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.254578 m, bearing: 16.314601 deg, approach rate: 0.108132 m/s, LOS rate: -0.062417 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816660 deg. 2025-01-08T20:19:49.904Z,1736367589.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056289 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:49.982Z,1736367589.982 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:49.985Z,1736367589.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835020 2025-01-08T20:19:50.232Z,1736367590.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:50.232Z,1736367590.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.083341 2025-01-08T20:19:50.325Z,1736367590.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:50.332Z,1736367590.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:50.334Z,1736367590.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:50.342Z,1736367590.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.296753 m, bearing: 16.286359 deg, approach rate: 0.097079 m/s, LOS rate: -0.065002 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809839 deg. 2025-01-08T20:19:50.343Z,1736367590.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056170 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:50.484Z,1736367590.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:50.484Z,1736367590.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.335512 2025-01-08T20:19:50.716Z,1736367590.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:50.724Z,1736367590.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:50.727Z,1736367590.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.334900 m, bearing: 16.261062 deg, approach rate: 0.097693 m/s, LOS rate: -0.064781 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818669 deg. 2025-01-08T20:19:50.728Z,1736367590.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056324 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:50.737Z,1736367590.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:50.737Z,1736367590.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.588346 2025-01-08T20:19:50.990Z,1736367590.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:50.992Z,1736367590.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842795 2025-01-08T20:19:51.112Z,1736367591.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:51.122Z,1736367591.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:51.141Z,1736367591.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.375732 m, bearing: 16.234542 deg, approach rate: 0.102754 m/s, LOS rate: -0.066732 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815002 deg. 2025-01-08T20:19:51.142Z,1736367591.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056260 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:51.240Z,1736367591.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:51.241Z,1736367591.241 [DAT](INFO): Reached modem response timeout 2025-01-08T20:19:51.241Z,1736367591.241 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:51.242Z,1736367591.242 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:51.492Z,1736367591.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:51.492Z,1736367591.492 [DAT](INFO): Reached modem response timeout 2025-01-08T20:19:51.492Z,1736367591.492 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:51.493Z,1736367591.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:51.526Z,1736367591.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:51.535Z,1736367591.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:51.537Z,1736367591.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.418335 m, bearing: 16.207153 deg, approach rate: 0.103191 m/s, LOS rate: -0.066338 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812394 deg. 2025-01-08T20:19:51.539Z,1736367591.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056214 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:51.744Z,1736367591.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:51.744Z,1736367591.744 [DAT](INFO): Reached modem response timeout 2025-01-08T20:19:51.744Z,1736367591.744 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:19:51.745Z,1736367591.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:51.904Z,1736367591.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:51.913Z,1736367591.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:51.921Z,1736367591.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.458374 m, bearing: 16.181643 deg, approach rate: 0.105895 m/s, LOS rate: -0.067462 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818034 deg. 2025-01-08T20:19:51.922Z,1736367591.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056313 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:51.998Z,1736367591.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:52.001Z,1736367592.001 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:19:52.002Z,1736367592.002 [DAT](INFO): response not received 2025-01-08T20:19:52.004Z,1736367592.004 [DAT](INFO): DAT read: user:1234> 2025-01-08T20:19:52.006Z,1736367592.006 [DAT](INFO): DAT read: Tx time:20:19:51.2860 2025-01-08T20:19:52.007Z,1736367592.007 [DAT](INFO): Ping request sent. 2025-01-08T20:19:52.007Z,1736367592.007 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:19:52.008Z,1736367592.008 [DAT](INFO): publishing transmit ping time 2025-01-08T20:19:52.010Z,1736367592.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003057 2025-01-08T20:19:52.248Z,1736367592.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:52.249Z,1736367592.249 [DAT](INFO): DAT read: TxSync time:20:19:51.2852 2025-01-08T20:19:52.249Z,1736367592.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242359 2025-01-08T20:19:52.351Z,1736367592.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:52.359Z,1736367592.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:52.361Z,1736367592.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:52.364Z,1736367592.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.494873 m, bearing: 16.151262 deg, approach rate: 0.081445 m/s, LOS rate: -0.067790 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803418 deg. 2025-01-08T20:19:52.365Z,1736367592.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056057 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:52.500Z,1736367592.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:52.500Z,1736367592.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493421 2025-01-08T20:19:52.728Z,1736367592.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:52.737Z,1736367592.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:52.741Z,1736367592.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.525940 m, bearing: 16.125691 deg, approach rate: 0.082506 m/s, LOS rate: -0.067908 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817846 deg. 2025-01-08T20:19:52.742Z,1736367592.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056309 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:52.754Z,1736367592.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:52.754Z,1736367592.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747403 2025-01-08T20:19:53.010Z,1736367593.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:53.012Z,1736367593.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004967 2025-01-08T20:19:53.142Z,1736367593.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:53.150Z,1736367593.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:53.175Z,1736367593.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.560242 m, bearing: 16.097271 deg, approach rate: 0.083122 m/s, LOS rate: -0.068865 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809302 deg. 2025-01-08T20:19:53.180Z,1736367593.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056160 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:53.260Z,1736367593.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:53.261Z,1736367593.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254297 2025-01-08T20:19:53.512Z,1736367593.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:53.512Z,1736367593.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505471 2025-01-08T20:19:53.525Z,1736367593.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:53.534Z,1736367593.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:53.537Z,1736367593.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.592407 m, bearing: 16.071019 deg, approach rate: 0.083857 m/s, LOS rate: -0.068434 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815807 deg. 2025-01-08T20:19:53.538Z,1736367593.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056274 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:53.764Z,1736367593.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:53.764Z,1736367593.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757529 2025-01-08T20:19:53.923Z,1736367593.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:53.942Z,1736367593.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:53.967Z,1736367593.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.625671 m, bearing: 16.043836 deg, approach rate: 0.081675 m/s, LOS rate: -0.066741 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813011 deg. 2025-01-08T20:19:53.968Z,1736367593.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056225 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:54.016Z,1736367594.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:54.017Z,1736367594.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009655 2025-01-08T20:19:54.268Z,1736367594.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:54.268Z,1736367594.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261434 2025-01-08T20:19:54.354Z,1736367594.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:54.361Z,1736367594.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:54.383Z,1736367594.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:54.387Z,1736367594.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.656799 m, bearing: 16.013699 deg, approach rate: 0.073743 m/s, LOS rate: -0.071392 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804151 deg. 2025-01-08T20:19:54.388Z,1736367594.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056070 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:54.520Z,1736367594.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:54.521Z,1736367594.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514087 2025-01-08T20:19:54.765Z,1736367594.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:54.772Z,1736367594.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:54.773Z,1736367594.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765565 2025-01-08T20:19:54.776Z,1736367594.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:54.778Z,1736367594.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.686279 m, bearing: 15.985064 deg, approach rate: 0.071490 m/s, LOS rate: -0.069439 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808654 deg. 2025-01-08T20:19:54.780Z,1736367594.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056149 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:55.025Z,1736367595.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:55.028Z,1736367595.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019814 2025-01-08T20:19:55.187Z,1736367595.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:55.195Z,1736367595.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:55.198Z,1736367595.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.714661 m, bearing: 15.955362 deg, approach rate: 0.067616 m/s, LOS rate: -0.070758 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805456 deg. 2025-01-08T20:19:55.199Z,1736367595.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056093 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:55.276Z,1736367595.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:55.277Z,1736367595.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269589 2025-01-08T20:19:55.528Z,1736367595.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:55.529Z,1736367595.529 [DAT](INFO): DAT read: Rx Time:20:19:54.3593 2025-01-08T20:19:55.529Z,1736367595.529 [DAT](INFO): Rx dataTimestamp_ set to:1736367595.528695 2025-01-08T20:19:55.529Z,1736367595.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522568 2025-01-08T20:19:55.538Z,1736367595.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:55.568Z,1736367595.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:55.576Z,1736367595.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.738220 m, bearing: 15.930606 deg, approach rate: 0.063139 m/s, LOS rate: -0.066343 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820291 deg. 2025-01-08T20:19:55.577Z,1736367595.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056352 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:55.780Z,1736367595.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:55.782Z,1736367595.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774690 2025-01-08T20:19:55.945Z,1736367595.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:55.956Z,1736367595.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.70 m. 2025-01-08T20:19:55.958Z,1736367595.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.700012 m, nav range: 606.765442 m, bearing: 15.901959 deg, approach rate: 0.070335 m/s, LOS rate: -0.074013 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808621 deg. 2025-01-08T20:19:55.960Z,1736367595.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056148 target range: 519.700012 and range: 519.70 m. 2025-01-08T20:19:55.988Z,1736367595.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:19:56.033Z,1736367596.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:56.036Z,1736367596.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028588 2025-01-08T20:19:56.284Z,1736367596.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:56.292Z,1736367596.292 [DAT](INFO): DAT read: 20:19:54.3593 LVL= 29936, 26545, 15826, 32755, AGC= 71, IDX= 113, 0.08, 2.140, 1.362, 2.913, 2.195, PHS= 0.034,-0.786, 0.715, RAW= 177.0, 0.6, CAL= 177.6, -7.5, ROT= 332.4, 7.5 2025-01-08T20:19:56.293Z,1736367596.293 [DAT](INFO): got valid direction response: 20:19:54.3593 LVL= 29936, 26545, 15826, 32755, AGC= 71, IDX= 113, 0.08, 2.140, 1.362, 2.913, 2.195, PHS= 0.034,-0.786, 0.715, RAW= 177.0, 0.6, CAL= 177.6, -7.5, ROT= 332.4, 7.5 2025-01-08T20:19:56.294Z,1736367596.294 [DAT](INFO): DAT read: Bearing 332.4, 7.5 (Local) 2025-01-08T20:19:56.294Z,1736367596.294 [DAT](INFO): Local bearing/azimuth received: Bearing 332.4, 7.5 (Local) 2025-01-08T20:19:56.296Z,1736367596.296 [DAT](INFO): DAT read: Range 10 to 50 : 501.9 m (Round-trip 669.2 ms) speed 0.7 m/s 2025-01-08T20:19:56.297Z,1736367596.297 [DAT](INFO): DAT read: user:1235> 2025-01-08T20:19:56.297Z,1736367596.297 [DAT](INFO): DAT read: Tx time:20:19:55.4860 2025-01-08T20:19:56.298Z,1736367596.298 [DAT](INFO): Ping request sent. 2025-01-08T20:19:56.298Z,1736367596.298 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:19:56.298Z,1736367596.298 [DAT](INFO): DAT read: TxSync time:20:19:55.4852 2025-01-08T20:19:56.299Z,1736367596.299 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:19:56.316Z,1736367596.316 [DAT](INFO): direction in FSK: [-0.103257,-0.990004,0.096075] 2025-01-08T20:19:56.316Z,1736367596.316 [DAT](INFO): publishing transmit ping time 2025-01-08T20:19:56.317Z,1736367596.317 [DAT](INFO): publishing direction and range info 2025-01-08T20:19:56.333Z,1736367596.333 [DAT](INFO): publishing transmit ping time 2025-01-08T20:19:56.333Z,1736367596.333 [DAT](INFO): publishing direction and range info 2025-01-08T20:19:56.457Z,1736367596.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:56.483Z,1736367596.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 501.899994 m, deltaT: 26.231415 s, deltaX: -17.800018 m, approachRate: -0.678576 m/s, rangeRepo size: 4 2025-01-08T20:19:56.493Z,1736367596.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 501.899994 m, bearing: 21.950617 deg, lat: 36.909770 deg, lon: -122.122490 deg, deltaT: 26.231415 s, deltaX: -17.800018 m, approachRate: -0.678576 m/s, posRepo size: 4 2025-01-08T20:19:56.494Z,1736367596.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.90 m. 2025-01-08T20:19:56.502Z,1736367596.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.899994 m, nav range: 544.309448 m, bearing: 19.427525 deg, approach rate: 0.000000 m/s, LOS rate: -0.074013 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777559 deg. 2025-01-08T20:19:56.508Z,1736367596.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055606 target range: 501.899994 and range: 501.90 m. 2025-01-08T20:19:56.537Z,1736367596.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:56.789Z,1736367596.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:56.801Z,1736367596.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:56.816Z,1736367596.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:56.818Z,1736367596.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.90 m. 2025-01-08T20:19:56.825Z,1736367596.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.899994 m, nav range: 544.313538 m, bearing: 19.400291 deg, approach rate: 0.012173 m/s, LOS rate: -0.081067 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812855 deg. 2025-01-08T20:19:56.826Z,1736367596.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056222 target range: 501.899994 and range: 501.90 m. 2025-01-08T20:19:56.992Z,1736367596.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:19:57.041Z,1736367597.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:57.041Z,1736367597.041 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:19:57.041Z,1736367597.041 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:19:57.041Z,1736367597.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:19:57.213Z,1736367597.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:57.222Z,1736367597.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.90 m. 2025-01-08T20:19:57.225Z,1736367597.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.899994 m, nav range: 544.313049 m, bearing: 19.368027 deg, approach rate: -0.001210 m/s, LOS rate: -0.079975 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797764 deg. 2025-01-08T20:19:57.226Z,1736367597.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055959 target range: 501.899994 and range: 501.90 m. 2025-01-08T20:19:57.292Z,1736367597.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:57.293Z,1736367597.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994674 2025-01-08T20:19:57.544Z,1736367597.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:57.544Z,1736367597.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246607 2025-01-08T20:19:57.594Z,1736367597.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:57.604Z,1736367597.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.90 m. 2025-01-08T20:19:57.606Z,1736367597.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.899994 m, nav range: 544.313599 m, bearing: 19.338113 deg, approach rate: 0.001439 m/s, LOS rate: -0.078351 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804817 deg. 2025-01-08T20:19:57.608Z,1736367597.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056082 target range: 501.899994 and range: 501.90 m. 2025-01-08T20:19:57.797Z,1736367597.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:57.799Z,1736367597.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500795 2025-01-08T20:19:57.998Z,1736367597.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:58.007Z,1736367598.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.90 m. 2025-01-08T20:19:58.009Z,1736367598.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.899994 m, nav range: 544.314697 m, bearing: 19.306525 deg, approach rate: 0.002725 m/s, LOS rate: -0.078338 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.799793 deg. 2025-01-08T20:19:58.011Z,1736367598.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055994 target range: 501.899994 and range: 501.90 m. 2025-01-08T20:19:58.049Z,1736367598.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:58.050Z,1736367598.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751611 2025-01-08T20:19:58.300Z,1736367598.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:58.300Z,1736367598.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002519 2025-01-08T20:19:58.431Z,1736367598.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:58.453Z,1736367598.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.90 m. 2025-01-08T20:19:58.457Z,1736367598.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.899994 m, nav range: 544.323853 m, bearing: 19.271760 deg, approach rate: 0.020603 m/s, LOS rate: -0.078233 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790262 deg. 2025-01-08T20:19:58.461Z,1736367598.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055828 target range: 501.899994 and range: 501.90 m. 2025-01-08T20:19:58.552Z,1736367598.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:58.553Z,1736367598.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255071 2025-01-08T20:19:58.804Z,1736367598.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:58.804Z,1736367598.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506627 2025-01-08T20:19:58.823Z,1736367598.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:58.846Z,1736367598.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:19:58.854Z,1736367598.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.90 m. 2025-01-08T20:19:58.864Z,1736367598.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.899994 m, nav range: 544.332214 m, bearing: 19.240306 deg, approach rate: 0.020783 m/s, LOS rate: -0.078176 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800198 deg. 2025-01-08T20:19:58.866Z,1736367598.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056001 target range: 501.899994 and range: 501.90 m. 2025-01-08T20:19:59.056Z,1736367599.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:59.056Z,1736367599.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758651 2025-01-08T20:19:59.233Z,1736367599.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:59.242Z,1736367599.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.90 m. 2025-01-08T20:19:59.246Z,1736367599.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.899994 m, nav range: 544.340271 m, bearing: 19.207386 deg, approach rate: 0.020709 m/s, LOS rate: -0.084618 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795797 deg. 2025-01-08T20:19:59.247Z,1736367599.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055924 target range: 501.899994 and range: 501.90 m. 2025-01-08T20:19:59.309Z,1736367599.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:59.310Z,1736367599.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012048 2025-01-08T20:19:59.560Z,1736367599.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:59.562Z,1736367599.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263855 2025-01-08T20:19:59.630Z,1736367599.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:19:59.640Z,1736367599.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.90 m. 2025-01-08T20:19:59.642Z,1736367599.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.899994 m, nav range: 544.347900 m, bearing: 19.175650 deg, approach rate: 0.019222 m/s, LOS rate: -0.079958 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.799348 deg. 2025-01-08T20:19:59.644Z,1736367599.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055986 target range: 501.899994 and range: 501.90 m. 2025-01-08T20:19:59.813Z,1736367599.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:19:59.814Z,1736367599.814 [DAT](INFO): DAT read: Rx Time:20:19:58.5652 2025-01-08T20:19:59.815Z,1736367599.815 [DAT](INFO): Rx dataTimestamp_ set to:1736367599.814361 2025-01-08T20:19:59.815Z,1736367599.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517438 2025-01-08T20:20:00.016Z,1736367600.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:00.037Z,1736367600.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.90 m. 2025-01-08T20:20:00.044Z,1736367600.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.899994 m, nav range: 544.355591 m, bearing: 19.144754 deg, approach rate: 0.019312 m/s, LOS rate: -0.077585 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801870 deg. 2025-01-08T20:20:00.045Z,1736367600.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056031 target range: 501.899994 and range: 501.90 m. 2025-01-08T20:20:00.064Z,1736367600.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:00.064Z,1736367600.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766625 2025-01-08T20:20:00.316Z,1736367600.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:00.323Z,1736367600.323 [DAT](INFO): DAT read: 20:19:58.5652 LVL= 32752, 32753, 19554, 32755, AGC= 65, IDX= 508, 0.22, 2.189, 1.315, 2.979, 2.172, PHS= 0.105,-0.811, 0.803, RAW= 175.6, -1.4, CAL= 176.6, -9.1, ROT= 333.4, 9.1 2025-01-08T20:20:00.324Z,1736367600.324 [DAT](INFO): got valid direction response: 20:19:58.5652 LVL= 32752, 32753, 19554, 32755, AGC= 65, IDX= 508, 0.22, 2.189, 1.315, 2.979, 2.172, PHS= 0.105,-0.811, 0.803, RAW= 175.6, -1.4, CAL= 176.6, -9.1, ROT= 333.4, 9.1 2025-01-08T20:20:00.325Z,1736367600.325 [DAT](INFO): DAT read: Bearing 333.4, 9.1 (Local) 2025-01-08T20:20:00.326Z,1736367600.326 [DAT](INFO): Local bearing/azimuth received: Bearing 333.4, 9.1 (Local) 2025-01-08T20:20:00.327Z,1736367600.327 [DAT](INFO): DAT read: Range 10 to 50 : 506.2 m (Round-trip 675.0 ms) speed 0.7 m/s 2025-01-08T20:20:00.328Z,1736367600.328 [DAT](INFO): DAT read: user:1236> 2025-01-08T20:20:00.329Z,1736367600.329 [DAT](INFO): DAT read: Tx time:20:19:59.6861 2025-01-08T20:20:00.329Z,1736367600.329 [DAT](INFO): Ping request sent. 2025-01-08T20:20:00.329Z,1736367600.329 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:20:00.329Z,1736367600.329 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:20:00.330Z,1736367600.330 [DAT](INFO): direction in FSK: [-0.067526,-0.990106,0.123002] 2025-01-08T20:20:00.331Z,1736367600.331 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:00.331Z,1736367600.331 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:00.340Z,1736367600.340 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:00.340Z,1736367600.340 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:00.509Z,1736367600.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:00.532Z,1736367600.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 506.200012 m, deltaT: 4.032155 s, deltaX: 4.300018 m, approachRate: 1.066432 m/s, rangeRepo size: 4 2025-01-08T20:20:00.534Z,1736367600.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 506.200012 m, bearing: 24.033383 deg, lat: 36.909521 deg, lon: -122.122431 deg, deltaT: 4.032155 s, deltaX: 4.300018 m, approachRate: 1.066432 m/s, posRepo size: 4 2025-01-08T20:20:00.535Z,1736367600.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T20:20:00.542Z,1736367600.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 520.204712 m, bearing: 20.648782 deg, approach rate: 0.000000 m/s, LOS rate: -0.077585 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780709 deg. 2025-01-08T20:20:00.543Z,1736367600.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055661 target range: 506.200012 and range: 506.20 m. 2025-01-08T20:20:00.568Z,1736367600.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:00.569Z,1736367600.569 [DAT](INFO): DAT read: TxSync time:20:19:59.6853 2025-01-08T20:20:00.821Z,1736367600.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:00.846Z,1736367600.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:00.882Z,1736367600.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:00.888Z,1736367600.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T20:20:00.891Z,1736367600.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 520.208618 m, bearing: 20.620073 deg, approach rate: 0.010806 m/s, LOS rate: -0.079419 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808429 deg. 2025-01-08T20:20:00.896Z,1736367600.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056145 target range: 506.200012 and range: 506.20 m. 2025-01-08T20:20:01.072Z,1736367601.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:01.072Z,1736367601.072 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:20:01.072Z,1736367601.072 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:20:01.073Z,1736367601.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:01.243Z,1736367601.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:01.273Z,1736367601.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T20:20:01.280Z,1736367601.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 520.216797 m, bearing: 20.586782 deg, approach rate: 0.021269 m/s, LOS rate: -0.086573 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794685 deg. 2025-01-08T20:20:01.281Z,1736367601.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055905 target range: 506.200012 and range: 506.20 m. 2025-01-08T20:20:01.324Z,1736367601.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:01.325Z,1736367601.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995951 2025-01-08T20:20:01.576Z,1736367601.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:01.576Z,1736367601.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247118 2025-01-08T20:20:01.708Z,1736367601.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:01.732Z,1736367601.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T20:20:01.735Z,1736367601.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 520.227539 m, bearing: 20.547845 deg, approach rate: 0.023369 m/s, LOS rate: -0.084704 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777747 deg. 2025-01-08T20:20:01.740Z,1736367601.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055609 target range: 506.200012 and range: 506.20 m. 2025-01-08T20:20:01.832Z,1736367601.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:01.834Z,1736367601.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504209 2025-01-08T20:20:02.084Z,1736367602.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:02.084Z,1736367602.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755268 2025-01-08T20:20:02.109Z,1736367602.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:02.137Z,1736367602.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T20:20:02.153Z,1736367602.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 520.237427 m, bearing: 20.514234 deg, approach rate: 0.024421 m/s, LOS rate: -0.083013 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793726 deg. 2025-01-08T20:20:02.162Z,1736367602.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055888 target range: 506.200012 and range: 506.20 m. 2025-01-08T20:20:02.336Z,1736367602.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:02.337Z,1736367602.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007845 2025-01-08T20:20:02.588Z,1736367602.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:02.589Z,1736367602.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259894 2025-01-08T20:20:02.665Z,1736367602.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:02.690Z,1736367602.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T20:20:02.693Z,1736367602.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 520.256409 m, bearing: 20.468742 deg, approach rate: 0.034331 m/s, LOS rate: -0.082273 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.758088 deg. 2025-01-08T20:20:02.694Z,1736367602.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055266 target range: 506.200012 and range: 506.20 m. 2025-01-08T20:20:02.840Z,1736367602.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:02.840Z,1736367602.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511188 2025-01-08T20:20:03.031Z,1736367603.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:03.038Z,1736367603.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:03.040Z,1736367603.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T20:20:03.043Z,1736367603.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 520.268921 m, bearing: 20.438783 deg, approach rate: 0.035737 m/s, LOS rate: -0.085566 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804681 deg. 2025-01-08T20:20:03.044Z,1736367603.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056080 target range: 506.200012 and range: 506.20 m. 2025-01-08T20:20:03.092Z,1736367603.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:03.094Z,1736367603.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764287 2025-01-08T20:20:03.344Z,1736367603.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:03.345Z,1736367603.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015404 2025-01-08T20:20:03.464Z,1736367603.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:03.490Z,1736367603.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T20:20:03.493Z,1736367603.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 520.291565 m, bearing: 20.403600 deg, approach rate: 0.050372 m/s, LOS rate: -0.078263 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789011 deg. 2025-01-08T20:20:03.494Z,1736367603.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055806 target range: 506.200012 and range: 506.20 m. 2025-01-08T20:20:03.596Z,1736367603.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:03.597Z,1736367603.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268017 2025-01-08T20:20:03.831Z,1736367603.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:03.848Z,1736367603.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:03.848Z,1736367603.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519273 2025-01-08T20:20:03.851Z,1736367603.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T20:20:03.854Z,1736367603.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 520.310547 m, bearing: 20.373851 deg, approach rate: 0.052579 m/s, LOS rate: -0.082399 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805314 deg. 2025-01-08T20:20:03.855Z,1736367603.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056091 target range: 506.200012 and range: 506.20 m. 2025-01-08T20:20:04.101Z,1736367604.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:04.102Z,1736367604.102 [DAT](INFO): DAT read: Rx Time:20:20:02.7621 2025-01-08T20:20:04.104Z,1736367604.104 [DAT](INFO): Rx dataTimestamp_ set to:1736367604.102609 2025-01-08T20:20:04.104Z,1736367604.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775037 2025-01-08T20:20:04.314Z,1736367604.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:04.323Z,1736367604.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T20:20:04.326Z,1736367604.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 520.335999 m, bearing: 20.336292 deg, approach rate: 0.053951 m/s, LOS rate: -0.079611 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781885 deg. 2025-01-08T20:20:04.328Z,1736367604.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055682 target range: 506.200012 and range: 506.20 m. 2025-01-08T20:20:04.352Z,1736367604.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:04.353Z,1736367604.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024019 2025-01-08T20:20:04.604Z,1736367604.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:04.610Z,1736367604.610 [DAT](INFO): DAT read: 20:20:02.7621 LVL= 24944, 32753, 14706, 32755, AGC= 69, IDX= 410,-0.04, 0.628,-0.184, 1.251, 0.498, PHS= 0.218,-0.635, 0.750, RAW= 172.4, -5.6, CAL= 174.4, -12.5, ROT= 335.6, 12.5 2025-01-08T20:20:04.616Z,1736367604.616 [DAT](INFO): got valid direction response: 20:20:02.7621 LVL= 24944, 32753, 14706, 32755, AGC= 69, IDX= 410,-0.04, 0.628,-0.184, 1.251, 0.498, PHS= 0.218,-0.635, 0.750, RAW= 172.4, -5.6, CAL= 174.4, -12.5, ROT= 335.6, 12.5 2025-01-08T20:20:04.617Z,1736367604.617 [DAT](INFO): DAT read: Bearing 335.6, 12.5 (Local) 2025-01-08T20:20:04.617Z,1736367604.617 [DAT](INFO): Local bearing/azimuth received: Bearing 335.6, 12.5 (Local) 2025-01-08T20:20:04.618Z,1736367604.618 [DAT](INFO): DAT read: Range 10 to 50 : 503.8 m (Round-trip 671.8 ms) speed 0.4 m/s 2025-01-08T20:20:04.621Z,1736367604.621 [DAT](INFO): DAT read: user:1237> 2025-01-08T20:20:04.621Z,1736367604.621 [DAT](INFO): DAT read: Tx time:20:20:03.8861 2025-01-08T20:20:04.622Z,1736367604.622 [DAT](INFO): Ping request sent. 2025-01-08T20:20:04.622Z,1736367604.622 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:20:04.622Z,1736367604.622 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:20:04.623Z,1736367604.623 [DAT](INFO): direction in FSK: [0.008301,-0.983115,0.182800] 2025-01-08T20:20:04.627Z,1736367604.627 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:04.628Z,1736367604.628 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:04.631Z,1736367604.631 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:04.631Z,1736367604.631 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:04.749Z,1736367604.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:04.795Z,1736367604.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 503.799988 m, deltaT: 4.288045 s, deltaX: -2.400024 m, approachRate: -0.559701 m/s, rangeRepo size: 4 2025-01-08T20:20:04.816Z,1736367604.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 503.799988 m, bearing: 27.738566 deg, lat: 36.909333 deg, lon: -122.122420 deg, deltaT: 4.288045 s, deltaX: -2.400024 m, approachRate: -0.559701 m/s, posRepo size: 4 2025-01-08T20:20:04.817Z,1736367604.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.80 m. 2025-01-08T20:20:04.824Z,1736367604.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.799988 m, nav range: 501.065948 m, bearing: 21.238704 deg, approach rate: 0.000000 m/s, LOS rate: -0.079611 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781946 deg. 2025-01-08T20:20:04.826Z,1736367604.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055683 target range: 503.799988 and range: 503.80 m. 2025-01-08T20:20:04.856Z,1736367604.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:04.859Z,1736367604.859 [DAT](INFO): DAT read: TxSync time:20:20:03.8853 2025-01-08T20:20:05.108Z,1736367605.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:05.131Z,1736367605.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:05.146Z,1736367605.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:05.153Z,1736367605.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.80 m. 2025-01-08T20:20:05.160Z,1736367605.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.799988 m, nav range: 501.081818 m, bearing: 21.207789 deg, approach rate: 0.044271 m/s, LOS rate: -0.086243 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801813 deg. 2025-01-08T20:20:05.161Z,1736367605.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056030 target range: 503.799988 and range: 503.80 m. 2025-01-08T20:20:05.360Z,1736367605.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:05.360Z,1736367605.360 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:20:05.360Z,1736367605.360 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:20:05.361Z,1736367605.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:05.541Z,1736367605.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:05.550Z,1736367605.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.80 m. 2025-01-08T20:20:05.554Z,1736367605.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.799988 m, nav range: 501.109222 m, bearing: 21.175549 deg, approach rate: 0.068943 m/s, LOS rate: -0.081102 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797842 deg. 2025-01-08T20:20:05.555Z,1736367605.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055960 target range: 503.799988 and range: 503.80 m. 2025-01-08T20:20:05.612Z,1736367605.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:05.614Z,1736367605.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991750 2025-01-08T20:20:05.864Z,1736367605.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:05.864Z,1736367605.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242676 2025-01-08T20:20:05.973Z,1736367605.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:05.994Z,1736367605.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.80 m. 2025-01-08T20:20:06.001Z,1736367606.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.799988 m, nav range: 501.138153 m, bearing: 21.141683 deg, approach rate: 0.065137 m/s, LOS rate: -0.076245 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792964 deg. 2025-01-08T20:20:06.003Z,1736367606.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055875 target range: 503.799988 and range: 503.80 m. 2025-01-08T20:20:06.116Z,1736367606.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:06.117Z,1736367606.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495312 2025-01-08T20:20:06.368Z,1736367606.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:06.368Z,1736367606.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746723 2025-01-08T20:20:06.370Z,1736367606.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:06.404Z,1736367606.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.80 m. 2025-01-08T20:20:06.406Z,1736367606.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.799988 m, nav range: 501.164276 m, bearing: 21.112561 deg, approach rate: 0.064533 m/s, LOS rate: -0.071937 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807196 deg. 2025-01-08T20:20:06.412Z,1736367606.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056123 target range: 503.799988 and range: 503.80 m. 2025-01-08T20:20:06.621Z,1736367606.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:06.622Z,1736367606.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999744 2025-01-08T20:20:06.730Z,1736367606.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:06.760Z,1736367606.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.80 m. 2025-01-08T20:20:06.763Z,1736367606.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.799988 m, nav range: 501.187408 m, bearing: 21.086169 deg, approach rate: 0.068016 m/s, LOS rate: -0.077597 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815384 deg. 2025-01-08T20:20:06.773Z,1736367606.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056266 target range: 503.799988 and range: 503.80 m. 2025-01-08T20:20:06.872Z,1736367606.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:06.872Z,1736367606.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250636 2025-01-08T20:20:07.124Z,1736367607.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:07.124Z,1736367607.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502610 2025-01-08T20:20:07.135Z,1736367607.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:07.144Z,1736367607.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.80 m. 2025-01-08T20:20:07.146Z,1736367607.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.799988 m, nav range: 501.213348 m, bearing: 21.056433 deg, approach rate: 0.064128 m/s, LOS rate: -0.073509 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805354 deg. 2025-01-08T20:20:07.148Z,1736367607.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056091 target range: 503.799988 and range: 503.80 m. 2025-01-08T20:20:07.376Z,1736367607.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:07.377Z,1736367607.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755125 2025-01-08T20:20:07.560Z,1736367607.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:07.566Z,1736367607.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:07.569Z,1736367607.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.80 m. 2025-01-08T20:20:07.573Z,1736367607.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.799988 m, nav range: 501.236786 m, bearing: 21.026466 deg, approach rate: 0.055129 m/s, LOS rate: -0.070484 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804659 deg. 2025-01-08T20:20:07.574Z,1736367607.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056079 target range: 503.799988 and range: 503.80 m. 2025-01-08T20:20:07.629Z,1736367607.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:07.630Z,1736367607.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007971 2025-01-08T20:20:07.880Z,1736367607.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:07.880Z,1736367607.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258670 2025-01-08T20:20:07.943Z,1736367607.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:07.960Z,1736367607.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.80 m. 2025-01-08T20:20:07.968Z,1736367607.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.799988 m, nav range: 501.257965 m, bearing: 20.999469 deg, approach rate: 0.054211 m/s, LOS rate: -0.069100 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813568 deg. 2025-01-08T20:20:07.971Z,1736367607.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056235 target range: 503.799988 and range: 503.80 m. 2025-01-08T20:20:08.132Z,1736367608.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:08.132Z,1736367608.132 [DAT](INFO): DAT read: Rx Time:20:20:06.9588 2025-01-08T20:20:08.133Z,1736367608.133 [DAT](INFO): Rx dataTimestamp_ set to:1736367608.132654 2025-01-08T20:20:08.133Z,1736367608.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511711 2025-01-08T20:20:08.366Z,1736367608.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:08.384Z,1736367608.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:08.384Z,1736367608.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762653 2025-01-08T20:20:08.404Z,1736367608.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.80 m. 2025-01-08T20:20:08.411Z,1736367608.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.799988 m, nav range: 501.276672 m, bearing: 20.969882 deg, approach rate: 0.042542 m/s, LOS rate: -0.067282 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805799 deg. 2025-01-08T20:20:08.413Z,1736367608.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056099 target range: 503.799988 and range: 503.80 m. 2025-01-08T20:20:08.638Z,1736367608.638 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:08.641Z,1736367608.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018423 2025-01-08T20:20:08.771Z,1736367608.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:08.812Z,1736367608.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.80 m. 2025-01-08T20:20:08.815Z,1736367608.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.799988 m, nav range: 501.294464 m, bearing: 20.941659 deg, approach rate: 0.043080 m/s, LOS rate: -0.068334 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809893 deg. 2025-01-08T20:20:08.824Z,1736367608.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056170 target range: 503.799988 and range: 503.80 m. 2025-01-08T20:20:08.893Z,1736367608.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:08.906Z,1736367608.906 [DAT](INFO): DAT read: 20:20:06.9588 LVL= 32752, 32753, 21058, 32755, AGC= 68, IDX= 411, 0.11,-2.790, 2.616,-1.985,-2.829, PHS= 0.126,-0.792, 0.840, RAW= 175.9, -2.5, CAL= 177.1, -9.9, ROT= 332.9, 9.9 2025-01-08T20:20:08.907Z,1736367608.907 [DAT](INFO): got valid direction response: 20:20:06.9588 LVL= 32752, 32753, 21058, 32755, AGC= 68, IDX= 411, 0.11,-2.790, 2.616,-1.985,-2.829, PHS= 0.126,-0.792, 0.840, RAW= 175.9, -2.5, CAL= 177.1, -9.9, ROT= 332.9, 9.9 2025-01-08T20:20:08.908Z,1736367608.908 [DAT](INFO): DAT read: Bearing 332.9, 9.9 (Local) 2025-01-08T20:20:08.909Z,1736367608.909 [DAT](INFO): Local bearing/azimuth received: Bearing 332.9, 9.9 (Local) 2025-01-08T20:20:08.910Z,1736367608.910 [DAT](INFO): DAT read: Range 10 to 50 : 501.4 m (Round-trip 668.6 ms) speed 0.8 m/s 2025-01-08T20:20:08.911Z,1736367608.911 [DAT](INFO): DAT read: user:1238> 2025-01-08T20:20:08.913Z,1736367608.913 [DAT](INFO): DAT read: Tx time:20:20:08.0861 2025-01-08T20:20:08.913Z,1736367608.913 [DAT](INFO): Ping request sent. 2025-01-08T20:20:08.913Z,1736367608.913 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:20:08.914Z,1736367608.914 [DAT](INFO): DAT read: TxSync time:20:20:08.0853 2025-01-08T20:20:08.914Z,1736367608.914 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:20:08.915Z,1736367608.915 [DAT](INFO): direction in FSK: [-0.046231,-0.991863,0.118621] 2025-01-08T20:20:08.915Z,1736367608.915 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:08.916Z,1736367608.916 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:08.918Z,1736367608.918 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:08.919Z,1736367608.919 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:09.144Z,1736367609.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:09.172Z,1736367609.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:09.195Z,1736367609.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 501.399994 m, deltaT: 4.289439 s, deltaX: -2.399994 m, approachRate: -0.559512 m/s, rangeRepo size: 4 2025-01-08T20:20:09.201Z,1736367609.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 501.399994 m, bearing: 24.552248 deg, lat: 36.909301 deg, lon: -122.122176 deg, deltaT: 4.289439 s, deltaX: -2.399994 m, approachRate: -0.559512 m/s, posRepo size: 4 2025-01-08T20:20:09.202Z,1736367609.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.40 m. 2025-01-08T20:20:09.209Z,1736367609.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.399994 m, nav range: 506.191650 m, bearing: 23.352723 deg, approach rate: 0.000000 m/s, LOS rate: -0.068334 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816263 deg. 2025-01-08T20:20:09.210Z,1736367609.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056282 target range: 501.399994 and range: 501.40 m. 2025-01-08T20:20:09.396Z,1736367609.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:09.596Z,1736367609.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:09.604Z,1736367609.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:09.606Z,1736367609.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.40 m. 2025-01-08T20:20:09.609Z,1736367609.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.399994 m, nav range: 506.195129 m, bearing: 23.324203 deg, approach rate: 0.008440 m/s, LOS rate: -0.069188 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809000 deg. 2025-01-08T20:20:09.610Z,1736367609.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056155 target range: 501.399994 and range: 501.40 m. 2025-01-08T20:20:09.649Z,1736367609.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:09.649Z,1736367609.649 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:20:09.650Z,1736367609.650 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:20:09.650Z,1736367609.650 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:09.900Z,1736367609.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:09.900Z,1736367609.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987457 2025-01-08T20:20:09.977Z,1736367609.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:09.985Z,1736367609.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.40 m. 2025-01-08T20:20:09.988Z,1736367609.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.399994 m, nav range: 506.199097 m, bearing: 23.296296 deg, approach rate: 0.010469 m/s, LOS rate: -0.073642 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810834 deg. 2025-01-08T20:20:09.989Z,1736367609.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056187 target range: 501.399994 and range: 501.40 m. 2025-01-08T20:20:10.152Z,1736367610.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:10.153Z,1736367610.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239335 2025-01-08T20:20:10.389Z,1736367610.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:10.398Z,1736367610.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.40 m. 2025-01-08T20:20:10.404Z,1736367610.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:10.405Z,1736367610.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491737 2025-01-08T20:20:10.421Z,1736367610.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.399994 m, nav range: 506.197693 m, bearing: 23.266733 deg, approach rate: -0.003404 m/s, LOS rate: -0.071687 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805868 deg. 2025-01-08T20:20:10.422Z,1736367610.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056100 target range: 501.399994 and range: 501.40 m. 2025-01-08T20:20:10.656Z,1736367610.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:10.657Z,1736367610.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744210 2025-01-08T20:20:10.767Z,1736367610.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:10.797Z,1736367610.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.40 m. 2025-01-08T20:20:10.800Z,1736367610.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.399994 m, nav range: 506.196045 m, bearing: 23.239646 deg, approach rate: -0.004127 m/s, LOS rate: -0.067841 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813298 deg. 2025-01-08T20:20:10.801Z,1736367610.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056230 target range: 501.399994 and range: 501.40 m. 2025-01-08T20:20:10.909Z,1736367610.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:10.911Z,1736367610.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997358 2025-01-08T20:20:11.160Z,1736367611.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:11.160Z,1736367611.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247394 2025-01-08T20:20:11.174Z,1736367611.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:11.182Z,1736367611.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.40 m. 2025-01-08T20:20:11.185Z,1736367611.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.399994 m, nav range: 506.194031 m, bearing: 23.210480 deg, approach rate: -0.005231 m/s, LOS rate: -0.075743 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807057 deg. 2025-01-08T20:20:11.187Z,1736367611.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056121 target range: 501.399994 and range: 501.40 m. 2025-01-08T20:20:11.414Z,1736367611.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:11.415Z,1736367611.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502102 2025-01-08T20:20:11.614Z,1736367611.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:11.623Z,1736367611.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:11.641Z,1736367611.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.40 m. 2025-01-08T20:20:11.656Z,1736367611.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.399994 m, nav range: 506.182098 m, bearing: 23.176146 deg, approach rate: -0.025979 m/s, LOS rate: -0.074752 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.791553 deg. 2025-01-08T20:20:11.657Z,1736367611.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055851 target range: 501.399994 and range: 501.40 m. 2025-01-08T20:20:11.664Z,1736367611.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:11.665Z,1736367611.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752330 2025-01-08T20:20:11.916Z,1736367611.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:11.917Z,1736367611.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004340 2025-01-08T20:20:12.023Z,1736367612.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:12.036Z,1736367612.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.40 m. 2025-01-08T20:20:12.043Z,1736367612.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.399994 m, nav range: 506.171173 m, bearing: 23.144241 deg, approach rate: -0.027788 m/s, LOS rate: -0.081150 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798840 deg. 2025-01-08T20:20:12.050Z,1736367612.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055978 target range: 501.399994 and range: 501.40 m. 2025-01-08T20:20:12.168Z,1736367612.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:12.169Z,1736367612.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255967 2025-01-08T20:20:12.420Z,1736367612.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:12.421Z,1736367612.421 [DAT](INFO): DAT read: Rx Time:20:20:11.1544 2025-01-08T20:20:12.422Z,1736367612.422 [DAT](INFO): Rx dataTimestamp_ set to:1736367612.421348 2025-01-08T20:20:12.422Z,1736367612.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509185 2025-01-08T20:20:12.432Z,1736367612.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:12.474Z,1736367612.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.40 m. 2025-01-08T20:20:12.481Z,1736367612.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.399994 m, nav range: 506.155487 m, bearing: 23.109000 deg, approach rate: -0.035690 m/s, LOS rate: -0.080186 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788830 deg. 2025-01-08T20:20:12.482Z,1736367612.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055803 target range: 501.399994 and range: 501.40 m. 2025-01-08T20:20:12.672Z,1736367612.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:12.673Z,1736367612.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759949 2025-01-08T20:20:12.792Z,1736367612.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:12.802Z,1736367612.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.40 m. 2025-01-08T20:20:12.813Z,1736367612.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.399994 m, nav range: 506.142548 m, bearing: 23.077873 deg, approach rate: -0.039569 m/s, LOS rate: -0.095188 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801175 deg. 2025-01-08T20:20:12.817Z,1736367612.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056018 target range: 501.399994 and range: 501.40 m. 2025-01-08T20:20:12.925Z,1736367612.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:12.934Z,1736367612.934 [DAT](INFO): DAT read: 20:20:11.1544 LVL= 26448, 32753, 18354, 32755, AGC= 70, IDX= 397, 0.03,-2.613, 2.767,-1.938,-2.735, PHS= 0.210,-0.734, 0.794, RAW= 172.3, -4.1, CAL= 174.1, -11.4, ROT= 335.9, 11.4 2025-01-08T20:20:12.935Z,1736367612.935 [DAT](INFO): got valid direction response: 20:20:11.1544 LVL= 26448, 32753, 18354, 32755, AGC= 70, IDX= 397, 0.03,-2.613, 2.767,-1.938,-2.735, PHS= 0.210,-0.734, 0.794, RAW= 172.3, -4.1, CAL= 174.1, -11.4, ROT= 335.9, 11.4 2025-01-08T20:20:12.937Z,1736367612.937 [DAT](INFO): DAT read: Bearing 335.9, 11.4 (Local) 2025-01-08T20:20:12.938Z,1736367612.938 [DAT](INFO): Local bearing/azimuth received: Bearing 335.9, 11.4 (Local) 2025-01-08T20:20:12.948Z,1736367612.948 [DAT](INFO): DAT read: Range 10 to 50 : 498.0 m (Round-trip 664.1 ms) speed 0.8 m/s 2025-01-08T20:20:12.949Z,1736367612.949 [DAT](INFO): DAT read: user:1239> 2025-01-08T20:20:12.949Z,1736367612.949 [DAT](INFO): DAT read: Tx time:20:20:12.2362 2025-01-08T20:20:12.950Z,1736367612.950 [DAT](INFO): Ping request sent. 2025-01-08T20:20:12.950Z,1736367612.950 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:20:12.950Z,1736367612.950 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:20:12.951Z,1736367612.951 [DAT](INFO): direction in FSK: [-0.020260,-0.982835,0.183372] 2025-01-08T20:20:12.960Z,1736367612.960 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:12.960Z,1736367612.960 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:12.968Z,1736367612.968 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:12.968Z,1736367612.968 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:13.176Z,1736367613.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:13.177Z,1736367613.177 [DAT](INFO): DAT read: TxSync time:20:20:12.2354 2025-01-08T20:20:13.213Z,1736367613.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:13.256Z,1736367613.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 498.000000 m, deltaT: 4.031456 s, deltaX: -3.399994 m, approachRate: -0.843366 m/s, rangeRepo size: 4 2025-01-08T20:20:13.258Z,1736367613.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 498.000000 m, bearing: 25.769018 deg, lat: 36.909222 deg, lon: -122.122090 deg, deltaT: 4.031456 s, deltaX: -3.399994 m, approachRate: -0.843366 m/s, posRepo size: 4 2025-01-08T20:20:13.259Z,1736367613.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.00 m. 2025-01-08T20:20:13.266Z,1736367613.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.000000 m, nav range: 501.183014 m, bearing: 24.237010 deg, approach rate: 0.000000 m/s, LOS rate: -0.095188 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.767140 deg. 2025-01-08T20:20:13.267Z,1736367613.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055424 target range: 498.000000 and range: 498.00 m. 2025-01-08T20:20:13.428Z,1736367613.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:13.637Z,1736367613.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:13.654Z,1736367613.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:13.662Z,1736367613.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.00 m. 2025-01-08T20:20:13.676Z,1736367613.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.000000 m, nav range: 501.151428 m, bearing: 24.197571 deg, approach rate: -0.076138 m/s, LOS rate: -0.095074 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776232 deg. 2025-01-08T20:20:13.678Z,1736367613.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055583 target range: 498.000000 and range: 498.00 m. 2025-01-08T20:20:13.681Z,1736367613.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:13.681Z,1736367613.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:20:13.681Z,1736367613.681 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:20:13.682Z,1736367613.682 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:13.932Z,1736367613.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:13.932Z,1736367613.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982805 2025-01-08T20:20:14.014Z,1736367614.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:14.042Z,1736367614.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.00 m. 2025-01-08T20:20:14.049Z,1736367614.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.000000 m, nav range: 501.124420 m, bearing: 24.162547 deg, approach rate: -0.071122 m/s, LOS rate: -0.092237 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789478 deg. 2025-01-08T20:20:14.050Z,1736367614.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055814 target range: 498.000000 and range: 498.00 m. 2025-01-08T20:20:14.184Z,1736367614.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:14.184Z,1736367614.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234693 2025-01-08T20:20:14.437Z,1736367614.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:14.438Z,1736367614.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488201 2025-01-08T20:20:14.533Z,1736367614.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:14.543Z,1736367614.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.00 m. 2025-01-08T20:20:14.547Z,1736367614.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.000000 m, nav range: 501.089935 m, bearing: 24.110757 deg, approach rate: -0.068821 m/s, LOS rate: -0.103363 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.739178 deg. 2025-01-08T20:20:14.548Z,1736367614.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054936 target range: 498.000000 and range: 498.00 m. 2025-01-08T20:20:14.688Z,1736367614.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:14.688Z,1736367614.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738810 2025-01-08T20:20:14.894Z,1736367614.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:14.903Z,1736367614.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.00 m. 2025-01-08T20:20:14.906Z,1736367614.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.000000 m, nav range: 501.066833 m, bearing: 24.074792 deg, approach rate: -0.064270 m/s, LOS rate: -0.100062 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786655 deg. 2025-01-08T20:20:14.910Z,1736367614.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055765 target range: 498.000000 and range: 498.00 m. 2025-01-08T20:20:14.940Z,1736367614.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:14.940Z,1736367614.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990797 2025-01-08T20:20:15.192Z,1736367615.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:15.192Z,1736367615.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242631 2025-01-08T20:20:15.295Z,1736367615.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:15.324Z,1736367615.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.00 m. 2025-01-08T20:20:15.328Z,1736367615.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.000000 m, nav range: 501.042267 m, bearing: 24.034759 deg, approach rate: -0.058174 m/s, LOS rate: -0.094805 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774451 deg. 2025-01-08T20:20:15.329Z,1736367615.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055552 target range: 498.000000 and range: 498.00 m. 2025-01-08T20:20:15.445Z,1736367615.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:15.446Z,1736367615.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496518 2025-01-08T20:20:15.696Z,1736367615.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:15.697Z,1736367615.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746876 2025-01-08T20:20:15.727Z,1736367615.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:15.754Z,1736367615.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:15.761Z,1736367615.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.00 m. 2025-01-08T20:20:15.768Z,1736367615.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.000000 m, nav range: 501.009888 m, bearing: 23.989818 deg, approach rate: -0.074232 m/s, LOS rate: -0.103037 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.759727 deg. 2025-01-08T20:20:15.770Z,1736367615.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055295 target range: 498.000000 and range: 498.00 m. 2025-01-08T20:20:15.948Z,1736367615.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:15.948Z,1736367615.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998616 2025-01-08T20:20:16.120Z,1736367616.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:16.128Z,1736367616.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.00 m. 2025-01-08T20:20:16.131Z,1736367616.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.000000 m, nav range: 500.981964 m, bearing: 23.948992 deg, approach rate: -0.075976 m/s, LOS rate: -0.111088 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772071 deg. 2025-01-08T20:20:16.132Z,1736367616.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055511 target range: 498.000000 and range: 498.00 m. 2025-01-08T20:20:16.201Z,1736367616.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:16.202Z,1736367616.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252459 2025-01-08T20:20:16.452Z,1736367616.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:16.453Z,1736367616.453 [DAT](INFO): DAT read: Rx Time:20:20:15.3115 2025-01-08T20:20:16.454Z,1736367616.454 [DAT](INFO): Rx dataTimestamp_ set to:1736367616.453487 2025-01-08T20:20:16.454Z,1736367616.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504632 2025-01-08T20:20:16.580Z,1736367616.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:16.597Z,1736367616.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.00 m. 2025-01-08T20:20:16.604Z,1736367616.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.000000 m, nav range: 500.954315 m, bearing: 23.900444 deg, approach rate: -0.058998 m/s, LOS rate: -0.103597 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748906 deg. 2025-01-08T20:20:16.605Z,1736367616.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055106 target range: 498.000000 and range: 498.00 m. 2025-01-08T20:20:16.704Z,1736367616.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:16.705Z,1736367616.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755114 2025-01-08T20:20:16.937Z,1736367616.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:16.956Z,1736367616.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:16.957Z,1736367616.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.007078 2025-01-08T20:20:16.961Z,1736367616.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.00 m. 2025-01-08T20:20:16.984Z,1736367616.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.000000 m, nav range: 500.934998 m, bearing: 23.862962 deg, approach rate: -0.053867 m/s, LOS rate: -0.104523 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782105 deg. 2025-01-08T20:20:16.995Z,1736367616.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055686 target range: 498.000000 and range: 498.00 m. 2025-01-08T20:20:17.208Z,1736367617.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:17.215Z,1736367617.215 [DAT](INFO): DAT read: 20:20:15.3115 LVL= 27408, 21697, 14290, 23475, AGC= 71, IDX= 8, 0.03, 2.885, 1.930,-2.681, 2.724, PHS= 0.249,-0.746, 0.875, RAW= 172.5, -5.4, CAL= 174.5, -12.4, ROT= 335.5, 12.4 2025-01-08T20:20:17.216Z,1736367617.216 [DAT](INFO): got valid direction response: 20:20:15.3115 LVL= 27408, 21697, 14290, 23475, AGC= 71, IDX= 8, 0.03, 2.885, 1.930,-2.681, 2.724, PHS= 0.249,-0.746, 0.875, RAW= 172.5, -5.4, CAL= 174.5, -12.4, ROT= 335.5, 12.4 2025-01-08T20:20:17.217Z,1736367617.217 [DAT](INFO): DAT read: Bearing 335.5, 12.4 (Local) 2025-01-08T20:20:17.217Z,1736367617.217 [DAT](INFO): Local bearing/azimuth received: Bearing 335.5, 12.4 (Local) 2025-01-08T20:20:17.219Z,1736367617.219 [DAT](INFO): DAT read: Range 10 to 50 : 503.3 m (Round-trip 671.1 ms) speed 0.5 m/s 2025-01-08T20:20:17.220Z,1736367617.220 [DAT](INFO): DAT read: user:1240> 2025-01-08T20:20:17.222Z,1736367617.222 [DAT](INFO): DAT read: Tx time:20:20:16.4362 2025-01-08T20:20:17.222Z,1736367617.222 [DAT](INFO): Ping request sent. 2025-01-08T20:20:17.222Z,1736367617.222 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:20:17.223Z,1736367617.223 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:20:17.224Z,1736367617.224 [DAT](INFO): direction in FSK: [0.005284,-0.983597,0.180304] 2025-01-08T20:20:17.224Z,1736367617.224 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:17.224Z,1736367617.224 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:17.235Z,1736367617.235 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:17.240Z,1736367617.240 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:17.324Z,1736367617.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:17.361Z,1736367617.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 503.299988 m, deltaT: 4.283104 s, deltaX: 5.299988 m, approachRate: 1.237417 m/s, rangeRepo size: 4 2025-01-08T20:20:17.377Z,1736367617.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 503.299988 m, bearing: 29.071506 deg, lat: 36.909141 deg, lon: -122.121972 deg, deltaT: 4.283104 s, deltaX: 5.299988 m, approachRate: 1.237417 m/s, posRepo size: 4 2025-01-08T20:20:17.384Z,1736367617.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T20:20:17.409Z,1736367617.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 497.053223 m, bearing: 25.350643 deg, approach rate: 0.000000 m/s, LOS rate: -0.104523 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.769124 deg. 2025-01-08T20:20:17.418Z,1736367617.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055459 target range: 503.299988 and range: 503.30 m. 2025-01-08T20:20:17.461Z,1736367617.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:17.462Z,1736367617.462 [DAT](INFO): DAT read: TxSync time:20:20:16.4354 2025-01-08T20:20:17.712Z,1736367617.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:17.890Z,1736367617.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:17.905Z,1736367617.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:17.907Z,1736367617.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T20:20:17.914Z,1736367617.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 497.014954 m, bearing: 25.292495 deg, approach rate: -0.069449 m/s, LOS rate: -0.105532 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.720101 deg. 2025-01-08T20:20:17.915Z,1736367617.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054603 target range: 503.299988 and range: 503.30 m. 2025-01-08T20:20:17.966Z,1736367617.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:17.968Z,1736367617.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:20:17.969Z,1736367617.969 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:20:17.970Z,1736367617.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:18.216Z,1736367618.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:18.216Z,1736367618.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994041 2025-01-08T20:20:18.244Z,1736367618.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:18.261Z,1736367618.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T20:20:18.268Z,1736367618.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 496.992737 m, bearing: 25.256051 deg, approach rate: -0.062714 m/s, LOS rate: -0.102879 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.785220 deg. 2025-01-08T20:20:18.269Z,1736367618.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055740 target range: 503.299988 and range: 503.30 m. 2025-01-08T20:20:18.473Z,1736367618.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:18.474Z,1736367618.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251573 2025-01-08T20:20:18.724Z,1736367618.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:18.725Z,1736367618.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502202 2025-01-08T20:20:18.726Z,1736367618.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:18.765Z,1736367618.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T20:20:18.773Z,1736367618.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 496.978119 m, bearing: 25.210374 deg, approach rate: -0.029021 m/s, LOS rate: -0.090687 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.757520 deg. 2025-01-08T20:20:18.774Z,1736367618.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055256 target range: 503.299988 and range: 503.30 m. 2025-01-08T20:20:18.976Z,1736367618.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:18.976Z,1736367618.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754077 2025-01-08T20:20:19.075Z,1736367619.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:19.092Z,1736367619.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T20:20:19.100Z,1736367619.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 496.968353 m, bearing: 25.177693 deg, approach rate: -0.030270 m/s, LOS rate: -0.101299 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796514 deg. 2025-01-08T20:20:19.101Z,1736367619.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055937 target range: 503.299988 and range: 503.30 m. 2025-01-08T20:20:19.228Z,1736367619.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:19.228Z,1736367619.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006065 2025-01-08T20:20:19.480Z,1736367619.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:19.481Z,1736367619.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258187 2025-01-08T20:20:19.537Z,1736367619.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:19.562Z,1736367619.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T20:20:19.569Z,1736367619.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 496.969025 m, bearing: 25.137611 deg, approach rate: 0.001414 m/s, LOS rate: -0.084391 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774310 deg. 2025-01-08T20:20:19.571Z,1736367619.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055549 target range: 503.299988 and range: 503.30 m. 2025-01-08T20:20:19.732Z,1736367619.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:19.733Z,1736367619.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510701 2025-01-08T20:20:19.896Z,1736367619.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:19.911Z,1736367619.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:19.913Z,1736367619.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T20:20:19.920Z,1736367619.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 496.969543 m, bearing: 25.106739 deg, approach rate: 0.001477 m/s, LOS rate: -0.087892 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801941 deg. 2025-01-08T20:20:19.922Z,1736367619.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056032 target range: 503.299988 and range: 503.30 m. 2025-01-08T20:20:19.984Z,1736367619.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:19.985Z,1736367619.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762924 2025-01-08T20:20:20.238Z,1736367620.238 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:20.239Z,1736367620.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016958 2025-01-08T20:20:20.288Z,1736367620.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:20.305Z,1736367620.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T20:20:20.312Z,1736367620.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 496.969543 m, bearing: 25.072979 deg, approach rate: 0.000000 m/s, LOS rate: -0.086127 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793278 deg. 2025-01-08T20:20:20.313Z,1736367620.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055881 target range: 503.299988 and range: 503.30 m. 2025-01-08T20:20:20.493Z,1736367620.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:20.494Z,1736367620.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271458 2025-01-08T20:20:20.744Z,1736367620.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:20.744Z,1736367620.744 [DAT](INFO): DAT read: Rx Time:20:20:19.4969 2025-01-08T20:20:20.745Z,1736367620.745 [DAT](INFO): Rx dataTimestamp_ set to:1736367620.744674 2025-01-08T20:20:20.745Z,1736367620.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523150 2025-01-08T20:20:20.754Z,1736367620.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:20.776Z,1736367620.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T20:20:20.779Z,1736367620.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 496.985718 m, bearing: 25.037914 deg, approach rate: 0.034361 m/s, LOS rate: -0.074492 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789363 deg. 2025-01-08T20:20:20.784Z,1736367620.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055812 target range: 503.299988 and range: 503.30 m. 2025-01-08T20:20:20.997Z,1736367620.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:20.998Z,1736367620.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775842 2025-01-08T20:20:21.107Z,1736367621.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:21.129Z,1736367621.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T20:20:21.136Z,1736367621.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 496.998047 m, bearing: 25.011411 deg, approach rate: 0.034899 m/s, LOS rate: -0.075017 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815050 deg. 2025-01-08T20:20:21.137Z,1736367621.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056261 target range: 503.299988 and range: 503.30 m. 2025-01-08T20:20:21.248Z,1736367621.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:21.259Z,1736367621.259 [DAT](INFO): DAT read: 20:20:19.4969 LVL= 28816, 32753, 17458, 32755, AGC= 67, IDX= 404,-0.15, 1.594, 0.784, 2.340, 1.536, PHS= 0.146,-0.705, 0.801, RAW= 175.7, -3.8, CAL= 177.1, -10.9, ROT= 332.9, 10.9 2025-01-08T20:20:21.261Z,1736367621.261 [DAT](INFO): got valid direction response: 20:20:19.4969 LVL= 28816, 32753, 17458, 32755, AGC= 67, IDX= 404,-0.15, 1.594, 0.784, 2.340, 1.536, PHS= 0.146,-0.705, 0.801, RAW= 175.7, -3.8, CAL= 177.1, -10.9, ROT= 332.9, 10.9 2025-01-08T20:20:21.263Z,1736367621.263 [DAT](INFO): DAT read: Bearing 332.9, 10.9 (Local) 2025-01-08T20:20:21.276Z,1736367621.276 [DAT](INFO): Local bearing/azimuth received: Bearing 332.9, 10.9 (Local) 2025-01-08T20:20:21.277Z,1736367621.277 [DAT](INFO): DAT read: Range 10 to 50 : 492.4 m (Round-trip 656.6 ms) speed 0.4 m/s 2025-01-08T20:20:21.278Z,1736367621.278 [DAT](INFO): DAT read: user:1241> 2025-01-08T20:20:21.279Z,1736367621.279 [DAT](INFO): DAT read: Tx time:20:20:20.5862 2025-01-08T20:20:21.284Z,1736367621.284 [DAT](INFO): Ping request sent. 2025-01-08T20:20:21.284Z,1736367621.284 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:20:21.284Z,1736367621.284 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:20:21.286Z,1736367621.286 [DAT](INFO): direction in FSK: [-0.022290,-0.992144,0.123096] 2025-01-08T20:20:21.287Z,1736367621.287 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:21.287Z,1736367621.287 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:21.300Z,1736367621.300 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:21.300Z,1736367621.300 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:21.500Z,1736367621.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:21.501Z,1736367621.501 [DAT](INFO): DAT read: TxSync time:20:20:20.5854 2025-01-08T20:20:21.583Z,1736367621.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:21.624Z,1736367621.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 492.399994 m, deltaT: 4.040465 s, deltaX: -10.899994 m, approachRate: -2.697708 m/s, rangeRepo size: 4 2025-01-08T20:20:21.626Z,1736367621.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 492.399994 m, bearing: 27.310910 deg, lat: 36.909136 deg, lon: -122.121828 deg, deltaT: 4.040465 s, deltaX: -10.899994 m, approachRate: -2.697708 m/s, posRepo size: 4 2025-01-08T20:20:21.627Z,1736367621.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.40 m. 2025-01-08T20:20:21.634Z,1736367621.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.399994 m, nav range: 502.128754 m, bearing: 26.322247 deg, approach rate: 0.000000 m/s, LOS rate: -0.075017 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786921 deg. 2025-01-08T20:20:21.640Z,1736367621.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055770 target range: 492.399994 and range: 492.40 m. 2025-01-08T20:20:21.752Z,1736367621.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:22.004Z,1736367622.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:22.059Z,1736367622.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:22.070Z,1736367622.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:22.076Z,1736367622.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.40 m. 2025-01-08T20:20:22.078Z,1736367622.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.399994 m, nav range: 502.150635 m, bearing: 26.291710 deg, approach rate: 0.047164 m/s, LOS rate: -0.065818 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802951 deg. 2025-01-08T20:20:22.084Z,1736367622.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056049 target range: 492.399994 and range: 492.40 m. 2025-01-08T20:20:22.256Z,1736367622.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:22.256Z,1736367622.256 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:20:22.256Z,1736367622.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:20:22.257Z,1736367622.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:22.510Z,1736367622.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:22.512Z,1736367622.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227928 2025-01-08T20:20:22.524Z,1736367622.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:22.541Z,1736367622.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.40 m. 2025-01-08T20:20:22.548Z,1736367622.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.399994 m, nav range: 502.170959 m, bearing: 26.261375 deg, approach rate: 0.043311 m/s, LOS rate: -0.064641 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803554 deg. 2025-01-08T20:20:22.549Z,1736367622.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056060 target range: 492.399994 and range: 492.40 m. 2025-01-08T20:20:22.761Z,1736367622.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:22.762Z,1736367622.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477744 2025-01-08T20:20:22.991Z,1736367622.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:23.004Z,1736367623.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.40 m. 2025-01-08T20:20:23.012Z,1736367623.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:23.013Z,1736367623.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728953 2025-01-08T20:20:23.013Z,1736367623.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.399994 m, nav range: 502.199066 m, bearing: 26.234649 deg, approach rate: 0.060612 m/s, LOS rate: -0.057631 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814383 deg. 2025-01-08T20:20:23.014Z,1736367623.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056249 target range: 492.399994 and range: 492.40 m. 2025-01-08T20:20:23.265Z,1736367623.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:23.266Z,1736367623.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981721 2025-01-08T20:20:23.347Z,1736367623.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:23.367Z,1736367623.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.40 m. 2025-01-08T20:20:23.371Z,1736367623.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.399994 m, nav range: 502.219452 m, bearing: 26.214062 deg, approach rate: 0.056811 m/s, LOS rate: -0.057369 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.832799 deg. 2025-01-08T20:20:23.377Z,1736367623.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056570 target range: 492.399994 and range: 492.40 m. 2025-01-08T20:20:23.517Z,1736367623.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:23.522Z,1736367623.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237767 2025-01-08T20:20:23.768Z,1736367623.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:23.768Z,1736367623.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484549 2025-01-08T20:20:23.790Z,1736367623.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:23.806Z,1736367623.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.40 m. 2025-01-08T20:20:23.813Z,1736367623.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.399994 m, nav range: 502.250793 m, bearing: 26.189619 deg, approach rate: 0.070772 m/s, LOS rate: -0.055192 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821231 deg. 2025-01-08T20:20:23.815Z,1736367623.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056368 target range: 492.399994 and range: 492.40 m. 2025-01-08T20:20:24.020Z,1736367624.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:24.021Z,1736367624.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737022 2025-01-08T20:20:24.160Z,1736367624.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:24.171Z,1736367624.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:24.179Z,1736367624.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.40 m. 2025-01-08T20:20:24.185Z,1736367624.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.399994 m, nav range: 502.274841 m, bearing: 26.169282 deg, approach rate: 0.064570 m/s, LOS rate: -0.054603 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.833550 deg. 2025-01-08T20:20:24.187Z,1736367624.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056583 target range: 492.399994 and range: 492.40 m. 2025-01-08T20:20:24.272Z,1736367624.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:24.273Z,1736367624.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988657 2025-01-08T20:20:24.528Z,1736367624.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:24.533Z,1736367624.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248895 2025-01-08T20:20:24.692Z,1736367624.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:24.709Z,1736367624.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.40 m. 2025-01-08T20:20:24.715Z,1736367624.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.399994 m, nav range: 502.302338 m, bearing: 26.138751 deg, approach rate: 0.051884 m/s, LOS rate: -0.057608 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802968 deg. 2025-01-08T20:20:24.717Z,1736367624.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056050 target range: 492.399994 and range: 492.40 m. 2025-01-08T20:20:24.781Z,1736367624.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:24.782Z,1736367624.782 [DAT](INFO): DAT read: Rx Time:20:20:23.6441 2025-01-08T20:20:24.782Z,1736367624.782 [DAT](INFO): Rx dataTimestamp_ set to:1736367624.782069 2025-01-08T20:20:24.783Z,1736367624.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498999 2025-01-08T20:20:25.032Z,1736367625.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:25.033Z,1736367625.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.748859 2025-01-08T20:20:25.137Z,1736367625.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:25.165Z,1736367625.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.40 m. 2025-01-08T20:20:25.173Z,1736367625.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.399994 m, nav range: 502.325195 m, bearing: 26.112693 deg, approach rate: 0.050039 m/s, LOS rate: -0.057041 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816388 deg. 2025-01-08T20:20:25.174Z,1736367625.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056284 target range: 492.399994 and range: 492.40 m. 2025-01-08T20:20:25.284Z,1736367625.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:25.285Z,1736367625.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000727 2025-01-08T20:20:25.538Z,1736367625.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:25.580Z,1736367625.580 [DAT](INFO): DAT read: 20:20:23.6441 LVL= 32752, 29521, 26034, 32755, AGC= 66, IDX= 411, 0.30, 1.530, 0.633, 2.186, 1.429, PHS= 0.189,-0.749, 0.754, RAW= 171.8, -3.0, CAL= 173.5, -10.5, ROT= 336.5, 10.5 2025-01-08T20:20:25.581Z,1736367625.581 [DAT](INFO): got valid direction response: 20:20:23.6441 LVL= 32752, 29521, 26034, 32755, AGC= 66, IDX= 411, 0.30, 1.530, 0.633, 2.186, 1.429, PHS= 0.189,-0.749, 0.754, RAW= 171.8, -3.0, CAL= 173.5, -10.5, ROT= 336.5, 10.5 2025-01-08T20:20:25.582Z,1736367625.582 [DAT](INFO): DAT read: Bearing 336.5, 10.5 (Local) 2025-01-08T20:20:25.582Z,1736367625.582 [DAT](INFO): Local bearing/azimuth received: Bearing 336.5, 10.5 (Local) 2025-01-08T20:20:25.588Z,1736367625.588 [DAT](INFO): DAT read: Range 10 to 50 : 490.2 m (Round-trip 653.7 ms) speed 0.6 m/s 2025-01-08T20:20:25.589Z,1736367625.589 [DAT](INFO): DAT read: user:1242> 2025-01-08T20:20:25.590Z,1736367625.590 [DAT](INFO): DAT read: Tx time:20:20:24.7363 2025-01-08T20:20:25.590Z,1736367625.590 [DAT](INFO): Ping request sent. 2025-01-08T20:20:25.590Z,1736367625.590 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:20:25.599Z,1736367625.599 [DAT](INFO): DAT read: TxSync time:20:20:24.7355 2025-01-08T20:20:25.600Z,1736367625.600 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:20:25.601Z,1736367625.601 [DAT](INFO): direction in FSK: [-0.042095,-0.981044,0.189157] 2025-01-08T20:20:25.601Z,1736367625.601 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:25.601Z,1736367625.601 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:25.613Z,1736367625.613 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:25.613Z,1736367625.613 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:25.694Z,1736367625.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:25.751Z,1736367625.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 490.200012 m, deltaT: 4.290131 s, deltaX: -2.199982 m, approachRate: -0.512801 m/s, rangeRepo size: 4 2025-01-08T20:20:25.754Z,1736367625.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 490.200012 m, bearing: 23.729542 deg, lat: 36.909106 deg, lon: -122.121972 deg, deltaT: 4.290131 s, deltaX: -2.199982 m, approachRate: -0.512801 m/s, posRepo size: 4 2025-01-08T20:20:25.760Z,1736367625.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T20:20:25.762Z,1736367625.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 493.773346 m, bearing: 24.920488 deg, approach rate: 0.000000 m/s, LOS rate: -0.057041 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795799 deg. 2025-01-08T20:20:25.764Z,1736367625.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055924 target range: 490.200012 and range: 490.20 m. 2025-01-08T20:20:25.788Z,1736367625.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:26.040Z,1736367626.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:26.058Z,1736367626.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:26.076Z,1736367626.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T20:20:26.078Z,1736367626.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 493.789001 m, bearing: 24.896163 deg, approach rate: 0.047597 m/s, LOS rate: -0.073953 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821582 deg. 2025-01-08T20:20:26.088Z,1736367626.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056375 target range: 490.200012 and range: 490.20 m. 2025-01-08T20:20:26.296Z,1736367626.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:26.434Z,1736367626.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:26.449Z,1736367626.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:26.451Z,1736367626.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T20:20:26.458Z,1736367626.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 493.805237 m, bearing: 24.871053 deg, approach rate: 0.042786 m/s, LOS rate: -0.066172 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819229 deg. 2025-01-08T20:20:26.459Z,1736367626.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056334 target range: 490.200012 and range: 490.20 m. 2025-01-08T20:20:26.548Z,1736367626.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:26.548Z,1736367626.548 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:20:26.548Z,1736367626.548 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:20:26.548Z,1736367626.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:26.800Z,1736367626.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:26.801Z,1736367626.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.210144 2025-01-08T20:20:26.880Z,1736367626.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:20:26.880Z,1736367626.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:26.897Z,1736367626.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T20:20:26.904Z,1736367626.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 493.824615 m, bearing: 24.841298 deg, approach rate: 0.043445 m/s, LOS rate: -0.066705 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805295 deg. 2025-01-08T20:20:26.905Z,1736367626.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056090 target range: 490.200012 and range: 490.20 m. 2025-01-08T20:20:27.052Z,1736367627.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:27.053Z,1736367627.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.462613 2025-01-08T20:20:27.128Z,1736367627.128 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:20:27.245Z,1736367627.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:20:27.245Z,1736367627.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:27.268Z,1736367627.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T20:20:27.275Z,1736367627.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 493.841736 m, bearing: 24.816944 deg, approach rate: 0.046073 m/s, LOS rate: -0.065536 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821498 deg. 2025-01-08T20:20:27.277Z,1736367627.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056373 target range: 490.200012 and range: 490.20 m. 2025-01-08T20:20:27.304Z,1736367627.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:27.305Z,1736367627.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714607 2025-01-08T20:20:27.558Z,1736367627.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:27.560Z,1736367627.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968639 2025-01-08T20:20:27.722Z,1736367627.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:27.744Z,1736367627.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T20:20:27.747Z,1736367627.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 493.823395 m, bearing: 24.773573 deg, approach rate: -0.038573 m/s, LOS rate: -0.091218 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764439 deg. 2025-01-08T20:20:27.752Z,1736367627.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055377 target range: 490.200012 and range: 490.20 m. 2025-01-08T20:20:27.808Z,1736367627.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:27.809Z,1736367627.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218149 2025-01-08T20:20:28.060Z,1736367628.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:28.060Z,1736367628.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470005 2025-01-08T20:20:28.096Z,1736367628.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:28.132Z,1736367628.132 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:20:28.141Z,1736367628.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T20:20:28.148Z,1736367628.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 493.810150 m, bearing: 24.739690 deg, approach rate: -0.033360 m/s, LOS rate: -0.085347 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792904 deg. 2025-01-08T20:20:28.149Z,1736367628.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055874 target range: 490.200012 and range: 490.20 m. 2025-01-08T20:20:28.313Z,1736367628.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:28.315Z,1736367628.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723750 2025-01-08T20:20:28.493Z,1736367628.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:28.509Z,1736367628.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:28.515Z,1736367628.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T20:20:28.518Z,1736367628.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 493.797363 m, bearing: 24.703631 deg, approach rate: -0.034531 m/s, LOS rate: -0.097379 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786379 deg. 2025-01-08T20:20:28.529Z,1736367628.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055760 target range: 490.200012 and range: 490.20 m. 2025-01-08T20:20:28.566Z,1736367628.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:28.569Z,1736367628.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977658 2025-01-08T20:20:28.817Z,1736367628.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:28.818Z,1736367628.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227319 2025-01-08T20:20:29.064Z,1736367629.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:29.068Z,1736367629.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:29.069Z,1736367629.069 [DAT](INFO): DAT read: Rx Time:20:20:27.7908 2025-01-08T20:20:29.070Z,1736367629.070 [DAT](INFO): Rx dataTimestamp_ set to:1736367629.068817 2025-01-08T20:20:29.070Z,1736367629.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480087 2025-01-08T20:20:29.081Z,1736367629.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T20:20:29.088Z,1736367629.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 493.757416 m, bearing: 24.645692 deg, approach rate: -0.070087 m/s, LOS rate: -0.101663 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.720724 deg. 2025-01-08T20:20:29.089Z,1736367629.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054614 target range: 490.200012 and range: 490.20 m. 2025-01-08T20:20:29.321Z,1736367629.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:29.323Z,1736367629.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731980 2025-01-08T20:20:29.410Z,1736367629.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:29.431Z,1736367629.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T20:20:29.466Z,1736367629.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 493.734833 m, bearing: 24.610662 deg, approach rate: -0.064650 m/s, LOS rate: -0.100287 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789463 deg. 2025-01-08T20:20:29.479Z,1736367629.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055814 target range: 490.200012 and range: 490.20 m. 2025-01-08T20:20:29.574Z,1736367629.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:29.615Z,1736367629.615 [DAT](INFO): DAT read: 20:20:27.7908 LVL= 27824, 32753, 16818, 32755, AGC= 69, IDX= 400,-0.16,-0.266,-1.068, 0.488,-0.098, PHS=-0.080,-0.923, 0.583, RAW= 176.1, 6.5, CAL= 175.8, -2.8, ROT= 334.2, 2.8 2025-01-08T20:20:29.616Z,1736367629.616 [DAT](INFO): got valid direction response: 20:20:27.7908 LVL= 27824, 32753, 16818, 32755, AGC= 69, IDX= 400,-0.16,-0.266,-1.068, 0.488,-0.098, PHS=-0.080,-0.923, 0.583, RAW= 176.1, 6.5, CAL= 175.8, -2.8, ROT= 334.2, 2.8 2025-01-08T20:20:29.617Z,1736367629.617 [DAT](INFO): DAT read: Bearing 334.2, 2.8 (Local) 2025-01-08T20:20:29.618Z,1736367629.618 [DAT](INFO): Local bearing/azimuth received: Bearing 334.2, 2.8 (Local) 2025-01-08T20:20:29.624Z,1736367629.624 [DAT](INFO): DAT read: Range 10 to 50 : 487.7 m (Round-trip 650.3 ms) speed 1.0 m/s 2025-01-08T20:20:29.624Z,1736367629.624 [DAT](INFO): DAT read: user:1243> 2025-01-08T20:20:29.625Z,1736367629.625 [DAT](INFO): DAT read: Tx time:20:20:28.8863 2025-01-08T20:20:29.625Z,1736367629.625 [DAT](INFO): Ping request sent. 2025-01-08T20:20:29.626Z,1736367629.626 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:20:29.626Z,1736367629.626 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:20:29.627Z,1736367629.627 [DAT](INFO): direction in FSK: [-0.215701,-0.971040,0.102730] 2025-01-08T20:20:29.631Z,1736367629.631 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:29.631Z,1736367629.631 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:29.634Z,1736367629.634 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:29.635Z,1736367629.635 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:29.824Z,1736367629.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:29.825Z,1736367629.825 [DAT](INFO): DAT read: TxSync time:20:20:28.8855 2025-01-08T20:20:29.944Z,1736367629.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:29.973Z,1736367629.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 487.700012 m, deltaT: 4.035706 s, deltaX: -2.500000 m, approachRate: -0.619470 m/s, rangeRepo size: 4 2025-01-08T20:20:29.988Z,1736367629.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 487.700012 m, bearing: 16.159210 deg, lat: 36.909106 deg, lon: -122.121972 deg, deltaT: 4.035706 s, deltaX: -2.500000 m, approachRate: -0.619470 m/s, posRepo size: 4 2025-01-08T20:20:29.989Z,1736367629.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:30.008Z,1736367630.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.686462 m, bearing: 24.552961 deg, approach rate: 0.000000 m/s, LOS rate: -0.100287 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.731524 deg. 2025-01-08T20:20:30.009Z,1736367630.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054803 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:30.077Z,1736367630.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:30.318Z,1736367630.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:30.328Z,1736367630.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:30.345Z,1736367630.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:30.352Z,1736367630.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.654175 m, bearing: 24.512579 deg, approach rate: -0.086601 m/s, LOS rate: -0.108318 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.773404 deg. 2025-01-08T20:20:30.354Z,1736367630.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055534 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:30.581Z,1736367630.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:30.795Z,1736367630.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:30.802Z,1736367630.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:30.809Z,1736367630.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:30.816Z,1736367630.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.601654 m, bearing: 24.458841 deg, approach rate: -0.113233 m/s, LOS rate: -0.115870 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.733325 deg. 2025-01-08T20:20:30.817Z,1736367630.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054834 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:30.832Z,1736367630.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:30.832Z,1736367630.832 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:20:30.833Z,1736367630.833 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:20:30.833Z,1736367630.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:31.084Z,1736367631.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:31.084Z,1736367631.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458834 2025-01-08T20:20:31.121Z,1736367631.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:31.139Z,1736367631.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:31.164Z,1736367631.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.566772 m, bearing: 24.421291 deg, approach rate: -0.105745 m/s, LOS rate: -0.113843 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781898 deg. 2025-01-08T20:20:31.166Z,1736367631.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055682 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:31.336Z,1736367631.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:31.337Z,1736367631.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710931 2025-01-08T20:20:31.589Z,1736367631.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:31.592Z,1736367631.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965931 2025-01-08T20:20:31.730Z,1736367631.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:31.746Z,1736367631.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:31.761Z,1736367631.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.503754 m, bearing: 24.353744 deg, approach rate: -0.103787 m/s, LOS rate: -0.111259 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.691891 deg. 2025-01-08T20:20:31.762Z,1736367631.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054111 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:31.840Z,1736367631.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:31.840Z,1736367631.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214893 2025-01-08T20:20:32.092Z,1736367632.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:32.093Z,1736367632.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466980 2025-01-08T20:20:32.202Z,1736367632.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:32.210Z,1736367632.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:32.213Z,1736367632.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.458649 m, bearing: 24.301197 deg, approach rate: -0.097136 m/s, LOS rate: -0.113173 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.736901 deg. 2025-01-08T20:20:32.214Z,1736367632.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054897 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:32.344Z,1736367632.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:32.344Z,1736367632.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718812 2025-01-08T20:20:32.596Z,1736367632.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:32.596Z,1736367632.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970810 2025-01-08T20:20:32.712Z,1736367632.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:32.721Z,1736367632.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:32.723Z,1736367632.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.420105 m, bearing: 24.248206 deg, approach rate: -0.075572 m/s, LOS rate: -0.103906 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.735572 deg. 2025-01-08T20:20:32.725Z,1736367632.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054873 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:32.848Z,1736367632.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:32.848Z,1736367632.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222796 2025-01-08T20:20:33.012Z,1736367633.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:33.019Z,1736367633.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:33.022Z,1736367633.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:33.025Z,1736367633.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.398285 m, bearing: 24.216893 deg, approach rate: -0.072475 m/s, LOS rate: -0.104010 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800613 deg. 2025-01-08T20:20:33.026Z,1736367633.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056009 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:33.101Z,1736367633.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:33.102Z,1736367633.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476249 2025-01-08T20:20:33.352Z,1736367633.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:33.352Z,1736367633.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.726794 2025-01-08T20:20:33.513Z,1736367633.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:33.539Z,1736367633.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:33.592Z,1736367633.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.362946 m, bearing: 24.164811 deg, approach rate: -0.068362 m/s, LOS rate: -0.100758 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.738300 deg. 2025-01-08T20:20:33.593Z,1736367633.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054921 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:33.606Z,1736367633.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:33.609Z,1736367633.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.983279 2025-01-08T20:20:33.856Z,1736367633.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:33.856Z,1736367633.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.230876 2025-01-08T20:20:33.983Z,1736367633.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:33.992Z,1736367633.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:33.995Z,1736367633.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.346863 m, bearing: 24.121213 deg, approach rate: -0.035464 m/s, LOS rate: -0.096142 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.763759 deg. 2025-01-08T20:20:34.001Z,1736367634.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055365 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:34.108Z,1736367634.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:34.109Z,1736367634.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.483034 2025-01-08T20:20:34.360Z,1736367634.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:34.360Z,1736367634.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.734867 2025-01-08T20:20:34.362Z,1736367634.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:34.375Z,1736367634.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:34.378Z,1736367634.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.333405 m, bearing: 24.086021 deg, approach rate: -0.035157 m/s, LOS rate: -0.091936 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788976 deg. 2025-01-08T20:20:34.379Z,1736367634.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055805 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:34.612Z,1736367634.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:34.612Z,1736367634.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.986853 2025-01-08T20:20:34.809Z,1736367634.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:34.838Z,1736367634.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:34.846Z,1736367634.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.332397 m, bearing: 24.049099 deg, approach rate: -0.002172 m/s, LOS rate: -0.079635 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.783790 deg. 2025-01-08T20:20:34.852Z,1736367634.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055715 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:34.864Z,1736367634.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:34.865Z,1736367634.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.238982 2025-01-08T20:20:35.116Z,1736367635.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:35.117Z,1736367635.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.491762 2025-01-08T20:20:35.173Z,1736367635.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:35.180Z,1736367635.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:35.182Z,1736367635.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:35.185Z,1736367635.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.330597 m, bearing: 24.019035 deg, approach rate: -0.005241 m/s, LOS rate: -0.087510 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804365 deg. 2025-01-08T20:20:35.187Z,1736367635.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056074 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:35.368Z,1736367635.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:35.368Z,1736367635.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.742809 2025-01-08T20:20:35.562Z,1736367635.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:35.571Z,1736367635.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:35.574Z,1736367635.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.327271 m, bearing: 23.986933 deg, approach rate: -0.008554 m/s, LOS rate: -0.082552 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798250 deg. 2025-01-08T20:20:35.575Z,1736367635.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055967 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:35.622Z,1736367635.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:35.623Z,1736367635.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.997362 2025-01-08T20:20:35.872Z,1736367635.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:35.872Z,1736367635.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.246832 2025-01-08T20:20:35.989Z,1736367635.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:35.998Z,1736367635.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:36.001Z,1736367636.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.340546 m, bearing: 23.956225 deg, approach rate: 0.031116 m/s, LOS rate: -0.071976 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802435 deg. 2025-01-08T20:20:36.002Z,1736367636.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056040 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:36.126Z,1736367636.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:36.127Z,1736367636.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.501489 2025-01-08T20:20:36.377Z,1736367636.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:36.378Z,1736367636.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.752561 2025-01-08T20:20:36.382Z,1736367636.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:36.390Z,1736367636.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:36.393Z,1736367636.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.351379 m, bearing: 23.928012 deg, approach rate: 0.027605 m/s, LOS rate: -0.071887 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809920 deg. 2025-01-08T20:20:36.394Z,1736367636.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056171 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:36.628Z,1736367636.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:36.628Z,1736367636.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.002621 2025-01-08T20:20:36.830Z,1736367636.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:36.839Z,1736367636.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:36.843Z,1736367636.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.379242 m, bearing: 23.899143 deg, approach rate: 0.062068 m/s, LOS rate: -0.064306 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807956 deg. 2025-01-08T20:20:36.844Z,1736367636.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056137 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:36.880Z,1736367636.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:36.881Z,1736367636.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.255538 2025-01-08T20:20:37.132Z,1736367637.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:37.132Z,1736367637.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.506699 2025-01-08T20:20:37.196Z,1736367637.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:37.202Z,1736367637.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:37.205Z,1736367637.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:37.208Z,1736367637.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.400330 m, bearing: 23.876332 deg, approach rate: 0.057560 m/s, LOS rate: -0.062262 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826126 deg. 2025-01-08T20:20:37.209Z,1736367637.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056454 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:37.384Z,1736367637.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:37.384Z,1736367637.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.758757 2025-01-08T20:20:37.592Z,1736367637.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:37.601Z,1736367637.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:37.605Z,1736367637.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.423523 m, bearing: 23.849950 deg, approach rate: 0.058647 m/s, LOS rate: -0.066707 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815413 deg. 2025-01-08T20:20:37.606Z,1736367637.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056267 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:37.636Z,1736367637.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:37.638Z,1736367637.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.012543 2025-01-08T20:20:37.888Z,1736367637.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:37.889Z,1736367637.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.263269 2025-01-08T20:20:38.042Z,1736367638.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:38.051Z,1736367638.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:38.056Z,1736367638.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.460846 m, bearing: 23.821882 deg, approach rate: 0.082959 m/s, LOS rate: -0.062382 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810360 deg. 2025-01-08T20:20:38.057Z,1736367638.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056179 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:38.140Z,1736367638.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:38.141Z,1736367638.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.515787 2025-01-08T20:20:38.390Z,1736367638.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:38.392Z,1736367638.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:38.393Z,1736367638.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.766922 2025-01-08T20:20:38.400Z,1736367638.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:38.403Z,1736367638.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.488281 m, bearing: 23.800158 deg, approach rate: 0.078498 m/s, LOS rate: -0.062152 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.829389 deg. 2025-01-08T20:20:38.404Z,1736367638.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056511 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:38.644Z,1736367638.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:38.644Z,1736367638.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.018811 2025-01-08T20:20:38.822Z,1736367638.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:38.830Z,1736367638.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:38.834Z,1736367638.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.526031 m, bearing: 23.773054 deg, approach rate: 0.087747 m/s, LOS rate: -0.062997 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813250 deg. 2025-01-08T20:20:38.836Z,1736367638.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056229 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:38.896Z,1736367638.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:38.897Z,1736367638.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.270924 2025-01-08T20:20:39.148Z,1736367639.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:39.148Z,1736367639.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.522843 2025-01-08T20:20:39.209Z,1736367639.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:39.216Z,1736367639.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:39.218Z,1736367639.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:39.221Z,1736367639.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.559967 m, bearing: 23.748749 deg, approach rate: 0.087608 m/s, LOS rate: -0.062742 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821646 deg. 2025-01-08T20:20:39.223Z,1736367639.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056376 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:39.400Z,1736367639.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:39.400Z,1736367639.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.774825 2025-01-08T20:20:39.601Z,1736367639.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:39.610Z,1736367639.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:39.613Z,1736367639.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.593658 m, bearing: 23.724136 deg, approach rate: 0.085903 m/s, LOS rate: -0.062751 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820723 deg. 2025-01-08T20:20:39.614Z,1736367639.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056360 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:39.653Z,1736367639.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:39.654Z,1736367639.654 [DAT](INFO): Reached modem response timeout 2025-01-08T20:20:39.655Z,1736367639.655 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:20:39.655Z,1736367639.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:39.904Z,1736367639.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:39.905Z,1736367639.905 [DAT](INFO): Reached modem response timeout 2025-01-08T20:20:39.905Z,1736367639.905 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:20:39.905Z,1736367639.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:40.047Z,1736367640.047 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-01-08T20:20:40.047Z,1736367640.047 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-01-08T20:20:40.047Z,1736367640.047 [RDI_Pathfinder](ERROR): Communications Fault 2025-01-08T20:20:40.061Z,1736367640.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:20:40.061Z,1736367640.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:40.095Z,1736367640.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:40.102Z,1736367640.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.633331 m, bearing: 23.695235 deg, approach rate: 0.081793 m/s, LOS rate: -0.059579 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807862 deg. 2025-01-08T20:20:40.108Z,1736367640.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056135 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:40.157Z,1736367640.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:40.158Z,1736367640.158 [DAT](INFO): Reached modem response timeout 2025-01-08T20:20:40.158Z,1736367640.158 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:20:40.158Z,1736367640.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:40.347Z,1736367640.347 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-01-08T20:20:40.409Z,1736367640.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:40.410Z,1736367640.410 [DAT](INFO): DAT read: RX DATA OVERRUNResponse Not Received 2025-01-08T20:20:40.410Z,1736367640.410 [DAT](INFO): response not received 2025-01-08T20:20:40.410Z,1736367640.410 [DAT](INFO): DAT read: user:1244> 2025-01-08T20:20:40.411Z,1736367640.411 [DAT](ERROR): No response from remote modem. 2025-01-08T20:20:40.411Z,1736367640.411 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:20:40.411Z,1736367640.411 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:40.424Z,1736367640.424 [RDI_Pathfinder](INFO): Powering down 2025-01-08T20:20:40.445Z,1736367640.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:20:40.445Z,1736367640.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:40.484Z,1736367640.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:40.486Z,1736367640.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.666504 m, bearing: 23.671118 deg, approach rate: 0.086277 m/s, LOS rate: -0.062722 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822209 deg. 2025-01-08T20:20:40.492Z,1736367640.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056386 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:40.660Z,1736367640.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:40.661Z,1736367640.661 [DAT](INFO): DAT read: Tx time:20:20:39.8364 2025-01-08T20:20:40.662Z,1736367640.662 [DAT](INFO): Ping request sent. 2025-01-08T20:20:40.662Z,1736367640.662 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:20:40.664Z,1736367640.664 [DAT](INFO): DAT read: RX DATA OVERRUNTxSync time:20:20:39.8356 2025-01-08T20:20:40.664Z,1736367640.664 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:40.665Z,1736367640.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003098 2025-01-08T20:20:40.828Z,1736367640.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:20:40.828Z,1736367640.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:40.854Z,1736367640.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:40.877Z,1736367640.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.699982 m, bearing: 23.647068 deg, approach rate: 0.089425 m/s, LOS rate: -0.064237 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822412 deg. 2025-01-08T20:20:40.878Z,1736367640.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056389 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:40.912Z,1736367640.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:40.912Z,1736367640.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250239 2025-01-08T20:20:41.164Z,1736367641.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:41.164Z,1736367641.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502133 2025-01-08T20:20:41.216Z,1736367641.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:20:41.216Z,1736367641.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:41.224Z,1736367641.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:41.226Z,1736367641.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:41.229Z,1736367641.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.734222 m, bearing: 23.622768 deg, approach rate: 0.092058 m/s, LOS rate: -0.065327 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821662 deg. 2025-01-08T20:20:41.230Z,1736367641.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056376 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:41.416Z,1736367641.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:41.416Z,1736367641.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754254 2025-01-08T20:20:41.492Z,1736367641.492 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-01-08T20:20:41.492Z,1736367641.492 [RDI_Pathfinder] No Fault, FailCount= 1 2025-01-08T20:20:41.614Z,1736367641.614 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-08T20:20:41.626Z,1736367641.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:20:41.626Z,1736367641.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:41.634Z,1736367641.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:41.638Z,1736367641.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.771484 m, bearing: 23.597030 deg, approach rate: 0.091192 m/s, LOS rate: -0.062984 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817349 deg. 2025-01-08T20:20:41.640Z,1736367641.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056301 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:41.668Z,1736367641.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:41.669Z,1736367641.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006624 2025-01-08T20:20:41.920Z,1736367641.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:41.921Z,1736367641.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259259 2025-01-08T20:20:42.048Z,1736367642.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:20:42.048Z,1736367642.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:42.059Z,1736367642.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:42.062Z,1736367642.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.811432 m, bearing: 23.570571 deg, approach rate: 0.094158 m/s, LOS rate: -0.062360 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815186 deg. 2025-01-08T20:20:42.064Z,1736367642.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056263 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:42.172Z,1736367642.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:42.173Z,1736367642.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510434 2025-01-08T20:20:42.425Z,1736367642.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:42.428Z,1736367642.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764832 2025-01-08T20:20:42.447Z,1736367642.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:20:42.448Z,1736367642.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:42.460Z,1736367642.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:42.462Z,1736367642.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.849915 m, bearing: 23.545678 deg, approach rate: 0.095991 m/s, LOS rate: -0.062089 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819882 deg. 2025-01-08T20:20:42.464Z,1736367642.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056345 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:42.676Z,1736367642.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:42.678Z,1736367642.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015494 2025-01-08T20:20:42.838Z,1736367642.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:20:42.838Z,1736367642.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:42.867Z,1736367642.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:42.874Z,1736367642.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.888580 m, bearing: 23.521181 deg, approach rate: 0.094946 m/s, LOS rate: -0.060148 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821073 deg. 2025-01-08T20:20:42.875Z,1736367642.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056366 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:42.928Z,1736367642.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:42.929Z,1736367642.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266495 2025-01-08T20:20:43.180Z,1736367643.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:43.180Z,1736367643.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518132 2025-01-08T20:20:43.257Z,1736367643.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:20:43.257Z,1736367643.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:43.265Z,1736367643.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:43.268Z,1736367643.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:43.280Z,1736367643.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.931580 m, bearing: 23.495015 deg, approach rate: 0.107383 m/s, LOS rate: -0.065341 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816064 deg. 2025-01-08T20:20:43.281Z,1736367643.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056278 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:43.432Z,1736367643.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:43.433Z,1736367643.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770610 2025-01-08T20:20:43.660Z,1736367643.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:20:43.660Z,1736367643.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:43.674Z,1736367643.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:43.679Z,1736367643.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 493.973663 m, bearing: 23.469914 deg, approach rate: 0.103545 m/s, LOS rate: -0.061755 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819260 deg. 2025-01-08T20:20:43.681Z,1736367643.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056334 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:43.684Z,1736367643.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:43.685Z,1736367643.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022342 2025-01-08T20:20:43.936Z,1736367643.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:43.937Z,1736367643.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274838 2025-01-08T20:20:44.052Z,1736367644.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:20:44.052Z,1736367644.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:44.062Z,1736367644.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:44.065Z,1736367644.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.015656 m, bearing: 23.445407 deg, approach rate: 0.108161 m/s, LOS rate: -0.063119 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821041 deg. 2025-01-08T20:20:44.066Z,1736367644.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056365 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:44.188Z,1736367644.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:44.189Z,1736367644.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526442 2025-01-08T20:20:44.440Z,1736367644.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:44.440Z,1736367644.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778154 2025-01-08T20:20:44.512Z,1736367644.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:20:44.513Z,1736367644.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:44.521Z,1736367644.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:44.524Z,1736367644.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.065460 m, bearing: 23.416719 deg, approach rate: 0.108347 m/s, LOS rate: -0.062401 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808503 deg. 2025-01-08T20:20:44.525Z,1736367644.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056146 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:44.693Z,1736367644.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:44.694Z,1736367644.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031429 2025-01-08T20:20:44.864Z,1736367644.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:20:44.864Z,1736367644.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:44.873Z,1736367644.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:44.877Z,1736367644.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.102661 m, bearing: 23.395616 deg, approach rate: 0.105746 m/s, LOS rate: -0.059982 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.831252 deg. 2025-01-08T20:20:44.878Z,1736367644.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056543 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:44.944Z,1736367644.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:44.945Z,1736367644.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282428 2025-01-08T20:20:45.196Z,1736367645.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:45.196Z,1736367645.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534212 2025-01-08T20:20:45.263Z,1736367645.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:20:45.265Z,1736367645.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:45.273Z,1736367645.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:45.274Z,1736367645.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:45.277Z,1736367645.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.148346 m, bearing: 23.370014 deg, approach rate: 0.113870 m/s, LOS rate: -0.063809 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817756 deg. 2025-01-08T20:20:45.278Z,1736367645.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056308 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:45.448Z,1736367645.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:45.448Z,1736367645.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786070 2025-01-08T20:20:45.685Z,1736367645.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:20:45.685Z,1736367645.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:45.695Z,1736367645.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:45.698Z,1736367645.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.195740 m, bearing: 23.343738 deg, approach rate: 0.112829 m/s, LOS rate: -0.062547 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815738 deg. 2025-01-08T20:20:45.699Z,1736367645.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056273 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:45.700Z,1736367645.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:45.700Z,1736367645.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038261 2025-01-08T20:20:45.952Z,1736367645.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:45.953Z,1736367645.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290196 2025-01-08T20:20:46.077Z,1736367646.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:20:46.078Z,1736367646.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:46.087Z,1736367646.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:46.090Z,1736367646.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.240051 m, bearing: 23.319360 deg, approach rate: 0.113185 m/s, LOS rate: -0.062263 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821429 deg. 2025-01-08T20:20:46.091Z,1736367646.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056372 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:46.204Z,1736367646.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:46.205Z,1736367646.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542326 2025-01-08T20:20:46.456Z,1736367646.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:46.456Z,1736367646.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794082 2025-01-08T20:20:46.537Z,1736367646.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:20:46.538Z,1736367646.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:46.546Z,1736367646.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:46.549Z,1736367646.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.292145 m, bearing: 23.290756 deg, approach rate: 0.113145 m/s, LOS rate: -0.062120 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808753 deg. 2025-01-08T20:20:46.550Z,1736367646.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056151 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:46.708Z,1736367646.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:46.708Z,1736367646.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046252 2025-01-08T20:20:46.920Z,1736367646.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:20:46.920Z,1736367646.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:46.962Z,1736367646.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:46.963Z,1736367646.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300494 2025-01-08T20:20:46.967Z,1736367646.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:46.974Z,1736367646.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.335571 m, bearing: 23.267034 deg, approach rate: 0.103372 m/s, LOS rate: -0.056464 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823395 deg. 2025-01-08T20:20:46.975Z,1736367646.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056406 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:47.212Z,1736367647.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:47.212Z,1736367647.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550227 2025-01-08T20:20:47.395Z,1736367647.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.8 s old, using for 20.0 s. 2025-01-08T20:20:47.395Z,1736367647.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:47.401Z,1736367647.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:47.421Z,1736367647.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:47.428Z,1736367647.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.389618 m, bearing: 23.237484 deg, approach rate: 0.118975 m/s, LOS rate: -0.065042 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805918 deg. 2025-01-08T20:20:47.429Z,1736367647.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056101 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:47.466Z,1736367647.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:47.467Z,1736367647.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804434 2025-01-08T20:20:47.721Z,1736367647.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:47.721Z,1736367647.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058987 2025-01-08T20:20:47.837Z,1736367647.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.2 s old, using for 20.0 s. 2025-01-08T20:20:47.838Z,1736367647.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:47.846Z,1736367647.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:47.849Z,1736367647.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.439911 m, bearing: 23.209993 deg, approach rate: 0.118303 m/s, LOS rate: -0.064660 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812092 deg. 2025-01-08T20:20:47.850Z,1736367647.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056209 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:47.972Z,1736367647.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:47.973Z,1736367647.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311046 2025-01-08T20:20:48.224Z,1736367648.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:48.224Z,1736367648.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562162 2025-01-08T20:20:48.257Z,1736367648.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.7 s old, using for 20.0 s. 2025-01-08T20:20:48.257Z,1736367648.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:48.268Z,1736367648.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:48.280Z,1736367648.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.487457 m, bearing: 23.183863 deg, approach rate: 0.112800 m/s, LOS rate: -0.061986 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816174 deg. 2025-01-08T20:20:48.281Z,1736367648.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056280 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:48.476Z,1736367648.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:48.477Z,1736367648.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814297 2025-01-08T20:20:48.641Z,1736367648.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.0 s old, using for 20.0 s. 2025-01-08T20:20:48.642Z,1736367648.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:48.661Z,1736367648.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:48.667Z,1736367648.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.530853 m, bearing: 23.159970 deg, approach rate: 0.110425 m/s, LOS rate: -0.060793 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822883 deg. 2025-01-08T20:20:48.669Z,1736367648.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056397 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:48.732Z,1736367648.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:48.734Z,1736367648.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070973 2025-01-08T20:20:48.984Z,1736367648.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:48.984Z,1736367648.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322196 2025-01-08T20:20:49.052Z,1736367649.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.5 s old, using for 20.0 s. 2025-01-08T20:20:49.052Z,1736367649.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:49.068Z,1736367649.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:49.073Z,1736367649.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.576782 m, bearing: 23.134426 deg, approach rate: 0.112701 m/s, LOS rate: -0.062675 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817932 deg. 2025-01-08T20:20:49.074Z,1736367649.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056311 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:49.236Z,1736367649.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:49.237Z,1736367649.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574301 2025-01-08T20:20:49.446Z,1736367649.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s. 2025-01-08T20:20:49.446Z,1736367649.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:49.455Z,1736367649.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:49.458Z,1736367649.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:49.461Z,1736367649.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.620575 m, bearing: 23.109922 deg, approach rate: 0.112375 m/s, LOS rate: -0.062874 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821050 deg. 2025-01-08T20:20:49.462Z,1736367649.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056365 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:49.489Z,1736367649.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:49.489Z,1736367649.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827113 2025-01-08T20:20:49.740Z,1736367649.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:49.741Z,1736367649.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078350 2025-01-08T20:20:49.868Z,1736367649.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.3 s old, using for 20.0 s. 2025-01-08T20:20:49.868Z,1736367649.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:49.878Z,1736367649.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:49.881Z,1736367649.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.667603 m, bearing: 23.083671 deg, approach rate: 0.111906 m/s, LOS rate: -0.062459 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815813 deg. 2025-01-08T20:20:49.882Z,1736367649.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056274 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:49.992Z,1736367649.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:49.993Z,1736367649.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330327 2025-01-08T20:20:50.244Z,1736367650.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:50.245Z,1736367650.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582488 2025-01-08T20:20:50.256Z,1736367650.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.7 s old, using for 20.0 s. 2025-01-08T20:20:50.257Z,1736367650.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:50.267Z,1736367650.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:50.271Z,1736367650.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.710052 m, bearing: 23.059447 deg, approach rate: 0.109193 m/s, LOS rate: -0.062307 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821889 deg. 2025-01-08T20:20:50.273Z,1736367650.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056380 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:50.496Z,1736367650.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:50.497Z,1736367650.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834861 2025-01-08T20:20:50.687Z,1736367650.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.1 s old, using for 20.0 s. 2025-01-08T20:20:50.690Z,1736367650.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:50.703Z,1736367650.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:50.711Z,1736367650.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.757111 m, bearing: 23.032635 deg, approach rate: 0.107980 m/s, LOS rate: -0.061517 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814129 deg. 2025-01-08T20:20:50.712Z,1736367650.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056244 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:50.748Z,1736367650.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:50.748Z,1736367650.748 [DAT](INFO): Reached modem response timeout 2025-01-08T20:20:50.748Z,1736367650.748 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:20:50.749Z,1736367650.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:50.000Z,1736367651.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:51.000Z,1736367651.000 [DAT](INFO): Reached modem response timeout 2025-01-08T20:20:51.000Z,1736367651.000 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:20:51.001Z,1736367651.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:51.073Z,1736367651.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.5 s old, using for 20.0 s. 2025-01-08T20:20:51.074Z,1736367651.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:51.082Z,1736367651.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:51.085Z,1736367651.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.798370 m, bearing: 23.008520 deg, approach rate: 0.108728 m/s, LOS rate: -0.063544 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822216 deg. 2025-01-08T20:20:51.088Z,1736367651.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056386 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:51.252Z,1736367651.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:51.252Z,1736367651.252 [DAT](INFO): Reached modem response timeout 2025-01-08T20:20:51.252Z,1736367651.252 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:20:51.253Z,1736367651.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:51.484Z,1736367651.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.9 s old, using for 20.0 s. 2025-01-08T20:20:51.484Z,1736367651.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:51.493Z,1736367651.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:51.494Z,1736367651.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:51.498Z,1736367651.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.841766 m, bearing: 22.982905 deg, approach rate: 0.105197 m/s, LOS rate: -0.062088 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817718 deg. 2025-01-08T20:20:51.499Z,1736367651.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056307 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:51.505Z,1736367651.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:51.505Z,1736367651.505 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:20:51.506Z,1736367651.506 [DAT](INFO): response not received 2025-01-08T20:20:51.506Z,1736367651.506 [DAT](INFO): DAT read: user:1245> 2025-01-08T20:20:51.507Z,1736367651.507 [DAT](INFO): DAT read: Tx time:20:20:50.7865 2025-01-08T20:20:51.507Z,1736367651.507 [DAT](INFO): Ping request sent. 2025-01-08T20:20:51.507Z,1736367651.507 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:20:51.507Z,1736367651.507 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:51.508Z,1736367651.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765 2025-01-08T20:20:51.756Z,1736367651.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:51.757Z,1736367651.757 [DAT](INFO): DAT read: TxSync time:20:20:50.7857 2025-01-08T20:20:51.757Z,1736367651.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250143 2025-01-08T20:20:51.926Z,1736367651.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.3 s old, using for 20.0 s. 2025-01-08T20:20:51.926Z,1736367651.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:51.934Z,1736367651.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:51.938Z,1736367651.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.887695 m, bearing: 22.955336 deg, approach rate: 0.104492 m/s, LOS rate: -0.062714 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811859 deg. 2025-01-08T20:20:51.939Z,1736367651.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056205 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:52.008Z,1736367652.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:52.009Z,1736367652.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501355 2025-01-08T20:20:52.260Z,1736367652.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:52.260Z,1736367652.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753151 2025-01-08T20:20:52.277Z,1736367652.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.7 s old, using for 20.0 s. 2025-01-08T20:20:52.277Z,1736367652.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:52.286Z,1736367652.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:52.289Z,1736367652.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.924500 m, bearing: 22.933404 deg, approach rate: 0.104686 m/s, LOS rate: -0.062380 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.828765 deg. 2025-01-08T20:20:52.290Z,1736367652.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056500 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:52.514Z,1736367652.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:52.516Z,1736367652.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008594 2025-01-08T20:20:52.690Z,1736367652.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.1 s old, using for 20.0 s. 2025-01-08T20:20:52.690Z,1736367652.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:52.709Z,1736367652.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:52.712Z,1736367652.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 494.967468 m, bearing: 22.907600 deg, approach rate: 0.101398 m/s, LOS rate: -0.060887 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817152 deg. 2025-01-08T20:20:52.713Z,1736367652.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056297 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:52.766Z,1736367652.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:52.768Z,1736367652.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260106 2025-01-08T20:20:53.020Z,1736367653.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:53.021Z,1736367653.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513701 2025-01-08T20:20:53.111Z,1736367653.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.5 s old, using for 20.0 s. 2025-01-08T20:20:53.111Z,1736367653.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:53.132Z,1736367653.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:53.134Z,1736367653.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.011993 m, bearing: 22.881375 deg, approach rate: 0.106592 m/s, LOS rate: -0.062777 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815888 deg. 2025-01-08T20:20:53.140Z,1736367653.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056275 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:53.272Z,1736367653.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:53.272Z,1736367653.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765071 2025-01-08T20:20:53.524Z,1736367653.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:53.525Z,1736367653.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017872 2025-01-08T20:20:53.603Z,1736367653.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.0 s old, using for 20.0 s. 2025-01-08T20:20:53.609Z,1736367653.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:53.616Z,1736367653.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:53.618Z,1736367653.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:53.621Z,1736367653.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.063477 m, bearing: 22.850644 deg, approach rate: 0.104938 m/s, LOS rate: -0.062632 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802374 deg. 2025-01-08T20:20:53.622Z,1736367653.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056039 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:53.777Z,1736367653.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:53.777Z,1736367653.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269914 2025-01-08T20:20:53.993Z,1736367653.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.4 s old, using for 20.0 s. 2025-01-08T20:20:53.993Z,1736367653.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:54.002Z,1736367654.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:54.005Z,1736367654.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.104401 m, bearing: 22.826283 deg, approach rate: 0.106609 m/s, LOS rate: -0.063456 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821480 deg. 2025-01-08T20:20:54.007Z,1736367654.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056373 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:54.028Z,1736367654.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:54.028Z,1736367654.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521163 2025-01-08T20:20:54.282Z,1736367654.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:54.283Z,1736367654.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776223 2025-01-08T20:20:54.438Z,1736367654.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.8 s old, using for 20.0 s. 2025-01-08T20:20:54.438Z,1736367654.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:54.466Z,1736367654.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:54.473Z,1736367654.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.150696 m, bearing: 22.798502 deg, approach rate: 0.099578 m/s, LOS rate: -0.059749 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811222 deg. 2025-01-08T20:20:54.475Z,1736367654.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056194 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:54.532Z,1736367654.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:54.532Z,1736367654.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025150 2025-01-08T20:20:54.785Z,1736367654.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:54.793Z,1736367654.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284782 2025-01-08T20:20:54.912Z,1736367654.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.3 s old, using for 20.0 s. 2025-01-08T20:20:54.912Z,1736367654.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:54.946Z,1736367654.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:54.954Z,1736367654.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.199493 m, bearing: 22.769336 deg, approach rate: 0.101800 m/s, LOS rate: -0.060840 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807066 deg. 2025-01-08T20:20:54.955Z,1736367654.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056121 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:55.037Z,1736367655.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:55.038Z,1736367655.038 [DAT](INFO): DAT read: Rx Time:20:20:53.8170 2025-01-08T20:20:55.039Z,1736367655.039 [DAT](INFO): Rx dataTimestamp_ set to:1736367655.038233 2025-01-08T20:20:55.040Z,1736367655.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532398 2025-01-08T20:20:55.288Z,1736367655.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:55.289Z,1736367655.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781250 2025-01-08T20:20:55.297Z,1736367655.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:55.307Z,1736367655.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:55.338Z,1736367655.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.221588 m, bearing: 22.736949 deg, approach rate: 0.061259 m/s, LOS rate: -0.089792 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797399 deg. 2025-01-08T20:20:55.344Z,1736367655.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055953 target range: 487.700012 and range: 487.70 m. 2025-01-08T20:20:55.540Z,1736367655.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:55.541Z,1736367655.541 [DAT](INFO): DAT read: Range 10 to 50 : 469.8 m (Round-trip 626.4 ms) speed 0.8 m/s 2025-01-08T20:20:55.542Z,1736367655.542 [DAT](INFO): DAT read: user:1246> 2025-01-08T20:20:55.543Z,1736367655.543 [DAT](INFO): DAT read: Tx time:20:20:54.9365 2025-01-08T20:20:55.543Z,1736367655.543 [DAT](INFO): Ping request sent. 2025-01-08T20:20:55.543Z,1736367655.543 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:20:55.544Z,1736367655.544 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:20:55.544Z,1736367655.544 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:55.544Z,1736367655.544 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:55.684Z,1736367655.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:55.698Z,1736367655.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:55.701Z,1736367655.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 469.799988 m, deltaT: 25.965645 s, deltaX: -17.900024 m, approachRate: -0.689373 m/s, rangeRepo size: 4 2025-01-08T20:20:55.702Z,1736367655.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:55.707Z,1736367655.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.243500 m, bearing: 22.705002 deg, approach rate: 0.055634 m/s, LOS rate: -0.081110 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798721 deg. 2025-01-08T20:20:55.710Z,1736367655.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055975 target range: 487.700012 and range: 469.80 m. 2025-01-08T20:20:55.792Z,1736367655.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:55.794Z,1736367655.794 [DAT](INFO): DAT read: TxSync time:20:20:54.9357 2025-01-08T20:20:55.794Z,1736367655.794 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:20:55.795Z,1736367655.795 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:20:55.795Z,1736367655.795 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:20:56.044Z,1736367656.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:56.044Z,1736367656.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500850 2025-01-08T20:20:56.084Z,1736367656.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:56.126Z,1736367656.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:56.133Z,1736367656.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.262878 m, bearing: 22.670326 deg, approach rate: 0.045484 m/s, LOS rate: -0.081387 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790531 deg. 2025-01-08T20:20:56.134Z,1736367656.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055833 target range: 487.700012 and range: 469.80 m. 2025-01-08T20:20:56.296Z,1736367656.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:56.296Z,1736367656.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752869 2025-01-08T20:20:56.473Z,1736367656.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:56.481Z,1736367656.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:56.484Z,1736367656.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.282898 m, bearing: 22.636721 deg, approach rate: 0.056461 m/s, LOS rate: -0.094772 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793746 deg. 2025-01-08T20:20:56.485Z,1736367656.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055889 target range: 487.700012 and range: 469.80 m. 2025-01-08T20:20:56.550Z,1736367656.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:56.551Z,1736367656.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007220 2025-01-08T20:20:56.800Z,1736367656.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:56.800Z,1736367656.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256790 2025-01-08T20:20:56.889Z,1736367656.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:56.973Z,1736367656.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:56.984Z,1736367656.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.305298 m, bearing: 22.600675 deg, approach rate: 0.045510 m/s, LOS rate: -0.073230 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786427 deg. 2025-01-08T20:20:56.985Z,1736367656.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055761 target range: 487.700012 and range: 469.80 m. 2025-01-08T20:20:57.052Z,1736367657.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:57.053Z,1736367657.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508872 2025-01-08T20:20:57.304Z,1736367657.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:57.305Z,1736367657.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761417 2025-01-08T20:20:57.350Z,1736367657.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:57.360Z,1736367657.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:57.362Z,1736367657.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.333740 m, bearing: 22.558452 deg, approach rate: 0.073664 m/s, LOS rate: -0.109348 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.767895 deg. 2025-01-08T20:20:57.364Z,1736367657.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055438 target range: 487.700012 and range: 469.80 m. 2025-01-08T20:20:57.556Z,1736367657.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:57.558Z,1736367657.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013637 2025-01-08T20:20:57.706Z,1736367657.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:57.712Z,1736367657.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:57.714Z,1736367657.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:57.717Z,1736367657.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.355927 m, bearing: 22.525930 deg, approach rate: 0.062523 m/s, LOS rate: -0.091647 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796994 deg. 2025-01-08T20:20:57.718Z,1736367657.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055945 target range: 487.700012 and range: 469.80 m. 2025-01-08T20:20:57.808Z,1736367657.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:57.809Z,1736367657.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265159 2025-01-08T20:20:58.060Z,1736367658.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:58.060Z,1736367658.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516937 2025-01-08T20:20:58.148Z,1736367658.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:58.173Z,1736367658.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:58.180Z,1736367658.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.378265 m, bearing: 22.484779 deg, approach rate: 0.048708 m/s, LOS rate: -0.089723 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.771108 deg. 2025-01-08T20:20:58.181Z,1736367658.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055494 target range: 487.700012 and range: 469.80 m. 2025-01-08T20:20:58.252Z,1736367658.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:20:58.317Z,1736367658.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:58.318Z,1736367658.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774178 2025-01-08T20:20:58.525Z,1736367658.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:58.533Z,1736367658.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:58.537Z,1736367658.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.397552 m, bearing: 22.449802 deg, approach rate: 0.053504 m/s, LOS rate: -0.097024 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789630 deg. 2025-01-08T20:20:58.538Z,1736367658.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055817 target range: 487.700012 and range: 469.80 m. 2025-01-08T20:20:58.568Z,1736367658.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:58.570Z,1736367658.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025987 2025-01-08T20:20:58.820Z,1736367658.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:58.822Z,1736367658.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278072 2025-01-08T20:20:58.921Z,1736367658.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:58.953Z,1736367658.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:58.983Z,1736367658.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.417877 m, bearing: 22.412957 deg, approach rate: 0.048689 m/s, LOS rate: -0.088260 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784027 deg. 2025-01-08T20:20:58.995Z,1736367658.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055719 target range: 487.700012 and range: 469.80 m. 2025-01-08T20:20:59.073Z,1736367659.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:59.074Z,1736367659.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530444 2025-01-08T20:20:59.256Z,1736367659.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:20:59.324Z,1736367659.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:59.325Z,1736367659.325 [DAT](INFO): DAT read: Rx Time:20:20:57.9619 2025-01-08T20:20:59.325Z,1736367659.325 [DAT](INFO): Rx dataTimestamp_ set to:1736367659.325006 2025-01-08T20:20:59.326Z,1736367659.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782302 2025-01-08T20:20:59.374Z,1736367659.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:59.396Z,1736367659.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:59.398Z,1736367659.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.434418 m, bearing: 22.371272 deg, approach rate: 0.037223 m/s, LOS rate: -0.093805 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.769506 deg. 2025-01-08T20:20:59.406Z,1736367659.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055466 target range: 487.700012 and range: 469.80 m. 2025-01-08T20:20:59.576Z,1736367659.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:59.577Z,1736367659.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033206 2025-01-08T20:20:59.722Z,1736367659.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:20:59.744Z,1736367659.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:20:59.749Z,1736367659.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T20:20:59.752Z,1736367659.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 495.447266 m, bearing: 22.339281 deg, approach rate: 0.036289 m/s, LOS rate: -0.090355 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798587 deg. 2025-01-08T20:20:59.766Z,1736367659.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055973 target range: 487.700012 and range: 469.80 m. 2025-01-08T20:20:59.828Z,1736367659.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:20:59.838Z,1736367659.838 [DAT](INFO): DAT read: 20:20:57.9619 LVL= 32752, 32753, 21746, 32755, AGC= 71, IDX= 389,-0.40, 0.610,-0.391, 1.380, 0.544, PHS= 0.154,-0.888, 0.834, RAW= 173.1, -1.3, CAL= 174.3, -9.1, ROT= 335.7, 9.1 2025-01-08T20:20:59.840Z,1736367659.840 [DAT](INFO): got valid direction response: 20:20:57.9619 LVL= 32752, 32753, 21746, 32755, AGC= 71, IDX= 389,-0.40, 0.610,-0.391, 1.380, 0.544, PHS= 0.154,-0.888, 0.834, RAW= 173.1, -1.3, CAL= 174.3, -9.1, ROT= 335.7, 9.1 2025-01-08T20:20:59.841Z,1736367659.841 [DAT](INFO): DAT read: Bearing 335.7, 9.1 (Local) 2025-01-08T20:20:59.841Z,1736367659.841 [DAT](INFO): Local bearing/azimuth received: Bearing 335.7, 9.1 (Local) 2025-01-08T20:20:59.842Z,1736367659.842 [DAT](INFO): DAT read: Range 10 to 50 : 465.8 m (Round-trip 621.1 ms) speed 1.1 m/s 2025-01-08T20:20:59.843Z,1736367659.843 [DAT](INFO): DAT read: user:1247> 2025-01-08T20:20:59.844Z,1736367659.844 [DAT](INFO): DAT read: Tx time:20:20:59.0866 2025-01-08T20:20:59.844Z,1736367659.844 [DAT](INFO): Ping request sent. 2025-01-08T20:20:59.844Z,1736367659.844 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:20:59.845Z,1736367659.845 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:20:59.846Z,1736367659.846 [DAT](INFO): direction in FSK: [-0.071998,-0.983545,0.165696] 2025-01-08T20:20:59.846Z,1736367659.846 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:59.846Z,1736367659.846 [DAT](INFO): publishing direction and range info 2025-01-08T20:20:59.849Z,1736367659.849 [DAT](INFO): publishing transmit ping time 2025-01-08T20:20:59.849Z,1736367659.849 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:00.080Z,1736367660.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:00.081Z,1736367660.081 [DAT](INFO): DAT read: TxSync time:20:20:59.0858 2025-01-08T20:21:00.294Z,1736367660.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:00.309Z,1736367660.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 465.799988 m, deltaT: 4.287927 s, deltaX: -4.000000 m, approachRate: -0.932852 m/s, rangeRepo size: 4 2025-01-08T20:21:00.311Z,1736367660.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 465.799988 m, bearing: 24.229991 deg, lat: 36.909051 deg, lon: -122.121937 deg, deltaT: 30.253572 s, deltaX: -21.900024 m, approachRate: -0.723882 m/s, posRepo size: 4 2025-01-08T20:21:00.312Z,1736367660.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T20:21:00.315Z,1736367660.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 491.062805 m, bearing: 22.889012 deg, approach rate: 0.000000 m/s, LOS rate: -0.090355 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.743036 deg. 2025-01-08T20:21:00.316Z,1736367660.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055004 target range: 465.799988 and range: 465.80 m. 2025-01-08T20:21:00.332Z,1736367660.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:00.584Z,1736367660.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:00.690Z,1736367660.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:00.698Z,1736367660.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T20:21:00.701Z,1736367660.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 491.068542 m, bearing: 22.853402 deg, approach rate: 0.014699 m/s, LOS rate: -0.091232 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787730 deg. 2025-01-08T20:21:00.704Z,1736367660.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055784 target range: 465.799988 and range: 465.80 m. 2025-01-08T20:21:00.836Z,1736367660.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:01.088Z,1736367661.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:01.164Z,1736367661.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:01.174Z,1736367661.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T20:21:01.176Z,1736367661.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 491.068573 m, bearing: 22.811880 deg, approach rate: 0.000064 m/s, LOS rate: -0.087388 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.769989 deg. 2025-01-08T20:21:01.178Z,1736367661.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055474 target range: 465.799988 and range: 465.80 m. 2025-01-08T20:21:01.341Z,1736367661.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:01.575Z,1736367661.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:01.583Z,1736367661.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T20:21:01.587Z,1736367661.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 491.068787 m, bearing: 22.775935 deg, approach rate: 0.000522 m/s, LOS rate: -0.087762 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786722 deg. 2025-01-08T20:21:01.588Z,1736367661.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055766 target range: 465.799988 and range: 465.80 m. 2025-01-08T20:21:01.592Z,1736367661.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:01.845Z,1736367661.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:01.960Z,1736367661.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:01.971Z,1736367661.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:01.973Z,1736367661.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T20:21:01.976Z,1736367661.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 491.069061 m, bearing: 22.742193 deg, approach rate: 0.000704 m/s, LOS rate: -0.086490 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793331 deg. 2025-01-08T20:21:01.977Z,1736367661.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055882 target range: 465.799988 and range: 465.80 m. 2025-01-08T20:21:02.096Z,1736367662.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:02.097Z,1736367662.097 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:21:02.097Z,1736367662.097 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:21:02.098Z,1736367662.098 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:02.348Z,1736367662.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:02.348Z,1736367662.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503953 2025-01-08T20:21:02.414Z,1736367662.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:02.423Z,1736367662.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T20:21:02.426Z,1736367662.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 491.075836 m, bearing: 22.705385 deg, approach rate: 0.015064 m/s, LOS rate: -0.081840 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784134 deg. 2025-01-08T20:21:02.428Z,1736367662.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055721 target range: 465.799988 and range: 465.80 m. 2025-01-08T20:21:02.600Z,1736367662.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:02.600Z,1736367662.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755926 2025-01-08T20:21:02.788Z,1736367662.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:02.796Z,1736367662.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T20:21:02.799Z,1736367662.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 491.080841 m, bearing: 22.675150 deg, approach rate: 0.013413 m/s, LOS rate: -0.081027 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803854 deg. 2025-01-08T20:21:02.800Z,1736367662.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056065 target range: 465.799988 and range: 465.80 m. 2025-01-08T20:21:02.853Z,1736367662.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:02.854Z,1736367662.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009386 2025-01-08T20:21:03.104Z,1736367663.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:03.105Z,1736367663.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260152 2025-01-08T20:21:03.199Z,1736367663.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:03.210Z,1736367663.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T20:21:03.234Z,1736367663.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 491.081055 m, bearing: 22.643640 deg, approach rate: 0.000516 m/s, LOS rate: -0.076184 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800024 deg. 2025-01-08T20:21:03.235Z,1736367663.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055998 target range: 465.799988 and range: 465.80 m. 2025-01-08T20:21:03.358Z,1736367663.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:03.361Z,1736367663.361 [DAT](INFO): DAT read: Rx Time:20:21:02.1078 2025-01-08T20:21:03.362Z,1736367663.362 [DAT](INFO): Rx dataTimestamp_ set to:1736367663.361285 2025-01-08T20:21:03.362Z,1736367663.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517599 2025-01-08T20:21:03.577Z,1736367663.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:03.586Z,1736367663.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T20:21:03.608Z,1736367663.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:03.608Z,1736367663.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763991 2025-01-08T20:21:03.616Z,1736367663.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 491.080780 m, bearing: 22.614707 deg, approach rate: -0.000731 m/s, LOS rate: -0.076984 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807758 deg. 2025-01-08T20:21:03.617Z,1736367663.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056133 target range: 465.799988 and range: 465.80 m. 2025-01-08T20:21:03.861Z,1736367663.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:03.873Z,1736367663.873 [DAT](INFO): DAT read: 20:21:02.1078 LVL= 32752, 32753, 23010, 32755, AGC= 69, IDX= 395,-0.20,-0.327,-1.159, 0.395,-0.293, PHS= 0.054,-0.819, 0.685, RAW= 174.7, 1.3, CAL= 175.3, -7.0, ROT= 334.7, 7.0 2025-01-08T20:21:03.886Z,1736367663.886 [DAT](INFO): got valid direction response: 20:21:02.1078 LVL= 32752, 32753, 23010, 32755, AGC= 69, IDX= 395,-0.20,-0.327,-1.159, 0.395,-0.293, PHS= 0.054,-0.819, 0.685, RAW= 174.7, 1.3, CAL= 175.3, -7.0, ROT= 334.7, 7.0 2025-01-08T20:21:03.888Z,1736367663.888 [DAT](INFO): DAT read: Bearing 334.7, 7.0 (Local) 2025-01-08T20:21:03.888Z,1736367663.888 [DAT](INFO): Local bearing/azimuth received: Bearing 334.7, 7.0 (Local) 2025-01-08T20:21:03.889Z,1736367663.889 [DAT](INFO): DAT read: Range 10 to 50 : 462.7 m (Round-trip 617.0 ms) speed 0.2 m/s 2025-01-08T20:21:03.890Z,1736367663.890 [DAT](INFO): DAT read: user:1248> 2025-01-08T20:21:03.891Z,1736367663.891 [DAT](INFO): DAT read: Tx time:20:21:03.1866 2025-01-08T20:21:03.891Z,1736367663.891 [DAT](INFO): Ping request sent. 2025-01-08T20:21:03.891Z,1736367663.891 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:21:03.892Z,1736367663.892 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:21:03.893Z,1736367663.893 [DAT](INFO): direction in FSK: [-0.119212,-0.983764,0.134155] 2025-01-08T20:21:03.893Z,1736367663.893 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:03.893Z,1736367663.893 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:03.897Z,1736367663.897 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:03.898Z,1736367663.898 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:04.075Z,1736367664.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:04.112Z,1736367664.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:04.113Z,1736367664.113 [DAT](INFO): DAT read: TxSync time:20:21:03.1858 2025-01-08T20:21:04.123Z,1736367664.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 462.700012 m, deltaT: 4.033955 s, deltaX: -3.099976 m, approachRate: -0.768471 m/s, rangeRepo size: 4 2025-01-08T20:21:04.125Z,1736367664.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 462.700012 m, bearing: 20.911593 deg, lat: 36.909023 deg, lon: -122.122098 deg, deltaT: 4.033955 s, deltaX: -3.099976 m, approachRate: -0.768471 m/s, posRepo size: 4 2025-01-08T20:21:04.126Z,1736367664.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.70 m. 2025-01-08T20:21:04.129Z,1736367664.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.700012 m, nav range: 482.814606 m, bearing: 21.152943 deg, approach rate: 0.000000 m/s, LOS rate: -0.076984 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.770620 deg. 2025-01-08T20:21:04.130Z,1736367664.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055485 target range: 462.700012 and range: 462.70 m. 2025-01-08T20:21:04.364Z,1736367664.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:04.474Z,1736367664.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:04.493Z,1736367664.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:04.499Z,1736367664.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.70 m. 2025-01-08T20:21:04.502Z,1736367664.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.700012 m, nav range: 482.823303 m, bearing: 21.123227 deg, approach rate: 0.023330 m/s, LOS rate: -0.079705 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805412 deg. 2025-01-08T20:21:04.508Z,1736367664.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056092 target range: 462.700012 and range: 462.70 m. 2025-01-08T20:21:04.616Z,1736367664.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:04.616Z,1736367664.616 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:21:04.616Z,1736367664.616 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:21:04.617Z,1736367664.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:04.859Z,1736367664.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:04.868Z,1736367664.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:04.869Z,1736367664.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977156 2025-01-08T20:21:04.869Z,1736367664.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.70 m. 2025-01-08T20:21:04.872Z,1736367664.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.700012 m, nav range: 482.832275 m, bearing: 21.094646 deg, approach rate: 0.024122 m/s, LOS rate: -0.076842 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808813 deg. 2025-01-08T20:21:04.873Z,1736367664.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056152 target range: 462.700012 and range: 462.70 m. 2025-01-08T20:21:05.121Z,1736367665.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:05.122Z,1736367665.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230116 2025-01-08T20:21:05.273Z,1736367665.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:05.285Z,1736367665.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.70 m. 2025-01-08T20:21:05.289Z,1736367665.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.700012 m, nav range: 482.844238 m, bearing: 21.063248 deg, approach rate: 0.028627 m/s, LOS rate: -0.075131 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800367 deg. 2025-01-08T20:21:05.290Z,1736367665.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056004 target range: 462.700012 and range: 462.70 m. 2025-01-08T20:21:05.373Z,1736367665.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:05.374Z,1736367665.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482603 2025-01-08T20:21:05.624Z,1736367665.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:05.624Z,1736367665.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733042 2025-01-08T20:21:05.670Z,1736367665.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:05.694Z,1736367665.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.70 m. 2025-01-08T20:21:05.698Z,1736367665.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.700012 m, nav range: 482.855255 m, bearing: 21.033223 deg, approach rate: 0.026943 m/s, LOS rate: -0.073431 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804482 deg. 2025-01-08T20:21:05.699Z,1736367665.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056076 target range: 462.700012 and range: 462.70 m. 2025-01-08T20:21:05.876Z,1736367665.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:05.877Z,1736367665.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985231 2025-01-08T20:21:06.112Z,1736367666.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:06.128Z,1736367666.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:06.130Z,1736367666.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238220 2025-01-08T20:21:06.156Z,1736367666.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.70 m. 2025-01-08T20:21:06.159Z,1736367666.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.700012 m, nav range: 482.866516 m, bearing: 21.000252 deg, approach rate: 0.024358 m/s, LOS rate: -0.071316 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795646 deg. 2025-01-08T20:21:06.172Z,1736367666.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055922 target range: 462.700012 and range: 462.70 m. 2025-01-08T20:21:06.380Z,1736367666.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:06.382Z,1736367666.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490004 2025-01-08T20:21:06.489Z,1736367666.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:06.496Z,1736367666.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:06.498Z,1736367666.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.70 m. 2025-01-08T20:21:06.501Z,1736367666.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.700012 m, nav range: 482.874146 m, bearing: 20.970952 deg, approach rate: 0.022284 m/s, LOS rate: -0.085577 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806658 deg. 2025-01-08T20:21:06.502Z,1736367666.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056114 target range: 462.700012 and range: 462.70 m. 2025-01-08T20:21:06.633Z,1736367666.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:06.634Z,1736367666.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742396 2025-01-08T20:21:06.860Z,1736367666.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:06.868Z,1736367666.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.70 m. 2025-01-08T20:21:06.873Z,1736367666.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.700012 m, nav range: 482.881195 m, bearing: 20.942625 deg, approach rate: 0.019084 m/s, LOS rate: -0.076683 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809578 deg. 2025-01-08T20:21:06.876Z,1736367666.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056165 target range: 462.700012 and range: 462.70 m. 2025-01-08T20:21:06.884Z,1736367666.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:06.885Z,1736367666.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993141 2025-01-08T20:21:07.136Z,1736367667.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:07.137Z,1736367667.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245833 2025-01-08T20:21:07.313Z,1736367667.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:07.325Z,1736367667.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.70 m. 2025-01-08T20:21:07.349Z,1736367667.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.700012 m, nav range: 482.884857 m, bearing: 20.905478 deg, approach rate: 0.008004 m/s, LOS rate: -0.081189 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.783117 deg. 2025-01-08T20:21:07.350Z,1736367667.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055703 target range: 462.700012 and range: 462.70 m. 2025-01-08T20:21:07.389Z,1736367667.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:07.390Z,1736367667.390 [DAT](INFO): DAT read: Rx Time:20:21:06.2052 2025-01-08T20:21:07.390Z,1736367667.390 [DAT](INFO): Rx dataTimestamp_ set to:1736367667.390211 2025-01-08T20:21:07.391Z,1736367667.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499643 2025-01-08T20:21:07.640Z,1736367667.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:07.640Z,1736367667.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749072 2025-01-08T20:21:07.697Z,1736367667.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:07.710Z,1736367667.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.70 m. 2025-01-08T20:21:07.714Z,1736367667.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.700012 m, nav range: 482.888062 m, bearing: 20.873996 deg, approach rate: 0.008320 m/s, LOS rate: -0.081748 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800110 deg. 2025-01-08T20:21:07.715Z,1736367667.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056000 target range: 462.700012 and range: 462.70 m. 2025-01-08T20:21:07.894Z,1736367667.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:07.911Z,1736367667.911 [DAT](INFO): DAT read: 20:21:06.2053 LVL= 32752, 30897, 21490, 32755, AGC= 72, IDX= 414, 0.31,-1.546,-2.511,-0.784,-1.571, PHS= 0.113,-0.894, 0.783, RAW= 173.4, -0.0, CAL= 174.4, -8.1, ROT= 335.6, 8.1 2025-01-08T20:21:07.917Z,1736367667.917 [DAT](INFO): got valid direction response: 20:21:06.2053 LVL= 32752, 30897, 21490, 32755, AGC= 72, IDX= 414, 0.31,-1.546,-2.511,-0.784,-1.571, PHS= 0.113,-0.894, 0.783, RAW= 173.4, -0.0, CAL= 174.4, -8.1, ROT= 335.6, 8.1 2025-01-08T20:21:07.919Z,1736367667.919 [DAT](INFO): DAT read: Bearing 335.6, 8.1 (Local) 2025-01-08T20:21:07.919Z,1736367667.919 [DAT](INFO): Local bearing/azimuth received: Bearing 335.6, 8.1 (Local) 2025-01-08T20:21:07.920Z,1736367667.920 [DAT](INFO): DAT read: Range 10 to 50 : 460.8 m (Round-trip 614.5 ms) speed 0.5 m/s 2025-01-08T20:21:07.921Z,1736367667.921 [DAT](INFO): DAT read: user:1249> 2025-01-08T20:21:07.922Z,1736367667.922 [DAT](INFO): DAT read: Tx time:20:21:07.2867 2025-01-08T20:21:07.922Z,1736367667.922 [DAT](INFO): Ping request sent. 2025-01-08T20:21:07.922Z,1736367667.922 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:21:07.923Z,1736367667.923 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:21:07.924Z,1736367667.924 [DAT](INFO): direction in FSK: [-0.096910,-0.982564,0.158673] 2025-01-08T20:21:07.924Z,1736367667.924 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:07.924Z,1736367667.924 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:07.936Z,1736367667.936 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:07.937Z,1736367667.937 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:08.144Z,1736367668.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:08.145Z,1736367668.145 [DAT](INFO): DAT read: TxSync time:20:21:07.2859 2025-01-08T20:21:08.238Z,1736367668.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:08.252Z,1736367668.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 460.799988 m, deltaT: 4.032737 s, deltaX: -1.900024 m, approachRate: -0.471150 m/s, rangeRepo size: 4 2025-01-08T20:21:08.256Z,1736367668.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 460.799988 m, bearing: 21.464925 deg, lat: 36.908860 deg, lon: -122.122134 deg, deltaT: 4.032737 s, deltaX: -1.900024 m, approachRate: -0.471150 m/s, posRepo size: 4 2025-01-08T20:21:08.256Z,1736367668.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.80 m. 2025-01-08T20:21:08.259Z,1736367668.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.799988 m, nav range: 464.875671 m, bearing: 21.255126 deg, approach rate: 0.000000 m/s, LOS rate: -0.081748 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.761912 deg. 2025-01-08T20:21:08.260Z,1736367668.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055333 target range: 460.799988 and range: 460.80 m. 2025-01-08T20:21:08.397Z,1736367668.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:08.516Z,1736367668.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:08.524Z,1736367668.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:08.526Z,1736367668.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.80 m. 2025-01-08T20:21:08.529Z,1736367668.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.799988 m, nav range: 464.881775 m, bearing: 21.229110 deg, approach rate: 0.022244 m/s, LOS rate: -0.094814 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816508 deg. 2025-01-08T20:21:08.530Z,1736367668.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056286 target range: 460.799988 and range: 460.80 m. 2025-01-08T20:21:08.649Z,1736367668.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:08.650Z,1736367668.650 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:21:08.650Z,1736367668.650 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:21:08.650Z,1736367668.650 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:08.900Z,1736367668.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:08.900Z,1736367668.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978126 2025-01-08T20:21:08.939Z,1736367668.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:08.948Z,1736367668.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.80 m. 2025-01-08T20:21:08.951Z,1736367668.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.799988 m, nav range: 464.891205 m, bearing: 21.189645 deg, approach rate: 0.022316 m/s, LOS rate: -0.093390 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776165 deg. 2025-01-08T20:21:08.972Z,1736367668.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055582 target range: 460.799988 and range: 460.80 m. 2025-01-08T20:21:09.152Z,1736367669.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:09.153Z,1736367669.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230020 2025-01-08T20:21:09.343Z,1736367669.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:09.360Z,1736367669.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.80 m. 2025-01-08T20:21:09.363Z,1736367669.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.799988 m, nav range: 464.904510 m, bearing: 21.150917 deg, approach rate: 0.032309 m/s, LOS rate: -0.094037 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778375 deg. 2025-01-08T20:21:09.364Z,1736367669.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055620 target range: 460.799988 and range: 460.80 m. 2025-01-08T20:21:09.404Z,1736367669.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:09.405Z,1736367669.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482859 2025-01-08T20:21:09.656Z,1736367669.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:09.657Z,1736367669.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734865 2025-01-08T20:21:09.728Z,1736367669.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:09.738Z,1736367669.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.80 m. 2025-01-08T20:21:09.741Z,1736367669.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.799988 m, nav range: 464.917053 m, bearing: 21.113968 deg, approach rate: 0.033219 m/s, LOS rate: -0.097857 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.783712 deg. 2025-01-08T20:21:09.742Z,1736367669.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055714 target range: 460.799988 and range: 460.80 m. 2025-01-08T20:21:09.908Z,1736367669.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:09.909Z,1736367669.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986274 2025-01-08T20:21:10.161Z,1736367670.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:10.174Z,1736367670.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252048 2025-01-08T20:21:10.246Z,1736367670.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:10.258Z,1736367670.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.80 m. 2025-01-08T20:21:10.265Z,1736367670.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.799988 m, nav range: 464.935120 m, bearing: 21.061514 deg, approach rate: 0.034713 m/s, LOS rate: -0.100782 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.737203 deg. 2025-01-08T20:21:10.266Z,1736367670.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054902 target range: 460.799988 and range: 460.80 m. 2025-01-08T20:21:10.412Z,1736367670.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:10.412Z,1736367670.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489998 2025-01-08T20:21:10.588Z,1736367670.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:10.595Z,1736367670.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:10.597Z,1736367670.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.80 m. 2025-01-08T20:21:10.616Z,1736367670.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.799988 m, nav range: 464.947815 m, bearing: 21.026795 deg, approach rate: 0.037465 m/s, LOS rate: -0.102457 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790401 deg. 2025-01-08T20:21:10.617Z,1736367670.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055830 target range: 460.799988 and range: 460.80 m. 2025-01-08T20:21:10.664Z,1736367670.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:10.665Z,1736367670.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743085 2025-01-08T20:21:10.916Z,1736367670.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:10.916Z,1736367670.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994091 2025-01-08T20:21:11.064Z,1736367671.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:11.073Z,1736367671.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.80 m. 2025-01-08T20:21:11.092Z,1736367671.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.799988 m, nav range: 464.966675 m, bearing: 20.978525 deg, approach rate: 0.039582 m/s, LOS rate: -0.101300 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.749755 deg. 2025-01-08T20:21:11.094Z,1736367671.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055121 target range: 460.799988 and range: 460.80 m. 2025-01-08T20:21:11.169Z,1736367671.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:11.172Z,1736367671.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249001 2025-01-08T20:21:11.420Z,1736367671.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:11.421Z,1736367671.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499040 2025-01-08T20:21:11.492Z,1736367671.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:11.521Z,1736367671.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.80 m. 2025-01-08T20:21:11.528Z,1736367671.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.799988 m, nav range: 464.983368 m, bearing: 20.935230 deg, approach rate: 0.037344 m/s, LOS rate: -0.096852 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764676 deg. 2025-01-08T20:21:11.532Z,1736367671.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055381 target range: 460.799988 and range: 460.80 m. 2025-01-08T20:21:11.672Z,1736367671.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:11.673Z,1736367671.673 [DAT](INFO): DAT read: Rx Time:20:21:10.3013 2025-01-08T20:21:11.674Z,1736367671.674 [DAT](INFO): Rx dataTimestamp_ set to:1736367671.673632 2025-01-08T20:21:11.675Z,1736367671.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752521 2025-01-08T20:21:11.875Z,1736367671.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:11.884Z,1736367671.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.80 m. 2025-01-08T20:21:11.889Z,1736367671.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.799988 m, nav range: 464.999207 m, bearing: 20.896302 deg, approach rate: 0.043626 m/s, LOS rate: -0.107222 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777774 deg. 2025-01-08T20:21:11.890Z,1736367671.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055610 target range: 460.799988 and range: 460.80 m. 2025-01-08T20:21:11.924Z,1736367671.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:11.925Z,1736367671.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.003145 2025-01-08T20:21:12.177Z,1736367672.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:12.206Z,1736367672.206 [DAT](INFO): DAT read: 20:21:10.3013 LVL= 32752, 32753, 19826, 32755, AGC= 70, IDX= 408, 0.35, 2.472, 1.458,-2.986, 2.407, PHS= 0.154,-0.902, 0.888, RAW= 174.1, -1.8, CAL= 175.3, -9.5, ROT= 334.7, 9.5 2025-01-08T20:21:12.216Z,1736367672.216 [DAT](INFO): got valid direction response: 20:21:10.3013 LVL= 32752, 32753, 19826, 32755, AGC= 70, IDX= 408, 0.35, 2.472, 1.458,-2.986, 2.407, PHS= 0.154,-0.902, 0.888, RAW= 174.1, -1.8, CAL= 175.3, -9.5, ROT= 334.7, 9.5 2025-01-08T20:21:12.217Z,1736367672.217 [DAT](INFO): DAT read: Bearing 334.7, 9.5 (Local) 2025-01-08T20:21:12.217Z,1736367672.217 [DAT](INFO): Local bearing/azimuth received: Bearing 334.7, 9.5 (Local) 2025-01-08T20:21:12.219Z,1736367672.219 [DAT](INFO): DAT read: Range 10 to 50 : 457.8 m (Round-trip 610.5 ms) speed 0.5 m/s 2025-01-08T20:21:12.221Z,1736367672.221 [DAT](INFO): DAT read: user:1250> 2025-01-08T20:21:12.221Z,1736367672.221 [DAT](INFO): DAT read: Tx time:20:21:11.3867 2025-01-08T20:21:12.222Z,1736367672.222 [DAT](INFO): Ping request sent. 2025-01-08T20:21:12.222Z,1736367672.222 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:21:12.222Z,1736367672.222 [DAT](INFO): DAT read: TxSync time:20:21:11.3859 2025-01-08T20:21:12.223Z,1736367672.223 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:21:12.232Z,1736367672.232 [DAT](INFO): direction in FSK: [-0.061581,-0.986903,0.149096] 2025-01-08T20:21:12.232Z,1736367672.232 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:12.233Z,1736367672.233 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:12.240Z,1736367672.240 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:12.240Z,1736367672.240 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:12.364Z,1736367672.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:12.410Z,1736367672.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 457.799988 m, deltaT: 4.283028 s, deltaX: -3.000000 m, approachRate: -0.700439 m/s, rangeRepo size: 4 2025-01-08T20:21:12.424Z,1736367672.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 457.799988 m, bearing: 24.754031 deg, lat: 36.908818 deg, lon: -122.122134 deg, deltaT: 4.283028 s, deltaX: -3.000000 m, approachRate: -0.700439 m/s, posRepo size: 4 2025-01-08T20:21:12.425Z,1736367672.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:12.428Z,1736367672.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:12.432Z,1736367672.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.698639 m, bearing: 21.052079 deg, approach rate: 0.000000 m/s, LOS rate: -0.107222 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.725484 deg. 2025-01-08T20:21:12.434Z,1736367672.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054697 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:12.680Z,1736367672.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:12.721Z,1736367672.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:12.728Z,1736367672.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:12.730Z,1736367672.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:12.733Z,1736367672.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.714386 m, bearing: 21.015853 deg, approach rate: 0.049150 m/s, LOS rate: -0.113065 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.785882 deg. 2025-01-08T20:21:12.734Z,1736367672.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055752 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:12.932Z,1736367672.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:12.932Z,1736367672.932 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:21:12.933Z,1736367672.933 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:21:12.933Z,1736367672.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:13.132Z,1736367673.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:13.185Z,1736367673.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:13.188Z,1736367673.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.965453 2025-01-08T20:21:13.220Z,1736367673.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:13.229Z,1736367673.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.733704 m, bearing: 20.974147 deg, approach rate: 0.039771 m/s, LOS rate: -0.085862 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.769444 deg. 2025-01-08T20:21:13.230Z,1736367673.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055465 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:13.436Z,1736367673.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:13.438Z,1736367673.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215624 2025-01-08T20:21:13.556Z,1736367673.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:13.565Z,1736367673.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:13.568Z,1736367673.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.756531 m, bearing: 20.931642 deg, approach rate: 0.065307 m/s, LOS rate: -0.121598 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.767048 deg. 2025-01-08T20:21:13.569Z,1736367673.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055423 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:13.688Z,1736367673.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:13.689Z,1736367673.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467047 2025-01-08T20:21:13.933Z,1736367673.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:13.940Z,1736367673.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:13.941Z,1736367673.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718693 2025-01-08T20:21:13.943Z,1736367673.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:13.946Z,1736367673.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.777252 m, bearing: 20.893810 deg, approach rate: 0.054827 m/s, LOS rate: -0.100094 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781068 deg. 2025-01-08T20:21:13.947Z,1736367673.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055667 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:14.193Z,1736367674.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:14.196Z,1736367674.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973668 2025-01-08T20:21:14.360Z,1736367674.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:14.370Z,1736367674.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:14.373Z,1736367674.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.803436 m, bearing: 20.853327 deg, approach rate: 0.061412 m/s, LOS rate: -0.094943 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.773115 deg. 2025-01-08T20:21:14.374Z,1736367674.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055529 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:14.444Z,1736367674.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:14.445Z,1736367674.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222675 2025-01-08T20:21:14.696Z,1736367674.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:14.696Z,1736367674.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474549 2025-01-08T20:21:14.756Z,1736367674.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:14.763Z,1736367674.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:14.812Z,1736367674.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:14.820Z,1736367674.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.827911 m, bearing: 20.815854 deg, approach rate: 0.055207 m/s, LOS rate: -0.084521 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782143 deg. 2025-01-08T20:21:14.821Z,1736367674.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055686 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:14.948Z,1736367674.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:14.948Z,1736367674.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726538 2025-01-08T20:21:15.175Z,1736367675.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:15.202Z,1736367675.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:15.205Z,1736367675.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982187 2025-01-08T20:21:15.242Z,1736367675.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:15.249Z,1736367675.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.853973 m, bearing: 20.776306 deg, approach rate: 0.060701 m/s, LOS rate: -0.092105 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.775920 deg. 2025-01-08T20:21:15.250Z,1736367675.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055578 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:15.452Z,1736367675.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:15.453Z,1736367675.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230552 2025-01-08T20:21:15.576Z,1736367675.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:15.584Z,1736367675.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:15.588Z,1736367675.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.874634 m, bearing: 20.740017 deg, approach rate: 0.060320 m/s, LOS rate: -0.105946 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.785692 deg. 2025-01-08T20:21:15.589Z,1736367675.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055748 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:15.704Z,1736367675.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:15.705Z,1736367675.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482925 2025-01-08T20:21:15.940Z,1736367675.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:15.956Z,1736367675.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:15.957Z,1736367675.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734691 2025-01-08T20:21:15.961Z,1736367675.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:15.968Z,1736367675.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.892365 m, bearing: 20.707157 deg, approach rate: 0.047135 m/s, LOS rate: -0.087352 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795980 deg. 2025-01-08T20:21:15.969Z,1736367675.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055928 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:16.209Z,1736367676.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:16.226Z,1736367676.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.003457 2025-01-08T20:21:16.380Z,1736367676.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:16.398Z,1736367676.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:16.401Z,1736367676.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.915894 m, bearing: 20.670112 deg, approach rate: 0.053817 m/s, LOS rate: -0.084726 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.783428 deg. 2025-01-08T20:21:16.402Z,1736367676.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055709 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:16.461Z,1736367676.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:16.462Z,1736367676.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.240031 2025-01-08T20:21:16.712Z,1736367676.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:16.712Z,1736367676.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.490537 2025-01-08T20:21:16.763Z,1736367676.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:16.771Z,1736367676.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:16.773Z,1736367676.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:16.783Z,1736367676.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.936493 m, bearing: 20.637822 deg, approach rate: 0.054869 m/s, LOS rate: -0.086004 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797692 deg. 2025-01-08T20:21:16.784Z,1736367676.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055958 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:16.964Z,1736367676.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:16.965Z,1736367676.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.742818 2025-01-08T20:21:17.166Z,1736367677.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:17.183Z,1736367677.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:17.186Z,1736367677.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.958160 m, bearing: 20.603909 deg, approach rate: 0.052858 m/s, LOS rate: -0.082728 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792822 deg. 2025-01-08T20:21:17.188Z,1736367677.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055873 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:17.231Z,1736367677.231 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:17.234Z,1736367677.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.011356 2025-01-08T20:21:17.484Z,1736367677.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:17.485Z,1736367677.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.263229 2025-01-08T20:21:17.582Z,1736367677.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:17.616Z,1736367677.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:17.618Z,1736367677.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 460.984344 m, bearing: 20.570380 deg, approach rate: 0.064161 m/s, LOS rate: -0.082154 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793976 deg. 2025-01-08T20:21:17.621Z,1736367677.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055893 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:17.736Z,1736367677.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:17.737Z,1736367677.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.515420 2025-01-08T20:21:17.978Z,1736367677.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:17.988Z,1736367677.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:17.989Z,1736367677.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.766887 2025-01-08T20:21:17.990Z,1736367677.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:17.993Z,1736367677.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.009277 m, bearing: 20.538510 deg, approach rate: 0.062563 m/s, LOS rate: -0.079967 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798950 deg. 2025-01-08T20:21:17.994Z,1736367677.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055979 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:18.241Z,1736367678.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:18.244Z,1736367678.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.021092 2025-01-08T20:21:18.411Z,1736367678.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:18.420Z,1736367678.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:18.423Z,1736367678.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.036407 m, bearing: 20.503950 deg, approach rate: 0.062983 m/s, LOS rate: -0.080226 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790884 deg. 2025-01-08T20:21:18.425Z,1736367678.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055839 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:18.492Z,1736367678.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:18.493Z,1736367678.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.270801 2025-01-08T20:21:18.744Z,1736367678.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:18.744Z,1736367678.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.522474 2025-01-08T20:21:18.838Z,1736367678.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:18.845Z,1736367678.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:18.847Z,1736367678.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:18.850Z,1736367678.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.062988 m, bearing: 20.469943 deg, approach rate: 0.062331 m/s, LOS rate: -0.079741 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792541 deg. 2025-01-08T20:21:18.851Z,1736367678.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055868 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:18.996Z,1736367678.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:18.996Z,1736367678.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.774572 2025-01-08T20:21:19.249Z,1736367679.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:19.252Z,1736367679.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.029126 2025-01-08T20:21:19.345Z,1736367679.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:19.354Z,1736367679.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:19.357Z,1736367679.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.098450 m, bearing: 20.430476 deg, approach rate: 0.070097 m/s, LOS rate: -0.078009 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776164 deg. 2025-01-08T20:21:19.358Z,1736367679.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055582 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:19.500Z,1736367679.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:19.500Z,1736367679.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.278569 2025-01-08T20:21:19.750Z,1736367679.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:19.752Z,1736367679.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:19.753Z,1736367679.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.530652 2025-01-08T20:21:19.762Z,1736367679.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:19.765Z,1736367679.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.126892 m, bearing: 20.398854 deg, approach rate: 0.069489 m/s, LOS rate: -0.077252 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.799697 deg. 2025-01-08T20:21:19.766Z,1736367679.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055993 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:20.004Z,1736367680.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:20.005Z,1736367680.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.782939 2025-01-08T20:21:20.147Z,1736367680.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:20.177Z,1736367680.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:20.184Z,1736367680.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.154846 m, bearing: 20.367994 deg, approach rate: 0.067373 m/s, LOS rate: -0.074371 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801982 deg. 2025-01-08T20:21:20.185Z,1736367680.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056032 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:20.257Z,1736367680.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:20.260Z,1736367680.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.037175 2025-01-08T20:21:20.508Z,1736367680.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:20.508Z,1736367680.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.286595 2025-01-08T20:21:20.581Z,1736367680.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:20.590Z,1736367680.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:20.593Z,1736367680.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.183655 m, bearing: 20.333208 deg, approach rate: 0.069694 m/s, LOS rate: -0.084148 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790207 deg. 2025-01-08T20:21:20.594Z,1736367680.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055827 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:20.760Z,1736367680.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:20.760Z,1736367680.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.538524 2025-01-08T20:21:20.971Z,1736367680.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:20.977Z,1736367680.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:20.980Z,1736367680.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:20.982Z,1736367680.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.209961 m, bearing: 20.301939 deg, approach rate: 0.067606 m/s, LOS rate: -0.080356 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800755 deg. 2025-01-08T20:21:20.984Z,1736367680.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056011 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:21.012Z,1736367681.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:21.012Z,1736367681.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.790539 2025-01-08T20:21:21.266Z,1736367681.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:21.268Z,1736367681.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.045792 2025-01-08T20:21:21.409Z,1736367681.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:21.417Z,1736367681.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:21.421Z,1736367681.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.237427 m, bearing: 20.267202 deg, approach rate: 0.062772 m/s, LOS rate: -0.079386 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790351 deg. 2025-01-08T20:21:21.422Z,1736367681.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055830 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:21.518Z,1736367681.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:21.518Z,1736367681.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.296486 2025-01-08T20:21:21.760Z,1736367681.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:21.768Z,1736367681.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:21.768Z,1736367681.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.546623 2025-01-08T20:21:21.785Z,1736367681.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:21.793Z,1736367681.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.261627 m, bearing: 20.237333 deg, approach rate: 0.065779 m/s, LOS rate: -0.081181 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804955 deg. 2025-01-08T20:21:21.794Z,1736367681.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056084 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:22.020Z,1736367682.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:22.021Z,1736367682.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.799205 2025-01-08T20:21:22.165Z,1736367682.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:22.177Z,1736367682.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:22.181Z,1736367682.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.288910 m, bearing: 20.204249 deg, approach rate: 0.069687 m/s, LOS rate: -0.084499 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795311 deg. 2025-01-08T20:21:22.182Z,1736367682.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055916 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:22.272Z,1736367682.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:22.272Z,1736367682.272 [DAT](INFO): Reached modem response timeout 2025-01-08T20:21:22.273Z,1736367682.273 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:21:22.273Z,1736367682.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:22.524Z,1736367682.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:22.524Z,1736367682.524 [DAT](INFO): Reached modem response timeout 2025-01-08T20:21:22.524Z,1736367682.524 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:21:22.525Z,1736367682.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:22.615Z,1736367682.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:22.624Z,1736367682.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:22.627Z,1736367682.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.312317 m, bearing: 20.165165 deg, approach rate: 0.052264 m/s, LOS rate: -0.087264 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777311 deg. 2025-01-08T20:21:22.629Z,1736367682.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055602 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:22.776Z,1736367682.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:22.776Z,1736367682.776 [DAT](INFO): Reached modem response timeout 2025-01-08T20:21:22.776Z,1736367682.776 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:21:22.777Z,1736367682.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:22.982Z,1736367682.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:22.990Z,1736367682.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:22.992Z,1736367682.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:22.995Z,1736367682.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.331940 m, bearing: 20.133184 deg, approach rate: 0.053308 m/s, LOS rate: -0.086879 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798616 deg. 2025-01-08T20:21:22.996Z,1736367682.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055974 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:23.029Z,1736367683.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:23.032Z,1736367683.032 [DAT](INFO): DAT read: RX DATA OVERRUNResponse Not Received 2025-01-08T20:21:23.033Z,1736367683.033 [DAT](INFO): response not received 2025-01-08T20:21:23.034Z,1736367683.034 [DAT](INFO): DAT read: user:1251> 2025-01-08T20:21:23.037Z,1736367683.037 [DAT](INFO): DAT read: Tx time:20:21:22.3368 2025-01-08T20:21:23.037Z,1736367683.037 [DAT](INFO): Ping request sent. 2025-01-08T20:21:23.037Z,1736367683.037 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:21:23.038Z,1736367683.038 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:23.039Z,1736367683.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001328 2025-01-08T20:21:23.280Z,1736367683.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:23.281Z,1736367683.281 [DAT](INFO): DAT read: TxSync time:20:21:22.3360 2025-01-08T20:21:23.281Z,1736367683.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244049 2025-01-08T20:21:23.410Z,1736367683.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:23.418Z,1736367683.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:23.422Z,1736367683.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.353607 m, bearing: 20.095285 deg, approach rate: 0.050877 m/s, LOS rate: -0.088984 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780867 deg. 2025-01-08T20:21:23.423Z,1736367683.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055664 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:23.532Z,1736367683.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:23.532Z,1736367683.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495082 2025-01-08T20:21:23.784Z,1736367683.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:23.784Z,1736367683.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747099 2025-01-08T20:21:23.804Z,1736367683.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:23.813Z,1736367683.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:23.815Z,1736367683.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.374878 m, bearing: 20.060487 deg, approach rate: 0.053938 m/s, LOS rate: -0.088238 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790166 deg. 2025-01-08T20:21:23.817Z,1736367683.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055826 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:24.036Z,1736367684.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:24.037Z,1736367684.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000051 2025-01-08T20:21:24.288Z,1736367684.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:24.289Z,1736367684.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251426 2025-01-08T20:21:24.418Z,1736367684.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:24.427Z,1736367684.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:24.429Z,1736367684.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.402435 m, bearing: 20.001223 deg, approach rate: 0.044887 m/s, LOS rate: -0.096527 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.716776 deg. 2025-01-08T20:21:24.430Z,1736367684.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054545 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:24.540Z,1736367684.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:24.541Z,1736367684.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503280 2025-01-08T20:21:24.712Z,1736367684.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:24.721Z,1736367684.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:24.724Z,1736367684.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.415649 m, bearing: 19.972896 deg, approach rate: 0.044875 m/s, LOS rate: -0.096197 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809577 deg. 2025-01-08T20:21:24.725Z,1736367684.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056165 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:24.792Z,1736367684.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:24.793Z,1736367684.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755681 2025-01-08T20:21:25.044Z,1736367685.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:25.044Z,1736367685.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007056 2025-01-08T20:21:25.110Z,1736367685.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:25.117Z,1736367685.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:25.135Z,1736367685.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:25.149Z,1736367685.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.433899 m, bearing: 19.934504 deg, approach rate: 0.045846 m/s, LOS rate: -0.096442 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779386 deg. 2025-01-08T20:21:25.150Z,1736367685.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055638 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:25.298Z,1736367685.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:25.300Z,1736367685.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262600 2025-01-08T20:21:25.548Z,1736367685.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:25.548Z,1736367685.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511043 2025-01-08T20:21:25.559Z,1736367685.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:25.567Z,1736367685.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:25.571Z,1736367685.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.449188 m, bearing: 19.889749 deg, approach rate: 0.034137 m/s, LOS rate: -0.099923 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.760297 deg. 2025-01-08T20:21:25.572Z,1736367685.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055305 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:25.800Z,1736367685.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:25.800Z,1736367685.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763127 2025-01-08T20:21:25.916Z,1736367685.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:25.925Z,1736367685.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:25.928Z,1736367685.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.461975 m, bearing: 19.854080 deg, approach rate: 0.035721 m/s, LOS rate: -0.099642 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787553 deg. 2025-01-08T20:21:25.929Z,1736367685.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055781 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:26.052Z,1736367686.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:26.053Z,1736367686.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015195 2025-01-08T20:21:26.305Z,1736367686.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:26.306Z,1736367686.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268898 2025-01-08T20:21:26.393Z,1736367686.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:26.437Z,1736367686.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:26.446Z,1736367686.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.479858 m, bearing: 19.806617 deg, approach rate: 0.034976 m/s, LOS rate: -0.092825 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.752173 deg. 2025-01-08T20:21:26.451Z,1736367686.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055163 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:26.556Z,1736367686.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:26.557Z,1736367686.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519789 2025-01-08T20:21:26.770Z,1736367686.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:26.795Z,1736367686.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:26.802Z,1736367686.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.489960 m, bearing: 19.768251 deg, approach rate: 0.028168 m/s, LOS rate: -0.106983 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779460 deg. 2025-01-08T20:21:26.808Z,1736367686.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:26.809Z,1736367686.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771939 2025-01-08T20:21:26.808Z,1736367686.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055639 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:27.060Z,1736367687.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:27.060Z,1736367687.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023032 2025-01-08T20:21:27.153Z,1736367687.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:27.167Z,1736367687.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:27.169Z,1736367687.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:27.172Z,1736367687.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.500702 m, bearing: 19.729239 deg, approach rate: 0.028712 m/s, LOS rate: -0.104269 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777524 deg. 2025-01-08T20:21:27.173Z,1736367687.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055606 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:27.312Z,1736367687.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:27.313Z,1736367687.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275482 2025-01-08T20:21:27.565Z,1736367687.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:27.566Z,1736367687.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.528694 2025-01-08T20:21:27.609Z,1736367687.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:27.618Z,1736367687.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:27.622Z,1736367687.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.511627 m, bearing: 19.683826 deg, approach rate: 0.024337 m/s, LOS rate: -0.101158 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.758322 deg. 2025-01-08T20:21:27.624Z,1736367687.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055270 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:27.816Z,1736367687.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:27.816Z,1736367687.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779005 2025-01-08T20:21:27.951Z,1736367687.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:27.961Z,1736367687.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:27.964Z,1736367687.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.520020 m, bearing: 19.649778 deg, approach rate: 0.024468 m/s, LOS rate: -0.099265 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792414 deg. 2025-01-08T20:21:27.965Z,1736367687.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055866 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:28.068Z,1736367688.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:28.069Z,1736367688.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031423 2025-01-08T20:21:28.320Z,1736367688.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:28.320Z,1736367688.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.283101 2025-01-08T20:21:28.433Z,1736367688.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:28.458Z,1736367688.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:28.464Z,1736367688.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.532104 m, bearing: 19.601883 deg, approach rate: 0.024331 m/s, LOS rate: -0.096428 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.750874 deg. 2025-01-08T20:21:28.466Z,1736367688.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055140 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:28.572Z,1736367688.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:28.573Z,1736367688.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.535428 2025-01-08T20:21:28.774Z,1736367688.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:28.824Z,1736367688.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:28.824Z,1736367688.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787116 2025-01-08T20:21:28.839Z,1736367688.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:28.842Z,1736367688.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.546570 m, bearing: 19.568750 deg, approach rate: 0.038739 m/s, LOS rate: -0.088728 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795162 deg. 2025-01-08T20:21:28.854Z,1736367688.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055913 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:29.079Z,1736367689.079 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:29.081Z,1736367689.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043576 2025-01-08T20:21:29.166Z,1736367689.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:29.192Z,1736367689.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:29.194Z,1736367689.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:29.197Z,1736367689.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.563110 m, bearing: 19.530898 deg, approach rate: 0.045497 m/s, LOS rate: -0.104112 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781005 deg. 2025-01-08T20:21:29.198Z,1736367689.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055666 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:29.328Z,1736367689.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:29.328Z,1736367689.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291176 2025-01-08T20:21:29.388Z,1736367689.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:21:29.580Z,1736367689.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:29.580Z,1736367689.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543151 2025-01-08T20:21:29.601Z,1736367689.601 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0 +0.00, +0.00, 20.00, 38.57 2025-01-08T20:21:29.632Z,1736367689.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:21:29.632Z,1736367689.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:29.650Z,1736367689.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:29.664Z,1736367689.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.582886 m, bearing: 19.486246 deg, approach rate: 0.043459 m/s, LOS rate: -0.098124 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.760606 deg. 2025-01-08T20:21:29.666Z,1736367689.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055310 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:29.832Z,1736367689.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:29.833Z,1736367689.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795267 2025-01-08T20:21:30.014Z,1736367690.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:21:30.014Z,1736367690.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:30.039Z,1736367690.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:30.042Z,1736367690.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.599640 m, bearing: 19.448870 deg, approach rate: 0.044852 m/s, LOS rate: -0.100056 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782432 deg. 2025-01-08T20:21:30.047Z,1736367690.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055691 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:30.084Z,1736367690.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:30.085Z,1736367690.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.047280 2025-01-08T20:21:30.336Z,1736367690.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:30.336Z,1736367690.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299118 2025-01-08T20:21:30.389Z,1736367690.389 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:21:30.478Z,1736367690.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:21:30.478Z,1736367690.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:30.494Z,1736367690.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:30.501Z,1736367690.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.618408 m, bearing: 19.403971 deg, approach rate: 0.039868 m/s, LOS rate: -0.095371 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.759867 deg. 2025-01-08T20:21:30.502Z,1736367690.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055297 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:30.588Z,1736367690.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:30.589Z,1736367690.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.551619 2025-01-08T20:21:30.828Z,1736367690.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:30.838Z,1736367690.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:30.840Z,1736367690.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:30.841Z,1736367690.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.803225 2025-01-08T20:21:30.842Z,1736367690.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.638062 m, bearing: 19.372944 deg, approach rate: 0.057268 m/s, LOS rate: -0.090406 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801479 deg. 2025-01-08T20:21:30.844Z,1736367690.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056024 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:31.092Z,1736367691.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:31.092Z,1736367691.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055007 2025-01-08T20:21:31.221Z,1736367691.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:31.227Z,1736367691.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:31.229Z,1736367691.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:31.233Z,1736367691.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.660278 m, bearing: 19.338152 deg, approach rate: 0.056636 m/s, LOS rate: -0.088690 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790184 deg. 2025-01-08T20:21:31.234Z,1736367691.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055826 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:31.344Z,1736367691.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:31.345Z,1736367691.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307363 2025-01-08T20:21:31.596Z,1736367691.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:31.596Z,1736367691.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.558917 2025-01-08T20:21:31.647Z,1736367691.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:31.682Z,1736367691.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:31.690Z,1736367691.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.690521 m, bearing: 19.302834 deg, approach rate: 0.066850 m/s, LOS rate: -0.078062 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788610 deg. 2025-01-08T20:21:31.691Z,1736367691.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055799 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:31.848Z,1736367691.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:31.849Z,1736367691.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.811265 2025-01-08T20:21:32.012Z,1736367692.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:32.040Z,1736367692.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:32.047Z,1736367692.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.716125 m, bearing: 19.272550 deg, approach rate: 0.071379 m/s, LOS rate: -0.084421 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803709 deg. 2025-01-08T20:21:32.048Z,1736367692.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056063 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:32.100Z,1736367692.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:32.101Z,1736367692.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063410 2025-01-08T20:21:32.352Z,1736367692.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:32.352Z,1736367692.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.315037 2025-01-08T20:21:32.471Z,1736367692.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:32.515Z,1736367692.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:32.518Z,1736367692.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.747437 m, bearing: 19.234579 deg, approach rate: 0.066524 m/s, LOS rate: -0.080667 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780653 deg. 2025-01-08T20:21:32.523Z,1736367692.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055660 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:32.604Z,1736367692.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:32.606Z,1736367692.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.568252 2025-01-08T20:21:32.857Z,1736367692.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:32.858Z,1736367692.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.820737 2025-01-08T20:21:32.862Z,1736367692.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:32.892Z,1736367692.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:32.899Z,1736367692.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.780396 m, bearing: 19.203857 deg, approach rate: 0.086431 m/s, LOS rate: -0.080560 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802396 deg. 2025-01-08T20:21:32.901Z,1736367692.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056040 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:33.108Z,1736367693.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:33.108Z,1736367693.108 [DAT](INFO): Reached modem response timeout 2025-01-08T20:21:33.108Z,1736367693.108 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:21:33.109Z,1736367693.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:33.243Z,1736367693.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:33.265Z,1736367693.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:33.267Z,1736367693.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:33.270Z,1736367693.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.811737 m, bearing: 19.174074 deg, approach rate: 0.083673 m/s, LOS rate: -0.079507 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805213 deg. 2025-01-08T20:21:33.271Z,1736367693.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056089 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:33.361Z,1736367693.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:33.362Z,1736367693.362 [DAT](INFO): Reached modem response timeout 2025-01-08T20:21:33.362Z,1736367693.362 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:21:33.362Z,1736367693.362 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:33.612Z,1736367693.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:33.612Z,1736367693.612 [DAT](INFO): Reached modem response timeout 2025-01-08T20:21:33.612Z,1736367693.612 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:21:33.613Z,1736367693.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:33.700Z,1736367693.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:33.710Z,1736367693.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:33.713Z,1736367693.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.851440 m, bearing: 19.138744 deg, approach rate: 0.089717 m/s, LOS rate: -0.079828 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788575 deg. 2025-01-08T20:21:33.714Z,1736367693.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055799 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:33.865Z,1736367693.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:33.866Z,1736367693.866 [DAT](INFO): DAT read: RX DATA OVERRUNResponse Not Received 2025-01-08T20:21:33.866Z,1736367693.866 [DAT](INFO): response not received 2025-01-08T20:21:33.867Z,1736367693.867 [DAT](INFO): DAT read: user:1252> 2025-01-08T20:21:33.867Z,1736367693.867 [DAT](ERROR): No response from remote modem. 2025-01-08T20:21:33.868Z,1736367693.868 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:21:33.868Z,1736367693.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:34.050Z,1736367694.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:34.060Z,1736367694.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:34.062Z,1736367694.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.881317 m, bearing: 19.111780 deg, approach rate: 0.085396 m/s, LOS rate: -0.077065 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813671 deg. 2025-01-08T20:21:34.064Z,1736367694.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056237 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:34.116Z,1736367694.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:34.118Z,1736367694.118 [DAT](INFO): DAT read: Tx time:20:21:33.2869 2025-01-08T20:21:34.118Z,1736367694.118 [DAT](INFO): Ping request sent. 2025-01-08T20:21:34.118Z,1736367694.118 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:21:34.120Z,1736367694.120 [DAT](INFO): DAT read: RX DATA OVERRUNTxSync time:20:21:33.2861 2025-01-08T20:21:34.121Z,1736367694.121 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:34.122Z,1736367694.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003201 2025-01-08T20:21:34.368Z,1736367694.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:34.368Z,1736367694.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250001 2025-01-08T20:21:34.594Z,1736367694.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:34.604Z,1736367694.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:34.606Z,1736367694.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.929230 m, bearing: 19.069718 deg, approach rate: 0.088189 m/s, LOS rate: -0.077413 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.768384 deg. 2025-01-08T20:21:34.608Z,1736367694.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055446 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:34.621Z,1736367694.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:34.622Z,1736367694.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503414 2025-01-08T20:21:34.872Z,1736367694.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:34.872Z,1736367694.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754030 2025-01-08T20:21:34.893Z,1736367694.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:34.901Z,1736367694.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:34.905Z,1736367694.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.955750 m, bearing: 19.046699 deg, approach rate: 0.088834 m/s, LOS rate: -0.077101 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.825505 deg. 2025-01-08T20:21:34.906Z,1736367694.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056443 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:35.124Z,1736367695.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:35.125Z,1736367695.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006387 2025-01-08T20:21:35.281Z,1736367695.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:35.292Z,1736367695.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:35.294Z,1736367695.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:35.297Z,1736367695.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 461.989990 m, bearing: 19.016675 deg, approach rate: 0.087167 m/s, LOS rate: -0.076428 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804490 deg. 2025-01-08T20:21:35.298Z,1736367695.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056076 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:35.377Z,1736367695.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:35.378Z,1736367695.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259695 2025-01-08T20:21:35.628Z,1736367695.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:35.628Z,1736367695.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510029 2025-01-08T20:21:35.728Z,1736367695.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:35.736Z,1736367695.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:35.740Z,1736367695.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 462.029083 m, bearing: 18.980888 deg, approach rate: 0.088484 m/s, LOS rate: -0.080994 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787205 deg. 2025-01-08T20:21:35.741Z,1736367695.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055774 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:35.880Z,1736367695.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:35.880Z,1736367695.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762033 2025-01-08T20:21:36.088Z,1736367696.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:36.097Z,1736367696.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:36.100Z,1736367696.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 462.060211 m, bearing: 18.951868 deg, approach rate: 0.086299 m/s, LOS rate: -0.080450 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807502 deg. 2025-01-08T20:21:36.101Z,1736367696.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056129 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:36.132Z,1736367696.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:36.133Z,1736367696.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014874 2025-01-08T20:21:36.384Z,1736367696.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:36.384Z,1736367696.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265984 2025-01-08T20:21:36.550Z,1736367696.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:36.601Z,1736367696.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:36.608Z,1736367696.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 462.099945 m, bearing: 18.914986 deg, approach rate: 0.078751 m/s, LOS rate: -0.073092 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.783922 deg. 2025-01-08T20:21:36.609Z,1736367696.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055717 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:36.636Z,1736367696.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:36.637Z,1736367696.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518556 2025-01-08T20:21:36.888Z,1736367696.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:36.888Z,1736367696.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770095 2025-01-08T20:21:36.961Z,1736367696.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:36.970Z,1736367696.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:36.973Z,1736367696.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 462.128265 m, bearing: 18.881416 deg, approach rate: 0.076852 m/s, LOS rate: -0.091094 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793852 deg. 2025-01-08T20:21:36.974Z,1736367696.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055891 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:37.140Z,1736367697.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:37.140Z,1736367697.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021925 2025-01-08T20:21:37.322Z,1736367697.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:37.329Z,1736367697.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:37.331Z,1736367697.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:37.334Z,1736367697.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 462.155518 m, bearing: 18.849293 deg, approach rate: 0.075448 m/s, LOS rate: -0.088928 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798194 deg. 2025-01-08T20:21:37.335Z,1736367697.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055966 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:37.393Z,1736367697.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:37.393Z,1736367697.393 [DAT](INFO): DAT read: Rx Time:20:21:36.2646 2025-01-08T20:21:37.394Z,1736367697.394 [DAT](INFO): Rx dataTimestamp_ set to:1736367697.393587 2025-01-08T20:21:37.394Z,1736367697.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276014 2025-01-08T20:21:37.644Z,1736367697.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:37.644Z,1736367697.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526003 2025-01-08T20:21:37.760Z,1736367697.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:37.768Z,1736367697.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:37.772Z,1736367697.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 462.178009 m, bearing: 18.810241 deg, approach rate: 0.051437 m/s, LOS rate: -0.089305 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777407 deg. 2025-01-08T20:21:37.773Z,1736367697.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055604 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:37.896Z,1736367697.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:37.897Z,1736367697.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778131 2025-01-08T20:21:38.130Z,1736367698.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:38.140Z,1736367698.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.80 m. 2025-01-08T20:21:38.142Z,1736367698.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.799988 m, nav range: 462.197510 m, bearing: 18.777215 deg, approach rate: 0.052527 m/s, LOS rate: -0.088955 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795482 deg. 2025-01-08T20:21:38.148Z,1736367698.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:38.156Z,1736367698.156 [DAT](INFO): DAT read: 20:21:36.2646 LVL= 32752, 32753, 20546, 32755, AGC= 70, IDX= 510, 0.01, 2.466, 1.466,-2.882, 2.645, PHS=-0.091,-1.132, 0.753, RAW= 176.5, 5.8, CAL= 176.4, -3.4, ROT= 333.6, 3.4 2025-01-08T20:21:38.157Z,1736367698.157 [DAT](INFO): got valid direction response: 20:21:36.2646 LVL= 32752, 32753, 20546, 32755, AGC= 70, IDX= 510, 0.01, 2.466, 1.466,-2.882, 2.645, PHS=-0.091,-1.132, 0.753, RAW= 176.5, 5.8, CAL= 176.4, -3.4, ROT= 333.6, 3.4 2025-01-08T20:21:38.158Z,1736367698.158 [DAT](INFO): DAT read: Bearing 333.6, 3.4 (Local) 2025-01-08T20:21:38.158Z,1736367698.158 [DAT](INFO): Local bearing/azimuth received: Bearing 333.6, 3.4 (Local) 2025-01-08T20:21:38.160Z,1736367698.160 [DAT](INFO): DAT read: Range 10 to 50 : 430.2 m (Round-trip 573.6 ms) speed 0.8 m/s 2025-01-08T20:21:38.160Z,1736367698.160 [DAT](INFO): DAT read: user:1253> 2025-01-08T20:21:38.161Z,1736367698.161 [DAT](INFO): DAT read: Tx time:20:21:37.3869 2025-01-08T20:21:38.161Z,1736367698.161 [DAT](INFO): Ping request sent. 2025-01-08T20:21:38.162Z,1736367698.162 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:21:38.162Z,1736367698.162 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:21:38.163Z,1736367698.163 [DAT](INFO): direction in FSK: [-0.202334,-0.974669,0.095298] 2025-01-08T20:21:38.168Z,1736367698.168 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:38.168Z,1736367698.168 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:38.173Z,1736367698.173 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:38.173Z,1736367698.173 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:38.181Z,1736367698.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055919 target range: 457.799988 and range: 457.80 m. 2025-01-08T20:21:38.400Z,1736367698.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:38.401Z,1736367698.401 [DAT](INFO): DAT read: TxSync time:20:21:37.3861 2025-01-08T20:21:38.552Z,1736367698.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:38.610Z,1736367698.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 430.200012 m, deltaT: 25.970367 s, deltaX: -27.599976 m, approachRate: -1.062749 m/s, rangeRepo size: 4 2025-01-08T20:21:38.617Z,1736367698.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 430.200012 m, bearing: 15.879401 deg, lat: 36.908800 deg, lon: -122.122134 deg, deltaT: 25.970367 s, deltaX: -27.599976 m, approachRate: -1.062749 m/s, posRepo size: 4 2025-01-08T20:21:38.618Z,1736367698.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:38.625Z,1736367698.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.246368 m, bearing: 18.823434 deg, approach rate: 0.000000 m/s, LOS rate: -0.088955 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.769000 deg. 2025-01-08T20:21:38.626Z,1736367698.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055457 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:38.653Z,1736367698.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:38.904Z,1736367698.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:38.943Z,1736367698.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:38.975Z,1736367698.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:38.978Z,1736367698.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.257996 m, bearing: 18.786219 deg, approach rate: 0.034068 m/s, LOS rate: -0.109038 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782914 deg. 2025-01-08T20:21:38.983Z,1736367698.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055700 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:39.156Z,1736367699.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:39.332Z,1736367699.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:39.340Z,1736367699.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:39.342Z,1736367699.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:39.345Z,1736367699.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.271210 m, bearing: 18.749651 deg, approach rate: 0.033786 m/s, LOS rate: -0.093492 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784858 deg. 2025-01-08T20:21:39.346Z,1736367699.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055734 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:39.409Z,1736367699.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:39.410Z,1736367699.410 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:21:39.410Z,1736367699.410 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:21:39.412Z,1736367699.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:39.660Z,1736367699.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:39.661Z,1736367699.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499715 2025-01-08T20:21:39.751Z,1736367699.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:39.763Z,1736367699.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:39.766Z,1736367699.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.282837 m, bearing: 18.709388 deg, approach rate: 0.027647 m/s, LOS rate: -0.095736 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.773769 deg. 2025-01-08T20:21:39.767Z,1736367699.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055540 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:39.912Z,1736367699.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:39.912Z,1736367699.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750849 2025-01-08T20:21:40.133Z,1736367700.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:40.158Z,1736367700.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:40.164Z,1736367700.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:40.164Z,1736367700.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002879 2025-01-08T20:21:40.167Z,1736367700.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.293671 m, bearing: 18.672626 deg, approach rate: 0.027398 m/s, LOS rate: -0.092967 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784274 deg. 2025-01-08T20:21:40.178Z,1736367700.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055723 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:40.416Z,1736367700.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:40.416Z,1736367700.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254824 2025-01-08T20:21:40.627Z,1736367700.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:40.636Z,1736367700.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:40.639Z,1736367700.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.308350 m, bearing: 18.625184 deg, approach rate: 0.030761 m/s, LOS rate: -0.099413 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.752237 deg. 2025-01-08T20:21:40.640Z,1736367700.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055164 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:40.668Z,1736367700.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:40.670Z,1736367700.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507904 2025-01-08T20:21:40.920Z,1736367700.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:40.921Z,1736367700.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759498 2025-01-08T20:21:40.981Z,1736367700.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:40.991Z,1736367700.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:41.006Z,1736367701.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.317291 m, bearing: 18.590000 deg, approach rate: 0.025180 m/s, LOS rate: -0.099078 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789005 deg. 2025-01-08T20:21:41.007Z,1736367701.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055806 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:41.172Z,1736367701.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:41.172Z,1736367701.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010826 2025-01-08T20:21:41.352Z,1736367701.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:41.361Z,1736367701.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:41.362Z,1736367701.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:41.367Z,1736367701.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.327484 m, bearing: 18.553173 deg, approach rate: 0.027399 m/s, LOS rate: -0.098993 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784078 deg. 2025-01-08T20:21:41.369Z,1736367701.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055720 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:41.424Z,1736367701.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:41.426Z,1736367701.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263712 2025-01-08T20:21:41.676Z,1736367701.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:41.678Z,1736367701.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515581 2025-01-08T20:21:41.767Z,1736367701.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:41.777Z,1736367701.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:41.783Z,1736367701.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.340302 m, bearing: 18.512336 deg, approach rate: 0.030931 m/s, LOS rate: -0.098543 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772050 deg. 2025-01-08T20:21:41.804Z,1736367701.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055510 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:41.928Z,1736367701.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:41.930Z,1736367701.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768052 2025-01-08T20:21:42.156Z,1736367702.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:42.165Z,1736367702.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:42.167Z,1736367702.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.353180 m, bearing: 18.474047 deg, approach rate: 0.033224 m/s, LOS rate: -0.098777 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779691 deg. 2025-01-08T20:21:42.168Z,1736367702.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055643 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:42.180Z,1736367702.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:42.180Z,1736367702.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018645 2025-01-08T20:21:42.434Z,1736367702.434 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:42.438Z,1736367702.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276104 2025-01-08T20:21:42.556Z,1736367702.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:42.571Z,1736367702.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:42.635Z,1736367702.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.366943 m, bearing: 18.434642 deg, approach rate: 0.034019 m/s, LOS rate: -0.097394 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776346 deg. 2025-01-08T20:21:42.647Z,1736367702.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055585 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:42.684Z,1736367702.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:42.685Z,1736367702.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523055 2025-01-08T20:21:42.936Z,1736367702.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:42.938Z,1736367702.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775520 2025-01-08T20:21:43.012Z,1736367703.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:43.025Z,1736367703.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:43.030Z,1736367703.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.383759 m, bearing: 18.390761 deg, approach rate: 0.036910 m/s, LOS rate: -0.096316 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762919 deg. 2025-01-08T20:21:43.040Z,1736367703.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055351 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:43.188Z,1736367703.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:43.189Z,1736367703.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027319 2025-01-08T20:21:43.388Z,1736367703.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:43.394Z,1736367703.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:43.406Z,1736367703.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:43.413Z,1736367703.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.397858 m, bearing: 18.354629 deg, approach rate: 0.036986 m/s, LOS rate: -0.094782 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786163 deg. 2025-01-08T20:21:43.414Z,1736367703.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055756 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:43.440Z,1736367703.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:43.441Z,1736367703.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278906 2025-01-08T20:21:43.692Z,1736367703.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:43.692Z,1736367703.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530822 2025-01-08T20:21:43.824Z,1736367703.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:43.832Z,1736367703.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:43.835Z,1736367703.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.415497 m, bearing: 18.315966 deg, approach rate: 0.041362 m/s, LOS rate: -0.090656 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778573 deg. 2025-01-08T20:21:43.838Z,1736367703.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055624 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:43.944Z,1736367703.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:43.945Z,1736367703.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782951 2025-01-08T20:21:44.196Z,1736367704.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:44.197Z,1736367704.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035042 2025-01-08T20:21:44.214Z,1736367704.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:44.240Z,1736367704.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:44.243Z,1736367704.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.433075 m, bearing: 18.278469 deg, approach rate: 0.043123 m/s, LOS rate: -0.091984 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782070 deg. 2025-01-08T20:21:44.244Z,1736367704.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055685 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:44.449Z,1736367704.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:44.449Z,1736367704.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287886 2025-01-08T20:21:44.700Z,1736367704.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:44.700Z,1736367704.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538852 2025-01-08T20:21:44.766Z,1736367704.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:44.776Z,1736367704.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:44.778Z,1736367704.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.459045 m, bearing: 18.229487 deg, approach rate: 0.048503 m/s, LOS rate: -0.091473 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.747620 deg. 2025-01-08T20:21:44.780Z,1736367704.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055084 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:44.952Z,1736367704.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:44.954Z,1736367704.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791981 2025-01-08T20:21:45.161Z,1736367705.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:45.169Z,1736367705.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:45.173Z,1736367705.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.477814 m, bearing: 18.194460 deg, approach rate: 0.047670 m/s, LOS rate: -0.088961 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789480 deg. 2025-01-08T20:21:45.175Z,1736367705.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055814 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:45.204Z,1736367705.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:45.205Z,1736367705.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043293 2025-01-08T20:21:45.456Z,1736367705.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:45.456Z,1736367705.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.294750 2025-01-08T20:21:45.567Z,1736367705.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:45.574Z,1736367705.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:45.600Z,1736367705.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:45.610Z,1736367705.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.497162 m, bearing: 18.158394 deg, approach rate: 0.045599 m/s, LOS rate: -0.084995 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786362 deg. 2025-01-08T20:21:45.628Z,1736367705.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055760 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:45.709Z,1736367705.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:45.710Z,1736367705.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548017 2025-01-08T20:21:45.960Z,1736367705.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:45.960Z,1736367705.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.798638 2025-01-08T20:21:46.009Z,1736367706.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:46.034Z,1736367706.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:46.038Z,1736367706.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.523621 m, bearing: 18.120784 deg, approach rate: 0.060102 m/s, LOS rate: -0.085429 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781732 deg. 2025-01-08T20:21:46.040Z,1736367706.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055679 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:46.212Z,1736367706.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:46.212Z,1736367706.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.050770 2025-01-08T20:21:46.392Z,1736367706.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:46.404Z,1736367706.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:46.407Z,1736367706.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.546600 m, bearing: 18.088218 deg, approach rate: 0.062013 m/s, LOS rate: -0.087878 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796864 deg. 2025-01-08T20:21:46.412Z,1736367706.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055943 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:46.465Z,1736367706.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:46.466Z,1736367706.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.304171 2025-01-08T20:21:46.717Z,1736367706.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:46.719Z,1736367706.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556884 2025-01-08T20:21:46.811Z,1736367706.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:46.819Z,1736367706.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:46.822Z,1736367706.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.570892 m, bearing: 18.052574 deg, approach rate: 0.058601 m/s, LOS rate: -0.085981 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787631 deg. 2025-01-08T20:21:46.824Z,1736367706.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055782 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:46.968Z,1736367706.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:46.968Z,1736367706.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.806754 2025-01-08T20:21:47.187Z,1736367707.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:47.196Z,1736367707.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:47.198Z,1736367707.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.592712 m, bearing: 18.020601 deg, approach rate: 0.057942 m/s, LOS rate: -0.084899 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798643 deg. 2025-01-08T20:21:47.200Z,1736367707.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055974 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:47.220Z,1736367707.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:47.221Z,1736367707.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.059537 2025-01-08T20:21:47.472Z,1736367707.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:47.472Z,1736367707.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.310823 2025-01-08T20:21:47.585Z,1736367707.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:47.597Z,1736367707.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:47.599Z,1736367707.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:47.601Z,1736367707.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.616089 m, bearing: 17.986639 deg, approach rate: 0.057979 m/s, LOS rate: -0.084228 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792677 deg. 2025-01-08T20:21:47.603Z,1736367707.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055870 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:47.725Z,1736367707.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:47.727Z,1736367707.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564585 2025-01-08T20:21:47.976Z,1736367707.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:47.977Z,1736367707.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.814925 2025-01-08T20:21:48.012Z,1736367708.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:48.044Z,1736367708.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:48.047Z,1736367708.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.643280 m, bearing: 17.950234 deg, approach rate: 0.061062 m/s, LOS rate: -0.081750 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.785346 deg. 2025-01-08T20:21:48.052Z,1736367708.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055742 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:48.228Z,1736367708.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:48.228Z,1736367708.228 [DAT](INFO): Reached modem response timeout 2025-01-08T20:21:48.228Z,1736367708.228 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:21:48.228Z,1736367708.228 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:48.402Z,1736367708.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:48.412Z,1736367708.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:48.414Z,1736367708.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.668549 m, bearing: 17.916856 deg, approach rate: 0.068725 m/s, LOS rate: -0.090774 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794430 deg. 2025-01-08T20:21:48.416Z,1736367708.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055901 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:48.482Z,1736367708.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:48.482Z,1736367708.482 [DAT](INFO): Reached modem response timeout 2025-01-08T20:21:48.482Z,1736367708.482 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:21:48.483Z,1736367708.483 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:48.737Z,1736367708.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:48.739Z,1736367708.739 [DAT](INFO): Reached modem response timeout 2025-01-08T20:21:48.739Z,1736367708.739 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:21:48.741Z,1736367708.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:48.842Z,1736367708.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:48.850Z,1736367708.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:48.853Z,1736367708.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.697449 m, bearing: 17.878729 deg, approach rate: 0.065946 m/s, LOS rate: -0.086995 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780183 deg. 2025-01-08T20:21:48.855Z,1736367708.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055652 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:48.989Z,1736367708.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:48.990Z,1736367708.990 [DAT](INFO): DAT read: RX DATA OVERRUNResponse Not Received 2025-01-08T20:21:48.992Z,1736367708.992 [DAT](INFO): response not received 2025-01-08T20:21:48.992Z,1736367708.992 [DAT](INFO): DAT read: user:1254> 2025-01-08T20:21:48.994Z,1736367708.994 [DAT](INFO): DAT read: Tx time:20:21:48.3370 2025-01-08T20:21:48.994Z,1736367708.994 [DAT](INFO): Ping request sent. 2025-01-08T20:21:48.994Z,1736367708.994 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:21:48.995Z,1736367708.995 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:48.000Z,1736367709.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005766 2025-01-08T20:21:49.240Z,1736367709.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:49.241Z,1736367709.241 [DAT](INFO): DAT read: TxSync time:20:21:48.3362 2025-01-08T20:21:49.242Z,1736367709.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247468 2025-01-08T20:21:49.315Z,1736367709.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:49.325Z,1736367709.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:49.328Z,1736367709.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.729095 m, bearing: 17.837627 deg, approach rate: 0.066569 m/s, LOS rate: -0.086452 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.771258 deg. 2025-01-08T20:21:49.329Z,1736367709.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055496 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:49.492Z,1736367709.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:49.492Z,1736367709.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498221 2025-01-08T20:21:49.605Z,1736367709.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:49.612Z,1736367709.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:49.614Z,1736367709.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:49.617Z,1736367709.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.748596 m, bearing: 17.812429 deg, approach rate: 0.067530 m/s, LOS rate: -0.087253 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818967 deg. 2025-01-08T20:21:49.618Z,1736367709.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056329 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:49.744Z,1736367709.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:49.745Z,1736367709.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750635 2025-01-08T20:21:49.996Z,1736367709.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:49.996Z,1736367709.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002257 2025-01-08T20:21:50.056Z,1736367710.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:50.064Z,1736367710.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:50.067Z,1736367710.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.778748 m, bearing: 17.772671 deg, approach rate: 0.066951 m/s, LOS rate: -0.088278 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.775289 deg. 2025-01-08T20:21:50.069Z,1736367710.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055567 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:50.248Z,1736367710.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:50.248Z,1736367710.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254224 2025-01-08T20:21:50.470Z,1736367710.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:50.479Z,1736367710.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:50.482Z,1736367710.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.806793 m, bearing: 17.736207 deg, approach rate: 0.067662 m/s, LOS rate: -0.087966 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.785173 deg. 2025-01-08T20:21:50.483Z,1736367710.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055739 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:50.500Z,1736367710.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:50.500Z,1736367710.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506161 2025-01-08T20:21:50.754Z,1736367710.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:50.756Z,1736367710.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761590 2025-01-08T20:21:50.849Z,1736367710.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:50.858Z,1736367710.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:50.861Z,1736367710.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.832672 m, bearing: 17.703391 deg, approach rate: 0.068174 m/s, LOS rate: -0.086445 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796113 deg. 2025-01-08T20:21:50.862Z,1736367710.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055930 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:51.004Z,1736367711.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:51.005Z,1736367711.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011010 2025-01-08T20:21:51.256Z,1736367711.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:51.258Z,1736367711.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263326 2025-01-08T20:21:51.295Z,1736367711.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:51.316Z,1736367711.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:51.318Z,1736367711.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.862335 m, bearing: 17.664806 deg, approach rate: 0.066692 m/s, LOS rate: -0.086745 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778810 deg. 2025-01-08T20:21:51.324Z,1736367711.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055628 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:51.508Z,1736367711.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:51.508Z,1736367711.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514185 2025-01-08T20:21:51.702Z,1736367711.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:51.754Z,1736367711.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:51.762Z,1736367711.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:51.764Z,1736367711.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769682 2025-01-08T20:21:51.774Z,1736367711.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:51.781Z,1736367711.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.889496 m, bearing: 17.629579 deg, approach rate: 0.057658 m/s, LOS rate: -0.074778 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788881 deg. 2025-01-08T20:21:51.782Z,1736367711.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055804 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:52.012Z,1736367712.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:52.012Z,1736367712.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018150 2025-01-08T20:21:52.117Z,1736367712.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:52.126Z,1736367712.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:52.129Z,1736367712.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.918488 m, bearing: 17.593783 deg, approach rate: 0.082451 m/s, LOS rate: -0.101794 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787177 deg. 2025-01-08T20:21:52.130Z,1736367712.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055774 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:52.264Z,1736367712.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:52.265Z,1736367712.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270460 2025-01-08T20:21:52.501Z,1736367712.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:52.510Z,1736367712.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:52.513Z,1736367712.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.945862 m, bearing: 17.560643 deg, approach rate: 0.071285 m/s, LOS rate: -0.086294 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795143 deg. 2025-01-08T20:21:52.514Z,1736367712.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055913 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:52.516Z,1736367712.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:52.517Z,1736367712.517 [DAT](INFO): DAT read: Rx Time:20:21:51.3005 2025-01-08T20:21:52.517Z,1736367712.517 [DAT](INFO): Rx dataTimestamp_ set to:1736367712.516778 2025-01-08T20:21:52.518Z,1736367712.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523459 2025-01-08T20:21:52.776Z,1736367712.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:52.778Z,1736367712.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783565 2025-01-08T20:21:52.916Z,1736367712.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:52.926Z,1736367712.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m. 2025-01-08T20:21:52.945Z,1736367712.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.200012 m, nav range: 460.979034 m, bearing: 17.524505 deg, approach rate: 0.079738 m/s, LOS rate: -0.086861 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786149 deg. 2025-01-08T20:21:52.946Z,1736367712.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055756 target range: 430.200012 and range: 430.20 m. 2025-01-08T20:21:53.024Z,1736367713.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:53.031Z,1736367713.031 [DAT](INFO): DAT read: 20:21:51.3005 LVL= 32752, 32753, 20258, 32755, AGC= 70, IDX= 408,-0.05, 0.039,-0.856, 0.766, 0.043, PHS= 0.085,-0.851, 0.720, RAW= 173.7, 0.7, CAL= 174.5, -7.5, ROT= 335.5, 7.5 2025-01-08T20:21:53.032Z,1736367713.032 [DAT](INFO): got valid direction response: 20:21:51.3005 LVL= 32752, 32753, 20258, 32755, AGC= 70, IDX= 408,-0.05, 0.039,-0.856, 0.766, 0.043, PHS= 0.085,-0.851, 0.720, RAW= 173.7, 0.7, CAL= 174.5, -7.5, ROT= 335.5, 7.5 2025-01-08T20:21:53.033Z,1736367713.033 [DAT](INFO): DAT read: Bearing 335.5, 7.5 (Local) 2025-01-08T20:21:53.033Z,1736367713.033 [DAT](INFO): Local bearing/azimuth received: Bearing 335.5, 7.5 (Local) 2025-01-08T20:21:53.035Z,1736367713.035 [DAT](INFO): DAT read: Range 10 to 50 : 419.4 m (Round-trip 559.3 ms) speed 0.7 m/s 2025-01-08T20:21:53.039Z,1736367713.039 [DAT](INFO): DAT read: user:1255> 2025-01-08T20:21:53.040Z,1736367713.040 [DAT](INFO): DAT read: Tx time:20:21:52.3871 2025-01-08T20:21:53.040Z,1736367713.040 [DAT](INFO): Ping request sent. 2025-01-08T20:21:53.040Z,1736367713.040 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:21:53.041Z,1736367713.041 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:21:53.041Z,1736367713.041 [DAT](INFO): direction in FSK: [-0.110022,-0.982179,0.152379] 2025-01-08T20:21:53.042Z,1736367713.042 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:53.042Z,1736367713.042 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:53.061Z,1736367713.061 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:53.061Z,1736367713.061 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:53.276Z,1736367713.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:53.277Z,1736367713.277 [DAT](INFO): DAT read: TxSync time:20:21:52.3863 2025-01-08T20:21:53.312Z,1736367713.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:53.350Z,1736367713.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 419.399994 m, deltaT: 14.876186 s, deltaX: -10.800018 m, approachRate: -0.725994 m/s, rangeRepo size: 4 2025-01-08T20:21:53.357Z,1736367713.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 419.399994 m, bearing: 22.604416 deg, lat: 36.908690 deg, lon: -122.122134 deg, deltaT: 14.876186 s, deltaX: -10.800018 m, approachRate: -0.725994 m/s, posRepo size: 4 2025-01-08T20:21:53.357Z,1736367713.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.40 m. 2025-01-08T20:21:53.368Z,1736367713.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.399994 m, nav range: 449.374695 m, bearing: 17.958164 deg, approach rate: 0.000000 m/s, LOS rate: -0.086861 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784222 deg. 2025-01-08T20:21:53.369Z,1736367713.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055722 target range: 419.399994 and range: 419.40 m. 2025-01-08T20:21:53.528Z,1736367713.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:53.704Z,1736367713.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:53.732Z,1736367713.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.40 m. 2025-01-08T20:21:53.749Z,1736367713.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.399994 m, nav range: 449.404175 m, bearing: 17.923199 deg, approach rate: 0.077052 m/s, LOS rate: -0.091383 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789669 deg. 2025-01-08T20:21:53.758Z,1736367713.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055818 target range: 419.399994 and range: 419.40 m. 2025-01-08T20:21:53.781Z,1736367713.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:54.032Z,1736367714.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:54.126Z,1736367714.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:54.132Z,1736367714.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:54.134Z,1736367714.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.40 m. 2025-01-08T20:21:54.140Z,1736367714.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.399994 m, nav range: 449.437744 m, bearing: 17.886208 deg, approach rate: 0.083394 m/s, LOS rate: -0.091887 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.783593 deg. 2025-01-08T20:21:54.156Z,1736367714.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055712 target range: 419.399994 and range: 419.40 m. 2025-01-08T20:21:54.284Z,1736367714.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:54.284Z,1736367714.284 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:21:54.284Z,1736367714.284 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:21:54.284Z,1736367714.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:54.505Z,1736367714.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:54.522Z,1736367714.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.40 m. 2025-01-08T20:21:54.529Z,1736367714.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.399994 m, nav range: 449.468475 m, bearing: 17.852951 deg, approach rate: 0.079281 m/s, LOS rate: -0.085792 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794791 deg. 2025-01-08T20:21:54.530Z,1736367714.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055907 target range: 419.399994 and range: 419.40 m. 2025-01-08T20:21:54.536Z,1736367714.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:54.537Z,1736367714.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496970 2025-01-08T20:21:54.790Z,1736367714.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:54.793Z,1736367714.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751965 2025-01-08T20:21:54.915Z,1736367714.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:54.924Z,1736367714.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.40 m. 2025-01-08T20:21:54.926Z,1736367714.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.399994 m, nav range: 449.501740 m, bearing: 17.817012 deg, approach rate: 0.082853 m/s, LOS rate: -0.089509 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786747 deg. 2025-01-08T20:21:54.928Z,1736367714.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055767 target range: 419.399994 and range: 419.40 m. 2025-01-08T20:21:55.040Z,1736367715.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:55.040Z,1736367715.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000206 2025-01-08T20:21:55.292Z,1736367715.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:55.292Z,1736367715.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252103 2025-01-08T20:21:55.314Z,1736367715.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:55.324Z,1736367715.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.40 m. 2025-01-08T20:21:55.327Z,1736367715.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.399994 m, nav range: 449.533875 m, bearing: 17.781950 deg, approach rate: 0.080194 m/s, LOS rate: -0.087492 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789378 deg. 2025-01-08T20:21:55.329Z,1736367715.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055812 target range: 419.399994 and range: 419.40 m. 2025-01-08T20:21:55.544Z,1736367715.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:55.545Z,1736367715.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504889 2025-01-08T20:21:55.729Z,1736367715.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:55.737Z,1736367715.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.40 m. 2025-01-08T20:21:55.744Z,1736367715.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.399994 m, nav range: 449.567261 m, bearing: 17.745602 deg, approach rate: 0.080902 m/s, LOS rate: -0.088071 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.785522 deg. 2025-01-08T20:21:55.750Z,1736367715.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055745 target range: 419.399994 and range: 419.40 m. 2025-01-08T20:21:55.798Z,1736367715.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:55.802Z,1736367715.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760863 2025-01-08T20:21:56.048Z,1736367716.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:56.049Z,1736367716.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008461 2025-01-08T20:21:56.148Z,1736367716.148 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -41, +688, 2025-01-08T20:21:56.157Z,1736367716.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:21:56.157Z,1736367716.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:56.164Z,1736367716.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:56.166Z,1736367716.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.40 m. 2025-01-08T20:21:56.169Z,1736367716.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.399994 m, nav range: 449.601685 m, bearing: 17.708074 deg, approach rate: 0.080250 m/s, LOS rate: -0.087481 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781981 deg. 2025-01-08T20:21:56.171Z,1736367716.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055683 target range: 419.399994 and range: 419.40 m. 2025-01-08T20:21:56.300Z,1736367716.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:56.301Z,1736367716.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260299 2025-01-08T20:21:56.530Z,1736367716.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:21:56.530Z,1736367716.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:56.540Z,1736367716.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.40 m. 2025-01-08T20:21:56.542Z,1736367716.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.399994 m, nav range: 449.631866 m, bearing: 17.675349 deg, approach rate: 0.080802 m/s, LOS rate: -0.087606 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796387 deg. 2025-01-08T20:21:56.544Z,1736367716.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055935 target range: 419.399994 and range: 419.40 m. 2025-01-08T20:21:56.552Z,1736367716.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:56.553Z,1736367716.553 [DAT](INFO): DAT read: Rx Time:20:21:55.3605 2025-01-08T20:21:56.554Z,1736367716.554 [DAT](INFO): Rx dataTimestamp_ set to:1736367716.553129 2025-01-08T20:21:56.554Z,1736367716.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514079 2025-01-08T20:21:56.807Z,1736367716.807 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:56.809Z,1736367716.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768650 2025-01-08T20:21:56.961Z,1736367716.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:56.986Z,1736367716.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.40 m. 2025-01-08T20:21:56.993Z,1736367716.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.399994 m, nav range: 449.669037 m, bearing: 17.637083 deg, approach rate: 0.083300 m/s, LOS rate: -0.085748 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779769 deg. 2025-01-08T20:21:56.994Z,1736367716.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055645 target range: 419.399994 and range: 419.40 m. 2025-01-08T20:21:57.057Z,1736367717.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:57.085Z,1736367717.085 [DAT](INFO): DAT read: 20:21:55.3605 LVL= 32752, 24881, 23250, 32755, AGC= 71, IDX= 34, 0.38, 1.459, 0.561, 2.406, 1.601, PHS=-0.053,-0.993, 0.803, RAW= 178.5, 3.2, CAL= 178.6, -5.4, ROT= 331.4, 5.4 2025-01-08T20:21:57.086Z,1736367717.086 [DAT](INFO): got valid direction response: 20:21:55.3605 LVL= 32752, 24881, 23250, 32755, AGC= 71, IDX= 34, 0.38, 1.459, 0.561, 2.406, 1.601, PHS=-0.053,-0.993, 0.803, RAW= 178.5, 3.2, CAL= 178.6, -5.4, ROT= 331.4, 5.4 2025-01-08T20:21:57.098Z,1736367717.098 [DAT](INFO): DAT read: Bearing 331.4, 5.4 (Local) 2025-01-08T20:21:57.099Z,1736367717.099 [DAT](INFO): Local bearing/azimuth received: Bearing 331.4, 5.4 (Local) 2025-01-08T20:21:57.116Z,1736367717.116 [DAT](INFO): DAT read: Range 10 to 50 : 426.9 m (Round-trip 569.3 ms) speed 0.5 m/s 2025-01-08T20:21:57.118Z,1736367717.118 [DAT](INFO): DAT read: user:1256> 2025-01-08T20:21:57.119Z,1736367717.119 [DAT](INFO): DAT read: Tx time:20:21:56.4371 2025-01-08T20:21:57.119Z,1736367717.119 [DAT](INFO): Ping request sent. 2025-01-08T20:21:57.133Z,1736367717.133 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:21:57.134Z,1736367717.134 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:21:57.159Z,1736367717.159 [DAT](INFO): direction in FSK: [-0.149879,-0.986480,0.066283] 2025-01-08T20:21:57.159Z,1736367717.159 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:57.160Z,1736367717.160 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:57.168Z,1736367717.168 [DAT](INFO): publishing transmit ping time 2025-01-08T20:21:57.168Z,1736367717.168 [DAT](INFO): publishing direction and range info 2025-01-08T20:21:57.308Z,1736367717.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:57.309Z,1736367717.309 [DAT](INFO): DAT read: TxSync time:20:21:56.4363 2025-01-08T20:21:57.370Z,1736367717.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:57.406Z,1736367717.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 426.899994 m, deltaT: 4.033735 s, deltaX: 7.500000 m, approachRate: 1.859319 m/s, rangeRepo size: 4 2025-01-08T20:21:57.413Z,1736367717.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 426.899994 m, bearing: 19.851530 deg, lat: 36.908603 deg, lon: -122.122034 deg, deltaT: 4.033735 s, deltaX: 7.500000 m, approachRate: 1.859319 m/s, posRepo size: 4 2025-01-08T20:21:57.414Z,1736367717.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.90 m. 2025-01-08T20:21:57.422Z,1736367717.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.899994 m, nav range: 443.320465 m, bearing: 19.064939 deg, approach rate: 0.000000 m/s, LOS rate: -0.085748 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786487 deg. 2025-01-08T20:21:57.425Z,1736367717.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055762 target range: 426.899994 and range: 426.90 m. 2025-01-08T20:21:57.560Z,1736367717.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:57.748Z,1736367717.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:57.760Z,1736367717.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.90 m. 2025-01-08T20:21:57.764Z,1736367717.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.899994 m, nav range: 443.346497 m, bearing: 19.030782 deg, approach rate: 0.073608 m/s, LOS rate: -0.096580 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792091 deg. 2025-01-08T20:21:57.766Z,1736367717.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055860 target range: 426.899994 and range: 426.90 m. 2025-01-08T20:21:57.814Z,1736367717.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:58.064Z,1736367718.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:58.185Z,1736367718.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:58.193Z,1736367718.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:21:58.195Z,1736367718.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.90 m. 2025-01-08T20:21:58.198Z,1736367718.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.899994 m, nav range: 443.376495 m, bearing: 18.991005 deg, approach rate: 0.068834 m/s, LOS rate: -0.091265 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.775234 deg. 2025-01-08T20:21:58.199Z,1736367718.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055566 target range: 426.899994 and range: 426.90 m. 2025-01-08T20:21:58.316Z,1736367718.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:58.316Z,1736367718.316 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:21:58.316Z,1736367718.316 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:21:58.317Z,1736367718.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:21:58.549Z,1736367718.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:58.559Z,1736367718.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.90 m. 2025-01-08T20:21:58.562Z,1736367718.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.899994 m, nav range: 443.401428 m, bearing: 18.957838 deg, approach rate: 0.068583 m/s, LOS rate: -0.091227 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795062 deg. 2025-01-08T20:21:58.563Z,1736367718.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055912 target range: 426.899994 and range: 426.90 m. 2025-01-08T20:21:58.568Z,1736367718.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:58.569Z,1736367718.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449495 2025-01-08T20:21:58.820Z,1736367718.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:58.820Z,1736367718.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701293 2025-01-08T20:21:58.979Z,1736367718.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:58.989Z,1736367718.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.90 m. 2025-01-08T20:21:59.015Z,1736367719.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.899994 m, nav range: 443.423981 m, bearing: 18.916946 deg, approach rate: 0.052427 m/s, LOS rate: -0.095056 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.771886 deg. 2025-01-08T20:21:59.021Z,1736367719.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055507 target range: 426.899994 and range: 426.90 m. 2025-01-08T20:21:59.072Z,1736367719.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:59.073Z,1736367719.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953456 2025-01-08T20:21:59.324Z,1736367719.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:59.325Z,1736367719.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205478 2025-01-08T20:21:59.375Z,1736367719.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:59.392Z,1736367719.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.90 m. 2025-01-08T20:21:59.394Z,1736367719.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.899994 m, nav range: 443.444183 m, bearing: 18.879300 deg, approach rate: 0.050208 m/s, LOS rate: -0.093554 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781625 deg. 2025-01-08T20:21:59.410Z,1736367719.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055677 target range: 426.899994 and range: 426.90 m. 2025-01-08T20:21:59.576Z,1736367719.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:59.576Z,1736367719.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457255 2025-01-08T20:21:59.772Z,1736367719.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:21:59.780Z,1736367719.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.90 m. 2025-01-08T20:21:59.783Z,1736367719.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.899994 m, nav range: 443.464325 m, bearing: 18.841558 deg, approach rate: 0.051834 m/s, LOS rate: -0.097124 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781335 deg. 2025-01-08T20:21:59.784Z,1736367719.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055672 target range: 426.899994 and range: 426.90 m. 2025-01-08T20:21:59.830Z,1736367719.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:21:59.834Z,1736367719.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714371 2025-01-08T20:22:00.080Z,1736367720.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:00.080Z,1736367720.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961369 2025-01-08T20:22:00.174Z,1736367720.174 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250108122.0 0.0,1493.1, 0 2025-01-08T20:22:00.181Z,1736367720.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:22:00.181Z,1736367720.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:00.191Z,1736367720.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.90 m. 2025-01-08T20:22:00.198Z,1736367720.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.899994 m, nav range: 443.484680 m, bearing: 18.802670 deg, approach rate: 0.049565 m/s, LOS rate: -0.094689 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777898 deg. 2025-01-08T20:22:00.200Z,1736367720.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055612 target range: 426.899994 and range: 426.90 m. 2025-01-08T20:22:00.332Z,1736367720.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:00.332Z,1736367720.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213343 2025-01-08T20:22:00.508Z,1736367720.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:22:00.576Z,1736367720.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:22:00.576Z,1736367720.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:00.584Z,1736367720.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:00.585Z,1736367720.585 [DAT](INFO): DAT read: Rx Time:20:21:59.3934 2025-01-08T20:22:00.585Z,1736367720.585 [DAT](INFO): Rx dataTimestamp_ set to:1736367720.584747 2025-01-08T20:22:00.586Z,1736367720.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466516 2025-01-08T20:22:00.601Z,1736367720.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:00.607Z,1736367720.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.90 m. 2025-01-08T20:22:00.610Z,1736367720.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.899994 m, nav range: 443.503967 m, bearing: 18.765935 deg, approach rate: 0.046783 m/s, LOS rate: -0.089100 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784359 deg. 2025-01-08T20:22:00.616Z,1736367720.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055725 target range: 426.899994 and range: 426.90 m. 2025-01-08T20:22:00.838Z,1736367720.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:00.840Z,1736367720.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.720827 2025-01-08T20:22:01.005Z,1736367721.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:01.014Z,1736367721.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.90 m. 2025-01-08T20:22:01.017Z,1736367721.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.899994 m, nav range: 443.514343 m, bearing: 18.721982 deg, approach rate: 0.025253 m/s, LOS rate: -0.106969 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762701 deg. 2025-01-08T20:22:01.018Z,1736367721.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055347 target range: 426.899994 and range: 426.90 m. 2025-01-08T20:22:01.089Z,1736367721.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:01.109Z,1736367721.109 [DAT](INFO): DAT read: 20:21:59.3934 LVL= 32752, 32753, 20722, 32755, AGC= 71, IDX= 395,-0.20,-0.940,-1.896,-0.145,-0.856, PHS= 0.005,-0.993, 0.709, RAW= 174.3, 3.8, CAL= 174.5, -5.0, ROT= 335.5, 5.0 2025-01-08T20:22:01.110Z,1736367721.110 [DAT](INFO): got valid direction response: 20:21:59.3934 LVL= 32752, 32753, 20722, 32755, AGC= 71, IDX= 395,-0.20,-0.940,-1.896,-0.145,-0.856, PHS= 0.005,-0.993, 0.709, RAW= 174.3, 3.8, CAL= 174.5, -5.0, ROT= 335.5, 5.0 2025-01-08T20:22:01.118Z,1736367721.118 [DAT](INFO): DAT read: Bearing 335.5, 5.0 (Local) 2025-01-08T20:22:01.118Z,1736367721.118 [DAT](INFO): Local bearing/azimuth received: Bearing 335.5, 5.0 (Local) 2025-01-08T20:22:01.131Z,1736367721.131 [DAT](INFO): DAT read: Range 10 to 50 : 414.1 m (Round-trip 552.2 ms) speed 0.9 m/s 2025-01-08T20:22:01.132Z,1736367721.132 [DAT](INFO): DAT read: user:1257> 2025-01-08T20:22:01.133Z,1736367721.133 [DAT](INFO): DAT read: Tx time:20:22:00.4871 2025-01-08T20:22:01.133Z,1736367721.133 [DAT](INFO): Ping request sent. 2025-01-08T20:22:01.133Z,1736367721.133 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:01.134Z,1736367721.134 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:01.135Z,1736367721.135 [DAT](INFO): direction in FSK: [-0.168477,-0.976134,0.137033] 2025-01-08T20:22:01.135Z,1736367721.135 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:01.139Z,1736367721.139 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:01.142Z,1736367721.142 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:01.143Z,1736367721.143 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:01.340Z,1736367721.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:01.341Z,1736367721.341 [DAT](INFO): DAT read: TxSync time:20:22:00.4863 2025-01-08T20:22:01.412Z,1736367721.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:01.447Z,1736367721.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 414.100006 m, deltaT: 4.032068 s, deltaX: -12.799988 m, approachRate: -3.174547 m/s, rangeRepo size: 4 2025-01-08T20:22:01.454Z,1736367721.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 414.100006 m, bearing: 18.371487 deg, lat: 36.908442 deg, lon: -122.122034 deg, deltaT: 4.032068 s, deltaX: -12.799988 m, approachRate: -3.174547 m/s, posRepo size: 4 2025-01-08T20:22:01.455Z,1736367721.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.10 m. 2025-01-08T20:22:01.462Z,1736367721.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.100006 m, nav range: 426.605072 m, bearing: 19.451341 deg, approach rate: 0.000000 m/s, LOS rate: -0.106969 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.755795 deg. 2025-01-08T20:22:01.463Z,1736367721.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055226 target range: 414.100006 and range: 414.10 m. 2025-01-08T20:22:01.514Z,1736367721.514 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:22:01.592Z,1736367721.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:01.804Z,1736367721.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:01.820Z,1736367721.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.10 m. 2025-01-08T20:22:01.830Z,1736367721.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.100006 m, nav range: 426.610565 m, bearing: 19.410466 deg, approach rate: 0.014673 m/s, LOS rate: -0.109184 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.771931 deg. 2025-01-08T20:22:01.831Z,1736367721.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055508 target range: 414.100006 and range: 414.10 m. 2025-01-08T20:22:01.844Z,1736367721.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:02.096Z,1736367722.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:02.209Z,1736367722.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:02.218Z,1736367722.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.10 m. 2025-01-08T20:22:02.221Z,1736367722.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.100006 m, nav range: 426.606445 m, bearing: 19.367265 deg, approach rate: -0.010375 m/s, LOS rate: -0.108790 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764952 deg. 2025-01-08T20:22:02.222Z,1736367722.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055386 target range: 414.100006 and range: 414.10 m. 2025-01-08T20:22:02.348Z,1736367722.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:02.594Z,1736367722.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:02.600Z,1736367722.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:02.602Z,1736367722.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:02.604Z,1736367722.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.10 m. 2025-01-08T20:22:02.607Z,1736367722.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.100006 m, nav range: 426.603271 m, bearing: 19.326212 deg, approach rate: -0.008205 m/s, LOS rate: -0.106131 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.771397 deg. 2025-01-08T20:22:02.608Z,1736367722.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055499 target range: 414.100006 and range: 414.10 m. 2025-01-08T20:22:02.852Z,1736367722.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:02.852Z,1736367722.852 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:02.852Z,1736367722.852 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:02.853Z,1736367722.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:03.024Z,1736367723.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:03.032Z,1736367723.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.10 m. 2025-01-08T20:22:03.034Z,1736367723.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.100006 m, nav range: 426.595642 m, bearing: 19.280104 deg, approach rate: -0.017861 m/s, LOS rate: -0.107946 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.756232 deg. 2025-01-08T20:22:03.036Z,1736367723.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055234 target range: 414.100006 and range: 414.10 m. 2025-01-08T20:22:03.106Z,1736367723.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:03.106Z,1736367723.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973021 2025-01-08T20:22:03.360Z,1736367723.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:03.360Z,1736367723.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226982 2025-01-08T20:22:03.421Z,1736367723.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:03.439Z,1736367723.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.10 m. 2025-01-08T20:22:03.446Z,1736367723.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.100006 m, nav range: 426.588379 m, bearing: 19.237441 deg, approach rate: -0.017841 m/s, LOS rate: -0.104802 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.766563 deg. 2025-01-08T20:22:03.447Z,1736367723.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055414 target range: 414.100006 and range: 414.10 m. 2025-01-08T20:22:03.612Z,1736367723.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:03.612Z,1736367723.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478949 2025-01-08T20:22:03.799Z,1736367723.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:03.831Z,1736367723.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.10 m. 2025-01-08T20:22:03.837Z,1736367723.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.100006 m, nav range: 426.581818 m, bearing: 19.196909 deg, approach rate: -0.016740 m/s, LOS rate: -0.103410 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772959 deg. 2025-01-08T20:22:03.839Z,1736367723.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055526 target range: 414.100006 and range: 414.10 m. 2025-01-08T20:22:03.864Z,1736367723.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:03.866Z,1736367723.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731710 2025-01-08T20:22:04.116Z,1736367724.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:04.116Z,1736367724.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982928 2025-01-08T20:22:04.229Z,1736367724.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:04.238Z,1736367724.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.10 m. 2025-01-08T20:22:04.241Z,1736367724.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.100006 m, nav range: 426.572266 m, bearing: 19.150345 deg, approach rate: -0.023480 m/s, LOS rate: -0.114465 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.754861 deg. 2025-01-08T20:22:04.242Z,1736367724.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055210 target range: 414.100006 and range: 414.10 m. 2025-01-08T20:22:04.368Z,1736367724.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:04.369Z,1736367724.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235226 2025-01-08T20:22:04.621Z,1736367724.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:04.622Z,1736367724.622 [DAT](INFO): DAT read: Rx Time:20:22:03.4395 2025-01-08T20:22:04.622Z,1736367724.622 [DAT](INFO): Rx dataTimestamp_ set to:1736367724.622146 2025-01-08T20:22:04.623Z,1736367724.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489543 2025-01-08T20:22:04.628Z,1736367724.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:04.635Z,1736367724.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:04.638Z,1736367724.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.10 m. 2025-01-08T20:22:04.641Z,1736367724.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.100006 m, nav range: 426.563660 m, bearing: 19.107017 deg, approach rate: -0.021474 m/s, LOS rate: -0.108114 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764570 deg. 2025-01-08T20:22:04.642Z,1736367724.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055379 target range: 414.100006 and range: 414.10 m. 2025-01-08T20:22:04.873Z,1736367724.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:04.875Z,1736367724.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740912 2025-01-08T20:22:05.043Z,1736367725.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:05.052Z,1736367725.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.10 m. 2025-01-08T20:22:05.073Z,1736367725.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.100006 m, nav range: 426.556519 m, bearing: 19.064468 deg, approach rate: -0.017253 m/s, LOS rate: -0.102797 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.766909 deg. 2025-01-08T20:22:05.074Z,1736367725.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055420 target range: 414.100006 and range: 414.10 m. 2025-01-08T20:22:05.125Z,1736367725.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:05.128Z,1736367725.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.993622 2025-01-08T20:22:05.376Z,1736367725.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:05.383Z,1736367725.383 [DAT](INFO): DAT read: 20:22:03.4395 LVL= 26992, 32753, 15858, 32755, AGC= 70, IDX= 394, 0.25, 2.815, 1.841,-2.555, 2.858, PHS= 0.045,-0.970, 0.867, RAW= 176.5, 0.7, CAL= 177.1, -7.4, ROT= 332.9, 7.4 2025-01-08T20:22:05.384Z,1736367725.384 [DAT](INFO): got valid direction response: 20:22:03.4395 LVL= 26992, 32753, 15858, 32755, AGC= 70, IDX= 394, 0.25, 2.815, 1.841,-2.555, 2.858, PHS= 0.045,-0.970, 0.867, RAW= 176.5, 0.7, CAL= 177.1, -7.4, ROT= 332.9, 7.4 2025-01-08T20:22:05.385Z,1736367725.385 [DAT](INFO): DAT read: Bearing 332.9, 7.4 (Local) 2025-01-08T20:22:05.386Z,1736367725.386 [DAT](INFO): Local bearing/azimuth received: Bearing 332.9, 7.4 (Local) 2025-01-08T20:22:05.394Z,1736367725.394 [DAT](INFO): DAT read: Range 10 to 50 : 411.1 m (Round-trip 548.2 ms) speed 0.6 m/s 2025-01-08T20:22:05.395Z,1736367725.395 [DAT](INFO): DAT read: user:1258> 2025-01-08T20:22:05.396Z,1736367725.396 [DAT](INFO): DAT read: Tx time:20:22:04.5372 2025-01-08T20:22:05.396Z,1736367725.396 [DAT](INFO): Ping request sent. 2025-01-08T20:22:05.396Z,1736367725.396 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:05.397Z,1736367725.397 [DAT](INFO): DAT read: TxSync time:20:22:04.5364 2025-01-08T20:22:05.397Z,1736367725.397 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:05.398Z,1736367725.398 [DAT](INFO): direction in FSK: [-0.106947,-0.988917,0.102987] 2025-01-08T20:22:05.398Z,1736367725.398 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:05.399Z,1736367725.399 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:05.430Z,1736367725.430 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:05.430Z,1736367725.430 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:05.481Z,1736367725.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:05.512Z,1736367725.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 411.100006 m, deltaT: 4.286235 s, deltaX: -3.000000 m, approachRate: -0.699915 m/s, rangeRepo size: 4 2025-01-08T20:22:05.514Z,1736367725.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 411.100006 m, bearing: 21.910304 deg, lat: 36.908358 deg, lon: -122.122034 deg, deltaT: 4.286235 s, deltaX: -3.000000 m, approachRate: -0.699915 m/s, posRepo size: 4 2025-01-08T20:22:05.515Z,1736367725.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T20:22:05.534Z,1736367725.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 417.736847 m, bearing: 19.436711 deg, approach rate: 0.000000 m/s, LOS rate: -0.102797 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.753006 deg. 2025-01-08T20:22:05.547Z,1736367725.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055178 target range: 411.100006 and range: 411.10 m. 2025-01-08T20:22:05.628Z,1736367725.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:05.828Z,1736367725.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:05.853Z,1736367725.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T20:22:05.861Z,1736367725.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 417.728851 m, bearing: 19.400385 deg, approach rate: -0.023355 m/s, LOS rate: -0.106109 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.785575 deg. 2025-01-08T20:22:05.863Z,1736367725.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055746 target range: 411.100006 and range: 411.10 m. 2025-01-08T20:22:05.880Z,1736367725.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:06.132Z,1736367726.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:06.238Z,1736367726.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:06.246Z,1736367726.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T20:22:06.269Z,1736367726.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 417.731964 m, bearing: 19.359096 deg, approach rate: 0.007927 m/s, LOS rate: -0.105148 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.770691 deg. 2025-01-08T20:22:06.275Z,1736367726.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055486 target range: 411.100006 and range: 411.10 m. 2025-01-08T20:22:06.384Z,1736367726.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:06.636Z,1736367726.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:06.721Z,1736367726.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:06.727Z,1736367726.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:06.729Z,1736367726.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T20:22:06.732Z,1736367726.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 417.735718 m, bearing: 19.310458 deg, approach rate: 0.007767 m/s, LOS rate: -0.100640 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748646 deg. 2025-01-08T20:22:06.733Z,1736367726.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055102 target range: 411.100006 and range: 411.10 m. 2025-01-08T20:22:06.888Z,1736367726.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:06.889Z,1736367726.889 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:06.889Z,1736367726.889 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:06.889Z,1736367726.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:07.140Z,1736367727.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:07.140Z,1736367727.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744378 2025-01-08T20:22:07.142Z,1736367727.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:07.151Z,1736367727.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T20:22:07.154Z,1736367727.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 417.745300 m, bearing: 19.270395 deg, approach rate: 0.022753 m/s, LOS rate: -0.095127 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774368 deg. 2025-01-08T20:22:07.155Z,1736367727.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055551 target range: 411.100006 and range: 411.10 m. 2025-01-08T20:22:07.392Z,1736367727.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:07.392Z,1736367727.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996243 2025-01-08T20:22:07.558Z,1736367727.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:07.566Z,1736367727.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T20:22:07.569Z,1736367727.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 417.754242 m, bearing: 19.230959 deg, approach rate: 0.021521 m/s, LOS rate: -0.094912 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776252 deg. 2025-01-08T20:22:07.571Z,1736367727.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055583 target range: 411.100006 and range: 411.10 m. 2025-01-08T20:22:07.644Z,1736367727.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:07.646Z,1736367727.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249840 2025-01-08T20:22:07.896Z,1736367727.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:07.896Z,1736367727.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500331 2025-01-08T20:22:08.046Z,1736367728.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:08.055Z,1736367728.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T20:22:08.058Z,1736367728.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 417.778992 m, bearing: 19.187627 deg, approach rate: 0.050611 m/s, LOS rate: -0.088604 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764570 deg. 2025-01-08T20:22:08.059Z,1736367728.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055379 target range: 411.100006 and range: 411.10 m. 2025-01-08T20:22:08.150Z,1736367728.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:08.153Z,1736367728.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756114 2025-01-08T20:22:08.357Z,1736367728.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:08.365Z,1736367728.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T20:22:08.368Z,1736367728.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 417.793854 m, bearing: 19.160011 deg, approach rate: 0.047903 m/s, LOS rate: -0.089009 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811711 deg. 2025-01-08T20:22:08.369Z,1736367728.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056202 target range: 411.100006 and range: 411.10 m. 2025-01-08T20:22:08.404Z,1736367728.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:08.405Z,1736367728.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009062 2025-01-08T20:22:08.656Z,1736367728.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:08.657Z,1736367728.657 [DAT](INFO): DAT read: Rx Time:20:22:07.4985 2025-01-08T20:22:08.658Z,1736367728.658 [DAT](INFO): Rx dataTimestamp_ set to:1736367728.657859 2025-01-08T20:22:08.659Z,1736367728.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262978 2025-01-08T20:22:08.763Z,1736367728.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:08.771Z,1736367728.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:08.773Z,1736367728.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T20:22:08.776Z,1736367728.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 417.813263 m, bearing: 19.123938 deg, approach rate: 0.047578 m/s, LOS rate: -0.088422 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786343 deg. 2025-01-08T20:22:08.777Z,1736367728.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055759 target range: 411.100006 and range: 411.10 m. 2025-01-08T20:22:08.910Z,1736367728.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:08.912Z,1736367728.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515952 2025-01-08T20:22:09.165Z,1736367729.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:09.167Z,1736367729.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770763 2025-01-08T20:22:09.251Z,1736367729.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:09.285Z,1736367729.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T20:22:09.300Z,1736367729.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 417.847961 m, bearing: 19.081368 deg, approach rate: 0.067902 m/s, LOS rate: -0.083298 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.766858 deg. 2025-01-08T20:22:09.307Z,1736367729.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055419 target range: 411.100006 and range: 411.10 m. 2025-01-08T20:22:09.418Z,1736367729.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:09.434Z,1736367729.434 [DAT](INFO): DAT read: 20:22:07.4985 LVL= 32752, 29841, 15074, 32755, AGC= 71, IDX= 162, 0.08, 2.596, 1.838,-2.977, 2.631, PHS= 0.053,-0.746, 0.672, RAW= 175.8, 0.3, CAL= 176.6, -7.7, ROT= 333.4, 7.7 2025-01-08T20:22:09.436Z,1736367729.436 [DAT](INFO): got valid direction response: 20:22:07.4985 LVL= 32752, 29841, 15074, 32755, AGC= 71, IDX= 162, 0.08, 2.596, 1.838,-2.977, 2.631, PHS= 0.053,-0.746, 0.672, RAW= 175.8, 0.3, CAL= 176.6, -7.7, ROT= 333.4, 7.7 2025-01-08T20:22:09.437Z,1736367729.437 [DAT](INFO): DAT read: Bearing 333.4, 7.7 (Local) 2025-01-08T20:22:09.438Z,1736367729.438 [DAT](INFO): Local bearing/azimuth received: Bearing 333.4, 7.7 (Local) 2025-01-08T20:22:09.440Z,1736367729.440 [DAT](INFO): DAT read: Range 10 to 50 : 417.9 m (Round-trip 557.2 ms) speed 0.4 m/s 2025-01-08T20:22:09.441Z,1736367729.441 [DAT](INFO): DAT read: user:1259> 2025-01-08T20:22:09.442Z,1736367729.442 [DAT](INFO): DAT read: Tx time:20:22:08.5872 2025-01-08T20:22:09.442Z,1736367729.442 [DAT](INFO): Ping request sent. 2025-01-08T20:22:09.442Z,1736367729.442 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:09.443Z,1736367729.443 [DAT](INFO): DAT read: TxSync time:20:22:08.5864 2025-01-08T20:22:09.444Z,1736367729.444 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:09.445Z,1736367729.445 [DAT](INFO): direction in FSK: [-0.100553,-0.988142,0.116033] 2025-01-08T20:22:09.445Z,1736367729.445 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:09.445Z,1736367729.445 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:09.448Z,1736367729.448 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:09.448Z,1736367729.448 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:09.614Z,1736367729.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:09.655Z,1736367729.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 417.899994 m, deltaT: 4.041728 s, deltaX: 6.799988 m, approachRate: 1.682446 m/s, rangeRepo size: 4 2025-01-08T20:22:09.663Z,1736367729.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 417.899994 m, bearing: 21.348677 deg, lat: 36.908325 deg, lon: -122.121880 deg, deltaT: 4.041728 s, deltaX: 6.799988 m, approachRate: 1.682446 m/s, posRepo size: 4 2025-01-08T20:22:09.665Z,1736367729.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.90 m. 2025-01-08T20:22:09.671Z,1736367729.671 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:09.679Z,1736367729.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.899994 m, nav range: 419.119507 m, bearing: 20.986147 deg, approach rate: 0.000000 m/s, LOS rate: -0.083298 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802505 deg. 2025-01-08T20:22:09.684Z,1736367729.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056041 target range: 417.899994 and range: 417.90 m. 2025-01-08T20:22:09.920Z,1736367729.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:10.141Z,1736367730.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:10.149Z,1736367730.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.90 m. 2025-01-08T20:22:10.152Z,1736367730.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.899994 m, nav range: 419.157928 m, bearing: 20.940096 deg, approach rate: 0.077379 m/s, LOS rate: -0.092736 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.756416 deg. 2025-01-08T20:22:10.154Z,1736367730.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055237 target range: 417.899994 and range: 417.90 m. 2025-01-08T20:22:10.172Z,1736367730.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:10.425Z,1736367730.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:10.593Z,1736367730.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:10.622Z,1736367730.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.90 m. 2025-01-08T20:22:10.630Z,1736367730.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.899994 m, nav range: 419.191742 m, bearing: 20.900517 deg, approach rate: 0.071456 m/s, LOS rate: -0.083634 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.775829 deg. 2025-01-08T20:22:10.635Z,1736367730.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055576 target range: 417.899994 and range: 417.90 m. 2025-01-08T20:22:10.677Z,1736367730.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:10.929Z,1736367730.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:11.114Z,1736367731.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:11.122Z,1736367731.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:11.124Z,1736367731.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.90 m. 2025-01-08T20:22:11.127Z,1736367731.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.899994 m, nav range: 419.230072 m, bearing: 20.854495 deg, approach rate: 0.076422 m/s, LOS rate: -0.091750 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.756503 deg. 2025-01-08T20:22:11.128Z,1736367731.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055239 target range: 417.899994 and range: 417.90 m. 2025-01-08T20:22:11.180Z,1736367731.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:11.181Z,1736367731.181 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:11.181Z,1736367731.181 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:11.181Z,1736367731.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:11.432Z,1736367731.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:11.432Z,1736367731.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990009 2025-01-08T20:22:11.487Z,1736367731.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:11.500Z,1736367731.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.90 m. 2025-01-08T20:22:11.502Z,1736367731.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.899994 m, nav range: 419.256683 m, bearing: 20.821898 deg, approach rate: 0.071640 m/s, LOS rate: -0.087748 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796773 deg. 2025-01-08T20:22:11.509Z,1736367731.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055942 target range: 417.899994 and range: 417.90 m. 2025-01-08T20:22:11.684Z,1736367731.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:11.685Z,1736367731.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242375 2025-01-08T20:22:11.889Z,1736367731.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:11.897Z,1736367731.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.90 m. 2025-01-08T20:22:11.900Z,1736367731.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.899994 m, nav range: 419.286011 m, bearing: 20.786061 deg, approach rate: 0.073083 m/s, LOS rate: -0.089300 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787052 deg. 2025-01-08T20:22:11.901Z,1736367731.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055772 target range: 417.899994 and range: 417.90 m. 2025-01-08T20:22:11.936Z,1736367731.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:11.937Z,1736367731.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494434 2025-01-08T20:22:12.188Z,1736367732.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:12.188Z,1736367732.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746179 2025-01-08T20:22:12.316Z,1736367732.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:12.326Z,1736367732.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.90 m. 2025-01-08T20:22:12.328Z,1736367732.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.899994 m, nav range: 419.312866 m, bearing: 20.746745 deg, approach rate: 0.062631 m/s, LOS rate: -0.091683 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776618 deg. 2025-01-08T20:22:12.329Z,1736367732.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055590 target range: 417.899994 and range: 417.90 m. 2025-01-08T20:22:12.440Z,1736367732.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:12.441Z,1736367732.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998357 2025-01-08T20:22:12.692Z,1736367732.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:12.693Z,1736367732.693 [DAT](INFO): DAT read: Rx Time:20:22:11.5458 2025-01-08T20:22:12.693Z,1736367732.693 [DAT](INFO): Rx dataTimestamp_ set to:1736367732.692760 2025-01-08T20:22:12.694Z,1736367732.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251281 2025-01-08T20:22:12.728Z,1736367732.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:12.736Z,1736367732.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.90 m. 2025-01-08T20:22:12.740Z,1736367732.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.899994 m, nav range: 419.338776 m, bearing: 20.708936 deg, approach rate: 0.063190 m/s, LOS rate: -0.092206 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781136 deg. 2025-01-08T20:22:12.741Z,1736367732.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055669 target range: 417.899994 and range: 417.90 m. 2025-01-08T20:22:12.944Z,1736367732.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:12.944Z,1736367732.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502179 2025-01-08T20:22:13.142Z,1736367733.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:13.149Z,1736367733.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:13.151Z,1736367733.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.90 m. 2025-01-08T20:22:13.154Z,1736367733.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.899994 m, nav range: 419.360535 m, bearing: 20.667432 deg, approach rate: 0.052406 m/s, LOS rate: -0.099955 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.770053 deg. 2025-01-08T20:22:13.156Z,1736367733.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055475 target range: 417.899994 and range: 417.90 m. 2025-01-08T20:22:13.198Z,1736367733.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:13.201Z,1736367733.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757876 2025-01-08T20:22:13.448Z,1736367733.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:13.456Z,1736367733.456 [DAT](INFO): DAT read: 20:22:11.5458 LVL= 32752, 32753, 19570, 32755, AGC= 67, IDX= 410,-0.24, 2.591, 1.719,-3.012, 2.457, PHS= 0.222,-0.691, 0.811, RAW= 172.9, -5.3, CAL= 174.8, -12.3, ROT= 335.2, 12.3 2025-01-08T20:22:13.457Z,1736367733.457 [DAT](INFO): got valid direction response: 20:22:11.5458 LVL= 32752, 32753, 19570, 32755, AGC= 67, IDX= 410,-0.24, 2.591, 1.719,-3.012, 2.457, PHS= 0.222,-0.691, 0.811, RAW= 172.9, -5.3, CAL= 174.8, -12.3, ROT= 335.2, 12.3 2025-01-08T20:22:13.458Z,1736367733.458 [DAT](INFO): DAT read: Bearing 335.2, 12.3 (Local) 2025-01-08T20:22:13.458Z,1736367733.458 [DAT](INFO): Local bearing/azimuth received: Bearing 335.2, 12.3 (Local) 2025-01-08T20:22:13.464Z,1736367733.464 [DAT](INFO): DAT read: Range 10 to 50 : 415.8 m (Round-trip 554.4 ms) speed 0.4 m/s 2025-01-08T20:22:13.465Z,1736367733.465 [DAT](INFO): DAT read: user:1260> 2025-01-08T20:22:13.466Z,1736367733.466 [DAT](INFO): DAT read: Tx time:20:22:12.6372 2025-01-08T20:22:13.466Z,1736367733.466 [DAT](INFO): Ping request sent. 2025-01-08T20:22:13.466Z,1736367733.466 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:13.467Z,1736367733.467 [DAT](INFO): DAT read: TxSync time:20:22:12.6364 2025-01-08T20:22:13.488Z,1736367733.488 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:13.489Z,1736367733.489 [DAT](INFO): direction in FSK: [0.003426,-0.984836,0.173454] 2025-01-08T20:22:13.489Z,1736367733.489 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:13.490Z,1736367733.490 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:13.496Z,1736367733.496 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:13.496Z,1736367733.496 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:13.531Z,1736367733.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:13.559Z,1736367733.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 415.799988 m, deltaT: 4.030027 s, deltaX: -2.100006 m, approachRate: -0.521090 m/s, rangeRepo size: 4 2025-01-08T20:22:13.577Z,1736367733.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 415.799988 m, bearing: 27.214759 deg, lat: 36.908306 deg, lon: -122.121873 deg, deltaT: 4.030027 s, deltaX: -2.100006 m, approachRate: -0.521090 m/s, posRepo size: 4 2025-01-08T20:22:13.578Z,1736367733.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T20:22:13.589Z,1736367733.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 417.633087 m, bearing: 20.813907 deg, approach rate: 0.000000 m/s, LOS rate: -0.099955 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772377 deg. 2025-01-08T20:22:13.590Z,1736367733.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055516 target range: 415.799988 and range: 415.80 m. 2025-01-08T20:22:13.701Z,1736367733.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:13.900Z,1736367733.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:13.910Z,1736367733.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T20:22:13.917Z,1736367733.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 417.652588 m, bearing: 20.776781 deg, approach rate: 0.055433 m/s, LOS rate: -0.105531 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.783183 deg. 2025-01-08T20:22:13.918Z,1736367733.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055704 target range: 415.799988 and range: 415.80 m. 2025-01-08T20:22:13.952Z,1736367733.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:14.204Z,1736367734.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:14.341Z,1736367734.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:14.349Z,1736367734.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T20:22:14.352Z,1736367734.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 417.668365 m, bearing: 20.733612 deg, approach rate: 0.035919 m/s, LOS rate: -0.098273 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.765056 deg. 2025-01-08T20:22:14.354Z,1736367734.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055388 target range: 415.799988 and range: 415.80 m. 2025-01-08T20:22:14.456Z,1736367734.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:14.707Z,1736367734.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:14.708Z,1736367734.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:14.716Z,1736367734.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T20:22:14.719Z,1736367734.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 417.683716 m, bearing: 20.694477 deg, approach rate: 0.041801 m/s, LOS rate: -0.106567 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777156 deg. 2025-01-08T20:22:14.721Z,1736367734.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055599 target range: 415.799988 and range: 415.80 m. 2025-01-08T20:22:14.960Z,1736367734.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:15.164Z,1736367735.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:15.172Z,1736367735.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:15.174Z,1736367735.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T20:22:15.177Z,1736367735.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 417.689331 m, bearing: 20.645214 deg, approach rate: 0.012276 m/s, LOS rate: -0.107695 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.746770 deg. 2025-01-08T20:22:15.178Z,1736367735.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055069 target range: 415.799988 and range: 415.80 m. 2025-01-08T20:22:15.212Z,1736367735.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:15.212Z,1736367735.212 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:15.212Z,1736367735.212 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:15.213Z,1736367735.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:15.464Z,1736367735.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:15.464Z,1736367735.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998396 2025-01-08T20:22:15.516Z,1736367735.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:15.525Z,1736367735.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T20:22:15.528Z,1736367735.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 417.694580 m, bearing: 20.607393 deg, approach rate: 0.014948 m/s, LOS rate: -0.107705 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781094 deg. 2025-01-08T20:22:15.529Z,1736367735.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055668 target range: 415.799988 and range: 415.80 m. 2025-01-08T20:22:15.716Z,1736367735.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:15.716Z,1736367735.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250339 2025-01-08T20:22:15.926Z,1736367735.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:15.934Z,1736367735.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T20:22:15.938Z,1736367735.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 417.701782 m, bearing: 20.563289 deg, approach rate: 0.017604 m/s, LOS rate: -0.107798 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762248 deg. 2025-01-08T20:22:15.940Z,1736367735.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055339 target range: 415.799988 and range: 415.80 m. 2025-01-08T20:22:15.968Z,1736367735.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:15.968Z,1736367735.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502468 2025-01-08T20:22:16.220Z,1736367736.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:16.221Z,1736367736.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755068 2025-01-08T20:22:16.342Z,1736367736.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:16.380Z,1736367736.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T20:22:16.389Z,1736367736.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 417.705505 m, bearing: 20.516643 deg, approach rate: 0.008445 m/s, LOS rate: -0.105802 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.754619 deg. 2025-01-08T20:22:16.390Z,1736367736.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055206 target range: 415.799988 and range: 415.80 m. 2025-01-08T20:22:16.472Z,1736367736.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:16.472Z,1736367736.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006468 2025-01-08T20:22:16.724Z,1736367736.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:16.725Z,1736367736.725 [DAT](INFO): DAT read: Rx Time:20:22:15.5786 2025-01-08T20:22:16.725Z,1736367736.725 [DAT](INFO): Rx dataTimestamp_ set to:1736367736.724735 2025-01-08T20:22:16.726Z,1736367736.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259526 2025-01-08T20:22:16.842Z,1736367736.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:16.850Z,1736367736.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T20:22:16.854Z,1736367736.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 417.711487 m, bearing: 20.460776 deg, approach rate: 0.012587 m/s, LOS rate: -0.117558 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.726958 deg. 2025-01-08T20:22:16.855Z,1736367736.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054723 target range: 415.799988 and range: 415.80 m. 2025-01-08T20:22:16.976Z,1736367736.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:16.977Z,1736367736.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511304 2025-01-08T20:22:17.229Z,1736367737.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:17.232Z,1736367737.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764953 2025-01-08T20:22:17.322Z,1736367737.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:17.328Z,1736367737.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:17.330Z,1736367737.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T20:22:17.333Z,1736367737.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 417.702545 m, bearing: 20.407801 deg, approach rate: -0.018623 m/s, LOS rate: -0.110335 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.735629 deg. 2025-01-08T20:22:17.334Z,1736367737.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054874 target range: 415.799988 and range: 415.80 m. 2025-01-08T20:22:17.482Z,1736367737.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:17.495Z,1736367737.495 [DAT](INFO): DAT read: 20:22:15.5786 LVL= 32752, 32753, 19506, 32755, AGC= 68, IDX= 402, 0.38, 2.572, 1.838,-2.879, 2.635, PHS= 0.025,-0.749, 0.767, RAW= 179.3, -0.7, CAL= 179.9, -8.4, ROT= 330.1, 8.4 2025-01-08T20:22:17.497Z,1736367737.497 [DAT](INFO): got valid direction response: 20:22:15.5786 LVL= 32752, 32753, 19506, 32755, AGC= 68, IDX= 402, 0.38, 2.572, 1.838,-2.879, 2.635, PHS= 0.025,-0.749, 0.767, RAW= 179.3, -0.7, CAL= 179.9, -8.4, ROT= 330.1, 8.4 2025-01-08T20:22:17.498Z,1736367737.498 [DAT](INFO): DAT read: Bearing 330.1, 8.4 (Local) 2025-01-08T20:22:17.499Z,1736367737.499 [DAT](INFO): Local bearing/azimuth received: Bearing 330.1, 8.4 (Local) 2025-01-08T20:22:17.501Z,1736367737.501 [DAT](INFO): DAT read: Range 10 to 50 : 402.9 m (Round-trip 537.2 ms) speed 0.8 m/s 2025-01-08T20:22:17.501Z,1736367737.501 [DAT](INFO): DAT read: user:1261> 2025-01-08T20:22:17.502Z,1736367737.502 [DAT](INFO): DAT read: Tx time:20:22:16.6873 2025-01-08T20:22:17.502Z,1736367737.502 [DAT](INFO): Ping request sent. 2025-01-08T20:22:17.503Z,1736367737.503 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:17.520Z,1736367737.520 [DAT](INFO): DAT read: TxSync time:20:22:16.6865 2025-01-08T20:22:17.521Z,1736367737.521 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:17.523Z,1736367737.523 [DAT](INFO): direction in FSK: [-0.076033,-0.995492,0.056702] 2025-01-08T20:22:17.523Z,1736367737.523 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:17.540Z,1736367737.540 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:17.550Z,1736367737.550 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:17.550Z,1736367737.550 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:17.732Z,1736367737.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:17.793Z,1736367737.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:17.823Z,1736367737.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 402.899994 m, deltaT: 4.034614 s, deltaX: -12.899994 m, approachRate: -3.197330 m/s, rangeRepo size: 4 2025-01-08T20:22:17.826Z,1736367737.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 402.899994 m, bearing: 24.227144 deg, lat: 36.908245 deg, lon: -122.121857 deg, deltaT: 4.034614 s, deltaX: -12.899994 m, approachRate: -3.197330 m/s, posRepo size: 4 2025-01-08T20:22:17.826Z,1736367737.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.90 m. 2025-01-08T20:22:17.833Z,1736367737.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.899994 m, nav range: 411.811035 m, bearing: 20.862938 deg, approach rate: 0.000000 m/s, LOS rate: -0.110335 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.734339 deg. 2025-01-08T20:22:17.834Z,1736367737.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054852 target range: 402.899994 and range: 402.90 m. 2025-01-08T20:22:17.984Z,1736367737.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:18.236Z,1736367738.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:18.281Z,1736367738.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:18.294Z,1736367738.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.90 m. 2025-01-08T20:22:18.309Z,1736367738.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.899994 m, nav range: 411.801971 m, bearing: 20.809301 deg, approach rate: -0.018885 m/s, LOS rate: -0.111761 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.733643 deg. 2025-01-08T20:22:18.311Z,1736367738.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054840 target range: 402.899994 and range: 402.90 m. 2025-01-08T20:22:18.488Z,1736367738.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:18.649Z,1736367738.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:18.663Z,1736367738.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.90 m. 2025-01-08T20:22:18.686Z,1736367738.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.899994 m, nav range: 411.795105 m, bearing: 20.768904 deg, approach rate: -0.018660 m/s, LOS rate: -0.109784 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.773363 deg. 2025-01-08T20:22:18.689Z,1736367738.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055533 target range: 402.899994 and range: 402.90 m. 2025-01-08T20:22:18.741Z,1736367738.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:18.992Z,1736367738.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:19.066Z,1736367739.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:19.078Z,1736367739.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.90 m. 2025-01-08T20:22:19.081Z,1736367739.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.899994 m, nav range: 411.787506 m, bearing: 20.723053 deg, approach rate: -0.018291 m/s, LOS rate: -0.110366 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.757001 deg. 2025-01-08T20:22:19.082Z,1736367739.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055247 target range: 402.899994 and range: 402.90 m. 2025-01-08T20:22:19.244Z,1736367739.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:19.496Z,1736367739.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:19.521Z,1736367739.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:19.528Z,1736367739.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:19.530Z,1736367739.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.90 m. 2025-01-08T20:22:19.553Z,1736367739.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.899994 m, nav range: 411.771210 m, bearing: 20.674484 deg, approach rate: -0.036070 m/s, LOS rate: -0.107503 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748845 deg. 2025-01-08T20:22:19.555Z,1736367739.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055105 target range: 402.899994 and range: 402.90 m. 2025-01-08T20:22:19.748Z,1736367739.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:19.748Z,1736367739.748 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:19.748Z,1736367739.748 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:19.749Z,1736367739.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:19.889Z,1736367739.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:19.913Z,1736367739.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.90 m. 2025-01-08T20:22:19.921Z,1736367739.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.899994 m, nav range: 411.757172 m, bearing: 20.634885 deg, approach rate: -0.036569 m/s, LOS rate: -0.103161 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.775754 deg. 2025-01-08T20:22:19.922Z,1736367739.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055575 target range: 402.899994 and range: 402.90 m. 2025-01-08T20:22:20.000Z,1736367740.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:20.001Z,1736367740.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498843 2025-01-08T20:22:20.252Z,1736367740.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:20.252Z,1736367740.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749859 2025-01-08T20:22:20.310Z,1736367740.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:20.334Z,1736367740.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.90 m. 2025-01-08T20:22:20.341Z,1736367740.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.899994 m, nav range: 411.749146 m, bearing: 20.591580 deg, approach rate: -0.019083 m/s, LOS rate: -0.102962 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764641 deg. 2025-01-08T20:22:20.342Z,1736367740.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055381 target range: 402.899994 and range: 402.90 m. 2025-01-08T20:22:20.504Z,1736367740.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:20.505Z,1736367740.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002384 2025-01-08T20:22:20.681Z,1736367740.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:20.691Z,1736367740.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.90 m. 2025-01-08T20:22:20.694Z,1736367740.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.899994 m, nav range: 411.742126 m, bearing: 20.553428 deg, approach rate: -0.019665 m/s, LOS rate: -0.106894 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780098 deg. 2025-01-08T20:22:20.696Z,1736367740.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055650 target range: 402.899994 and range: 402.90 m. 2025-01-08T20:22:20.756Z,1736367740.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:20.757Z,1736367740.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254751 2025-01-08T20:22:21.008Z,1736367741.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:21.009Z,1736367741.009 [DAT](INFO): DAT read: Rx Time:20:22:19.6377 2025-01-08T20:22:21.009Z,1736367741.009 [DAT](INFO): Rx dataTimestamp_ set to:1736367741.008786 2025-01-08T20:22:21.010Z,1736367741.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507038 2025-01-08T20:22:21.116Z,1736367741.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:21.134Z,1736367741.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.90 m. 2025-01-08T20:22:21.148Z,1736367741.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.899994 m, nav range: 411.733917 m, bearing: 20.509242 deg, approach rate: -0.018525 m/s, LOS rate: -0.099711 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.761995 deg. 2025-01-08T20:22:21.149Z,1736367741.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055335 target range: 402.899994 and range: 402.90 m. 2025-01-08T20:22:21.261Z,1736367741.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:21.261Z,1736367741.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758747 2025-01-08T20:22:21.513Z,1736367741.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:21.521Z,1736367741.521 [DAT](INFO): DAT read: 20:22:19.6377 LVL= 28784, 25681, 14530, 22611, AGC= 69, IDX= 22, 0.10, 1.223, 0.450, 1.999, 1.205, PHS= 0.106,-0.708, 0.791, RAW= 177.1, -2.9, CAL= 178.3, -10.2, ROT= 331.7, 10.2 2025-01-08T20:22:21.522Z,1736367741.522 [DAT](INFO): got valid direction response: 20:22:19.6377 LVL= 28784, 25681, 14530, 22611, AGC= 69, IDX= 22, 0.10, 1.223, 0.450, 1.999, 1.205, PHS= 0.106,-0.708, 0.791, RAW= 177.1, -2.9, CAL= 178.3, -10.2, ROT= 331.7, 10.2 2025-01-08T20:22:21.524Z,1736367741.524 [DAT](INFO): DAT read: Bearing 331.7, 10.2 (Local) 2025-01-08T20:22:21.524Z,1736367741.524 [DAT](INFO): Local bearing/azimuth received: Bearing 331.7, 10.2 (Local) 2025-01-08T20:22:21.526Z,1736367741.526 [DAT](INFO): DAT read: Range 10 to 50 : 409.7 m (Round-trip 546.3 ms) speed 0.4 m/s 2025-01-08T20:22:21.526Z,1736367741.526 [DAT](INFO): DAT read: user:1262> 2025-01-08T20:22:21.527Z,1736367741.527 [DAT](INFO): DAT read: Tx time:20:22:20.7373 2025-01-08T20:22:21.527Z,1736367741.527 [DAT](INFO): Ping request sent. 2025-01-08T20:22:21.528Z,1736367741.528 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:21.528Z,1736367741.528 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:21.529Z,1736367741.529 [DAT](INFO): direction in FSK: [-0.035606,-0.994659,0.096878] 2025-01-08T20:22:21.529Z,1736367741.529 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:21.529Z,1736367741.529 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:21.544Z,1736367741.544 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:21.544Z,1736367741.544 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:21.594Z,1736367741.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:21.630Z,1736367741.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 409.700012 m, deltaT: 4.030902 s, deltaX: 6.800018 m, approachRate: 1.686972 m/s, rangeRepo size: 4 2025-01-08T20:22:21.637Z,1736367741.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 409.700012 m, bearing: 25.995424 deg, lat: 36.908118 deg, lon: -122.121654 deg, deltaT: 4.030902 s, deltaX: 6.800018 m, approachRate: 1.686972 m/s, posRepo size: 4 2025-01-08T20:22:21.638Z,1736367741.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.70 m. 2025-01-08T20:22:21.645Z,1736367741.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.700012 m, nav range: 405.461212 m, bearing: 23.556538 deg, approach rate: 0.000000 m/s, LOS rate: -0.099711 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.746520 deg. 2025-01-08T20:22:21.646Z,1736367741.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055064 target range: 409.700012 and range: 409.70 m. 2025-01-08T20:22:21.764Z,1736367741.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:21.766Z,1736367741.766 [DAT](INFO): DAT read: TxSync time:20:22:20.7365 2025-01-08T20:22:21.993Z,1736367741.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:22.008Z,1736367742.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:22.010Z,1736367742.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.70 m. 2025-01-08T20:22:22.016Z,1736367742.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:22.016Z,1736367742.016 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:22.016Z,1736367742.016 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:22.017Z,1736367742.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:22.024Z,1736367742.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.700012 m, nav range: 405.445251 m, bearing: 23.515850 deg, approach rate: -0.041930 m/s, LOS rate: -0.106896 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772488 deg. 2025-01-08T20:22:22.026Z,1736367742.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055518 target range: 409.700012 and range: 409.70 m. 2025-01-08T20:22:22.268Z,1736367742.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:22.268Z,1736367742.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.740803 2025-01-08T20:22:22.402Z,1736367742.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:22.429Z,1736367742.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.70 m. 2025-01-08T20:22:22.432Z,1736367742.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.700012 m, nav range: 405.437012 m, bearing: 23.475904 deg, approach rate: -0.019630 m/s, LOS rate: -0.095169 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774717 deg. 2025-01-08T20:22:22.433Z,1736367742.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055557 target range: 409.700012 and range: 409.70 m. 2025-01-08T20:22:22.521Z,1736367742.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:22.522Z,1736367742.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994095 2025-01-08T20:22:22.772Z,1736367742.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:22.772Z,1736367742.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244884 2025-01-08T20:22:22.790Z,1736367742.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:22.798Z,1736367742.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.70 m. 2025-01-08T20:22:22.802Z,1736367742.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.700012 m, nav range: 405.429443 m, bearing: 23.438136 deg, approach rate: -0.020526 m/s, LOS rate: -0.102431 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781250 deg. 2025-01-08T20:22:22.803Z,1736367742.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055670 target range: 409.700012 and range: 409.70 m. 2025-01-08T20:22:23.024Z,1736367743.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:23.025Z,1736367743.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497065 2025-01-08T20:22:23.199Z,1736367743.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:23.257Z,1736367743.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.70 m. 2025-01-08T20:22:23.264Z,1736367743.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.700012 m, nav range: 405.420898 m, bearing: 23.398380 deg, approach rate: -0.018619 m/s, LOS rate: -0.086631 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.775286 deg. 2025-01-08T20:22:23.265Z,1736367743.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055567 target range: 409.700012 and range: 409.70 m. 2025-01-08T20:22:23.276Z,1736367743.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:23.276Z,1736367743.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748900 2025-01-08T20:22:23.528Z,1736367743.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:23.529Z,1736367743.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001198 2025-01-08T20:22:23.606Z,1736367743.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:23.614Z,1736367743.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.70 m. 2025-01-08T20:22:23.618Z,1736367743.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.700012 m, nav range: 405.417969 m, bearing: 23.358322 deg, approach rate: -0.008199 m/s, LOS rate: -0.112104 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774383 deg. 2025-01-08T20:22:23.619Z,1736367743.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055551 target range: 409.700012 and range: 409.70 m. 2025-01-08T20:22:23.780Z,1736367743.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:23.780Z,1736367743.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252774 2025-01-08T20:22:24.006Z,1736367744.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:24.013Z,1736367744.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:24.015Z,1736367744.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.70 m. 2025-01-08T20:22:24.018Z,1736367744.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.700012 m, nav range: 405.414825 m, bearing: 23.319022 deg, approach rate: -0.007852 m/s, LOS rate: -0.098167 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776657 deg. 2025-01-08T20:22:24.019Z,1736367744.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055590 target range: 409.700012 and range: 409.70 m. 2025-01-08T20:22:24.032Z,1736367744.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:24.032Z,1736367744.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504868 2025-01-08T20:22:24.284Z,1736367744.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:24.284Z,1736367744.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756820 2025-01-08T20:22:24.434Z,1736367744.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:24.445Z,1736367744.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.70 m. 2025-01-08T20:22:24.448Z,1736367744.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.700012 m, nav range: 405.421143 m, bearing: 23.276847 deg, approach rate: 0.014691 m/s, LOS rate: -0.098083 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.768033 deg. 2025-01-08T20:22:24.449Z,1736367744.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055440 target range: 409.700012 and range: 409.70 m. 2025-01-08T20:22:24.536Z,1736367744.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:24.538Z,1736367744.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010126 2025-01-08T20:22:24.788Z,1736367744.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:24.788Z,1736367744.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260673 2025-01-08T20:22:24.816Z,1736367744.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:24.840Z,1736367744.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.70 m. 2025-01-08T20:22:24.842Z,1736367744.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.700012 m, nav range: 405.426117 m, bearing: 23.239237 deg, approach rate: 0.012780 m/s, LOS rate: -0.096621 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781729 deg. 2025-01-08T20:22:24.858Z,1736367744.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055679 target range: 409.700012 and range: 409.70 m. 2025-01-08T20:22:25.040Z,1736367745.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:25.041Z,1736367745.041 [DAT](INFO): DAT read: Rx Time:20:22:23.6843 2025-01-08T20:22:25.041Z,1736367745.041 [DAT](INFO): Rx dataTimestamp_ set to:1736367745.040844 2025-01-08T20:22:25.042Z,1736367745.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514072 2025-01-08T20:22:25.211Z,1736367745.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:25.272Z,1736367745.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.70 m. 2025-01-08T20:22:25.288Z,1736367745.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.700012 m, nav range: 405.430969 m, bearing: 23.200405 deg, approach rate: 0.011234 m/s, LOS rate: -0.089902 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778061 deg. 2025-01-08T20:22:25.289Z,1736367745.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055615 target range: 409.700012 and range: 409.70 m. 2025-01-08T20:22:25.292Z,1736367745.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:25.292Z,1736367745.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764891 2025-01-08T20:22:25.544Z,1736367745.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:25.550Z,1736367745.550 [DAT](INFO): DAT read: 20:22:23.6843 LVL= 32752, 32753, 20802, 32755, AGC= 66, IDX= 401,-0.22, 1.326, 0.470, 2.089, 1.275, PHS= 0.138,-0.759, 0.811, RAW= 175.3, -2.8, CAL= 176.6, -10.2, ROT= 333.4, 10.2 2025-01-08T20:22:25.552Z,1736367745.552 [DAT](INFO): got valid direction response: 20:22:23.6843 LVL= 32752, 32753, 20802, 32755, AGC= 66, IDX= 401,-0.22, 1.326, 0.470, 2.089, 1.275, PHS= 0.138,-0.759, 0.811, RAW= 175.3, -2.8, CAL= 176.6, -10.2, ROT= 333.4, 10.2 2025-01-08T20:22:25.553Z,1736367745.553 [DAT](INFO): DAT read: Bearing 333.4, 10.2 (Local) 2025-01-08T20:22:25.554Z,1736367745.554 [DAT](INFO): Local bearing/azimuth received: Bearing 333.4, 10.2 (Local) 2025-01-08T20:22:25.564Z,1736367745.564 [DAT](INFO): DAT read: Range 10 to 50 : 407.1 m (Round-trip 542.9 ms) speed 0.4 m/s 2025-01-08T20:22:25.565Z,1736367745.565 [DAT](INFO): DAT read: user:1263> 2025-01-08T20:22:25.565Z,1736367745.565 [DAT](INFO): DAT read: Tx time:20:22:24.7873 2025-01-08T20:22:25.566Z,1736367745.566 [DAT](INFO): Ping request sent. 2025-01-08T20:22:25.566Z,1736367745.566 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:25.566Z,1736367745.566 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:25.567Z,1736367745.567 [DAT](INFO): direction in FSK: [-0.040649,-0.990793,0.129138] 2025-01-08T20:22:25.567Z,1736367745.567 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:25.568Z,1736367745.568 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:25.592Z,1736367745.592 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:25.592Z,1736367745.592 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:25.707Z,1736367745.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:25.742Z,1736367745.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 407.100006 m, deltaT: 4.030668 s, deltaX: -2.600006 m, approachRate: -0.645056 m/s, rangeRepo size: 4 2025-01-08T20:22:25.748Z,1736367745.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 407.100006 m, bearing: 24.846289 deg, lat: 36.908088 deg, lon: -122.121523 deg, deltaT: 4.030668 s, deltaX: -2.600006 m, approachRate: -0.645056 m/s, posRepo size: 4 2025-01-08T20:22:25.749Z,1736367745.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m. 2025-01-08T20:22:25.755Z,1736367745.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.100006 m, nav range: 407.096252 m, bearing: 24.845235 deg, approach rate: 0.000000 m/s, LOS rate: -0.089902 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.766350 deg. 2025-01-08T20:22:25.771Z,1736367745.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055411 target range: 407.100006 and range: 407.10 m. 2025-01-08T20:22:25.796Z,1736367745.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:25.797Z,1736367745.797 [DAT](INFO): DAT read: TxSync time:20:22:24.7865 2025-01-08T20:22:26.048Z,1736367746.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:26.050Z,1736367746.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:26.082Z,1736367746.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:26.088Z,1736367746.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m. 2025-01-08T20:22:26.091Z,1736367746.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.100006 m, nav range: 407.094116 m, bearing: 24.811142 deg, approach rate: -0.006154 m/s, LOS rate: -0.098219 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792278 deg. 2025-01-08T20:22:26.093Z,1736367746.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055863 target range: 407.100006 and range: 407.10 m. 2025-01-08T20:22:26.300Z,1736367746.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:26.300Z,1736367746.300 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:26.300Z,1736367746.300 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:26.301Z,1736367746.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:26.505Z,1736367746.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:26.514Z,1736367746.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m. 2025-01-08T20:22:26.516Z,1736367746.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.100006 m, nav range: 407.085205 m, bearing: 24.765303 deg, approach rate: -0.020958 m/s, LOS rate: -0.107813 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.757036 deg. 2025-01-08T20:22:26.517Z,1736367746.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055248 target range: 407.100006 and range: 407.10 m. 2025-01-08T20:22:26.552Z,1736367746.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:26.553Z,1736367746.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986613 2025-01-08T20:22:26.807Z,1736367746.807 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:26.807Z,1736367746.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241554 2025-01-08T20:22:26.876Z,1736367746.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:26.885Z,1736367746.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m. 2025-01-08T20:22:26.889Z,1736367746.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.100006 m, nav range: 407.079803 m, bearing: 24.727780 deg, approach rate: -0.014555 m/s, LOS rate: -0.101108 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781987 deg. 2025-01-08T20:22:26.890Z,1736367746.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055683 target range: 407.100006 and range: 407.10 m. 2025-01-08T20:22:27.061Z,1736367747.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:27.062Z,1736367747.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495816 2025-01-08T20:22:27.314Z,1736367747.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:27.315Z,1736367747.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749112 2025-01-08T20:22:27.350Z,1736367747.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:27.376Z,1736367747.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m. 2025-01-08T20:22:27.379Z,1736367747.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.100006 m, nav range: 407.073120 m, bearing: 24.679990 deg, approach rate: -0.013596 m/s, LOS rate: -0.097224 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.751183 deg. 2025-01-08T20:22:27.384Z,1736367747.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055146 target range: 407.100006 and range: 407.10 m. 2025-01-08T20:22:27.564Z,1736367747.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:27.565Z,1736367747.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998611 2025-01-08T20:22:27.729Z,1736367747.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:27.739Z,1736367747.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m. 2025-01-08T20:22:27.742Z,1736367747.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.100006 m, nav range: 407.069946 m, bearing: 24.641282 deg, approach rate: -0.008757 m/s, LOS rate: -0.106801 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778433 deg. 2025-01-08T20:22:27.743Z,1736367747.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055621 target range: 407.100006 and range: 407.10 m. 2025-01-08T20:22:27.820Z,1736367747.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:27.821Z,1736367747.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255053 2025-01-08T20:22:28.072Z,1736367748.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:28.073Z,1736367748.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506608 2025-01-08T20:22:28.116Z,1736367748.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:28.126Z,1736367748.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:28.128Z,1736367748.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m. 2025-01-08T20:22:28.131Z,1736367748.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.100006 m, nav range: 407.066498 m, bearing: 24.603521 deg, approach rate: -0.008845 m/s, LOS rate: -0.096852 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781271 deg. 2025-01-08T20:22:28.133Z,1736367748.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055671 target range: 407.100006 and range: 407.10 m. 2025-01-08T20:22:28.325Z,1736367748.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:28.327Z,1736367748.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760793 2025-01-08T20:22:28.535Z,1736367748.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:28.567Z,1736367748.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m. 2025-01-08T20:22:28.576Z,1736367748.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:28.576Z,1736367748.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010533 2025-01-08T20:22:28.571Z,1736367748.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.100006 m, nav range: 407.055908 m, bearing: 24.558964 deg, approach rate: -0.025289 m/s, LOS rate: -0.106408 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.760883 deg. 2025-01-08T20:22:28.578Z,1736367748.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055315 target range: 407.100006 and range: 407.10 m. 2025-01-08T20:22:28.828Z,1736367748.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:28.829Z,1736367748.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263124 2025-01-08T20:22:28.911Z,1736367748.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:28.922Z,1736367748.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m. 2025-01-08T20:22:28.925Z,1736367748.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.100006 m, nav range: 407.046875 m, bearing: 24.520577 deg, approach rate: -0.024097 m/s, LOS rate: -0.102404 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779393 deg. 2025-01-08T20:22:28.926Z,1736367748.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055638 target range: 407.100006 and range: 407.10 m. 2025-01-08T20:22:29.080Z,1736367749.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:29.080Z,1736367749.080 [DAT](INFO): DAT read: Rx Time:20:22:27.7468 2025-01-08T20:22:29.081Z,1736367749.081 [DAT](INFO): Rx dataTimestamp_ set to:1736367749.080543 2025-01-08T20:22:29.081Z,1736367749.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515473 2025-01-08T20:22:29.334Z,1736367749.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:29.337Z,1736367749.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770339 2025-01-08T20:22:29.442Z,1736367749.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:29.466Z,1736367749.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m. 2025-01-08T20:22:29.473Z,1736367749.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.100006 m, nav range: 407.031952 m, bearing: 24.465272 deg, approach rate: -0.027461 m/s, LOS rate: -0.101776 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.728636 deg. 2025-01-08T20:22:29.474Z,1736367749.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054752 target range: 407.100006 and range: 407.10 m. 2025-01-08T20:22:29.585Z,1736367749.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:29.604Z,1736367749.604 [DAT](INFO): DAT read: 20:22:27.7468 LVL= 30640, 27393, 15906, 27635, AGC= 70, IDX= 51,-0.31,-2.869, 2.728,-2.054,-2.800, PHS= 0.020,-0.708, 0.743, RAW= 179.9, -0.9, CAL= 180.5, -8.5, ROT= 329.5, 8.5 2025-01-08T20:22:29.606Z,1736367749.606 [DAT](INFO): got valid direction response: 20:22:27.7468 LVL= 30640, 27393, 15906, 27635, AGC= 70, IDX= 51,-0.31,-2.869, 2.728,-2.054,-2.800, PHS= 0.020,-0.708, 0.743, RAW= 179.9, -0.9, CAL= 180.5, -8.5, ROT= 329.5, 8.5 2025-01-08T20:22:29.612Z,1736367749.612 [DAT](INFO): DAT read: Bearing 329.5, 8.5 (Local) 2025-01-08T20:22:29.612Z,1736367749.612 [DAT](INFO): Local bearing/azimuth received: Bearing 329.5, 8.5 (Local) 2025-01-08T20:22:29.614Z,1736367749.614 [DAT](INFO): DAT read: Range 10 to 50 : 416.4 m (Round-trip 555.3 ms) speed 0.7 m/s 2025-01-08T20:22:29.614Z,1736367749.614 [DAT](INFO): DAT read: user:1264> 2025-01-08T20:22:29.624Z,1736367749.624 [DAT](INFO): DAT read: Tx time:20:22:28.8374 2025-01-08T20:22:29.624Z,1736367749.624 [DAT](INFO): Ping request sent. 2025-01-08T20:22:29.624Z,1736367749.624 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:29.624Z,1736367749.624 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:29.625Z,1736367749.625 [DAT](INFO): direction in FSK: [-0.070871,-0.996384,0.046855] 2025-01-08T20:22:29.626Z,1736367749.626 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:29.626Z,1736367749.626 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:29.658Z,1736367749.658 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:29.658Z,1736367749.658 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:29.780Z,1736367749.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:29.816Z,1736367749.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 416.399994 m, deltaT: 4.040856 s, deltaX: 9.299988 m, approachRate: 2.301490 m/s, rangeRepo size: 4 2025-01-08T20:22:29.818Z,1736367749.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 416.399994 m, bearing: 23.528238 deg, lat: 36.908088 deg, lon: -122.121523 deg, deltaT: 4.040856 s, deltaX: 9.299988 m, approachRate: 2.301490 m/s, posRepo size: 4 2025-01-08T20:22:29.819Z,1736367749.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T20:22:29.836Z,1736367749.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:29.837Z,1736367749.837 [DAT](INFO): DAT read: TxSync time:20:22:28.8366 2025-01-08T20:22:29.879Z,1736367749.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 407.022675 m, bearing: 24.430007 deg, approach rate: 0.000000 m/s, LOS rate: -0.101776 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789128 deg. 2025-01-08T20:22:29.880Z,1736367749.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055808 target range: 416.399994 and range: 416.40 m. 2025-01-08T20:22:30.088Z,1736367750.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:30.173Z,1736367750.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:30.198Z,1736367750.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:30.200Z,1736367750.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T20:22:30.203Z,1736367750.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 407.012024 m, bearing: 24.388913 deg, approach rate: -0.027346 m/s, LOS rate: -0.105514 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.771273 deg. 2025-01-08T20:22:30.205Z,1736367750.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055496 target range: 416.399994 and range: 416.40 m. 2025-01-08T20:22:30.343Z,1736367750.343 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:30.344Z,1736367750.344 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:30.344Z,1736367750.344 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:30.344Z,1736367750.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:30.592Z,1736367750.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:30.593Z,1736367750.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.968771 2025-01-08T20:22:30.602Z,1736367750.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:30.614Z,1736367750.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T20:22:30.617Z,1736367750.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 406.994324 m, bearing: 24.343773 deg, approach rate: -0.043098 m/s, LOS rate: -0.109916 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.759130 deg. 2025-01-08T20:22:30.618Z,1736367750.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055285 target range: 416.399994 and range: 416.40 m. 2025-01-08T20:22:30.844Z,1736367750.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:30.844Z,1736367750.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220245 2025-01-08T20:22:30.966Z,1736367750.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:30.976Z,1736367750.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T20:22:30.978Z,1736367750.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 406.980469 m, bearing: 24.305473 deg, approach rate: -0.038016 m/s, LOS rate: -0.105093 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779652 deg. 2025-01-08T20:22:30.982Z,1736367750.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055643 target range: 416.399994 and range: 416.40 m. 2025-01-08T20:22:31.096Z,1736367751.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:31.096Z,1736367751.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472400 2025-01-08T20:22:31.350Z,1736367751.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:31.352Z,1736367751.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727384 2025-01-08T20:22:31.442Z,1736367751.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:31.466Z,1736367751.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T20:22:31.473Z,1736367751.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 406.964752 m, bearing: 24.254611 deg, approach rate: -0.032021 m/s, LOS rate: -0.103631 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.741967 deg. 2025-01-08T20:22:31.474Z,1736367751.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054985 target range: 416.399994 and range: 416.40 m. 2025-01-08T20:22:31.600Z,1736367751.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:31.601Z,1736367751.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977170 2025-01-08T20:22:31.640Z,1736367751.640 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:22:31.784Z,1736367751.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:31.809Z,1736367751.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T20:22:31.812Z,1736367751.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 406.953644 m, bearing: 24.218061 deg, approach rate: -0.032407 m/s, LOS rate: -0.106633 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784903 deg. 2025-01-08T20:22:31.813Z,1736367751.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055734 target range: 416.399994 and range: 416.40 m. 2025-01-08T20:22:31.853Z,1736367751.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:31.856Z,1736367751.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231758 2025-01-08T20:22:32.104Z,1736367752.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:32.105Z,1736367752.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480754 2025-01-08T20:22:32.179Z,1736367752.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:32.188Z,1736367752.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T20:22:32.191Z,1736367752.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 406.940857 m, bearing: 24.175784 deg, approach rate: -0.033702 m/s, LOS rate: -0.111432 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.767721 deg. 2025-01-08T20:22:32.192Z,1736367752.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055434 target range: 416.399994 and range: 416.40 m. 2025-01-08T20:22:32.361Z,1736367752.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:32.364Z,1736367752.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738773 2025-01-08T20:22:32.612Z,1736367752.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:32.612Z,1736367752.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988380 2025-01-08T20:22:32.614Z,1736367752.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:32.622Z,1736367752.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:32.625Z,1736367752.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T20:22:32.627Z,1736367752.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 406.922516 m, bearing: 24.129352 deg, approach rate: -0.042058 m/s, LOS rate: -0.106476 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.755256 deg. 2025-01-08T20:22:32.629Z,1736367752.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055217 target range: 416.399994 and range: 416.40 m. 2025-01-08T20:22:32.644Z,1736367752.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:22:32.864Z,1736367752.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:32.866Z,1736367752.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241430 2025-01-08T20:22:33.083Z,1736367753.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:33.092Z,1736367753.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T20:22:33.095Z,1736367753.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 406.903229 m, bearing: 24.079304 deg, approach rate: -0.041241 m/s, LOS rate: -0.107022 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.744404 deg. 2025-01-08T20:22:33.096Z,1736367753.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055027 target range: 416.399994 and range: 416.40 m. 2025-01-08T20:22:33.116Z,1736367753.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:33.116Z,1736367753.116 [DAT](INFO): DAT read: Rx Time:20:22:31.7910 2025-01-08T20:22:33.117Z,1736367753.117 [DAT](INFO): Rx dataTimestamp_ set to:1736367753.116503 2025-01-08T20:22:33.117Z,1736367753.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493235 2025-01-08T20:22:33.369Z,1736367753.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:33.372Z,1736367753.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746821 2025-01-08T20:22:33.563Z,1736367753.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:33.572Z,1736367753.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T20:22:33.575Z,1736367753.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 406.887604 m, bearing: 24.027943 deg, approach rate: -0.032541 m/s, LOS rate: -0.106968 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.740469 deg. 2025-01-08T20:22:33.576Z,1736367753.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054959 target range: 416.399994 and range: 416.40 m. 2025-01-08T20:22:33.621Z,1736367753.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:33.628Z,1736367753.628 [DAT](INFO): DAT read: 20:22:31.7910 LVL= 32752, 32753, 22594, 32755, AGC= 66, IDX= 375,-0.05,-2.800, 2.812,-2.019,-2.813, PHS= 0.100,-0.612, 0.791, RAW= 179.5, -4.6, CAL= 180.5, -11.5, ROT= 329.5, 11.5 2025-01-08T20:22:33.629Z,1736367753.629 [DAT](INFO): got valid direction response: 20:22:31.7910 LVL= 32752, 32753, 22594, 32755, AGC= 66, IDX= 375,-0.05,-2.800, 2.812,-2.019,-2.813, PHS= 0.100,-0.612, 0.791, RAW= 179.5, -4.6, CAL= 180.5, -11.5, ROT= 329.5, 11.5 2025-01-08T20:22:33.630Z,1736367753.630 [DAT](INFO): DAT read: Bearing 329.5, 11.5 (Local) 2025-01-08T20:22:33.630Z,1736367753.630 [DAT](INFO): Local bearing/azimuth received: Bearing 329.5, 11.5 (Local) 2025-01-08T20:22:33.632Z,1736367753.632 [DAT](INFO): DAT read: Range 10 to 50 : 412.1 m (Round-trip 549.5 ms) speed 0.3 m/s 2025-01-08T20:22:33.633Z,1736367753.633 [DAT](INFO): DAT read: user:1265> 2025-01-08T20:22:33.634Z,1736367753.634 [DAT](INFO): DAT read: Tx time:20:22:32.8874 2025-01-08T20:22:33.634Z,1736367753.634 [DAT](INFO): Ping request sent. 2025-01-08T20:22:33.634Z,1736367753.634 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:33.634Z,1736367753.634 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:33.637Z,1736367753.637 [DAT](INFO): direction in FSK: [0.000430,-0.998307,0.058170] 2025-01-08T20:22:33.637Z,1736367753.637 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:33.637Z,1736367753.637 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:33.645Z,1736367753.645 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:33.645Z,1736367753.645 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:33.872Z,1736367753.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:33.872Z,1736367753.872 [DAT](INFO): DAT read: TxSync time:20:22:32.8866 2025-01-08T20:22:33.990Z,1736367753.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:34.004Z,1736367754.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 412.100006 m, deltaT: 4.035923 s, deltaX: -4.299988 m, approachRate: -1.065429 m/s, rangeRepo size: 4 2025-01-08T20:22:34.007Z,1736367754.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 412.100006 m, bearing: 27.622396 deg, lat: 36.908086 deg, lon: -122.121523 deg, deltaT: 4.035923 s, deltaX: -4.299988 m, approachRate: -1.065429 m/s, posRepo size: 4 2025-01-08T20:22:34.008Z,1736367754.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.10 m. 2025-01-08T20:22:34.010Z,1736367754.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.100006 m, nav range: 406.657349 m, bearing: 23.995682 deg, approach rate: 0.000000 m/s, LOS rate: -0.106968 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.756353 deg. 2025-01-08T20:22:34.012Z,1736367754.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055236 target range: 412.100006 and range: 412.10 m. 2025-01-08T20:22:34.124Z,1736367754.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:34.377Z,1736367754.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:34.453Z,1736367754.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:34.465Z,1736367754.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.10 m. 2025-01-08T20:22:34.468Z,1736367754.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.100006 m, nav range: 406.639984 m, bearing: 23.946567 deg, approach rate: -0.037572 m/s, LOS rate: -0.106274 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.747208 deg. 2025-01-08T20:22:34.469Z,1736367754.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055076 target range: 412.100006 and range: 412.10 m. 2025-01-08T20:22:34.628Z,1736367754.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:34.780Z,1736367754.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:34.786Z,1736367754.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:34.789Z,1736367754.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.10 m. 2025-01-08T20:22:34.792Z,1736367754.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.100006 m, nav range: 406.628082 m, bearing: 23.911785 deg, approach rate: -0.036741 m/s, LOS rate: -0.107378 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790206 deg. 2025-01-08T20:22:34.793Z,1736367754.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055827 target range: 412.100006 and range: 412.10 m. 2025-01-08T20:22:34.881Z,1736367754.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:34.882Z,1736367754.882 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:34.882Z,1736367754.882 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:34.883Z,1736367754.883 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:35.132Z,1736367755.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:35.132Z,1736367755.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498241 2025-01-08T20:22:35.184Z,1736367755.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:35.193Z,1736367755.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.10 m. 2025-01-08T20:22:35.196Z,1736367755.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.100006 m, nav range: 406.613831 m, bearing: 23.868740 deg, approach rate: -0.035270 m/s, LOS rate: -0.106531 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.765417 deg. 2025-01-08T20:22:35.197Z,1736367755.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055394 target range: 412.100006 and range: 412.10 m. 2025-01-08T20:22:35.385Z,1736367755.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:35.388Z,1736367755.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752539 2025-01-08T20:22:35.612Z,1736367755.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:35.636Z,1736367755.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:35.637Z,1736367755.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003140 2025-01-08T20:22:35.641Z,1736367755.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.10 m. 2025-01-08T20:22:35.652Z,1736367755.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.100006 m, nav range: 406.605011 m, bearing: 23.823537 deg, approach rate: -0.019787 m/s, LOS rate: -0.101414 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.758946 deg. 2025-01-08T20:22:35.654Z,1736367755.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055281 target range: 412.100006 and range: 412.10 m. 2025-01-08T20:22:35.888Z,1736367755.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:35.889Z,1736367755.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254986 2025-01-08T20:22:35.999Z,1736367755.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:36.024Z,1736367756.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.10 m. 2025-01-08T20:22:36.027Z,1736367756.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.100006 m, nav range: 406.597229 m, bearing: 23.782703 deg, approach rate: -0.020192 m/s, LOS rate: -0.105954 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772051 deg. 2025-01-08T20:22:36.028Z,1736367756.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055510 target range: 412.100006 and range: 412.10 m. 2025-01-08T20:22:36.140Z,1736367756.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:36.140Z,1736367756.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506314 2025-01-08T20:22:36.394Z,1736367756.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:36.396Z,1736367756.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761755 2025-01-08T20:22:36.475Z,1736367756.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:36.512Z,1736367756.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.10 m. 2025-01-08T20:22:36.515Z,1736367756.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.100006 m, nav range: 406.584808 m, bearing: 23.734385 deg, approach rate: -0.025768 m/s, LOS rate: -0.100245 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.749598 deg. 2025-01-08T20:22:36.521Z,1736367756.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055118 target range: 412.100006 and range: 412.10 m. 2025-01-08T20:22:36.644Z,1736367756.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:36.644Z,1736367756.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010243 2025-01-08T20:22:36.815Z,1736367756.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:36.822Z,1736367756.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:36.825Z,1736367756.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.10 m. 2025-01-08T20:22:36.827Z,1736367756.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.100006 m, nav range: 406.576080 m, bearing: 23.699836 deg, approach rate: -0.027424 m/s, LOS rate: -0.108556 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790909 deg. 2025-01-08T20:22:36.829Z,1736367756.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055839 target range: 412.100006 and range: 412.10 m. 2025-01-08T20:22:36.896Z,1736367756.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:36.897Z,1736367756.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262396 2025-01-08T20:22:37.148Z,1736367757.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:37.148Z,1736367757.148 [DAT](INFO): DAT read: Rx Time:20:22:35.8379 2025-01-08T20:22:37.149Z,1736367757.149 [DAT](INFO): Rx dataTimestamp_ set to:1736367757.148625 2025-01-08T20:22:37.149Z,1736367757.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515354 2025-01-08T20:22:37.216Z,1736367757.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:37.242Z,1736367757.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.10 m. 2025-01-08T20:22:37.245Z,1736367757.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.100006 m, nav range: 406.566437 m, bearing: 23.659045 deg, approach rate: -0.023097 m/s, LOS rate: -0.097700 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772181 deg. 2025-01-08T20:22:37.246Z,1736367757.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055512 target range: 412.100006 and range: 412.10 m. 2025-01-08T20:22:37.401Z,1736367757.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:37.404Z,1736367757.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769339 2025-01-08T20:22:37.634Z,1736367757.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:37.645Z,1736367757.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.10 m. 2025-01-08T20:22:37.649Z,1736367757.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.100006 m, nav range: 406.556152 m, bearing: 23.617246 deg, approach rate: -0.025551 m/s, LOS rate: -0.103850 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.769154 deg. 2025-01-08T20:22:37.652Z,1736367757.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:37.672Z,1736367757.672 [DAT](INFO): DAT read: 20:22:35.8379 LVL= 28592, 30609, 14834, 32179, AGC= 63, IDX= 408,-0.02, 0.420,-0.317, 1.237, 0.472, PHS= 0.036,-0.743, 0.762, RAW= 178.8, -0.9, CAL= 179.5, -8.5, ROT= 330.5, 8.5 2025-01-08T20:22:37.674Z,1736367757.674 [DAT](INFO): got valid direction response: 20:22:35.8379 LVL= 28592, 30609, 14834, 32179, AGC= 63, IDX= 408,-0.02, 0.420,-0.317, 1.237, 0.472, PHS= 0.036,-0.743, 0.762, RAW= 178.8, -0.9, CAL= 179.5, -8.5, ROT= 330.5, 8.5 2025-01-08T20:22:37.651Z,1736367757.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055459 target range: 412.100006 and range: 412.10 m. 2025-01-08T20:22:37.693Z,1736367757.693 [DAT](INFO): DAT read: Bearing 330.5, 8.5 (Local) 2025-01-08T20:22:37.695Z,1736367757.695 [DAT](INFO): Local bearing/azimuth received: Bearing 330.5, 8.5 (Local) 2025-01-08T20:22:37.706Z,1736367757.706 [DAT](INFO): DAT read: Range 10 to 50 : 409.8 m (Round-trip 546.4 ms) speed 0.4 m/s 2025-01-08T20:22:37.706Z,1736367757.706 [DAT](INFO): DAT read: user:1266> 2025-01-08T20:22:37.716Z,1736367757.716 [DAT](INFO): DAT read: Tx time:20:22:36.9374 2025-01-08T20:22:37.717Z,1736367757.717 [DAT](INFO): Ping request sent. 2025-01-08T20:22:37.717Z,1736367757.717 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:37.717Z,1736367757.717 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:37.718Z,1736367757.718 [DAT](INFO): direction in FSK: [-0.073101,-0.995201,0.065047] 2025-01-08T20:22:37.719Z,1736367757.719 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:37.719Z,1736367757.719 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:37.726Z,1736367757.726 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:37.726Z,1736367757.726 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:37.905Z,1736367757.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:37.906Z,1736367757.906 [DAT](INFO): DAT read: TxSync time:20:22:36.9366 2025-01-08T20:22:38.015Z,1736367758.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:38.030Z,1736367758.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 409.799988 m, deltaT: 4.032045 s, deltaX: -2.300018 m, approachRate: -0.570435 m/s, rangeRepo size: 4 2025-01-08T20:22:38.032Z,1736367758.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 409.799988 m, bearing: 23.780330 deg, lat: 36.908088 deg, lon: -122.121498 deg, deltaT: 4.032045 s, deltaX: -2.300018 m, approachRate: -0.570435 m/s, posRepo size: 4 2025-01-08T20:22:38.033Z,1736367758.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T20:22:38.036Z,1736367758.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 407.639984 m, bearing: 23.846400 deg, approach rate: 0.000000 m/s, LOS rate: -0.103850 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774778 deg. 2025-01-08T20:22:38.038Z,1736367758.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055558 target range: 409.799988 and range: 409.80 m. 2025-01-08T20:22:38.156Z,1736367758.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:38.410Z,1736367758.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:38.506Z,1736367758.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:38.519Z,1736367758.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T20:22:38.527Z,1736367758.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 407.632507 m, bearing: 23.799247 deg, approach rate: -0.015311 m/s, LOS rate: -0.096563 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.753095 deg. 2025-01-08T20:22:38.532Z,1736367758.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055179 target range: 409.799988 and range: 409.80 m. 2025-01-08T20:22:38.660Z,1736367758.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:38.829Z,1736367758.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:38.836Z,1736367758.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:38.839Z,1736367758.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T20:22:38.841Z,1736367758.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 407.628021 m, bearing: 23.768198 deg, approach rate: -0.013970 m/s, LOS rate: -0.096695 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801407 deg. 2025-01-08T20:22:38.843Z,1736367758.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056022 target range: 409.799988 and range: 409.80 m. 2025-01-08T20:22:38.912Z,1736367758.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:38.913Z,1736367758.913 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:38.913Z,1736367758.913 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:38.914Z,1736367758.914 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:39.164Z,1736367759.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:39.165Z,1736367759.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447538 2025-01-08T20:22:39.242Z,1736367759.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:39.251Z,1736367759.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T20:22:39.254Z,1736367759.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 407.622345 m, bearing: 23.728484 deg, approach rate: -0.013773 m/s, LOS rate: -0.096361 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.775415 deg. 2025-01-08T20:22:39.256Z,1736367759.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055569 target range: 409.799988 and range: 409.80 m. 2025-01-08T20:22:39.416Z,1736367759.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:39.416Z,1736367759.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699349 2025-01-08T20:22:39.670Z,1736367759.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:39.672Z,1736367759.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953890 2025-01-08T20:22:39.686Z,1736367759.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:39.716Z,1736367759.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T20:22:39.718Z,1736367759.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 407.612152 m, bearing: 23.686975 deg, approach rate: -0.022126 m/s, LOS rate: -0.090107 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.770026 deg. 2025-01-08T20:22:39.724Z,1736367759.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055475 target range: 409.799988 and range: 409.80 m. 2025-01-08T20:22:39.920Z,1736367759.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:39.921Z,1736367759.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.204068 2025-01-08T20:22:40.041Z,1736367760.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:40.066Z,1736367760.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T20:22:40.069Z,1736367760.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 407.603394 m, bearing: 23.653709 deg, approach rate: -0.024703 m/s, LOS rate: -0.093827 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794757 deg. 2025-01-08T20:22:40.075Z,1736367760.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055906 target range: 409.799988 and range: 409.80 m. 2025-01-08T20:22:40.172Z,1736367760.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:40.173Z,1736367760.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456242 2025-01-08T20:22:40.426Z,1736367760.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:40.428Z,1736367760.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710641 2025-01-08T20:22:40.573Z,1736367760.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:40.581Z,1736367760.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T20:22:40.584Z,1736367760.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 407.589844 m, bearing: 23.604168 deg, approach rate: -0.026291 m/s, LOS rate: -0.096128 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.745930 deg. 2025-01-08T20:22:40.585Z,1736367760.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055054 target range: 409.799988 and range: 409.80 m. 2025-01-08T20:22:40.676Z,1736367760.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:40.677Z,1736367760.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960093 2025-01-08T20:22:40.886Z,1736367760.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:40.895Z,1736367760.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:40.897Z,1736367760.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T20:22:40.900Z,1736367760.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 407.582031 m, bearing: 23.575016 deg, approach rate: -0.024746 m/s, LOS rate: -0.092340 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807099 deg. 2025-01-08T20:22:40.901Z,1736367760.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056122 target range: 409.799988 and range: 409.80 m. 2025-01-08T20:22:40.928Z,1736367760.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:40.928Z,1736367760.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211335 2025-01-08T20:22:41.180Z,1736367761.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:41.181Z,1736367761.181 [DAT](INFO): DAT read: Rx Time:20:22:39.8847 2025-01-08T20:22:41.181Z,1736367761.181 [DAT](INFO): Rx dataTimestamp_ set to:1736367761.181047 2025-01-08T20:22:41.182Z,1736367761.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.464783 2025-01-08T20:22:41.267Z,1736367761.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:41.276Z,1736367761.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T20:22:41.279Z,1736367761.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 407.570618 m, bearing: 23.539597 deg, approach rate: -0.030118 m/s, LOS rate: -0.093468 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788295 deg. 2025-01-08T20:22:41.280Z,1736367761.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055794 target range: 409.799988 and range: 409.80 m. 2025-01-08T20:22:41.432Z,1736367761.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:41.432Z,1736367761.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.715228 2025-01-08T20:22:41.684Z,1736367761.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:41.695Z,1736367761.695 [DAT](INFO): DAT read: 20:22:39.8847 LVL= 30016, 32753, 16882, 32755, AGC= 67, IDX= 406,-0.02, 2.804, 2.027,-2.580, 2.610, PHS= 0.283,-0.535, 1.090, RAW= 179.8, -11.9, CAL= 181.4, -17.2, ROT= 328.6, 17.2 2025-01-08T20:22:41.696Z,1736367761.696 [DAT](INFO): got valid direction response: 20:22:39.8847 LVL= 30016, 32753, 16882, 32755, AGC= 67, IDX= 406,-0.02, 2.804, 2.027,-2.580, 2.610, PHS= 0.283,-0.535, 1.090, RAW= 179.8, -11.9, CAL= 181.4, -17.2, ROT= 328.6, 17.2 2025-01-08T20:22:41.697Z,1736367761.697 [DAT](INFO): DAT read: Bearing 328.6, 17.2 (Local) 2025-01-08T20:22:41.698Z,1736367761.698 [DAT](INFO): Local bearing/azimuth received: Bearing 328.6, 17.2 (Local) 2025-01-08T20:22:41.699Z,1736367761.699 [DAT](INFO): DAT read: Range 10 to 50 : 407.3 m (Round-trip 543.1 ms) speed 0.6 m/s 2025-01-08T20:22:41.700Z,1736367761.700 [DAT](INFO): DAT read: user:1267> 2025-01-08T20:22:41.701Z,1736367761.701 [DAT](INFO): DAT read: Tx time:20:22:40.9875 2025-01-08T20:22:41.701Z,1736367761.701 [DAT](INFO): Ping request sent. 2025-01-08T20:22:41.701Z,1736367761.701 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:41.701Z,1736367761.701 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:41.702Z,1736367761.702 [DAT](INFO): direction in FSK: [0.139559,-0.988285,0.061775] 2025-01-08T20:22:41.703Z,1736367761.703 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:41.735Z,1736367761.735 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:41.751Z,1736367761.751 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:41.752Z,1736367761.752 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:41.763Z,1736367761.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:41.833Z,1736367761.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 407.299988 m, deltaT: 4.031034 s, deltaX: -2.500000 m, approachRate: -0.620188 m/s, rangeRepo size: 4 2025-01-08T20:22:41.835Z,1736367761.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 407.299988 m, bearing: 35.339089 deg, lat: 36.908088 deg, lon: -122.121498 deg, deltaT: 4.031034 s, deltaX: -2.500000 m, approachRate: -0.620188 m/s, posRepo size: 4 2025-01-08T20:22:41.836Z,1736367761.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.30 m. 2025-01-08T20:22:41.843Z,1736367761.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.299988 m, nav range: 407.556335 m, bearing: 23.491824 deg, approach rate: 0.000000 m/s, LOS rate: -0.093468 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.746761 deg. 2025-01-08T20:22:41.845Z,1736367761.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055069 target range: 407.299988 and range: 407.30 m. 2025-01-08T20:22:41.936Z,1736367761.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:41.937Z,1736367761.937 [DAT](INFO): DAT read: TxSync time:20:22:40.9867 2025-01-08T20:22:42.121Z,1736367762.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:42.143Z,1736367762.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.30 m. 2025-01-08T20:22:42.149Z,1736367762.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.299988 m, nav range: 407.546600 m, bearing: 23.457246 deg, approach rate: -0.028677 m/s, LOS rate: -0.101860 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790821 deg. 2025-01-08T20:22:42.151Z,1736367762.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055838 target range: 407.299988 and range: 407.30 m. 2025-01-08T20:22:42.188Z,1736367762.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:42.441Z,1736367762.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:42.568Z,1736367762.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:42.584Z,1736367762.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.30 m. 2025-01-08T20:22:42.592Z,1736367762.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.299988 m, nav range: 407.529633 m, bearing: 23.412270 deg, approach rate: -0.038616 m/s, LOS rate: -0.102362 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.759624 deg. 2025-01-08T20:22:42.594Z,1736367762.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055293 target range: 407.299988 and range: 407.30 m. 2025-01-08T20:22:42.692Z,1736367762.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:42.918Z,1736367762.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:42.926Z,1736367762.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:42.928Z,1736367762.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.30 m. 2025-01-08T20:22:42.931Z,1736367762.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.299988 m, nav range: 407.517517 m, bearing: 23.377058 deg, approach rate: -0.034969 m/s, LOS rate: -0.101637 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788918 deg. 2025-01-08T20:22:42.932Z,1736367762.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055804 target range: 407.299988 and range: 407.30 m. 2025-01-08T20:22:42.944Z,1736367762.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:42.944Z,1736367762.944 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:42.944Z,1736367762.944 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:42.945Z,1736367762.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:43.196Z,1736367763.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:43.196Z,1736367763.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495276 2025-01-08T20:22:43.316Z,1736367763.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:43.325Z,1736367763.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.30 m. 2025-01-08T20:22:43.328Z,1736367763.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.299988 m, nav range: 407.503906 m, bearing: 23.337071 deg, approach rate: -0.034332 m/s, LOS rate: -0.100867 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774591 deg. 2025-01-08T20:22:43.329Z,1736367763.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055554 target range: 407.299988 and range: 407.30 m. 2025-01-08T20:22:43.448Z,1736367763.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:43.449Z,1736367763.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747351 2025-01-08T20:22:43.700Z,1736367763.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:43.700Z,1736367763.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999285 2025-01-08T20:22:43.736Z,1736367763.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:43.766Z,1736367763.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.30 m. 2025-01-08T20:22:43.769Z,1736367763.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.299988 m, nav range: 407.496124 m, bearing: 23.292494 deg, approach rate: -0.017657 m/s, LOS rate: -0.101147 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.760822 deg. 2025-01-08T20:22:43.772Z,1736367763.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055314 target range: 407.299988 and range: 407.30 m. 2025-01-08T20:22:43.952Z,1736367763.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:43.952Z,1736367763.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251234 2025-01-08T20:22:44.128Z,1736367764.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:44.141Z,1736367764.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.30 m. 2025-01-08T20:22:44.182Z,1736367764.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.299988 m, nav range: 407.488892 m, bearing: 23.250902 deg, approach rate: -0.019263 m/s, LOS rate: -0.110772 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.769780 deg. 2025-01-08T20:22:44.183Z,1736367764.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055470 target range: 407.299988 and range: 407.30 m. 2025-01-08T20:22:44.204Z,1736367764.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:44.205Z,1736367764.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503584 2025-01-08T20:22:44.456Z,1736367764.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:44.456Z,1736367764.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755247 2025-01-08T20:22:44.628Z,1736367764.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:44.660Z,1736367764.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.30 m. 2025-01-08T20:22:44.665Z,1736367764.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.299988 m, nav range: 407.477142 m, bearing: 23.197157 deg, approach rate: -0.022692 m/s, LOS rate: -0.103803 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.733316 deg. 2025-01-08T20:22:44.667Z,1736367764.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054834 target range: 407.299988 and range: 407.30 m. 2025-01-08T20:22:44.708Z,1736367764.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:44.709Z,1736367764.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007380 2025-01-08T20:22:44.960Z,1736367764.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:44.960Z,1736367764.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259334 2025-01-08T20:22:44.963Z,1736367764.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:44.972Z,1736367764.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:44.974Z,1736367764.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.30 m. 2025-01-08T20:22:44.977Z,1736367764.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.299988 m, nav range: 407.468628 m, bearing: 23.157237 deg, approach rate: -0.026975 m/s, LOS rate: -0.126474 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774795 deg. 2025-01-08T20:22:44.978Z,1736367764.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055558 target range: 407.299988 and range: 407.30 m. 2025-01-08T20:22:45.212Z,1736367765.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:45.212Z,1736367765.212 [DAT](INFO): DAT read: Rx Time:20:22:43.9304 2025-01-08T20:22:45.213Z,1736367765.213 [DAT](INFO): Rx dataTimestamp_ set to:1736367765.213013 2025-01-08T20:22:45.214Z,1736367765.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513074 2025-01-08T20:22:45.345Z,1736367765.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:45.381Z,1736367765.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.30 m. 2025-01-08T20:22:45.390Z,1736367765.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.299988 m, nav range: 407.460480 m, bearing: 23.114356 deg, approach rate: -0.020336 m/s, LOS rate: -0.107027 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.765910 deg. 2025-01-08T20:22:45.401Z,1736367765.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055403 target range: 407.299988 and range: 407.30 m. 2025-01-08T20:22:45.467Z,1736367765.467 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:45.468Z,1736367765.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767143 2025-01-08T20:22:45.720Z,1736367765.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:45.737Z,1736367765.737 [DAT](INFO): DAT read: 20:22:43.9304 LVL= 32752, 32753, 20850, 32755, AGC= 68, IDX= 395,-0.49,-0.593,-1.288, 0.250,-0.568, PHS= 0.063,-0.672, 0.815, RAW= 180.4, -3.2, CAL= 181.2, -10.4, ROT= 328.8, 10.4 2025-01-08T20:22:45.738Z,1736367765.738 [DAT](INFO): got valid direction response: 20:22:43.9304 LVL= 32752, 32753, 20850, 32755, AGC= 68, IDX= 395,-0.49,-0.593,-1.288, 0.250,-0.568, PHS= 0.063,-0.672, 0.815, RAW= 180.4, -3.2, CAL= 181.2, -10.4, ROT= 328.8, 10.4 2025-01-08T20:22:45.758Z,1736367765.758 [DAT](INFO): DAT read: Bearing 328.8, 10.4 (Local) 2025-01-08T20:22:45.758Z,1736367765.758 [DAT](INFO): Local bearing/azimuth received: Bearing 328.8, 10.4 (Local) 2025-01-08T20:22:45.764Z,1736367765.764 [DAT](INFO): DAT read: Range 10 to 50 : 404.1 m (Round-trip 538.8 ms) speed 0.5 m/s 2025-01-08T20:22:45.765Z,1736367765.765 [DAT](INFO): DAT read: user:1268> 2025-01-08T20:22:45.766Z,1736367765.766 [DAT](INFO): DAT read: Tx time:20:22:45.0375 2025-01-08T20:22:45.766Z,1736367765.766 [DAT](INFO): Ping request sent. 2025-01-08T20:22:45.766Z,1736367765.766 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:45.766Z,1736367765.766 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:45.776Z,1736367765.776 [DAT](INFO): direction in FSK: [-0.025184,-0.998829,0.041301] 2025-01-08T20:22:45.776Z,1736367765.776 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:45.776Z,1736367765.776 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:45.787Z,1736367765.787 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:45.788Z,1736367765.788 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:45.874Z,1736367765.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:45.908Z,1736367765.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 404.100006 m, deltaT: 4.036603 s, deltaX: -3.199982 m, approachRate: -0.792741 m/s, rangeRepo size: 4 2025-01-08T20:22:45.910Z,1736367765.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 404.100006 m, bearing: 26.561800 deg, lat: 36.908019 deg, lon: -122.121269 deg, deltaT: 4.036603 s, deltaX: -3.199982 m, approachRate: -0.792741 m/s, posRepo size: 4 2025-01-08T20:22:45.915Z,1736367765.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.10 m. 2025-01-08T20:22:45.918Z,1736367765.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.100006 m, nav range: 408.927826 m, bearing: 26.098609 deg, approach rate: 0.000000 m/s, LOS rate: -0.107027 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.724990 deg. 2025-01-08T20:22:45.924Z,1736367765.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054689 target range: 404.100006 and range: 404.10 m. 2025-01-08T20:22:45.972Z,1736367765.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:45.974Z,1736367765.974 [DAT](INFO): DAT read: TxSync time:20:22:45.0367 2025-01-08T20:22:46.211Z,1736367766.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:46.220Z,1736367766.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.10 m. 2025-01-08T20:22:46.224Z,1736367766.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:46.225Z,1736367766.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.100006 m, nav range: 408.905182 m, bearing: 26.060048 deg, approach rate: -0.071634 m/s, LOS rate: -0.121994 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778867 deg. 2025-01-08T20:22:46.226Z,1736367766.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055629 target range: 404.100006 and range: 404.10 m. 2025-01-08T20:22:46.476Z,1736367766.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:46.666Z,1736367766.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:46.696Z,1736367766.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.10 m. 2025-01-08T20:22:46.699Z,1736367766.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.100006 m, nav range: 408.876678 m, bearing: 26.007419 deg, approach rate: -0.061962 m/s, LOS rate: -0.114414 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.736659 deg. 2025-01-08T20:22:46.704Z,1736367766.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054892 target range: 404.100006 and range: 404.10 m. 2025-01-08T20:22:46.730Z,1736367766.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:46.980Z,1736367766.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:47.017Z,1736367767.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:47.026Z,1736367767.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:47.028Z,1736367767.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.10 m. 2025-01-08T20:22:47.030Z,1736367767.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.100006 m, nav range: 408.855499 m, bearing: 25.966716 deg, approach rate: -0.060774 m/s, LOS rate: -0.116803 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772442 deg. 2025-01-08T20:22:47.032Z,1736367767.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055517 target range: 404.100006 and range: 404.10 m. 2025-01-08T20:22:47.232Z,1736367767.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:47.232Z,1736367767.232 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:47.232Z,1736367767.232 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:47.232Z,1736367767.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:47.413Z,1736367767.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:47.433Z,1736367767.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.10 m. 2025-01-08T20:22:47.439Z,1736367767.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.100006 m, nav range: 408.833008 m, bearing: 25.920845 deg, approach rate: -0.055496 m/s, LOS rate: -0.113189 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.756938 deg. 2025-01-08T20:22:47.448Z,1736367767.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055246 target range: 404.100006 and range: 404.10 m. 2025-01-08T20:22:47.484Z,1736367767.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:47.485Z,1736367767.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718525 2025-01-08T20:22:47.736Z,1736367767.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:47.737Z,1736367767.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970729 2025-01-08T20:22:47.850Z,1736367767.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:47.860Z,1736367767.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.10 m. 2025-01-08T20:22:47.879Z,1736367767.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.100006 m, nav range: 408.814850 m, bearing: 25.871142 deg, approach rate: -0.042501 m/s, LOS rate: -0.116343 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.745439 deg. 2025-01-08T20:22:47.880Z,1736367767.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055046 target range: 404.100006 and range: 404.10 m. 2025-01-08T20:22:47.988Z,1736367767.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:47.989Z,1736367767.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222909 2025-01-08T20:22:48.220Z,1736367768.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:48.240Z,1736367768.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:48.241Z,1736367768.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474486 2025-01-08T20:22:48.249Z,1736367768.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.10 m. 2025-01-08T20:22:48.261Z,1736367768.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.100006 m, nav range: 408.799591 m, bearing: 25.829199 deg, approach rate: -0.039237 m/s, LOS rate: -0.107857 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.768723 deg. 2025-01-08T20:22:48.262Z,1736367768.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055452 target range: 404.100006 and range: 404.10 m. 2025-01-08T20:22:48.492Z,1736367768.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:48.493Z,1736367768.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726802 2025-01-08T20:22:48.706Z,1736367768.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:48.715Z,1736367768.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.10 m. 2025-01-08T20:22:48.717Z,1736367768.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.100006 m, nav range: 408.783051 m, bearing: 25.775915 deg, approach rate: -0.035552 m/s, LOS rate: -0.114533 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.734699 deg. 2025-01-08T20:22:48.718Z,1736367768.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054858 target range: 404.100006 and range: 404.10 m. 2025-01-08T20:22:48.746Z,1736367768.746 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:48.748Z,1736367768.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982290 2025-01-08T20:22:48.996Z,1736367768.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:48.996Z,1736367768.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230268 2025-01-08T20:22:49.057Z,1736367769.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:49.064Z,1736367769.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:49.066Z,1736367769.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.10 m. 2025-01-08T20:22:49.068Z,1736367769.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.100006 m, nav range: 408.771545 m, bearing: 25.737418 deg, approach rate: -0.032775 m/s, LOS rate: -0.109668 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779064 deg. 2025-01-08T20:22:49.070Z,1736367769.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055632 target range: 404.100006 and range: 404.10 m. 2025-01-08T20:22:49.248Z,1736367769.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:49.249Z,1736367769.249 [DAT](INFO): DAT read: Rx Time:20:22:47.9772 2025-01-08T20:22:49.249Z,1736367769.249 [DAT](INFO): Rx dataTimestamp_ set to:1736367769.248776 2025-01-08T20:22:49.250Z,1736367769.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483544 2025-01-08T20:22:49.447Z,1736367769.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:49.456Z,1736367769.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.10 m. 2025-01-08T20:22:49.459Z,1736367769.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.100006 m, nav range: 408.759216 m, bearing: 25.694662 deg, approach rate: -0.031540 m/s, LOS rate: -0.109381 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.766284 deg. 2025-01-08T20:22:49.460Z,1736367769.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055409 target range: 404.100006 and range: 404.10 m. 2025-01-08T20:22:49.500Z,1736367769.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:49.501Z,1736367769.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734517 2025-01-08T20:22:49.752Z,1736367769.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:49.760Z,1736367769.760 [DAT](INFO): DAT read: 20:22:47.9772 LVL= 32752, 32753, 19314, 32755, AGC= 67, IDX= 410, 0.32,-2.871, 2.805,-2.016,-2.760, PHS=-0.022,-0.671, 0.741, RAW= 182.7, -0.8, CAL= 183.1, -8.4, ROT= 326.9, 8.4 2025-01-08T20:22:49.761Z,1736367769.761 [DAT](INFO): got valid direction response: 20:22:47.9772 LVL= 32752, 32753, 19314, 32755, AGC= 67, IDX= 410, 0.32,-2.871, 2.805,-2.016,-2.760, PHS=-0.022,-0.671, 0.741, RAW= 182.7, -0.8, CAL= 183.1, -8.4, ROT= 326.9, 8.4 2025-01-08T20:22:49.762Z,1736367769.762 [DAT](INFO): DAT read: Bearing 326.9, 8.4 (Local) 2025-01-08T20:22:49.762Z,1736367769.762 [DAT](INFO): Local bearing/azimuth received: Bearing 326.9, 8.4 (Local) 2025-01-08T20:22:49.764Z,1736367769.764 [DAT](INFO): DAT read: Range 10 to 50 : 401.7 m (Round-trip 535.6 ms) speed 0.4 m/s 2025-01-08T20:22:49.764Z,1736367769.764 [DAT](INFO): DAT read: user:1269> 2025-01-08T20:22:49.765Z,1736367769.765 [DAT](INFO): DAT read: Tx time:20:22:49.0875 2025-01-08T20:22:49.765Z,1736367769.765 [DAT](INFO): Ping request sent. 2025-01-08T20:22:49.765Z,1736367769.765 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:49.766Z,1736367769.766 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:49.767Z,1736367769.767 [DAT](INFO): direction in FSK: [-0.068214,-0.997670,-0.001427] 2025-01-08T20:22:49.767Z,1736367769.767 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:49.767Z,1736367769.767 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:49.771Z,1736367769.771 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:49.772Z,1736367769.772 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:49.951Z,1736367769.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:49.984Z,1736367769.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 401.700012 m, deltaT: 4.031253 s, deltaX: -2.399994 m, approachRate: -0.595347 m/s, rangeRepo size: 4 2025-01-08T20:22:49.986Z,1736367769.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 401.700012 m, bearing: 25.061495 deg, lat: 36.907953 deg, lon: -122.121269 deg, deltaT: 4.031253 s, deltaX: -2.399994 m, approachRate: -0.595347 m/s, posRepo size: 4 2025-01-08T20:22:49.993Z,1736367769.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:50.004Z,1736367770.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:50.005Z,1736367770.005 [DAT](INFO): DAT read: TxSync time:20:22:49.0867 2025-01-08T20:22:50.008Z,1736367770.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.110107 m, bearing: 26.097993 deg, approach rate: 0.000000 m/s, LOS rate: -0.109381 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.723106 deg. 2025-01-08T20:22:50.009Z,1736367770.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054656 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:50.256Z,1736367770.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:50.288Z,1736367770.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:50.296Z,1736367770.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:50.299Z,1736367770.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.099945 m, bearing: 26.063104 deg, approach rate: -0.032052 m/s, LOS rate: -0.110039 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789889 deg. 2025-01-08T20:22:50.300Z,1736367770.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055821 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:50.508Z,1736367770.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:50.731Z,1736367770.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:50.740Z,1736367770.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:50.743Z,1736367770.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.092133 m, bearing: 26.019644 deg, approach rate: -0.017595 m/s, LOS rate: -0.097882 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764173 deg. 2025-01-08T20:22:50.744Z,1736367770.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055372 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:50.760Z,1736367770.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:51.012Z,1736367771.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:51.097Z,1736367771.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:51.104Z,1736367771.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:51.106Z,1736367771.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:51.109Z,1736367771.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.085480 m, bearing: 25.983748 deg, approach rate: -0.018167 m/s, LOS rate: -0.098026 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786866 deg. 2025-01-08T20:22:51.113Z,1736367771.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055769 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:51.264Z,1736367771.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:51.264Z,1736367771.264 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:51.264Z,1736367771.264 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:51.264Z,1736367771.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:51.500Z,1736367771.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:51.514Z,1736367771.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:51.516Z,1736367771.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:51.517Z,1736367771.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751053 2025-01-08T20:22:51.519Z,1736367771.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.078033 m, bearing: 25.944349 deg, approach rate: -0.018246 m/s, LOS rate: -0.096539 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776360 deg. 2025-01-08T20:22:51.522Z,1736367771.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055585 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:51.768Z,1736367771.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:51.769Z,1736367771.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003680 2025-01-08T20:22:51.916Z,1736367771.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:51.926Z,1736367771.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:51.945Z,1736367771.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.072998 m, bearing: 25.906358 deg, approach rate: -0.012230 m/s, LOS rate: -0.092273 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780580 deg. 2025-01-08T20:22:51.946Z,1736367771.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055659 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:52.021Z,1736367772.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:52.022Z,1736367772.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256432 2025-01-08T20:22:52.272Z,1736367772.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:52.272Z,1736367772.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506935 2025-01-08T20:22:52.317Z,1736367772.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:52.330Z,1736367772.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:52.338Z,1736367772.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.067596 m, bearing: 25.869803 deg, approach rate: -0.013360 m/s, LOS rate: -0.090413 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784891 deg. 2025-01-08T20:22:52.344Z,1736367772.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055734 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:52.524Z,1736367772.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:52.524Z,1736367772.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758923 2025-01-08T20:22:52.735Z,1736367772.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:52.765Z,1736367772.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:52.772Z,1736367772.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.062683 m, bearing: 25.833894 deg, approach rate: -0.011300 m/s, LOS rate: -0.082587 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786830 deg. 2025-01-08T20:22:52.773Z,1736367772.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055768 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:52.776Z,1736367772.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:52.777Z,1736367772.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011264 2025-01-08T20:22:53.028Z,1736367773.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:53.028Z,1736367773.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262971 2025-01-08T20:22:53.114Z,1736367773.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:53.122Z,1736367773.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:53.125Z,1736367773.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:53.128Z,1736367773.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.057892 m, bearing: 25.801305 deg, approach rate: -0.013330 m/s, LOS rate: -0.090672 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796786 deg. 2025-01-08T20:22:53.129Z,1736367773.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055942 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:53.280Z,1736367773.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:53.282Z,1736367773.282 [DAT](INFO): DAT read: Rx Time:20:22:51.9946 2025-01-08T20:22:53.283Z,1736367773.283 [DAT](INFO): Rx dataTimestamp_ set to:1736367773.282342 2025-01-08T20:22:53.284Z,1736367773.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518162 2025-01-08T20:22:53.518Z,1736367773.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:53.527Z,1736367773.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:53.530Z,1736367773.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.052612 m, bearing: 25.766660 deg, approach rate: -0.013127 m/s, LOS rate: -0.086140 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790622 deg. 2025-01-08T20:22:53.531Z,1736367773.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055834 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:53.532Z,1736367773.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:53.532Z,1736367773.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766995 2025-01-08T20:22:53.784Z,1736367773.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:53.791Z,1736367773.791 [DAT](INFO): DAT read: 20:22:51.9946 LVL= 29856, 29937, 15522, 32755, AGC= 71, IDX= 106, 0.02, 1.521, 0.709, 2.609, 1.659, PHS=-0.050,-0.903, 0.946, RAW= 182.6, 0.1, CAL= 182.9, -7.7, ROT= 327.1, 7.7 2025-01-08T20:22:53.792Z,1736367773.792 [DAT](INFO): got valid direction response: 20:22:51.9946 LVL= 29856, 29937, 15522, 32755, AGC= 71, IDX= 106, 0.02, 1.521, 0.709, 2.609, 1.659, PHS=-0.050,-0.903, 0.946, RAW= 182.6, 0.1, CAL= 182.9, -7.7, ROT= 327.1, 7.7 2025-01-08T20:22:53.793Z,1736367773.793 [DAT](INFO): DAT read: Bearing 327.1, 7.7 (Local) 2025-01-08T20:22:53.794Z,1736367773.794 [DAT](INFO): Local bearing/azimuth received: Bearing 327.1, 7.7 (Local) 2025-01-08T20:22:53.795Z,1736367773.795 [DAT](INFO): DAT read: Range 10 to 50 : 377.1 m (Round-trip 502.9 ms) speed 0.4 m/s 2025-01-08T20:22:53.796Z,1736367773.796 [DAT](INFO): DAT read: user:1270> 2025-01-08T20:22:53.797Z,1736367773.797 [DAT](INFO): DAT read: Tx time:20:22:53.0875 2025-01-08T20:22:53.797Z,1736367773.797 [DAT](INFO): Ping request sent. 2025-01-08T20:22:53.797Z,1736367773.797 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:53.797Z,1736367773.797 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:53.798Z,1736367773.798 [DAT](INFO): direction in FSK: [-0.085169,-0.996366,-0.000611] 2025-01-08T20:22:53.798Z,1736367773.798 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:53.799Z,1736367773.799 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:53.802Z,1736367773.802 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:53.802Z,1736367773.802 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:53.989Z,1736367773.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:54.010Z,1736367774.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 377.100006 m, deltaT: 4.032070 s, deltaX: -24.600006 m, approachRate: -6.101086 m/s, rangeRepo size: 4 2025-01-08T20:22:54.011Z,1736367774.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:54.018Z,1736367774.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.043732 m, bearing: 25.726794 deg, approach rate: -0.018396 m/s, LOS rate: -0.082586 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774955 deg. 2025-01-08T20:22:54.019Z,1736367774.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055561 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:54.036Z,1736367774.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:54.037Z,1736367774.037 [DAT](INFO): DAT read: TxSync time:20:22:53.0868 2025-01-08T20:22:54.288Z,1736367774.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:54.335Z,1736367774.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:54.344Z,1736367774.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:54.348Z,1736367774.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.038147 m, bearing: 25.698810 deg, approach rate: -0.016675 m/s, LOS rate: -0.083554 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810604 deg. 2025-01-08T20:22:54.349Z,1736367774.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056183 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:54.540Z,1736367774.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:54.761Z,1736367774.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:54.793Z,1736367774.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:54.799Z,1736367774.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:54.802Z,1736367774.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.030884 m, bearing: 25.660876 deg, approach rate: -0.016140 m/s, LOS rate: -0.084296 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780752 deg. 2025-01-08T20:22:54.808Z,1736367774.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055662 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:55.045Z,1736367775.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:55.129Z,1736367775.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:55.135Z,1736367775.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:55.138Z,1736367775.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:55.141Z,1736367775.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.025024 m, bearing: 25.629369 deg, approach rate: -0.017047 m/s, LOS rate: -0.091664 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800036 deg. 2025-01-08T20:22:55.142Z,1736367775.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055999 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:55.296Z,1736367775.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:55.296Z,1736367775.296 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:55.297Z,1736367775.297 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:55.297Z,1736367775.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:55.542Z,1736367775.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:55.549Z,1736367775.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:55.550Z,1736367775.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752787 2025-01-08T20:22:55.574Z,1736367775.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:55.585Z,1736367775.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.017975 m, bearing: 25.594018 deg, approach rate: -0.016174 m/s, LOS rate: -0.081108 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788501 deg. 2025-01-08T20:22:55.587Z,1736367775.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055797 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:55.801Z,1736367775.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:55.803Z,1736367775.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005185 2025-01-08T20:22:55.972Z,1736367775.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:55.980Z,1736367775.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:55.983Z,1736367775.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 402.003296 m, bearing: 25.555364 deg, approach rate: -0.036142 m/s, LOS rate: -0.095177 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778589 deg. 2025-01-08T20:22:55.984Z,1736367775.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055624 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:56.052Z,1736367776.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:56.053Z,1736367776.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255612 2025-01-08T20:22:56.304Z,1736367776.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:56.305Z,1736367776.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507863 2025-01-08T20:22:56.352Z,1736367776.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:56.361Z,1736367776.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:56.364Z,1736367776.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 401.990356 m, bearing: 25.521309 deg, approach rate: -0.033971 m/s, LOS rate: -0.089409 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792389 deg. 2025-01-08T20:22:56.365Z,1736367776.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055865 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:56.559Z,1736367776.559 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:56.560Z,1736367776.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762921 2025-01-08T20:22:56.799Z,1736367776.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:56.808Z,1736367776.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:56.809Z,1736367776.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011506 2025-01-08T20:22:56.809Z,1736367776.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:56.828Z,1736367776.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 401.967072 m, bearing: 25.478775 deg, approach rate: -0.052180 m/s, LOS rate: -0.095322 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.766947 deg. 2025-01-08T20:22:56.832Z,1736367776.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055421 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:57.060Z,1736367777.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:57.060Z,1736367777.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263373 2025-01-08T20:22:57.150Z,1736367777.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:57.158Z,1736367777.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:57.160Z,1736367777.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:57.163Z,1736367777.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 401.948975 m, bearing: 25.445448 deg, approach rate: -0.051270 m/s, LOS rate: -0.094423 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794572 deg. 2025-01-08T20:22:57.164Z,1736367777.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055903 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:57.312Z,1736367777.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:57.312Z,1736367777.312 [DAT](INFO): DAT read: Rx Time:20:22:56.0210 2025-01-08T20:22:57.313Z,1736367777.313 [DAT](INFO): Rx dataTimestamp_ set to:1736367777.312573 2025-01-08T20:22:57.313Z,1736367777.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516371 2025-01-08T20:22:57.564Z,1736367777.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:57.565Z,1736367777.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767514 2025-01-08T20:22:57.565Z,1736367777.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:57.596Z,1736367777.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T20:22:57.598Z,1736367777.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 401.927704 m, bearing: 25.405926 deg, approach rate: -0.051287 m/s, LOS rate: -0.095299 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.775985 deg. 2025-01-08T20:22:57.604Z,1736367777.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055579 target range: 401.700012 and range: 401.70 m. 2025-01-08T20:22:57.816Z,1736367777.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:57.827Z,1736367777.827 [DAT](INFO): DAT read: 20:22:56.0210 LVL= 32752, 32753, 18866, 32755, AGC= 71, IDX= 200, 0.36, 2.335, 1.642, 3.092, 2.466, PHS=-0.043,-0.776, 0.624, RAW= 178.4, 3.3, CAL= 178.6, -5.3, ROT= 331.4, 5.3 2025-01-08T20:22:57.828Z,1736367777.828 [DAT](INFO): got valid direction response: 20:22:56.0210 LVL= 32752, 32753, 18866, 32755, AGC= 71, IDX= 200, 0.36, 2.335, 1.642, 3.092, 2.466, PHS=-0.043,-0.776, 0.624, RAW= 178.4, 3.3, CAL= 178.6, -5.3, ROT= 331.4, 5.3 2025-01-08T20:22:57.829Z,1736367777.829 [DAT](INFO): DAT read: Bearing 331.4, 5.3 (Local) 2025-01-08T20:22:57.829Z,1736367777.829 [DAT](INFO): Local bearing/azimuth received: Bearing 331.4, 5.3 (Local) 2025-01-08T20:22:57.832Z,1736367777.832 [DAT](INFO): DAT read: Range 10 to 50 : 396.9 m (Round-trip 529.3 ms) speed 0.6 m/s 2025-01-08T20:22:57.834Z,1736367777.834 [DAT](INFO): DAT read: user:1271> 2025-01-08T20:22:57.837Z,1736367777.837 [DAT](INFO): DAT read: Tx time:20:22:57.1375 2025-01-08T20:22:57.837Z,1736367777.837 [DAT](INFO): Ping request sent. 2025-01-08T20:22:57.838Z,1736367777.838 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:22:57.838Z,1736367777.838 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:22:57.841Z,1736367777.841 [DAT](INFO): direction in FSK: [-0.151648,-0.986204,0.066366] 2025-01-08T20:22:57.841Z,1736367777.841 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:57.842Z,1736367777.842 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:57.853Z,1736367777.853 [DAT](INFO): publishing transmit ping time 2025-01-08T20:22:57.854Z,1736367777.854 [DAT](INFO): publishing direction and range info 2025-01-08T20:22:58.048Z,1736367778.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:58.068Z,1736367778.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:58.069Z,1736367778.069 [DAT](INFO): DAT read: TxSync time:20:22:57.1368 2025-01-08T20:22:58.074Z,1736367778.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 396.899994 m, deltaT: 8.063998 s, deltaX: -4.800018 m, approachRate: -0.595241 m/s, rangeRepo size: 4 2025-01-08T20:22:58.080Z,1736367778.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 396.899994 m, bearing: 18.927686 deg, lat: 36.907950 deg, lon: -122.121361 deg, deltaT: 8.063998 s, deltaX: -4.800018 m, approachRate: -0.595241 m/s, posRepo size: 4 2025-01-08T20:22:58.081Z,1736367778.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.90 m. 2025-01-08T20:22:58.088Z,1736367778.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.899994 m, nav range: 398.184204 m, bearing: 24.311003 deg, approach rate: 0.000000 m/s, LOS rate: -0.095299 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.752218 deg. 2025-01-08T20:22:58.089Z,1736367778.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055164 target range: 396.899994 and range: 396.90 m. 2025-01-08T20:22:58.321Z,1736367778.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:58.373Z,1736367778.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:58.381Z,1736367778.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.90 m. 2025-01-08T20:22:58.384Z,1736367778.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.899994 m, nav range: 398.170197 m, bearing: 24.276968 deg, approach rate: -0.045407 m/s, LOS rate: -0.110330 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792449 deg. 2025-01-08T20:22:58.385Z,1736367778.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055866 target range: 396.899994 and range: 396.90 m. 2025-01-08T20:22:58.573Z,1736367778.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:58.808Z,1736367778.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:58.822Z,1736367778.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.90 m. 2025-01-08T20:22:58.824Z,1736367778.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:58.826Z,1736367778.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.899994 m, nav range: 398.146942 m, bearing: 24.228596 deg, approach rate: -0.052960 m/s, LOS rate: -0.110170 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.749432 deg. 2025-01-08T20:22:58.828Z,1736367778.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055115 target range: 396.899994 and range: 396.90 m. 2025-01-08T20:22:59.076Z,1736367779.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:59.165Z,1736367779.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:59.173Z,1736367779.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:22:59.175Z,1736367779.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.90 m. 2025-01-08T20:22:59.178Z,1736367779.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.899994 m, nav range: 398.129059 m, bearing: 24.188852 deg, approach rate: -0.050484 m/s, LOS rate: -0.112202 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.775318 deg. 2025-01-08T20:22:59.179Z,1736367779.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055567 target range: 396.899994 and range: 396.90 m. 2025-01-08T20:22:59.328Z,1736367779.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:59.329Z,1736367779.329 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:22:59.329Z,1736367779.329 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:22:59.329Z,1736367779.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:22:59.572Z,1736367779.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:22:59.580Z,1736367779.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:59.580Z,1736367779.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743121 2025-01-08T20:22:59.582Z,1736367779.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.90 m. 2025-01-08T20:22:59.585Z,1736367779.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.899994 m, nav range: 398.109100 m, bearing: 24.143559 deg, approach rate: -0.048952 m/s, LOS rate: -0.111095 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.758670 deg. 2025-01-08T20:22:59.608Z,1736367779.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055277 target range: 396.899994 and range: 396.90 m. 2025-01-08T20:22:59.833Z,1736367779.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:22:59.835Z,1736367779.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997615 2025-01-08T20:22:59.997Z,1736367779.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:00.022Z,1736367780.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.90 m. 2025-01-08T20:23:00.029Z,1736367780.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.899994 m, nav range: 398.086365 m, bearing: 24.093194 deg, approach rate: -0.051697 m/s, LOS rate: -0.114526 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.743456 deg. 2025-01-08T20:23:00.030Z,1736367780.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055011 target range: 396.899994 and range: 396.90 m. 2025-01-08T20:23:00.086Z,1736367780.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:00.088Z,1736367780.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250281 2025-01-08T20:23:00.336Z,1736367780.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:00.337Z,1736367780.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499169 2025-01-08T20:23:00.389Z,1736367780.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:00.410Z,1736367780.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.90 m. 2025-01-08T20:23:00.414Z,1736367780.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.899994 m, nav range: 398.065613 m, bearing: 24.046614 deg, approach rate: -0.053458 m/s, LOS rate: -0.120000 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.754809 deg. 2025-01-08T20:23:00.415Z,1736367780.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055209 target range: 396.899994 and range: 396.90 m. 2025-01-08T20:23:00.589Z,1736367780.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:00.590Z,1736367780.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752934 2025-01-08T20:23:00.840Z,1736367780.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:00.840Z,1736367780.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003084 2025-01-08T20:23:00.844Z,1736367780.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:00.857Z,1736367780.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.90 m. 2025-01-08T20:23:00.892Z,1736367780.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.899994 m, nav range: 398.041443 m, bearing: 23.991856 deg, approach rate: -0.054090 m/s, LOS rate: -0.122551 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.730272 deg. 2025-01-08T20:23:00.894Z,1736367780.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054781 target range: 396.899994 and range: 396.90 m. 2025-01-08T20:23:01.092Z,1736367781.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:01.092Z,1736367781.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254999 2025-01-08T20:23:01.216Z,1736367781.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:01.224Z,1736367781.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:01.226Z,1736367781.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.90 m. 2025-01-08T20:23:01.245Z,1736367781.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.899994 m, nav range: 398.022095 m, bearing: 23.946978 deg, approach rate: -0.052483 m/s, LOS rate: -0.121740 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.759916 deg. 2025-01-08T20:23:01.246Z,1736367781.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055298 target range: 396.899994 and range: 396.90 m. 2025-01-08T20:23:01.344Z,1736367781.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:01.345Z,1736367781.345 [DAT](INFO): DAT read: Rx Time:20:23:00.0670 2025-01-08T20:23:01.345Z,1736367781.345 [DAT](INFO): Rx dataTimestamp_ set to:1736367781.344841 2025-01-08T20:23:01.346Z,1736367781.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508301 2025-01-08T20:23:01.596Z,1736367781.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:01.596Z,1736367781.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759103 2025-01-08T20:23:01.686Z,1736367781.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:01.699Z,1736367781.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.90 m. 2025-01-08T20:23:01.701Z,1736367781.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.899994 m, nav range: 397.998962 m, bearing: 23.890381 deg, approach rate: -0.048949 m/s, LOS rate: -0.119769 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.724757 deg. 2025-01-08T20:23:01.702Z,1736367781.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054685 target range: 396.899994 and range: 396.90 m. 2025-01-08T20:23:01.848Z,1736367781.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:01.855Z,1736367781.855 [DAT](INFO): DAT read: 20:23:00.0670 LVL= 32752, 32753, 20978, 32755, AGC= 63, IDX= 400, 0.39, 2.953, 2.307,-2.474, 3.041, PHS= 0.000,-0.687, 0.765, RAW= 181.8, -1.3, CAL= 182.2, -8.8, ROT= 327.8, 8.8 2025-01-08T20:23:01.856Z,1736367781.856 [DAT](INFO): got valid direction response: 20:23:00.0670 LVL= 32752, 32753, 20978, 32755, AGC= 63, IDX= 400, 0.39, 2.953, 2.307,-2.474, 3.041, PHS= 0.000,-0.687, 0.765, RAW= 181.8, -1.3, CAL= 182.2, -8.8, ROT= 327.8, 8.8 2025-01-08T20:23:01.857Z,1736367781.857 [DAT](INFO): DAT read: Bearing 327.8, 8.8 (Local) 2025-01-08T20:23:01.857Z,1736367781.857 [DAT](INFO): Local bearing/azimuth received: Bearing 327.8, 8.8 (Local) 2025-01-08T20:23:01.859Z,1736367781.859 [DAT](INFO): DAT read: Range 10 to 50 : 393.9 m (Round-trip 525.3 ms) speed 0.6 m/s 2025-01-08T20:23:01.860Z,1736367781.860 [DAT](INFO): DAT read: user:1272> 2025-01-08T20:23:01.860Z,1736367781.860 [DAT](INFO): DAT read: Tx time:20:23:01.1875 2025-01-08T20:23:01.861Z,1736367781.861 [DAT](INFO): Ping request sent. 2025-01-08T20:23:01.861Z,1736367781.861 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:01.861Z,1736367781.861 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:23:01.862Z,1736367781.862 [DAT](INFO): direction in FSK: [-0.060860,-0.998040,0.014582] 2025-01-08T20:23:01.862Z,1736367781.862 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:01.863Z,1736367781.863 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:01.869Z,1736367781.869 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:01.869Z,1736367781.869 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:02.100Z,1736367782.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:02.101Z,1736367782.101 [DAT](INFO): DAT read: TxSync time:20:23:01.1868 2025-01-08T20:23:02.107Z,1736367782.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:23:02.115Z,1736367782.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:02.148Z,1736367782.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 393.899994 m, deltaT: 4.032325 s, deltaX: -3.000000 m, approachRate: -0.743988 m/s, rangeRepo size: 4 2025-01-08T20:23:02.150Z,1736367782.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 393.899994 m, bearing: 24.968558 deg, lat: 36.907950 deg, lon: -122.121361 deg, deltaT: 4.032325 s, deltaX: -3.000000 m, approachRate: -0.743988 m/s, posRepo size: 4 2025-01-08T20:23:02.155Z,1736367782.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.90 m. 2025-01-08T20:23:02.158Z,1736367782.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.899994 m, nav range: 397.978577 m, bearing: 23.839681 deg, approach rate: 0.000000 m/s, LOS rate: -0.119769 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.734735 deg. 2025-01-08T20:23:02.168Z,1736367782.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054859 target range: 393.899994 and range: 393.90 m. 2025-01-08T20:23:02.352Z,1736367782.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:02.475Z,1736367782.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:23:02.475Z,1736367782.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:02.498Z,1736367782.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.90 m. 2025-01-08T20:23:02.501Z,1736367782.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.899994 m, nav range: 397.962128 m, bearing: 23.795340 deg, approach rate: -0.046404 m/s, LOS rate: -0.125096 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.761528 deg. 2025-01-08T20:23:02.502Z,1736367782.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055326 target range: 393.899994 and range: 393.90 m. 2025-01-08T20:23:02.604Z,1736367782.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:02.769Z,1736367782.769 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:23:02.857Z,1736367782.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:02.931Z,1736367782.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:02.941Z,1736367782.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.90 m. 2025-01-08T20:23:02.943Z,1736367782.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.899994 m, nav range: 397.946533 m, bearing: 23.740355 deg, approach rate: -0.035228 m/s, LOS rate: -0.124217 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.729595 deg. 2025-01-08T20:23:02.945Z,1736367782.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054769 target range: 393.899994 and range: 393.90 m. 2025-01-08T20:23:03.108Z,1736367783.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:03.280Z,1736367783.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:03.288Z,1736367783.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:03.290Z,1736367783.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.90 m. 2025-01-08T20:23:03.293Z,1736367783.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.899994 m, nav range: 397.935699 m, bearing: 23.698444 deg, approach rate: -0.031007 m/s, LOS rate: -0.119957 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.768820 deg. 2025-01-08T20:23:03.294Z,1736367783.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055454 target range: 393.899994 and range: 393.90 m. 2025-01-08T20:23:03.361Z,1736367783.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:03.361Z,1736367783.361 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:03.361Z,1736367783.361 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:03.362Z,1736367783.362 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:03.612Z,1736367783.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:03.613Z,1736367783.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751645 2025-01-08T20:23:03.705Z,1736367783.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:03.718Z,1736367783.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.90 m. 2025-01-08T20:23:03.725Z,1736367783.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.899994 m, nav range: 397.923004 m, bearing: 23.647099 deg, approach rate: -0.029661 m/s, LOS rate: -0.119962 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.740519 deg. 2025-01-08T20:23:03.726Z,1736367783.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054960 target range: 393.899994 and range: 393.90 m. 2025-01-08T20:23:03.772Z,1736367783.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:23:03.864Z,1736367783.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:03.865Z,1736367783.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004536 2025-01-08T20:23:04.109Z,1736367784.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:04.116Z,1736367784.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:04.116Z,1736367784.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255618 2025-01-08T20:23:04.134Z,1736367784.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.90 m. 2025-01-08T20:23:04.145Z,1736367784.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.899994 m, nav range: 397.915833 m, bearing: 23.601069 deg, approach rate: -0.017247 m/s, LOS rate: -0.110699 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.756463 deg. 2025-01-08T20:23:04.146Z,1736367784.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055238 target range: 393.899994 and range: 393.90 m. 2025-01-08T20:23:04.368Z,1736367784.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:04.368Z,1736367784.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507623 2025-01-08T20:23:04.494Z,1736367784.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:04.502Z,1736367784.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.90 m. 2025-01-08T20:23:04.507Z,1736367784.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.899994 m, nav range: 397.908905 m, bearing: 23.557166 deg, approach rate: -0.018796 m/s, LOS rate: -0.119117 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762848 deg. 2025-01-08T20:23:04.524Z,1736367784.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055349 target range: 393.899994 and range: 393.90 m. 2025-01-08T20:23:04.622Z,1736367784.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:04.623Z,1736367784.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761646 2025-01-08T20:23:04.872Z,1736367784.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:04.873Z,1736367784.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011692 2025-01-08T20:23:05.002Z,1736367785.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:05.011Z,1736367785.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.90 m. 2025-01-08T20:23:05.014Z,1736367785.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.899994 m, nav range: 397.897186 m, bearing: 23.501851 deg, approach rate: -0.023029 m/s, LOS rate: -0.108704 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.728606 deg. 2025-01-08T20:23:05.015Z,1736367785.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054752 target range: 393.899994 and range: 393.90 m. 2025-01-08T20:23:05.124Z,1736367785.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:05.125Z,1736367785.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264520 2025-01-08T20:23:05.329Z,1736367785.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:05.335Z,1736367785.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:05.338Z,1736367785.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.90 m. 2025-01-08T20:23:05.342Z,1736367785.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.899994 m, nav range: 397.889832 m, bearing: 23.466234 deg, approach rate: -0.022476 m/s, LOS rate: -0.108845 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787704 deg. 2025-01-08T20:23:05.343Z,1736367785.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055783 target range: 393.899994 and range: 393.90 m. 2025-01-08T20:23:05.377Z,1736367785.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:05.378Z,1736367785.378 [DAT](INFO): DAT read: Rx Time:20:23:04.0980 2025-01-08T20:23:05.379Z,1736367785.379 [DAT](INFO): Rx dataTimestamp_ set to:1736367785.378267 2025-01-08T20:23:05.381Z,1736367785.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519995 2025-01-08T20:23:05.628Z,1736367785.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:05.628Z,1736367785.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767532 2025-01-08T20:23:05.733Z,1736367785.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:05.748Z,1736367785.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.90 m. 2025-01-08T20:23:05.783Z,1736367785.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.899994 m, nav range: 397.880341 m, bearing: 23.422190 deg, approach rate: -0.023240 m/s, LOS rate: -0.107849 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762422 deg. 2025-01-08T20:23:05.799Z,1736367785.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055342 target range: 393.899994 and range: 393.90 m. 2025-01-08T20:23:05.881Z,1736367785.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:05.890Z,1736367785.890 [DAT](INFO): DAT read: 20:23:04.0980 LVL= 30992, 32753, 18642, 32755, AGC= 70, IDX= 405,-0.28,-0.819,-1.629, 0.051,-0.806, PHS= 0.075,-0.776, 0.854, RAW= 178.5, -2.2, CAL= 179.4, -9.6, ROT= 330.6, 9.6 2025-01-08T20:23:05.891Z,1736367785.891 [DAT](INFO): got valid direction response: 20:23:04.0980 LVL= 30992, 32753, 18642, 32755, AGC= 70, IDX= 405,-0.28,-0.819,-1.629, 0.051,-0.806, PHS= 0.075,-0.776, 0.854, RAW= 178.5, -2.2, CAL= 179.4, -9.6, ROT= 330.6, 9.6 2025-01-08T20:23:05.892Z,1736367785.892 [DAT](INFO): DAT read: Bearing 330.6, 9.6 (Local) 2025-01-08T20:23:05.893Z,1736367785.893 [DAT](INFO): Local bearing/azimuth received: Bearing 330.6, 9.6 (Local) 2025-01-08T20:23:05.894Z,1736367785.894 [DAT](INFO): DAT read: Range 10 to 50 : 379.6 m (Round-trip 506.2 ms) speed 0.4 m/s 2025-01-08T20:23:05.895Z,1736367785.895 [DAT](INFO): DAT read: user:1273> 2025-01-08T20:23:05.896Z,1736367785.896 [DAT](INFO): DAT read: Tx time:20:23:05.1876 2025-01-08T20:23:05.896Z,1736367785.896 [DAT](INFO): Ping request sent. 2025-01-08T20:23:05.896Z,1736367785.896 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:05.897Z,1736367785.897 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:23:05.897Z,1736367785.897 [DAT](INFO): direction in FSK: [-0.047937,-0.996259,0.071902] 2025-01-08T20:23:05.898Z,1736367785.898 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:05.898Z,1736367785.898 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:05.916Z,1736367785.916 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:05.916Z,1736367785.916 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:06.132Z,1736367786.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:06.133Z,1736367786.133 [DAT](INFO): DAT read: TxSync time:20:23:05.1869 2025-01-08T20:23:06.252Z,1736367786.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:06.284Z,1736367786.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 379.600006 m, deltaT: 4.033885 s, deltaX: -14.299988 m, approachRate: -3.544967 m/s, rangeRepo size: 4 2025-01-08T20:23:06.292Z,1736367786.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 379.600006 m, bearing: 25.730462 deg, lat: 36.907866 deg, lon: -122.121361 deg, deltaT: 4.033885 s, deltaX: -14.299988 m, approachRate: -3.544967 m/s, posRepo size: 4 2025-01-08T20:23:06.293Z,1736367786.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.60 m. 2025-01-08T20:23:06.299Z,1736367786.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.600006 m, nav range: 389.335175 m, bearing: 23.913916 deg, approach rate: 0.000000 m/s, LOS rate: -0.107849 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.723559 deg. 2025-01-08T20:23:06.301Z,1736367786.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054664 target range: 379.600006 and range: 379.60 m. 2025-01-08T20:23:06.385Z,1736367786.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:06.582Z,1736367786.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:06.591Z,1736367786.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.60 m. 2025-01-08T20:23:06.594Z,1736367786.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.600006 m, nav range: 389.333130 m, bearing: 23.879688 deg, approach rate: -0.006478 m/s, LOS rate: -0.108437 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.791872 deg. 2025-01-08T20:23:06.595Z,1736367786.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055856 target range: 379.600006 and range: 379.60 m. 2025-01-08T20:23:06.637Z,1736367786.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:06.889Z,1736367786.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:07.024Z,1736367787.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:07.032Z,1736367787.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.60 m. 2025-01-08T20:23:07.035Z,1736367787.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.600006 m, nav range: 389.338989 m, bearing: 23.836195 deg, approach rate: 0.013280 m/s, LOS rate: -0.098572 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764080 deg. 2025-01-08T20:23:07.056Z,1736367787.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055371 target range: 379.600006 and range: 379.60 m. 2025-01-08T20:23:07.142Z,1736367787.142 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:07.389Z,1736367787.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:07.392Z,1736367787.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:07.398Z,1736367787.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:07.400Z,1736367787.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.60 m. 2025-01-08T20:23:07.402Z,1736367787.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.600006 m, nav range: 389.343567 m, bearing: 23.800245 deg, approach rate: 0.012464 m/s, LOS rate: -0.097880 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786708 deg. 2025-01-08T20:23:07.432Z,1736367787.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055766 target range: 379.600006 and range: 379.60 m. 2025-01-08T20:23:07.644Z,1736367787.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:07.644Z,1736367787.644 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:07.644Z,1736367787.644 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:07.645Z,1736367787.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:07.796Z,1736367787.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:07.805Z,1736367787.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.60 m. 2025-01-08T20:23:07.836Z,1736367787.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.600006 m, nav range: 389.347992 m, bearing: 23.760245 deg, approach rate: 0.010903 m/s, LOS rate: -0.098556 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774557 deg. 2025-01-08T20:23:07.838Z,1736367787.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055554 target range: 379.600006 and range: 379.60 m. 2025-01-08T20:23:07.899Z,1736367787.899 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:07.901Z,1736367787.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004627 2025-01-08T20:23:08.148Z,1736367788.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:08.148Z,1736367788.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252198 2025-01-08T20:23:08.249Z,1736367788.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:08.258Z,1736367788.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.60 m. 2025-01-08T20:23:08.263Z,1736367788.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.600006 m, nav range: 389.355621 m, bearing: 23.719455 deg, approach rate: 0.016862 m/s, LOS rate: -0.090149 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772190 deg. 2025-01-08T20:23:08.264Z,1736367788.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055512 target range: 379.600006 and range: 379.60 m. 2025-01-08T20:23:08.400Z,1736367788.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:08.400Z,1736367788.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504040 2025-01-08T20:23:08.622Z,1736367788.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:08.631Z,1736367788.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.60 m. 2025-01-08T20:23:08.634Z,1736367788.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.600006 m, nav range: 389.361359 m, bearing: 23.685774 deg, approach rate: 0.015390 m/s, LOS rate: -0.090345 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793516 deg. 2025-01-08T20:23:08.635Z,1736367788.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055885 target range: 379.600006 and range: 379.60 m. 2025-01-08T20:23:08.660Z,1736367788.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:08.661Z,1736367788.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765209 2025-01-08T20:23:08.913Z,1736367788.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:08.914Z,1736367788.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018193 2025-01-08T20:23:09.099Z,1736367789.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:09.108Z,1736367789.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.60 m. 2025-01-08T20:23:09.111Z,1736367789.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.600006 m, nav range: 389.373077 m, bearing: 23.644323 deg, approach rate: 0.024531 m/s, LOS rate: -0.086769 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.770205 deg. 2025-01-08T20:23:09.112Z,1736367789.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055478 target range: 379.600006 and range: 379.60 m. 2025-01-08T20:23:09.164Z,1736367789.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:09.164Z,1736367789.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268231 2025-01-08T20:23:09.416Z,1736367789.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:09.416Z,1736367789.416 [DAT](INFO): DAT read: Rx Time:20:23:08.0955 2025-01-08T20:23:09.417Z,1736367789.417 [DAT](INFO): Rx dataTimestamp_ set to:1736367789.416622 2025-01-08T20:23:09.417Z,1736367789.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521172 2025-01-08T20:23:09.523Z,1736367789.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:09.530Z,1736367789.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:09.532Z,1736367789.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.60 m. 2025-01-08T20:23:09.535Z,1736367789.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.600006 m, nav range: 389.382233 m, bearing: 23.607477 deg, approach rate: 0.021602 m/s, LOS rate: -0.086936 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784021 deg. 2025-01-08T20:23:09.536Z,1736367789.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055719 target range: 379.600006 and range: 379.60 m. 2025-01-08T20:23:09.669Z,1736367789.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:09.671Z,1736367789.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773880 2025-01-08T20:23:09.924Z,1736367789.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:09.945Z,1736367789.945 [DAT](INFO): DAT read: 20:23:08.0955 LVL= 32752, 32753, 23586, 32755, AGC= 64, IDX= 418, 0.03,-0.630,-1.383, 0.270,-0.464, PHS=-0.078,-0.873, 0.731, RAW= 180.3, 3.2, CAL= 180.4, -5.3, ROT= 329.6, 5.3 2025-01-08T20:23:09.950Z,1736367789.950 [DAT](INFO): got valid direction response: 20:23:08.0955 LVL= 32752, 32753, 23586, 32755, AGC= 64, IDX= 418, 0.03,-0.630,-1.383, 0.270,-0.464, PHS=-0.078,-0.873, 0.731, RAW= 180.3, 3.2, CAL= 180.4, -5.3, ROT= 329.6, 5.3 2025-01-08T20:23:09.952Z,1736367789.952 [DAT](INFO): DAT read: Bearing 329.6, 5.3 (Local) 2025-01-08T20:23:09.952Z,1736367789.952 [DAT](INFO): Local bearing/azimuth received: Bearing 329.6, 5.3 (Local) 2025-01-08T20:23:09.953Z,1736367789.953 [DAT](INFO): DAT read: Range 10 to 50 : 377.7 m (Round-trip 503.7 ms) speed 0.4 m/s 2025-01-08T20:23:09.960Z,1736367789.960 [DAT](INFO): DAT read: user:1274> 2025-01-08T20:23:09.961Z,1736367789.961 [DAT](INFO): DAT read: Tx time:20:23:09.1876 2025-01-08T20:23:09.961Z,1736367789.961 [DAT](INFO): Ping request sent. 2025-01-08T20:23:09.961Z,1736367789.961 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:09.961Z,1736367789.961 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:23:09.962Z,1736367789.962 [DAT](INFO): direction in FSK: [-0.147768,-0.988420,0.034517] 2025-01-08T20:23:09.962Z,1736367789.963 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:09.963Z,1736367789.963 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:09.996Z,1736367789.996 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:09.996Z,1736367789.996 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:10.049Z,1736367790.049 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010812241524,35.0, +10.9, 0.0,1493.1, , 0.00, 82.23, 76.46 2025-01-08T20:23:10.082Z,1736367790.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T20:23:10.082Z,1736367790.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:10.114Z,1736367790.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 377.700012 m, deltaT: 4.042215 s, deltaX: -1.899994 m, approachRate: -0.470038 m/s, rangeRepo size: 4 2025-01-08T20:23:10.124Z,1736367790.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 377.700012 m, bearing: 18.851940 deg, lat: 36.907859 deg, lon: -122.121580 deg, deltaT: 4.042215 s, deltaX: -1.899994 m, approachRate: -0.470038 m/s, posRepo size: 4 2025-01-08T20:23:10.125Z,1736367790.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T20:23:10.131Z,1736367790.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 381.317444 m, bearing: 20.922171 deg, approach rate: 0.000000 m/s, LOS rate: -0.086936 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.743099 deg. 2025-01-08T20:23:10.133Z,1736367790.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055005 target range: 377.700012 and range: 377.70 m. 2025-01-08T20:23:10.176Z,1736367790.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:10.178Z,1736367790.178 [DAT](INFO): DAT read: TxSync time:20:23:09.1869 2025-01-08T20:23:10.428Z,1736367790.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:10.577Z,1736367790.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T20:23:10.577Z,1736367790.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:10.586Z,1736367790.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T20:23:10.589Z,1736367790.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 381.340912 m, bearing: 20.879206 deg, approach rate: 0.049633 m/s, LOS rate: -0.090863 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.765669 deg. 2025-01-08T20:23:10.590Z,1736367790.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055399 target range: 377.700012 and range: 377.70 m. 2025-01-08T20:23:10.681Z,1736367790.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:10.933Z,1736367790.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:11.010Z,1736367791.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:11.019Z,1736367791.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T20:23:11.021Z,1736367791.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 381.384735 m, bearing: 20.840143 deg, approach rate: 0.101233 m/s, LOS rate: -0.090226 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777383 deg. 2025-01-08T20:23:11.024Z,1736367791.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055603 target range: 377.700012 and range: 377.70 m. 2025-01-08T20:23:11.184Z,1736367791.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:11.366Z,1736367791.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:11.377Z,1736367791.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T20:23:11.406Z,1736367791.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 381.420105 m, bearing: 20.808687 deg, approach rate: 0.099176 m/s, LOS rate: -0.088196 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800195 deg. 2025-01-08T20:23:11.424Z,1736367791.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056001 target range: 377.700012 and range: 377.70 m. 2025-01-08T20:23:11.436Z,1736367791.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:11.688Z,1736367791.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:11.762Z,1736367791.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:11.768Z,1736367791.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:11.771Z,1736367791.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T20:23:11.774Z,1736367791.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 381.459076 m, bearing: 20.773749 deg, approach rate: 0.098611 m/s, LOS rate: -0.088396 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789754 deg. 2025-01-08T20:23:11.775Z,1736367791.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055819 target range: 377.700012 and range: 377.70 m. 2025-01-08T20:23:11.942Z,1736367791.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:11.944Z,1736367791.944 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:11.944Z,1736367791.944 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:11.945Z,1736367791.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:12.192Z,1736367792.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:12.192Z,1736367792.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231176 2025-01-08T20:23:12.211Z,1736367792.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:12.227Z,1736367792.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T20:23:12.230Z,1736367792.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 381.490692 m, bearing: 20.731438 deg, approach rate: 0.070464 m/s, LOS rate: -0.094291 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.767635 deg. 2025-01-08T20:23:12.235Z,1736367792.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055433 target range: 377.700012 and range: 377.70 m. 2025-01-08T20:23:12.446Z,1736367792.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:12.448Z,1736367792.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486047 2025-01-08T20:23:12.568Z,1736367792.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:12.578Z,1736367792.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T20:23:12.581Z,1736367792.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 381.515778 m, bearing: 20.697765 deg, approach rate: 0.069889 m/s, LOS rate: -0.093808 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793545 deg. 2025-01-08T20:23:12.582Z,1736367792.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055885 target range: 377.700012 and range: 377.70 m. 2025-01-08T20:23:12.706Z,1736367792.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:12.706Z,1736367792.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745308 2025-01-08T20:23:12.957Z,1736367792.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:12.959Z,1736367792.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997703 2025-01-08T20:23:13.042Z,1736367793.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:13.050Z,1736367793.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T20:23:13.053Z,1736367793.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 381.528137 m, bearing: 20.649748 deg, approach rate: 0.026184 m/s, LOS rate: -0.101722 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.750511 deg. 2025-01-08T20:23:13.054Z,1736367793.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055134 target range: 377.700012 and range: 377.70 m. 2025-01-08T20:23:13.208Z,1736367793.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:13.208Z,1736367793.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247356 2025-01-08T20:23:13.381Z,1736367793.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:13.393Z,1736367793.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T20:23:13.396Z,1736367793.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 381.537262 m, bearing: 20.615346 deg, approach rate: 0.026600 m/s, LOS rate: -0.100287 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.791352 deg. 2025-01-08T20:23:13.397Z,1736367793.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055847 target range: 377.700012 and range: 377.70 m. 2025-01-08T20:23:13.461Z,1736367793.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:13.462Z,1736367793.462 [DAT](INFO): DAT read: Rx Time:20:23:12.1077 2025-01-08T20:23:13.463Z,1736367793.463 [DAT](INFO): Rx dataTimestamp_ set to:1736367793.462430 2025-01-08T20:23:13.463Z,1736367793.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502279 2025-01-08T20:23:13.712Z,1736367793.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:13.712Z,1736367793.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751306 2025-01-08T20:23:13.839Z,1736367793.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:13.846Z,1736367793.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:13.848Z,1736367793.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T20:23:13.851Z,1736367793.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 381.550110 m, bearing: 20.568943 deg, approach rate: 0.028230 m/s, LOS rate: -0.101956 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.755353 deg. 2025-01-08T20:23:13.852Z,1736367793.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055219 target range: 377.700012 and range: 377.70 m. 2025-01-08T20:23:13.966Z,1736367793.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:14.011Z,1736367794.011 [DAT](INFO): DAT read: 20:23:12.1077 LVL= 31200, 26993, 17218, 32755, AGC= 69, IDX= 47,-0.28, 0.999, 0.185, 1.801, 1.144, PHS=-0.057,-0.912, 0.654, RAW= 176.9, 4.7, CAL= 176.9, -4.2, ROT= 333.1, 4.2 2025-01-08T20:23:14.030Z,1736367794.030 [DAT](INFO): got valid direction response: 20:23:12.1077 LVL= 31200, 26993, 17218, 32755, AGC= 69, IDX= 47,-0.28, 0.999, 0.185, 1.801, 1.144, PHS=-0.057,-0.912, 0.654, RAW= 176.9, 4.7, CAL= 176.9, -4.2, ROT= 333.1, 4.2 2025-01-08T20:23:14.037Z,1736367794.037 [DAT](INFO): DAT read: Bearing 333.1, 4.2 (Local) 2025-01-08T20:23:14.038Z,1736367794.038 [DAT](INFO): Local bearing/azimuth received: Bearing 333.1, 4.2 (Local) 2025-01-08T20:23:14.053Z,1736367794.053 [DAT](INFO): DAT read: Range 10 to 50 : 386.9 m (Round-trip 515.9 ms) speed 0.4 m/s 2025-01-08T20:23:14.054Z,1736367794.054 [DAT](INFO): DAT read: user:1275> 2025-01-08T20:23:14.054Z,1736367794.054 [DAT](INFO): DAT read: Tx time:20:23:13.1877 2025-01-08T20:23:14.055Z,1736367794.055 [DAT](INFO): Ping request sent. 2025-01-08T20:23:14.055Z,1736367794.055 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:14.060Z,1736367794.060 [DAT](INFO): DAT read: TxSync time:20:23:13.1870 2025-01-08T20:23:14.061Z,1736367794.061 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:23:14.063Z,1736367794.063 [DAT](INFO): direction in FSK: [-0.180907,-0.979387,0.089854] 2025-01-08T20:23:14.068Z,1736367794.068 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:14.068Z,1736367794.068 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:14.071Z,1736367794.071 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:14.083Z,1736367794.083 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:14.216Z,1736367794.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:14.252Z,1736367794.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:14.283Z,1736367794.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 386.899994 m, deltaT: 4.041940 s, deltaX: 9.199982 m, approachRate: 2.276130 m/s, rangeRepo size: 4 2025-01-08T20:23:14.285Z,1736367794.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 386.899994 m, bearing: 16.704977 deg, lat: 36.907866 deg, lon: -122.121744 deg, deltaT: 4.041940 s, deltaX: 9.199982 m, approachRate: 2.276130 m/s, posRepo size: 4 2025-01-08T20:23:14.286Z,1736367794.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:14.294Z,1736367794.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.418274 m, bearing: 18.412152 deg, approach rate: 0.000000 m/s, LOS rate: -0.101956 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762975 deg. 2025-01-08T20:23:14.295Z,1736367794.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055352 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:14.468Z,1736367794.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:14.599Z,1736367794.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:14.608Z,1736367794.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:14.611Z,1736367794.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.432434 m, bearing: 18.373556 deg, approach rate: 0.042921 m/s, LOS rate: -0.116984 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778773 deg. 2025-01-08T20:23:14.612Z,1736367794.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055627 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:14.721Z,1736367794.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:14.973Z,1736367794.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:15.073Z,1736367795.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:15.081Z,1736367795.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:15.084Z,1736367795.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.448486 m, bearing: 18.315742 deg, approach rate: 0.033935 m/s, LOS rate: -0.122216 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.721125 deg. 2025-01-08T20:23:15.085Z,1736367795.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054621 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:15.224Z,1736367795.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:15.396Z,1736367795.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:15.406Z,1736367795.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:15.429Z,1736367795.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.460846 m, bearing: 18.276297 deg, approach rate: 0.038115 m/s, LOS rate: -0.121637 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776225 deg. 2025-01-08T20:23:15.430Z,1736367795.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055583 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:15.476Z,1736367795.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:15.728Z,1736367795.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:15.800Z,1736367795.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:15.841Z,1736367795.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:15.846Z,1736367795.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.476349 m, bearing: 18.227081 deg, approach rate: 0.035693 m/s, LOS rate: -0.113307 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.746915 deg. 2025-01-08T20:23:15.849Z,1736367795.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055071 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:15.990Z,1736367795.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:16.232Z,1736367796.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:16.242Z,1736367796.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:16.249Z,1736367796.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:16.252Z,1736367796.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:16.255Z,1736367796.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.487396 m, bearing: 18.170745 deg, approach rate: 0.026856 m/s, LOS rate: -0.136947 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.725555 deg. 2025-01-08T20:23:16.257Z,1736367796.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054698 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:16.484Z,1736367796.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:16.484Z,1736367796.484 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:16.484Z,1736367796.484 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:16.485Z,1736367796.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:16.612Z,1736367796.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:16.621Z,1736367796.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:16.641Z,1736367796.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.497681 m, bearing: 18.123685 deg, approach rate: 0.027790 m/s, LOS rate: -0.127160 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.753381 deg. 2025-01-08T20:23:16.642Z,1736367796.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055184 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:16.737Z,1736367796.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:16.738Z,1736367796.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683075 2025-01-08T20:23:16.994Z,1736367796.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:16.998Z,1736367796.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.942107 2025-01-08T20:23:17.097Z,1736367797.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:17.106Z,1736367797.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:17.109Z,1736367797.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.502960 m, bearing: 18.059412 deg, approach rate: 0.010896 m/s, LOS rate: -0.132652 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.701740 deg. 2025-01-08T20:23:17.110Z,1736367797.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054283 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:17.244Z,1736367797.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:17.245Z,1736367797.245 [DAT](INFO): DAT read: Rx Time:20:23:16.1036 2025-01-08T20:23:17.245Z,1736367797.245 [DAT](INFO): Rx dataTimestamp_ set to:1736367797.244689 2025-01-08T20:23:17.245Z,1736367797.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.190660 2025-01-08T20:23:17.441Z,1736367797.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:17.450Z,1736367797.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:17.452Z,1736367797.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.506989 m, bearing: 18.013756 deg, approach rate: 0.011721 m/s, LOS rate: -0.132841 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.757592 deg. 2025-01-08T20:23:17.454Z,1736367797.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055258 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:17.497Z,1736367797.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:17.498Z,1736367797.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.442764 2025-01-08T20:23:17.748Z,1736367797.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:17.748Z,1736367797.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.693515 2025-01-08T20:23:17.842Z,1736367797.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:17.850Z,1736367797.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:17.854Z,1736367797.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.513855 m, bearing: 17.960659 deg, approach rate: 0.017141 m/s, LOS rate: -0.132551 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.735266 deg. 2025-01-08T20:23:17.856Z,1736367797.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054868 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:18.001Z,1736367798.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:18.046Z,1736367798.046 [DAT](INFO): DAT read: 20:23:16.1036 LVL= 32752, 32753, 21522, 32755, AGC= 70, IDX= 404,-0.34,-2.953, 2.523,-2.080,-2.697, PHS=-0.168,-1.016, 0.614, RAW= 178.7, 8.1, CAL= 178.2, -1.5, ROT= 331.8, 1.5 2025-01-08T20:23:18.054Z,1736367798.054 [DAT](INFO): got valid direction response: 20:23:16.1036 LVL= 32752, 32753, 21522, 32755, AGC= 70, IDX= 404,-0.34,-2.953, 2.523,-2.080,-2.697, PHS=-0.168,-1.016, 0.614, RAW= 178.7, 8.1, CAL= 178.2, -1.5, ROT= 331.8, 1.5 2025-01-08T20:23:18.067Z,1736367798.067 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:23:18.071Z,1736367798.071 [DAT](INFO): Received a bad header 2025-01-08T20:23:18.085Z,1736367798.085 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T20:23:18.100Z,1736367798.100 [DAT](INFO): direction in FSK: [-0.241771,-0.968740,0.055589] 2025-01-08T20:23:18.119Z,1736367798.119 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:18.119Z,1736367798.119 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:18.119Z,1736367798.119 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:18.252Z,1736367798.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:18.252Z,1736367798.252 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:18.252Z,1736367798.252 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:18.252Z,1736367798.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:18.278Z,1736367798.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:18.305Z,1736367798.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:18.311Z,1736367798.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:18.314Z,1736367798.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.525787 m, bearing: 17.903094 deg, approach rate: 0.026105 m/s, LOS rate: -0.125934 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.721867 deg. 2025-01-08T20:23:18.317Z,1736367798.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054634 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:18.504Z,1736367798.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:18.505Z,1736367798.505 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:18.505Z,1736367798.505 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:18.505Z,1736367798.505 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:18.643Z,1736367798.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:18.657Z,1736367798.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:18.662Z,1736367798.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.537048 m, bearing: 17.854819 deg, approach rate: 0.032216 m/s, LOS rate: -0.138100 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.749738 deg. 2025-01-08T20:23:18.665Z,1736367798.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055121 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:18.756Z,1736367798.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:18.756Z,1736367798.756 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:18.757Z,1736367798.757 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:18.757Z,1736367798.757 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:19.010Z,1736367799.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:19.012Z,1736367799.012 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:19.012Z,1736367799.012 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:19.013Z,1736367799.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:19.150Z,1736367799.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:19.178Z,1736367799.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:19.186Z,1736367799.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.546234 m, bearing: 17.789041 deg, approach rate: 0.017613 m/s, LOS rate: -0.126123 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.697227 deg. 2025-01-08T20:23:19.192Z,1736367799.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054204 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:19.260Z,1736367799.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:19.261Z,1736367799.261 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:19.261Z,1736367799.261 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:19.262Z,1736367799.262 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:19.512Z,1736367799.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:19.512Z,1736367799.512 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:19.512Z,1736367799.512 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:19.512Z,1736367799.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:19.673Z,1736367799.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:19.716Z,1736367799.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:19.719Z,1736367799.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.559570 m, bearing: 17.721271 deg, approach rate: 0.025012 m/s, LOS rate: -0.127100 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.691254 deg. 2025-01-08T20:23:19.724Z,1736367799.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054100 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:19.764Z,1736367799.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:19.764Z,1736367799.764 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:19.764Z,1736367799.764 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:19.764Z,1736367799.764 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:20.016Z,1736367800.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:20.016Z,1736367800.016 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:20.016Z,1736367800.016 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:20.016Z,1736367800.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:20.191Z,1736367800.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:20.203Z,1736367800.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:20.207Z,1736367800.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.578827 m, bearing: 17.658037 deg, approach rate: 0.039199 m/s, LOS rate: -0.128711 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.704866 deg. 2025-01-08T20:23:20.208Z,1736367800.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054338 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:20.268Z,1736367800.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:20.268Z,1736367800.268 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:20.268Z,1736367800.268 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:20.268Z,1736367800.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:20.520Z,1736367800.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:20.521Z,1736367800.521 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:20.521Z,1736367800.521 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:20.521Z,1736367800.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:20.561Z,1736367800.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:20.585Z,1736367800.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:20.592Z,1736367800.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:20.595Z,1736367800.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.593353 m, bearing: 17.612849 deg, approach rate: 0.037326 m/s, LOS rate: -0.116107 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.758997 deg. 2025-01-08T20:23:20.600Z,1736367800.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055282 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:20.772Z,1736367800.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:20.772Z,1736367800.772 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:20.772Z,1736367800.772 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:20.772Z,1736367800.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:20.967Z,1736367800.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:20.977Z,1736367800.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:20.980Z,1736367800.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.609802 m, bearing: 17.563369 deg, approach rate: 0.042688 m/s, LOS rate: -0.128404 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.746124 deg. 2025-01-08T20:23:20.981Z,1736367800.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055058 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:21.025Z,1736367801.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:21.027Z,1736367801.027 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:21.027Z,1736367801.027 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:21.028Z,1736367801.028 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:21.276Z,1736367801.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:21.276Z,1736367801.276 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:21.276Z,1736367801.276 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:21.276Z,1736367801.276 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:21.410Z,1736367801.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:21.418Z,1736367801.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:21.422Z,1736367801.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.637299 m, bearing: 17.513990 deg, approach rate: 0.062345 m/s, LOS rate: -0.111953 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.746430 deg. 2025-01-08T20:23:21.424Z,1736367801.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055063 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:21.528Z,1736367801.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:21.528Z,1736367801.528 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:21.528Z,1736367801.528 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:21.528Z,1736367801.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:21.772Z,1736367801.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:21.780Z,1736367801.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:21.780Z,1736367801.780 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:21.780Z,1736367801.780 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:21.780Z,1736367801.780 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:21.782Z,1736367801.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:21.801Z,1736367801.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.659668 m, bearing: 17.473634 deg, approach rate: 0.061480 m/s, LOS rate: -0.110908 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.773495 deg. 2025-01-08T20:23:21.802Z,1736367801.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055535 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:22.033Z,1736367802.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:22.033Z,1736367802.033 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:22.034Z,1736367802.034 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:22.034Z,1736367802.034 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:22.284Z,1736367802.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:22.284Z,1736367802.284 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:22.284Z,1736367802.284 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:22.284Z,1736367802.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:22.328Z,1736367802.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:22.336Z,1736367802.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:22.340Z,1736367802.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.696838 m, bearing: 17.416016 deg, approach rate: 0.067105 m/s, LOS rate: -0.104009 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.721720 deg. 2025-01-08T20:23:22.341Z,1736367802.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054632 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:22.536Z,1736367802.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:22.536Z,1736367802.536 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:22.537Z,1736367802.537 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:22.537Z,1736367802.537 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:22.628Z,1736367802.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:22.634Z,1736367802.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:22.637Z,1736367802.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:22.641Z,1736367802.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.716583 m, bearing: 17.384904 deg, approach rate: 0.065681 m/s, LOS rate: -0.103485 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801228 deg. 2025-01-08T20:23:22.642Z,1736367802.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056019 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:22.788Z,1736367802.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:22.788Z,1736367802.788 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:22.789Z,1736367802.789 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:22.789Z,1736367802.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:23.009Z,1736367803.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:23.018Z,1736367803.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:23.033Z,1736367803.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.740906 m, bearing: 17.345336 deg, approach rate: 0.063786 m/s, LOS rate: -0.103762 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.775860 deg. 2025-01-08T20:23:23.035Z,1736367803.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055577 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:23.041Z,1736367803.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:23.042Z,1736367803.042 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:23.042Z,1736367803.042 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:23.042Z,1736367803.042 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:23.293Z,1736367803.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:23.294Z,1736367803.294 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:23.294Z,1736367803.294 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:23.294Z,1736367803.294 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:23.444Z,1736367803.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:23.454Z,1736367803.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:23.457Z,1736367803.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.779053 m, bearing: 17.304198 deg, approach rate: 0.087658 m/s, LOS rate: -0.094523 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.771153 deg. 2025-01-08T20:23:23.459Z,1736367803.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055494 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:23.545Z,1736367803.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:23.545Z,1736367803.545 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:23.546Z,1736367803.546 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:23.546Z,1736367803.546 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:23.796Z,1736367803.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:23.796Z,1736367803.796 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:23.796Z,1736367803.796 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:23.796Z,1736367803.796 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:23.818Z,1736367803.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:23.861Z,1736367803.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:23.864Z,1736367803.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.810547 m, bearing: 17.268844 deg, approach rate: 0.077279 m/s, LOS rate: -0.086743 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788504 deg. 2025-01-08T20:23:23.865Z,1736367803.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055797 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:24.048Z,1736367804.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:24.048Z,1736367804.048 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:24.049Z,1736367804.049 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:24.049Z,1736367804.049 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:23:24.248Z,1736367804.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:24.256Z,1736367804.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:24.259Z,1736367804.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.853394 m, bearing: 17.230852 deg, approach rate: 0.108519 m/s, LOS rate: -0.096212 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780594 deg. 2025-01-08T20:23:24.260Z,1736367804.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055659 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:24.300Z,1736367804.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:24.301Z,1736367804.301 [DAT](INFO): Reached modem response timeout 2025-01-08T20:23:24.302Z,1736367804.302 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:23:24.303Z,1736367804.303 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:24.552Z,1736367804.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:24.552Z,1736367804.552 [DAT](INFO): Reached modem response timeout 2025-01-08T20:23:24.552Z,1736367804.552 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:23:24.553Z,1736367804.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:24.706Z,1736367804.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:24.714Z,1736367804.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:24.716Z,1736367804.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:24.718Z,1736367804.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.898163 m, bearing: 17.190234 deg, approach rate: 0.097334 m/s, LOS rate: -0.088297 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772718 deg. 2025-01-08T20:23:24.721Z,1736367804.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055522 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:24.805Z,1736367804.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:24.807Z,1736367804.807 [DAT](INFO): DAT read: RX DATA OVERRUNResponse Not Received 2025-01-08T20:23:24.808Z,1736367804.808 [DAT](INFO): response not received 2025-01-08T20:23:24.809Z,1736367804.809 [DAT](INFO): DAT read: user:1277> 2025-01-08T20:23:24.810Z,1736367804.810 [DAT](INFO): DAT read: Tx time:20:23:24.1378 2025-01-08T20:23:24.810Z,1736367804.810 [DAT](INFO): Ping request sent. 2025-01-08T20:23:24.810Z,1736367804.810 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:24.811Z,1736367804.811 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:24.813Z,1736367804.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002109 2025-01-08T20:23:25.058Z,1736367805.058 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:25.061Z,1736367805.061 [DAT](INFO): DAT read: TxSync time:20:23:24.1371 2025-01-08T20:23:25.062Z,1736367805.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251931 2025-01-08T20:23:25.198Z,1736367805.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:25.220Z,1736367805.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:25.229Z,1736367805.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 377.957764 m, bearing: 17.146824 deg, approach rate: 0.119327 m/s, LOS rate: -0.086898 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764347 deg. 2025-01-08T20:23:25.230Z,1736367805.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055376 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:25.308Z,1736367805.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:25.308Z,1736367805.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498253 2025-01-08T20:23:25.560Z,1736367805.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:25.561Z,1736367805.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750908 2025-01-08T20:23:25.639Z,1736367805.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:25.650Z,1736367805.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:25.655Z,1736367805.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 378.011810 m, bearing: 17.107859 deg, approach rate: 0.124370 m/s, LOS rate: -0.089651 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777680 deg. 2025-01-08T20:23:25.673Z,1736367805.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055608 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:25.812Z,1736367805.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:25.812Z,1736367805.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002125 2025-01-08T20:23:26.028Z,1736367806.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:26.037Z,1736367806.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:26.042Z,1736367806.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 378.059296 m, bearing: 17.073519 deg, approach rate: 0.122715 m/s, LOS rate: -0.088734 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.791549 deg. 2025-01-08T20:23:26.043Z,1736367806.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055850 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:26.064Z,1736367806.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:26.064Z,1736367806.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254325 2025-01-08T20:23:26.316Z,1736367806.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:26.316Z,1736367806.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506249 2025-01-08T20:23:26.466Z,1736367806.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:26.480Z,1736367806.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:26.483Z,1736367806.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 378.111755 m, bearing: 17.034073 deg, approach rate: 0.118503 m/s, LOS rate: -0.089094 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776235 deg. 2025-01-08T20:23:26.484Z,1736367806.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055583 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:26.568Z,1736367806.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:26.569Z,1736367806.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758479 2025-01-08T20:23:26.820Z,1736367806.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:26.822Z,1736367806.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011363 2025-01-08T20:23:26.845Z,1736367806.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:26.854Z,1736367806.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:26.856Z,1736367806.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:26.860Z,1736367806.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 378.157196 m, bearing: 17.000013 deg, approach rate: 0.120430 m/s, LOS rate: -0.090257 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792389 deg. 2025-01-08T20:23:26.861Z,1736367806.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055865 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:27.072Z,1736367807.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:27.073Z,1736367807.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262394 2025-01-08T20:23:27.283Z,1736367807.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:27.296Z,1736367807.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:27.298Z,1736367807.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 378.210205 m, bearing: 16.958481 deg, approach rate: 0.121072 m/s, LOS rate: -0.094846 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.769977 deg. 2025-01-08T20:23:27.300Z,1736367807.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055474 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:27.324Z,1736367807.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:27.324Z,1736367807.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514135 2025-01-08T20:23:27.576Z,1736367807.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:27.576Z,1736367807.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766204 2025-01-08T20:23:27.637Z,1736367807.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:27.647Z,1736367807.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:27.679Z,1736367807.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 378.252838 m, bearing: 16.924859 deg, approach rate: 0.121172 m/s, LOS rate: -0.095549 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793703 deg. 2025-01-08T20:23:27.681Z,1736367807.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055888 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:27.828Z,1736367807.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:27.829Z,1736367807.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018448 2025-01-08T20:23:28.042Z,1736367808.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:28.051Z,1736367808.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:28.055Z,1736367808.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 378.301636 m, bearing: 16.886484 deg, approach rate: 0.120667 m/s, LOS rate: -0.094883 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779445 deg. 2025-01-08T20:23:28.056Z,1736367808.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055639 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:28.080Z,1736367808.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:28.080Z,1736367808.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270128 2025-01-08T20:23:28.333Z,1736367808.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:28.335Z,1736367808.335 [DAT](INFO): DAT read: Rx Time:20:23:27.0450 2025-01-08T20:23:28.336Z,1736367808.336 [DAT](INFO): Rx dataTimestamp_ set to:1736367808.335327 2025-01-08T20:23:28.336Z,1736367808.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526009 2025-01-08T20:23:28.476Z,1736367808.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:28.485Z,1736367808.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.90 m. 2025-01-08T20:23:28.489Z,1736367808.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.899994 m, nav range: 378.349548 m, bearing: 16.842340 deg, approach rate: 0.110370 m/s, LOS rate: -0.101677 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762141 deg. 2025-01-08T20:23:28.490Z,1736367808.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055337 target range: 386.899994 and range: 386.90 m. 2025-01-08T20:23:28.584Z,1736367808.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:28.586Z,1736367808.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775148 2025-01-08T20:23:28.836Z,1736367808.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:28.843Z,1736367808.843 [DAT](INFO): DAT read: 20:23:27.0450 LVL= 32752, 32753, 18194, 32755, AGC= 68, IDX= 363,-0.32,-0.470,-1.090, 0.382,-0.296, PHS=-0.086,-0.747, 0.674, RAW= 182.3, 2.6, CAL= 182.4, -5.7, ROT= 327.6, 5.7 2025-01-08T20:23:28.844Z,1736367808.844 [DAT](INFO): got valid direction response: 20:23:27.0450 LVL= 32752, 32753, 18194, 32755, AGC= 68, IDX= 363,-0.32,-0.470,-1.090, 0.382,-0.296, PHS=-0.086,-0.747, 0.674, RAW= 182.3, 2.6, CAL= 182.4, -5.7, ROT= 327.6, 5.7 2025-01-08T20:23:28.845Z,1736367808.845 [DAT](INFO): DAT read: Bearing 327.6, 5.7 (Local) 2025-01-08T20:23:28.846Z,1736367808.846 [DAT](INFO): Local bearing/azimuth received: Bearing 327.6, 5.7 (Local) 2025-01-08T20:23:28.847Z,1736367808.847 [DAT](INFO): DAT read: Range 10 to 50 : 377.2 m (Round-trip 503.0 ms) speed 0.4 m/s 2025-01-08T20:23:28.848Z,1736367808.848 [DAT](INFO): DAT read: user:1278> 2025-01-08T20:23:28.849Z,1736367808.849 [DAT](INFO): DAT read: Tx time:20:23:28.1378 2025-01-08T20:23:28.849Z,1736367808.849 [DAT](INFO): Ping request sent. 2025-01-08T20:23:28.849Z,1736367808.849 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:28.850Z,1736367808.850 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:23:28.851Z,1736367808.851 [DAT](INFO): direction in FSK: [-0.133323,-0.991072,0.000551] 2025-01-08T20:23:28.851Z,1736367808.851 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:28.851Z,1736367808.851 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:28.856Z,1736367808.856 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:28.856Z,1736367808.856 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:28.879Z,1736367808.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:28.914Z,1736367808.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 377.200012 m, deltaT: 14.869710 s, deltaX: -9.699982 m, approachRate: -0.652332 m/s, rangeRepo size: 4 2025-01-08T20:23:28.921Z,1736367808.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 377.200012 m, bearing: 19.474795 deg, lat: 36.907859 deg, lon: -122.121571 deg, deltaT: 14.869710 s, deltaX: -9.699982 m, approachRate: -0.652332 m/s, posRepo size: 4 2025-01-08T20:23:28.922Z,1736367808.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.20 m. 2025-01-08T20:23:28.929Z,1736367808.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.200012 m, nav range: 382.420563 m, bearing: 19.048405 deg, approach rate: 0.000000 m/s, LOS rate: -0.101677 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.763880 deg. 2025-01-08T20:23:28.930Z,1736367808.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055367 target range: 377.200012 and range: 377.20 m. 2025-01-08T20:23:29.088Z,1736367809.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:29.089Z,1736367809.089 [DAT](INFO): DAT read: TxSync time:20:23:28.1371 2025-01-08T20:23:29.340Z,1736367809.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:29.345Z,1736367809.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:29.374Z,1736367809.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:29.383Z,1736367809.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.20 m. 2025-01-08T20:23:29.405Z,1736367809.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.200012 m, nav range: 382.455017 m, bearing: 18.997907 deg, approach rate: 0.073540 m/s, LOS rate: -0.107774 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.743077 deg. 2025-01-08T20:23:29.406Z,1736367809.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055004 target range: 377.200012 and range: 377.20 m. 2025-01-08T20:23:29.592Z,1736367809.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:29.592Z,1736367809.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:29.592Z,1736367809.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:29.593Z,1736367809.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:29.694Z,1736367809.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:29.702Z,1736367809.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.20 m. 2025-01-08T20:23:29.706Z,1736367809.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.200012 m, nav range: 382.482361 m, bearing: 18.960196 deg, approach rate: 0.085303 m/s, LOS rate: -0.117639 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781431 deg. 2025-01-08T20:23:29.707Z,1736367809.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055674 target range: 377.200012 and range: 377.20 m. 2025-01-08T20:23:29.844Z,1736367809.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:29.844Z,1736367809.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995039 2025-01-08T20:23:30.096Z,1736367810.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:30.141Z,1736367810.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.292104 2025-01-08T20:23:30.148Z,1736367810.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:30.162Z,1736367810.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.20 m. 2025-01-08T20:23:30.165Z,1736367810.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.200012 m, nav range: 382.518799 m, bearing: 18.911127 deg, approach rate: 0.079195 m/s, LOS rate: -0.106638 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.747363 deg. 2025-01-08T20:23:30.166Z,1736367810.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055079 target range: 377.200012 and range: 377.20 m. 2025-01-08T20:23:30.236Z,1736367810.236 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T20:23:30.348Z,1736367810.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:30.349Z,1736367810.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499258 2025-01-08T20:23:30.570Z,1736367810.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:30.596Z,1736367810.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.20 m. 2025-01-08T20:23:30.598Z,1736367810.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.200012 m, nav range: 382.541595 m, bearing: 18.863122 deg, approach rate: 0.052628 m/s, LOS rate: -0.110816 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.750553 deg. 2025-01-08T20:23:30.600Z,1736367810.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:30.600Z,1736367810.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751144 2025-01-08T20:23:30.604Z,1736367810.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055135 target range: 377.200012 and range: 377.20 m. 2025-01-08T20:23:30.852Z,1736367810.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:30.853Z,1736367810.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003260 2025-01-08T20:23:30.923Z,1736367810.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:30.931Z,1736367810.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.20 m. 2025-01-08T20:23:30.934Z,1736367810.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.200012 m, nav range: 382.561493 m, bearing: 18.822995 deg, approach rate: 0.059254 m/s, LOS rate: -0.119492 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774181 deg. 2025-01-08T20:23:30.935Z,1736367810.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055547 target range: 377.200012 and range: 377.20 m. 2025-01-08T20:23:31.104Z,1736367811.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:31.105Z,1736367811.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255756 2025-01-08T20:23:31.357Z,1736367811.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:31.358Z,1736367811.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508570 2025-01-08T20:23:31.392Z,1736367811.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:31.407Z,1736367811.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:31.409Z,1736367811.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.20 m. 2025-01-08T20:23:31.418Z,1736367811.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.200012 m, nav range: 382.575195 m, bearing: 18.767781 deg, approach rate: 0.028651 m/s, LOS rate: -0.115446 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.728922 deg. 2025-01-08T20:23:31.425Z,1736367811.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054757 target range: 377.200012 and range: 377.20 m. 2025-01-08T20:23:31.608Z,1736367811.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:31.608Z,1736367811.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759119 2025-01-08T20:23:31.725Z,1736367811.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:31.749Z,1736367811.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.20 m. 2025-01-08T20:23:31.752Z,1736367811.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.200012 m, nav range: 382.585693 m, bearing: 18.728728 deg, approach rate: 0.030906 m/s, LOS rate: -0.114968 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777400 deg. 2025-01-08T20:23:31.755Z,1736367811.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055604 target range: 377.200012 and range: 377.20 m. 2025-01-08T20:23:31.860Z,1736367811.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:31.861Z,1736367811.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011346 2025-01-08T20:23:32.112Z,1736367812.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:32.112Z,1736367812.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263088 2025-01-08T20:23:32.142Z,1736367812.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:32.150Z,1736367812.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.20 m. 2025-01-08T20:23:32.154Z,1736367812.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.200012 m, nav range: 382.599640 m, bearing: 18.679658 deg, approach rate: 0.034751 m/s, LOS rate: -0.122264 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.747353 deg. 2025-01-08T20:23:32.156Z,1736367812.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055079 target range: 377.200012 and range: 377.20 m. 2025-01-08T20:23:32.364Z,1736367812.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:32.364Z,1736367812.364 [DAT](INFO): DAT read: Rx Time:20:23:31.0408 2025-01-08T20:23:32.365Z,1736367812.365 [DAT](INFO): Rx dataTimestamp_ set to:1736367812.364598 2025-01-08T20:23:32.365Z,1736367812.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516085 2025-01-08T20:23:32.545Z,1736367812.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:32.553Z,1736367812.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.20 m. 2025-01-08T20:23:32.576Z,1736367812.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.200012 m, nav range: 382.608246 m, bearing: 18.631230 deg, approach rate: 0.021389 m/s, LOS rate: -0.120358 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.749276 deg. 2025-01-08T20:23:32.577Z,1736367812.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055113 target range: 377.200012 and range: 377.20 m. 2025-01-08T20:23:32.616Z,1736367812.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:32.617Z,1736367812.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767256 2025-01-08T20:23:32.868Z,1736367812.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:32.875Z,1736367812.875 [DAT](INFO): DAT read: 20:23:31.0408 LVL= 32096, 32753, 20546, 32755, AGC= 66, IDX= 400,-0.38,-2.563, 3.025,-1.694,-2.429, PHS=-0.046,-0.782, 0.732, RAW= 180.9, 1.5, CAL= 181.2, -6.6, ROT= 328.8, 6.6 2025-01-08T20:23:32.876Z,1736367812.876 [DAT](INFO): got valid direction response: 20:23:31.0408 LVL= 32096, 32753, 20546, 32755, AGC= 66, IDX= 400,-0.38,-2.563, 3.025,-1.694,-2.429, PHS=-0.046,-0.782, 0.732, RAW= 180.9, 1.5, CAL= 181.2, -6.6, ROT= 328.8, 6.6 2025-01-08T20:23:32.877Z,1736367812.877 [DAT](INFO): DAT read: Bearing 328.8, 6.6 (Local) 2025-01-08T20:23:32.877Z,1736367812.877 [DAT](INFO): Local bearing/azimuth received: Bearing 328.8, 6.6 (Local) 2025-01-08T20:23:32.879Z,1736367812.879 [DAT](INFO): DAT read: Range 10 to 50 : 374.1 m (Round-trip 498.8 ms) speed 0.5 m/s 2025-01-08T20:23:32.880Z,1736367812.880 [DAT](INFO): DAT read: user:1279> 2025-01-08T20:23:32.881Z,1736367812.881 [DAT](INFO): DAT read: Tx time:20:23:32.1378 2025-01-08T20:23:32.881Z,1736367812.881 [DAT](INFO): Ping request sent. 2025-01-08T20:23:32.881Z,1736367812.881 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:32.881Z,1736367812.881 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:23:32.882Z,1736367812.882 [DAT](INFO): direction in FSK: [-0.114257,-0.993113,0.025919] 2025-01-08T20:23:32.882Z,1736367812.882 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:32.883Z,1736367812.883 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:32.886Z,1736367812.886 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:32.886Z,1736367812.886 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:32.984Z,1736367812.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:33.022Z,1736367813.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 374.100006 m, deltaT: 4.031913 s, deltaX: -3.100006 m, approachRate: -0.768867 m/s, rangeRepo size: 4 2025-01-08T20:23:33.049Z,1736367813.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 374.100006 m, bearing: 21.718418 deg, lat: 36.907783 deg, lon: -122.121571 deg, deltaT: 4.031913 s, deltaX: -3.100006 m, approachRate: -0.768867 m/s, posRepo size: 4 2025-01-08T20:23:33.050Z,1736367813.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:33.064Z,1736367813.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.551758 m, bearing: 18.993602 deg, approach rate: 0.000000 m/s, LOS rate: -0.120358 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.725319 deg. 2025-01-08T20:23:33.066Z,1736367813.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054694 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:33.120Z,1736367813.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:33.122Z,1736367813.122 [DAT](INFO): DAT read: TxSync time:20:23:32.1371 2025-01-08T20:23:33.372Z,1736367813.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:33.411Z,1736367813.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:33.429Z,1736367813.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:33.435Z,1736367813.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:33.438Z,1736367813.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.556244 m, bearing: 18.942456 deg, approach rate: 0.010952 m/s, LOS rate: -0.124863 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.741119 deg. 2025-01-08T20:23:33.443Z,1736367813.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054970 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:33.624Z,1736367813.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:33.624Z,1736367813.624 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:33.624Z,1736367813.624 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:33.625Z,1736367813.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:33.748Z,1736367813.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:33.757Z,1736367813.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:33.760Z,1736367813.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.561035 m, bearing: 18.901321 deg, approach rate: 0.014713 m/s, LOS rate: -0.126316 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.771155 deg. 2025-01-08T20:23:33.761Z,1736367813.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055494 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:33.877Z,1736367813.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:33.879Z,1736367813.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997627 2025-01-08T20:23:33.892Z,1736367813.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:23:34.128Z,1736367814.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:34.129Z,1736367814.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247594 2025-01-08T20:23:34.147Z,1736367814.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:34.156Z,1736367814.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:34.159Z,1736367814.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.567688 m, bearing: 18.852993 deg, approach rate: 0.016657 m/s, LOS rate: -0.121002 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.749575 deg. 2025-01-08T20:23:34.160Z,1736367814.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055118 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:34.380Z,1736367814.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:34.381Z,1736367814.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500109 2025-01-08T20:23:34.584Z,1736367814.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:34.594Z,1736367814.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:34.596Z,1736367814.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.569214 m, bearing: 18.801477 deg, approach rate: 0.003489 m/s, LOS rate: -0.117797 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.740010 deg. 2025-01-08T20:23:34.597Z,1736367814.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054951 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:34.632Z,1736367814.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:34.633Z,1736367814.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752167 2025-01-08T20:23:34.884Z,1736367814.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:34.884Z,1736367814.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003485 2025-01-08T20:23:34.896Z,1736367814.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:23:34.971Z,1736367814.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:34.980Z,1736367814.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:34.982Z,1736367814.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.570587 m, bearing: 18.755931 deg, approach rate: 0.003558 m/s, LOS rate: -0.117995 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.757919 deg. 2025-01-08T20:23:34.984Z,1736367814.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055264 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:35.136Z,1736367815.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:35.137Z,1736367815.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255519 2025-01-08T20:23:35.388Z,1736367815.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:35.391Z,1736367815.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509540 2025-01-08T20:23:35.465Z,1736367815.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:35.493Z,1736367815.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:35.504Z,1736367815.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:35.507Z,1736367815.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.579163 m, bearing: 18.698373 deg, approach rate: 0.016626 m/s, LOS rate: -0.111591 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.721886 deg. 2025-01-08T20:23:35.516Z,1736367815.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054635 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:35.640Z,1736367815.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:35.641Z,1736367815.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759631 2025-01-08T20:23:35.812Z,1736367815.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:35.820Z,1736367815.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:35.823Z,1736367815.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.585419 m, bearing: 18.657933 deg, approach rate: 0.019299 m/s, LOS rate: -0.124746 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.773239 deg. 2025-01-08T20:23:35.825Z,1736367815.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055531 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:35.892Z,1736367815.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:35.893Z,1736367815.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011707 2025-01-08T20:23:36.145Z,1736367816.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:36.146Z,1736367816.146 [DAT](INFO): DAT read: Rx Time:20:23:35.0065 2025-01-08T20:23:36.147Z,1736367816.147 [DAT](INFO): Rx dataTimestamp_ set to:1736367816.146078 2025-01-08T20:23:36.149Z,1736367816.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267368 2025-01-08T20:23:36.221Z,1736367816.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:36.238Z,1736367816.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:36.245Z,1736367816.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.592865 m, bearing: 18.610333 deg, approach rate: 0.017816 m/s, LOS rate: -0.113886 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.751759 deg. 2025-01-08T20:23:36.252Z,1736367816.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055156 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:36.397Z,1736367816.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:36.399Z,1736367816.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517509 2025-01-08T20:23:36.634Z,1736367816.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:36.649Z,1736367816.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:36.650Z,1736367816.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768609 2025-01-08T20:23:36.682Z,1736367816.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:36.706Z,1736367816.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.606842 m, bearing: 18.562948 deg, approach rate: 0.031913 m/s, LOS rate: -0.108188 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.752406 deg. 2025-01-08T20:23:36.714Z,1736367816.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055167 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:36.902Z,1736367816.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:36.910Z,1736367816.910 [DAT](INFO): DAT read: 20:23:35.0065 LVL= 32752, 32753, 18210, 32755, AGC= 69, IDX= 259, 0.47,-0.972,-1.824, 0.014,-0.999, PHS= 0.115,-0.778, 1.010, RAW= 180.0, -4.5, CAL= 181.0, -11.4, ROT= 329.0, 11.4 2025-01-08T20:23:36.912Z,1736367816.912 [DAT](INFO): got valid direction response: 20:23:35.0065 LVL= 32752, 32753, 18210, 32755, AGC= 69, IDX= 259, 0.47,-0.972,-1.824, 0.014,-0.999, PHS= 0.115,-0.778, 1.010, RAW= 180.0, -4.5, CAL= 181.0, -11.4, ROT= 329.0, 11.4 2025-01-08T20:23:36.913Z,1736367816.913 [DAT](INFO): DAT read: Bearing 329.0, 11.4 (Local) 2025-01-08T20:23:36.914Z,1736367816.914 [DAT](INFO): Local bearing/azimuth received: Bearing 329.0, 11.4 (Local) 2025-01-08T20:23:36.915Z,1736367816.915 [DAT](INFO): DAT read: Range 10 to 50 : 348.3 m (Round-trip 464.5 ms) speed 0.6 m/s 2025-01-08T20:23:36.916Z,1736367816.916 [DAT](INFO): DAT read: user:1280> 2025-01-08T20:23:36.917Z,1736367816.917 [DAT](INFO): DAT read: Tx time:20:23:36.0878 2025-01-08T20:23:36.917Z,1736367816.917 [DAT](INFO): Ping request sent. 2025-01-08T20:23:36.917Z,1736367816.917 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:36.918Z,1736367816.918 [DAT](INFO): DAT read: TxSync time:20:23:36.0872 2025-01-08T20:23:36.918Z,1736367816.918 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:23:36.921Z,1736367816.921 [DAT](INFO): direction in FSK: [-0.000915,-0.998807,0.048815] 2025-01-08T20:23:36.921Z,1736367816.921 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:36.921Z,1736367816.921 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:36.925Z,1736367816.925 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:36.925Z,1736367816.925 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:37.036Z,1736367817.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:37.081Z,1736367817.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 348.299988 m, deltaT: 4.034456 s, deltaX: -25.800018 m, approachRate: -6.394919 m/s, rangeRepo size: 4 2025-01-08T20:23:37.082Z,1736367817.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:37.090Z,1736367817.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.620331 m, bearing: 18.516995 deg, approach rate: 0.033284 m/s, LOS rate: -0.113385 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.756703 deg. 2025-01-08T20:23:37.091Z,1736367817.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055242 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:37.152Z,1736367817.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:37.405Z,1736367817.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:37.451Z,1736367817.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:37.464Z,1736367817.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:37.467Z,1736367817.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.638245 m, bearing: 18.471441 deg, approach rate: 0.046707 m/s, LOS rate: -0.118768 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.757901 deg. 2025-01-08T20:23:37.489Z,1736367817.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055263 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:37.657Z,1736367817.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:37.826Z,1736367817.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:37.833Z,1736367817.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:37.835Z,1736367817.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:37.838Z,1736367817.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.655243 m, bearing: 18.430234 deg, approach rate: 0.045870 m/s, LOS rate: -0.111189 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.770944 deg. 2025-01-08T20:23:37.840Z,1736367817.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055491 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:37.908Z,1736367817.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:37.909Z,1736367817.909 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:37.909Z,1736367817.909 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:37.909Z,1736367817.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:38.160Z,1736367818.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:38.160Z,1736367818.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243031 2025-01-08T20:23:38.222Z,1736367818.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:38.231Z,1736367818.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:38.234Z,1736367818.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.673737 m, bearing: 18.386682 deg, approach rate: 0.046697 m/s, LOS rate: -0.109965 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.763905 deg. 2025-01-08T20:23:38.235Z,1736367818.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055368 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:38.412Z,1736367818.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:38.414Z,1736367818.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496192 2025-01-08T20:23:38.639Z,1736367818.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:38.649Z,1736367818.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:38.654Z,1736367818.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.693604 m, bearing: 18.341390 deg, approach rate: 0.047547 m/s, LOS rate: -0.108389 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.758690 deg. 2025-01-08T20:23:38.664Z,1736367818.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:38.665Z,1736367818.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748161 2025-01-08T20:23:38.676Z,1736367818.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055277 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:38.916Z,1736367818.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:38.917Z,1736367818.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999438 2025-01-08T20:23:39.021Z,1736367819.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:39.046Z,1736367819.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:39.049Z,1736367819.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.711365 m, bearing: 18.299843 deg, approach rate: 0.044700 m/s, LOS rate: -0.104559 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.769920 deg. 2025-01-08T20:23:39.050Z,1736367819.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055473 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:39.168Z,1736367819.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:39.169Z,1736367819.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251426 2025-01-08T20:23:39.420Z,1736367819.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:39.420Z,1736367819.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502991 2025-01-08T20:23:39.473Z,1736367819.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:39.485Z,1736367819.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:39.492Z,1736367819.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.736908 m, bearing: 18.250820 deg, approach rate: 0.058163 m/s, LOS rate: -0.111619 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.747499 deg. 2025-01-08T20:23:39.494Z,1736367819.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055082 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:39.672Z,1736367819.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:39.673Z,1736367819.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755695 2025-01-08T20:23:39.844Z,1736367819.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:39.851Z,1736367819.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:39.854Z,1736367819.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:39.857Z,1736367819.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.757660 m, bearing: 18.210452 deg, approach rate: 0.056380 m/s, LOS rate: -0.109667 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.773460 deg. 2025-01-08T20:23:39.858Z,1736367819.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055535 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:39.926Z,1736367819.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:39.927Z,1736367819.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009571 2025-01-08T20:23:40.176Z,1736367820.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:40.176Z,1736367820.176 [DAT](INFO): DAT read: Rx Time:20:23:38.9684 2025-01-08T20:23:40.177Z,1736367820.177 [DAT](INFO): Rx dataTimestamp_ set to:1736367820.176676 2025-01-08T20:23:40.177Z,1736367820.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260230 2025-01-08T20:23:40.254Z,1736367820.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:40.275Z,1736367820.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.10 m. 2025-01-08T20:23:40.278Z,1736367820.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.100006 m, nav range: 374.780396 m, bearing: 18.166091 deg, approach rate: 0.054496 m/s, LOS rate: -0.106326 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.761482 deg. 2025-01-08T20:23:40.288Z,1736367820.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055326 target range: 374.100006 and range: 374.10 m. 2025-01-08T20:23:40.428Z,1736367820.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:40.428Z,1736367820.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511103 2025-01-08T20:23:40.680Z,1736367820.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:40.700Z,1736367820.700 [DAT](INFO): DAT read: 20:23:38.9684 LVL= 20160, 17281, 12834, 24979, AGC= 68, IDX= 58, 0.16, 0.743, 0.006, 1.599, 0.868, PHS=-0.037,-0.815, 0.728, RAW= 179.7, 1.9, CAL= 180.0, -6.4, ROT= 330.0, 6.4 2025-01-08T20:23:40.701Z,1736367820.701 [DAT](INFO): got valid direction response: 20:23:38.9684 LVL= 20160, 17281, 12834, 24979, AGC= 68, IDX= 58, 0.16, 0.743, 0.006, 1.599, 0.868, PHS=-0.037,-0.815, 0.728, RAW= 179.7, 1.9, CAL= 180.0, -6.4, ROT= 330.0, 6.4 2025-01-08T20:23:40.702Z,1736367820.702 [DAT](INFO): DAT read: Bearing 330.0, 6.4 (Local) 2025-01-08T20:23:40.702Z,1736367820.702 [DAT](INFO): Local bearing/azimuth received: Bearing 330.0, 6.4 (Local) 2025-01-08T20:23:40.705Z,1736367820.705 [DAT](INFO): DAT read: Range 10 to 50 : 357.2 m (Round-trip 476.3 ms) speed 0.9 m/s 2025-01-08T20:23:40.706Z,1736367820.706 [DAT](INFO): DAT read: user:1281> 2025-01-08T20:23:40.706Z,1736367820.706 [DAT](INFO): DAT read: Tx time:20:23:40.0879 2025-01-08T20:23:40.707Z,1736367820.707 [DAT](INFO): Ping request sent. 2025-01-08T20:23:40.707Z,1736367820.707 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:40.711Z,1736367820.711 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:23:40.712Z,1736367820.712 [DAT](INFO): direction in FSK: [-0.123678,-0.991251,0.046089] 2025-01-08T20:23:40.712Z,1736367820.712 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:40.713Z,1736367820.713 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:40.720Z,1736367820.720 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:40.721Z,1736367820.721 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:40.740Z,1736367820.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:40.802Z,1736367820.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 357.200012 m, deltaT: 7.813013 s, deltaX: -16.899994 m, approachRate: -2.163057 m/s, rangeRepo size: 4 2025-01-08T20:23:40.809Z,1736367820.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 357.200012 m, bearing: 21.239899 deg, lat: 36.907707 deg, lon: -122.121429 deg, deltaT: 7.813013 s, deltaX: -16.899994 m, approachRate: -2.163057 m/s, posRepo size: 4 2025-01-08T20:23:40.810Z,1736367820.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.20 m. 2025-01-08T20:23:40.816Z,1736367820.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.200012 m, nav range: 371.005951 m, bearing: 20.365578 deg, approach rate: 0.000000 m/s, LOS rate: -0.106326 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.725070 deg. 2025-01-08T20:23:40.818Z,1736367820.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054690 target range: 357.200012 and range: 357.20 m. 2025-01-08T20:23:40.932Z,1736367820.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:40.934Z,1736367820.934 [DAT](INFO): DAT read: TxSync time:20:23:40.0872 2025-01-08T20:23:41.119Z,1736367821.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:41.138Z,1736367821.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.20 m. 2025-01-08T20:23:41.145Z,1736367821.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.200012 m, nav range: 371.027069 m, bearing: 20.323990 deg, approach rate: 0.063027 m/s, LOS rate: -0.124112 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.769800 deg. 2025-01-08T20:23:41.146Z,1736367821.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055471 target range: 357.200012 and range: 357.20 m. 2025-01-08T20:23:41.185Z,1736367821.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:41.436Z,1736367821.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:41.541Z,1736367821.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:41.553Z,1736367821.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.20 m. 2025-01-08T20:23:41.557Z,1736367821.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.200012 m, nav range: 371.055542 m, bearing: 20.277231 deg, approach rate: 0.068342 m/s, LOS rate: -0.112224 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.754290 deg. 2025-01-08T20:23:41.559Z,1736367821.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055200 target range: 357.200012 and range: 357.20 m. 2025-01-08T20:23:41.688Z,1736367821.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:41.909Z,1736367821.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:41.916Z,1736367821.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:41.918Z,1736367821.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.20 m. 2025-01-08T20:23:41.922Z,1736367821.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.200012 m, nav range: 371.080322 m, bearing: 20.236737 deg, approach rate: 0.067978 m/s, LOS rate: -0.111078 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.773082 deg. 2025-01-08T20:23:41.923Z,1736367821.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055528 target range: 357.200012 and range: 357.20 m. 2025-01-08T20:23:41.944Z,1736367821.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:41.944Z,1736367821.944 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:41.944Z,1736367821.944 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:41.944Z,1736367821.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:42.196Z,1736367822.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:42.196Z,1736367822.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489682 2025-01-08T20:23:42.315Z,1736367822.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:42.326Z,1736367822.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.20 m. 2025-01-08T20:23:42.328Z,1736367822.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.200012 m, nav range: 371.108490 m, bearing: 20.192142 deg, approach rate: 0.069117 m/s, LOS rate: -0.109417 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.760782 deg. 2025-01-08T20:23:42.330Z,1736367822.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055313 target range: 357.200012 and range: 357.20 m. 2025-01-08T20:23:42.448Z,1736367822.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:42.449Z,1736367822.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741887 2025-01-08T20:23:42.700Z,1736367822.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:42.701Z,1736367822.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993888 2025-01-08T20:23:42.735Z,1736367822.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:42.773Z,1736367822.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.20 m. 2025-01-08T20:23:42.779Z,1736367822.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.200012 m, nav range: 371.136627 m, bearing: 20.146413 deg, approach rate: 0.062943 m/s, LOS rate: -0.102287 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.757382 deg. 2025-01-08T20:23:42.781Z,1736367822.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055254 target range: 357.200012 and range: 357.20 m. 2025-01-08T20:23:42.952Z,1736367822.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:42.952Z,1736367822.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245687 2025-01-08T20:23:43.140Z,1736367823.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:43.148Z,1736367823.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.20 m. 2025-01-08T20:23:43.151Z,1736367823.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.200012 m, nav range: 371.163513 m, bearing: 20.102329 deg, approach rate: 0.071580 m/s, LOS rate: -0.117359 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762313 deg. 2025-01-08T20:23:43.152Z,1736367823.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055340 target range: 357.200012 and range: 357.20 m. 2025-01-08T20:23:43.205Z,1736367823.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:43.206Z,1736367823.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499375 2025-01-08T20:23:43.456Z,1736367823.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:43.456Z,1736367823.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749603 2025-01-08T20:23:43.554Z,1736367823.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:43.590Z,1736367823.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.20 m. 2025-01-08T20:23:43.597Z,1736367823.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.200012 m, nav range: 371.195984 m, bearing: 20.056859 deg, approach rate: 0.073443 m/s, LOS rate: -0.102837 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.758158 deg. 2025-01-08T20:23:43.598Z,1736367823.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055268 target range: 357.200012 and range: 357.20 m. 2025-01-08T20:23:43.708Z,1736367823.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:43.709Z,1736367823.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002255 2025-01-08T20:23:43.935Z,1736367823.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:43.942Z,1736367823.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:43.945Z,1736367823.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.20 m. 2025-01-08T20:23:43.948Z,1736367823.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.200012 m, nav range: 371.225769 m, bearing: 20.014973 deg, approach rate: 0.084067 m/s, LOS rate: -0.118211 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.768909 deg. 2025-01-08T20:23:43.949Z,1736367823.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055455 target range: 357.200012 and range: 357.20 m. 2025-01-08T20:23:43.960Z,1736367823.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:43.961Z,1736367823.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254045 2025-01-08T20:23:44.212Z,1736367824.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:44.212Z,1736367824.212 [DAT](INFO): DAT read: Rx Time:20:23:42.9642 2025-01-08T20:23:44.213Z,1736367824.213 [DAT](INFO): Rx dataTimestamp_ set to:1736367824.212491 2025-01-08T20:23:44.213Z,1736367824.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506627 2025-01-08T20:23:44.344Z,1736367824.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:44.352Z,1736367824.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.20 m. 2025-01-08T20:23:44.357Z,1736367824.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.200012 m, nav range: 371.257690 m, bearing: 19.970016 deg, approach rate: 0.078308 m/s, LOS rate: -0.110277 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.759697 deg. 2025-01-08T20:23:44.358Z,1736367824.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055295 target range: 357.200012 and range: 357.20 m. 2025-01-08T20:23:44.464Z,1736367824.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:44.464Z,1736367824.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757773 2025-01-08T20:23:44.716Z,1736367824.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:44.724Z,1736367824.724 [DAT](INFO): DAT read: 20:23:42.9642 LVL= 32752, 32753, 20290, 32755, AGC= 66, IDX= 399, 0.10,-2.323, 3.036,-1.192,-2.137, PHS=-0.098,-1.063, 0.942, RAW= 181.2, 2.6, CAL= 181.4, -5.8, ROT= 328.6, 5.8 2025-01-08T20:23:44.725Z,1736367824.725 [DAT](INFO): got valid direction response: 20:23:42.9642 LVL= 32752, 32753, 20290, 32755, AGC= 66, IDX= 399, 0.10,-2.323, 3.036,-1.192,-2.137, PHS=-0.098,-1.063, 0.942, RAW= 181.2, 2.6, CAL= 181.4, -5.8, ROT= 328.6, 5.8 2025-01-08T20:23:44.726Z,1736367824.726 [DAT](INFO): DAT read: Bearing 328.6, 5.8 (Local) 2025-01-08T20:23:44.726Z,1736367824.726 [DAT](INFO): Local bearing/azimuth received: Bearing 328.6, 5.8 (Local) 2025-01-08T20:23:44.728Z,1736367824.728 [DAT](INFO): DAT read: Range 10 to 50 : 354.0 m (Round-trip 472.1 ms) speed 0.6 m/s 2025-01-08T20:23:44.728Z,1736367824.728 [DAT](INFO): DAT read: user:1282> 2025-01-08T20:23:44.729Z,1736367824.729 [DAT](INFO): DAT read: Tx time:20:23:44.0879 2025-01-08T20:23:44.729Z,1736367824.729 [DAT](INFO): Ping request sent. 2025-01-08T20:23:44.729Z,1736367824.729 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:44.730Z,1736367824.730 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:23:44.731Z,1736367824.731 [DAT](INFO): direction in FSK: [-0.133941,-0.990807,0.019008] 2025-01-08T20:23:44.731Z,1736367824.731 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:44.731Z,1736367824.731 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:44.734Z,1736367824.734 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:44.735Z,1736367824.735 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:44.894Z,1736367824.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:44.947Z,1736367824.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 354.000000 m, deltaT: 4.035116 s, deltaX: -3.200012 m, approachRate: -0.793041 m/s, rangeRepo size: 4 2025-01-08T20:23:44.961Z,1736367824.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 354.000000 m, bearing: 20.348907 deg, lat: 36.907566 deg, lon: -122.121429 deg, deltaT: 4.035116 s, deltaX: -3.200012 m, approachRate: -0.793041 m/s, posRepo size: 4 2025-01-08T20:23:44.962Z,1736367824.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:44.968Z,1736367824.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:44.969Z,1736367824.969 [DAT](INFO): DAT read: TxSync time:20:23:44.0872 2025-01-08T20:23:44.980Z,1736367824.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.663055 m, bearing: 20.765707 deg, approach rate: 0.000000 m/s, LOS rate: -0.110277 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.699183 deg. 2025-01-08T20:23:44.981Z,1736367824.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054238 target range: 354.000000 and range: 354.00 m. 2025-01-08T20:23:45.221Z,1736367825.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:45.280Z,1736367825.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:45.289Z,1736367825.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:45.292Z,1736367825.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.690308 m, bearing: 20.722956 deg, approach rate: 0.078621 m/s, LOS rate: -0.123325 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.766314 deg. 2025-01-08T20:23:45.293Z,1736367825.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055410 target range: 354.000000 and range: 354.00 m. 2025-01-08T20:23:45.472Z,1736367825.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:45.720Z,1736367825.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:45.724Z,1736367825.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:45.730Z,1736367825.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:45.733Z,1736367825.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.717499 m, bearing: 20.675332 deg, approach rate: 0.061727 m/s, LOS rate: -0.108104 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.751695 deg. 2025-01-08T20:23:45.734Z,1736367825.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055155 target range: 354.000000 and range: 354.00 m. 2025-01-08T20:23:45.978Z,1736367825.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:46.069Z,1736367826.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:46.076Z,1736367826.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:46.078Z,1736367826.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:46.081Z,1736367826.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.739777 m, bearing: 20.637490 deg, approach rate: 0.063973 m/s, LOS rate: -0.108663 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781036 deg. 2025-01-08T20:23:46.082Z,1736367826.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055667 target range: 354.000000 and range: 354.00 m. 2025-01-08T20:23:46.228Z,1736367826.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:46.228Z,1736367826.228 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:46.228Z,1736367826.228 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:46.229Z,1736367826.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:46.482Z,1736367826.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:46.484Z,1736367826.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754494 2025-01-08T20:23:46.538Z,1736367826.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:46.546Z,1736367826.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:46.567Z,1736367826.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.764648 m, bearing: 20.587264 deg, approach rate: 0.053155 m/s, LOS rate: -0.107334 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.743889 deg. 2025-01-08T20:23:46.568Z,1736367826.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055018 target range: 354.000000 and range: 354.00 m. 2025-01-08T20:23:46.732Z,1736367826.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:46.732Z,1736367826.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002797 2025-01-08T20:23:46.875Z,1736367826.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:46.884Z,1736367826.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:46.886Z,1736367826.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.781982 m, bearing: 20.551138 deg, approach rate: 0.051400 m/s, LOS rate: -0.107116 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786187 deg. 2025-01-08T20:23:46.904Z,1736367826.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055757 target range: 354.000000 and range: 354.00 m. 2025-01-08T20:23:46.985Z,1736367826.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:46.986Z,1736367826.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256491 2025-01-08T20:23:47.236Z,1736367827.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:47.236Z,1736367827.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506757 2025-01-08T20:23:47.291Z,1736367827.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:47.299Z,1736367827.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:47.302Z,1736367827.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.802826 m, bearing: 20.506633 deg, approach rate: 0.050126 m/s, LOS rate: -0.107023 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.761048 deg. 2025-01-08T20:23:47.304Z,1736367827.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055318 target range: 354.000000 and range: 354.00 m. 2025-01-08T20:23:47.488Z,1736367827.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:47.489Z,1736367827.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759619 2025-01-08T20:23:47.740Z,1736367827.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:47.741Z,1736367827.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011038 2025-01-08T20:23:47.744Z,1736367827.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:47.772Z,1736367827.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:47.779Z,1736367827.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.812714 m, bearing: 20.456998 deg, approach rate: 0.020895 m/s, LOS rate: -0.104888 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.745656 deg. 2025-01-08T20:23:47.780Z,1736367827.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055049 target range: 354.000000 and range: 354.00 m. 2025-01-08T20:23:47.992Z,1736367827.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:47.993Z,1736367827.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263486 2025-01-08T20:23:48.093Z,1736367828.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:48.100Z,1736367828.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:48.102Z,1736367828.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:48.106Z,1736367828.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.820099 m, bearing: 20.418678 deg, approach rate: 0.022399 m/s, LOS rate: -0.116219 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779598 deg. 2025-01-08T20:23:48.107Z,1736367828.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055642 target range: 354.000000 and range: 354.00 m. 2025-01-08T20:23:48.244Z,1736367828.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:48.244Z,1736367828.244 [DAT](INFO): DAT read: Rx Time:20:23:46.9625 2025-01-08T20:23:48.245Z,1736367828.245 [DAT](INFO): Rx dataTimestamp_ set to:1736367828.244625 2025-01-08T20:23:48.245Z,1736367828.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515907 2025-01-08T20:23:48.497Z,1736367828.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:48.506Z,1736367828.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775786 2025-01-08T20:23:48.586Z,1736367828.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:48.602Z,1736367828.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:48.609Z,1736367828.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.830444 m, bearing: 20.363486 deg, approach rate: 0.020679 m/s, LOS rate: -0.110318 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.728986 deg. 2025-01-08T20:23:48.613Z,1736367828.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054759 target range: 354.000000 and range: 354.00 m. 2025-01-08T20:23:48.750Z,1736367828.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:48.752Z,1736367828.752 [DAT](INFO): DAT read: Range 10 to 50 : 352.7 m (Round-trip 470.3 ms) speed 0.7 m/s 2025-01-08T20:23:48.753Z,1736367828.753 [DAT](INFO): DAT read: user:1283> 2025-01-08T20:23:48.754Z,1736367828.754 [DAT](INFO): DAT read: Tx time:20:23:48.0380 2025-01-08T20:23:48.755Z,1736367828.755 [DAT](INFO): Ping request sent. 2025-01-08T20:23:48.755Z,1736367828.755 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:48.755Z,1736367828.755 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:23:48.756Z,1736367828.756 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:48.756Z,1736367828.756 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:48.949Z,1736367828.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:48.961Z,1736367828.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 352.700012 m, deltaT: 4.034167 s, deltaX: -1.299988 m, approachRate: -0.322244 m/s, rangeRepo size: 4 2025-01-08T20:23:48.961Z,1736367828.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:48.965Z,1736367828.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.837860 m, bearing: 20.322840 deg, approach rate: 0.020767 m/s, LOS rate: -0.113819 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772624 deg. 2025-01-08T20:23:48.966Z,1736367828.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055520 target range: 354.000000 and range: 352.70 m. 2025-01-08T20:23:49.006Z,1736367829.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:49.008Z,1736367829.008 [DAT](INFO): DAT read: TxSync time:20:23:48.0373 2025-01-08T20:23:49.260Z,1736367829.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:49.345Z,1736367829.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:49.355Z,1736367829.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:49.358Z,1736367829.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.846863 m, bearing: 20.278547 deg, approach rate: 0.022774 m/s, LOS rate: -0.112044 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.761681 deg. 2025-01-08T20:23:49.360Z,1736367829.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055329 target range: 354.000000 and range: 352.70 m. 2025-01-08T20:23:49.514Z,1736367829.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:49.547Z,1736367829.547 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T20:23:49.764Z,1736367829.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:49.790Z,1736367829.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:49.798Z,1736367829.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:49.801Z,1736367829.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.850403 m, bearing: 20.227181 deg, approach rate: 0.007980 m/s, LOS rate: -0.115794 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.740459 deg. 2025-01-08T20:23:49.802Z,1736367829.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054959 target range: 354.000000 and range: 352.70 m. 2025-01-08T20:23:50.016Z,1736367830.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:50.175Z,1736367830.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:50.182Z,1736367830.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:50.184Z,1736367830.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:50.189Z,1736367830.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.853729 m, bearing: 20.182713 deg, approach rate: 0.008621 m/s, LOS rate: -0.115251 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.761155 deg. 2025-01-08T20:23:50.190Z,1736367830.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055320 target range: 354.000000 and range: 352.70 m. 2025-01-08T20:23:50.268Z,1736367830.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:50.268Z,1736367830.268 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:50.268Z,1736367830.268 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:50.269Z,1736367830.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:50.522Z,1736367830.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:50.524Z,1736367830.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768783 2025-01-08T20:23:50.606Z,1736367830.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:50.614Z,1736367830.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:50.617Z,1736367830.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.847534 m, bearing: 20.130628 deg, approach rate: -0.014398 m/s, LOS rate: -0.121055 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.738299 deg. 2025-01-08T20:23:50.618Z,1736367830.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054921 target range: 354.000000 and range: 352.70 m. 2025-01-08T20:23:50.772Z,1736367830.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:50.772Z,1736367830.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017695 2025-01-08T20:23:50.969Z,1736367830.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:50.978Z,1736367830.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:50.981Z,1736367830.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.842010 m, bearing: 20.086815 deg, approach rate: -0.015201 m/s, LOS rate: -0.120571 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.763115 deg. 2025-01-08T20:23:50.982Z,1736367830.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055354 target range: 354.000000 and range: 352.70 m. 2025-01-08T20:23:51.025Z,1736367831.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:51.026Z,1736367831.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270758 2025-01-08T20:23:51.276Z,1736367831.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:51.276Z,1736367831.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521588 2025-01-08T20:23:51.380Z,1736367831.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:51.389Z,1736367831.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:51.408Z,1736367831.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.835999 m, bearing: 20.037153 deg, approach rate: -0.014627 m/s, LOS rate: -0.120827 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.745568 deg. 2025-01-08T20:23:51.409Z,1736367831.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055048 target range: 354.000000 and range: 352.70 m. 2025-01-08T20:23:51.530Z,1736367831.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:51.532Z,1736367831.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776873 2025-01-08T20:23:51.780Z,1736367831.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:51.780Z,1736367831.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025552 2025-01-08T20:23:51.834Z,1736367831.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:51.843Z,1736367831.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:51.846Z,1736367831.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.826752 m, bearing: 19.980013 deg, approach rate: -0.020366 m/s, LOS rate: -0.125853 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.723132 deg. 2025-01-08T20:23:51.847Z,1736367831.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054656 target range: 354.000000 and range: 352.70 m. 2025-01-08T20:23:52.032Z,1736367832.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:52.033Z,1736367832.033 [DAT](INFO): DAT read: Rx Time:20:23:50.8924 2025-01-08T20:23:52.034Z,1736367832.034 [DAT](INFO): Rx dataTimestamp_ set to:1736367832.033567 2025-01-08T20:23:52.035Z,1736367832.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280029 2025-01-08T20:23:52.179Z,1736367832.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:52.186Z,1736367832.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:52.189Z,1736367832.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:52.192Z,1736367832.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.820496 m, bearing: 19.936531 deg, approach rate: -0.018073 m/s, LOS rate: -0.125614 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764109 deg. 2025-01-08T20:23:52.193Z,1736367832.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055372 target range: 354.000000 and range: 352.70 m. 2025-01-08T20:23:52.284Z,1736367832.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:52.285Z,1736367832.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529880 2025-01-08T20:23:52.538Z,1736367832.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:52.541Z,1736367832.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786025 2025-01-08T20:23:52.649Z,1736367832.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:52.690Z,1736367832.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.00 m. 2025-01-08T20:23:52.697Z,1736367832.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.000000 m, nav range: 356.814453 m, bearing: 19.876025 deg, approach rate: -0.012220 m/s, LOS rate: -0.122366 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.713036 deg. 2025-01-08T20:23:52.698Z,1736367832.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054480 target range: 354.000000 and range: 352.70 m. 2025-01-08T20:23:52.788Z,1736367832.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:52.800Z,1736367832.800 [DAT](INFO): DAT read: 20:23:50.8924 LVL= 29872, 32753, 17314, 32755, AGC= 68, IDX= 407, 0.16,-0.298,-1.163, 0.632,-0.233, PHS= 0.023,-0.884, 0.862, RAW= 178.7, -0.0, CAL= 179.3, -7.9, ROT= 330.7, 7.9 2025-01-08T20:23:52.801Z,1736367832.801 [DAT](INFO): got valid direction response: 20:23:50.8924 LVL= 29872, 32753, 17314, 32755, AGC= 68, IDX= 407, 0.16,-0.298,-1.163, 0.632,-0.233, PHS= 0.023,-0.884, 0.862, RAW= 178.7, -0.0, CAL= 179.3, -7.9, ROT= 330.7, 7.9 2025-01-08T20:23:52.802Z,1736367832.802 [DAT](INFO): DAT read: Bearing 330.7, 7.9 (Local) 2025-01-08T20:23:52.802Z,1736367832.802 [DAT](INFO): Local bearing/azimuth received: Bearing 330.7, 7.9 (Local) 2025-01-08T20:23:52.804Z,1736367832.804 [DAT](INFO): DAT read: Range 10 to 50 : 337.6 m (Round-trip 450.2 ms) speed 0.6 m/s 2025-01-08T20:23:52.805Z,1736367832.805 [DAT](INFO): DAT read: user:1284> 2025-01-08T20:23:52.806Z,1736367832.806 [DAT](INFO): DAT read: Tx time:20:23:51.9880 2025-01-08T20:23:52.806Z,1736367832.806 [DAT](INFO): Ping request sent. 2025-01-08T20:23:52.806Z,1736367832.806 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:52.807Z,1736367832.807 [DAT](INFO): DAT read: TxSync time:20:23:51.9873 2025-01-08T20:23:52.813Z,1736367832.813 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:23:52.814Z,1736367832.814 [DAT](INFO): direction in FSK: [-0.089333,-0.993807,0.066092] 2025-01-08T20:23:52.814Z,1736367832.814 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:52.814Z,1736367832.814 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:52.828Z,1736367832.828 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:52.828Z,1736367832.828 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:53.016Z,1736367833.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:53.040Z,1736367833.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:53.049Z,1736367833.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 337.600006 m, deltaT: 4.038486 s, deltaX: -15.100006 m, approachRate: -3.739027 m/s, rangeRepo size: 4 2025-01-08T20:23:53.064Z,1736367833.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 337.600006 m, bearing: 22.452321 deg, lat: 36.907539 deg, lon: -122.121393 deg, deltaT: 8.072653 s, deltaX: -16.399994 m, approachRate: -2.031549 m/s, posRepo size: 4 2025-01-08T20:23:53.065Z,1736367833.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:53.079Z,1736367833.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.027130 m, bearing: 20.485232 deg, approach rate: 0.000000 m/s, LOS rate: -0.122366 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762668 deg. 2025-01-08T20:23:53.088Z,1736367833.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055346 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:53.292Z,1736367833.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:53.401Z,1736367833.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:53.410Z,1736367833.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:53.413Z,1736367833.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.020447 m, bearing: 20.435143 deg, approach rate: -0.018195 m/s, LOS rate: -0.136368 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.744287 deg. 2025-01-08T20:23:53.414Z,1736367833.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055026 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:53.547Z,1736367833.547 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:53.796Z,1736367833.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:53.842Z,1736367833.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:53.850Z,1736367833.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:53.853Z,1736367833.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.017975 m, bearing: 20.379237 deg, approach rate: -0.005618 m/s, LOS rate: -0.127053 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.726836 deg. 2025-01-08T20:23:53.855Z,1736367833.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054721 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:54.050Z,1736367834.050 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:54.244Z,1736367834.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:54.250Z,1736367834.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:54.252Z,1736367834.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:54.256Z,1736367834.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.017487 m, bearing: 20.328275 deg, approach rate: -0.001215 m/s, LOS rate: -0.126795 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.741672 deg. 2025-01-08T20:23:54.257Z,1736367834.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054980 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:54.300Z,1736367834.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:54.301Z,1736367834.301 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:54.301Z,1736367834.301 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:54.302Z,1736367834.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:54.553Z,1736367834.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:54.556Z,1736367834.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748892 2025-01-08T20:23:54.669Z,1736367834.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:54.712Z,1736367834.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:54.714Z,1736367834.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.019531 m, bearing: 20.274903 deg, approach rate: 0.004463 m/s, LOS rate: -0.116485 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.734443 deg. 2025-01-08T20:23:54.716Z,1736367834.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054854 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:54.804Z,1736367834.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:54.806Z,1736367834.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999789 2025-01-08T20:23:55.022Z,1736367835.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:55.035Z,1736367835.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:55.039Z,1736367835.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.021606 m, bearing: 20.230554 deg, approach rate: 0.006390 m/s, LOS rate: -0.136553 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.761511 deg. 2025-01-08T20:23:55.040Z,1736367835.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055326 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:55.058Z,1736367835.058 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:55.060Z,1736367835.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253432 2025-01-08T20:23:55.309Z,1736367835.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:55.311Z,1736367835.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504312 2025-01-08T20:23:55.426Z,1736367835.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:55.434Z,1736367835.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:55.438Z,1736367835.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.024200 m, bearing: 20.179929 deg, approach rate: 0.006499 m/s, LOS rate: -0.126836 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.742683 deg. 2025-01-08T20:23:55.439Z,1736367835.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054997 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:55.561Z,1736367835.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:55.564Z,1736367835.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756861 2025-01-08T20:23:55.812Z,1736367835.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:55.812Z,1736367835.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006242 2025-01-08T20:23:55.876Z,1736367835.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:55.885Z,1736367835.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:55.905Z,1736367835.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.031433 m, bearing: 20.125382 deg, approach rate: 0.016036 m/s, LOS rate: -0.120938 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.730919 deg. 2025-01-08T20:23:55.906Z,1736367835.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054792 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:56.064Z,1736367836.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:56.064Z,1736367836.064 [DAT](INFO): DAT read: Rx Time:20:23:54.8712 2025-01-08T20:23:56.065Z,1736367836.065 [DAT](INFO): Rx dataTimestamp_ set to:1736367836.064608 2025-01-08T20:23:56.065Z,1736367836.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259215 2025-01-08T20:23:56.235Z,1736367836.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:56.250Z,1736367836.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:56.253Z,1736367836.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.037323 m, bearing: 20.081969 deg, approach rate: 0.016150 m/s, LOS rate: -0.119036 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764319 deg. 2025-01-08T20:23:56.255Z,1736367836.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055375 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:56.317Z,1736367836.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:56.318Z,1736367836.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511105 2025-01-08T20:23:56.570Z,1736367836.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:56.594Z,1736367836.594 [DAT](INFO): DAT read: 20:23:54.8712 LVL= 32752, 32753, 17858, 32755, AGC= 68, IDX= 226, 0.24,-2.817, 2.706,-1.905,-2.832, PHS= 0.103,-0.698, 0.924, RAW= 180.4, -4.7, CAL= 181.3, -11.5, ROT= 328.7, 11.5 2025-01-08T20:23:56.648Z,1736367836.648 [DAT](INFO): got valid direction response: 20:23:54.8712 LVL= 32752, 32753, 17858, 32755, AGC= 68, IDX= 226, 0.24,-2.817, 2.706,-1.905,-2.832, PHS= 0.103,-0.698, 0.924, RAW= 180.4, -4.7, CAL= 181.3, -11.5, ROT= 328.7, 11.5 2025-01-08T20:23:56.649Z,1736367836.649 [DAT](INFO): DAT read: Bearing 328.7, 11.5 (Local) 2025-01-08T20:23:56.650Z,1736367836.650 [DAT](INFO): Local bearing/azimuth received: Bearing 328.7, 11.5 (Local) 2025-01-08T20:23:56.676Z,1736367836.676 [DAT](INFO): DAT read: Range 10 to 50 : 359.2 m (Round-trip 479.0 ms) speed 0.8 m/s 2025-01-08T20:23:56.678Z,1736367836.678 [DAT](INFO): DAT read: user:1285> 2025-01-08T20:23:56.679Z,1736367836.679 [DAT](INFO): DAT read: Tx time:20:23:55.9881 2025-01-08T20:23:56.691Z,1736367836.691 [DAT](INFO): Ping request sent. 2025-01-08T20:23:56.692Z,1736367836.692 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:23:56.692Z,1736367836.692 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:23:56.693Z,1736367836.693 [DAT](INFO): direction in FSK: [0.003540,-0.999084,0.042644] 2025-01-08T20:23:56.693Z,1736367836.693 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:56.693Z,1736367836.693 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:56.705Z,1736367836.705 [DAT](INFO): publishing transmit ping time 2025-01-08T20:23:56.705Z,1736367836.705 [DAT](INFO): publishing direction and range info 2025-01-08T20:23:56.820Z,1736367836.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:56.821Z,1736367836.821 [DAT](INFO): DAT read: TxSync time:20:23:55.9874 2025-01-08T20:23:56.828Z,1736367836.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:56.865Z,1736367836.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 359.200012 m, deltaT: 3.782767 s, deltaX: 21.600006 m, approachRate: 5.710107 m/s, rangeRepo size: 4 2025-01-08T20:23:56.866Z,1736367836.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:56.877Z,1736367836.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.061523 m, bearing: 20.013845 deg, approach rate: 0.039386 m/s, LOS rate: -0.110864 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690199 deg. 2025-01-08T20:23:56.878Z,1736367836.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054081 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:57.072Z,1736367837.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:57.075Z,1736367837.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:57.090Z,1736367837.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:57.096Z,1736367837.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:57.099Z,1736367837.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.071838 m, bearing: 19.985331 deg, approach rate: 0.044481 m/s, LOS rate: -0.122956 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809017 deg. 2025-01-08T20:23:57.105Z,1736367837.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056155 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:57.324Z,1736367837.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:57.324Z,1736367837.324 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:23:57.324Z,1736367837.324 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:23:57.325Z,1736367837.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:23:57.450Z,1736367837.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:57.460Z,1736367837.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:57.462Z,1736367837.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.088257 m, bearing: 19.942121 deg, approach rate: 0.045190 m/s, LOS rate: -0.118923 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764935 deg. 2025-01-08T20:23:57.464Z,1736367837.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055386 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:57.578Z,1736367837.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:57.581Z,1736367837.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.888824 2025-01-08T20:23:57.828Z,1736367837.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:57.828Z,1736367837.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.136874 2025-01-08T20:23:57.896Z,1736367837.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:57.912Z,1736367837.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:57.915Z,1736367837.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.110413 m, bearing: 19.892779 deg, approach rate: 0.048987 m/s, LOS rate: -0.109089 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.746540 deg. 2025-01-08T20:23:57.921Z,1736367837.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055065 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:58.080Z,1736367838.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:58.080Z,1736367838.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.388753 2025-01-08T20:23:58.272Z,1736367838.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:58.281Z,1736367838.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:58.283Z,1736367838.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.129395 m, bearing: 19.851024 deg, approach rate: 0.051470 m/s, LOS rate: -0.113214 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.769298 deg. 2025-01-08T20:23:58.285Z,1736367838.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055462 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:58.332Z,1736367838.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:58.333Z,1736367838.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.640967 2025-01-08T20:23:58.584Z,1736367838.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:58.584Z,1736367838.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.892782 2025-01-08T20:23:58.782Z,1736367838.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:58.817Z,1736367838.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:58.824Z,1736367838.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.157593 m, bearing: 19.795549 deg, approach rate: 0.052592 m/s, LOS rate: -0.103458 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.728146 deg. 2025-01-08T20:23:58.825Z,1736367838.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054744 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:58.836Z,1736367838.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:58.837Z,1736367838.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.145280 2025-01-08T20:23:59.088Z,1736367839.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:59.089Z,1736367839.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.397221 2025-01-08T20:23:59.266Z,1736367839.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:59.274Z,1736367839.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:23:59.276Z,1736367839.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:59.279Z,1736367839.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.184723 m, bearing: 19.742733 deg, approach rate: 0.059032 m/s, LOS rate: -0.114914 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.736120 deg. 2025-01-08T20:23:59.280Z,1736367839.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054883 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:59.340Z,1736367839.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:59.341Z,1736367839.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.649008 2025-01-08T20:23:59.592Z,1736367839.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:59.593Z,1736367839.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.901048 2025-01-08T20:23:59.726Z,1736367839.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:23:59.750Z,1736367839.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:23:59.757Z,1736367839.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.211700 m, bearing: 19.694145 deg, approach rate: 0.056983 m/s, LOS rate: -0.102620 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748805 deg. 2025-01-08T20:23:59.758Z,1736367839.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055104 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:23:59.844Z,1736367839.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:23:59.846Z,1736367839.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.154501 2025-01-08T20:24:00.074Z,1736367840.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:00.082Z,1736367840.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:24:00.085Z,1736367840.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.231964 m, bearing: 19.657240 deg, approach rate: 0.060943 m/s, LOS rate: -0.110986 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.783848 deg. 2025-01-08T20:24:00.086Z,1736367840.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055716 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:24:00.096Z,1736367840.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:00.097Z,1736367840.097 [DAT](INFO): DAT read: Rx Time:20:23:58.8677 2025-01-08T20:24:00.097Z,1736367840.097 [DAT](INFO): Rx dataTimestamp_ set to:1736367840.096684 2025-01-08T20:24:00.097Z,1736367840.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.405954 2025-01-08T20:24:00.348Z,1736367840.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:00.348Z,1736367840.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.656762 2025-01-08T20:24:00.485Z,1736367840.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:00.494Z,1736367840.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T20:24:00.497Z,1736367840.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 355.256073 m, bearing: 19.613797 deg, approach rate: 0.058605 m/s, LOS rate: -0.105599 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764234 deg. 2025-01-08T20:24:00.498Z,1736367840.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055374 target range: 337.600006 and range: 337.60 m. 2025-01-08T20:24:00.600Z,1736367840.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:00.615Z,1736367840.615 [DAT](INFO): DAT read: 20:23:58.8677 LVL= 32752, 32145, 18130, 32755, AGC= 67, IDX= 398,-0.36,-0.023,-0.794, 0.981, 0.109, PHS=-0.044,-0.856, 0.868, RAW= 181.9, 0.4, CAL= 182.3, -7.4, ROT= 327.7, 7.4 2025-01-08T20:24:00.618Z,1736367840.618 [DAT](INFO): got valid direction response: 20:23:58.8677 LVL= 32752, 32145, 18130, 32755, AGC= 67, IDX= 398,-0.36,-0.023,-0.794, 0.981, 0.109, PHS=-0.044,-0.856, 0.868, RAW= 181.9, 0.4, CAL= 182.3, -7.4, ROT= 327.7, 7.4 2025-01-08T20:24:00.620Z,1736367840.620 [DAT](INFO): DAT read: Bearing 327.7, 7.4 (Local) 2025-01-08T20:24:00.621Z,1736367840.621 [DAT](INFO): Local bearing/azimuth received: Bearing 327.7, 7.4 (Local) 2025-01-08T20:24:00.622Z,1736367840.622 [DAT](INFO): DAT read: Range 10 to 50 : 356.5 m (Round-trip 475.4 ms) speed 0.4 m/s 2025-01-08T20:24:00.629Z,1736367840.629 [DAT](INFO): DAT read: user:1286> 2025-01-08T20:24:00.631Z,1736367840.631 [DAT](INFO): DAT read: Tx time:20:23:59.9881 2025-01-08T20:24:00.633Z,1736367840.633 [DAT](INFO): Ping request sent. 2025-01-08T20:24:00.633Z,1736367840.633 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:00.634Z,1736367840.634 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:00.662Z,1736367840.662 [DAT](INFO): direction in FSK: [-0.092764,-0.995638,0.009978] 2025-01-08T20:24:00.680Z,1736367840.680 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:00.681Z,1736367840.681 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:00.706Z,1736367840.706 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:00.707Z,1736367840.707 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:00.852Z,1736367840.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:00.853Z,1736367840.853 [DAT](INFO): DAT read: TxSync time:20:23:59.9874 2025-01-08T20:24:00.972Z,1736367840.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:01.006Z,1736367841.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 356.500000 m, deltaT: 7.812327 s, deltaX: 18.899994 m, approachRate: 2.419253 m/s, rangeRepo size: 4 2025-01-08T20:24:01.012Z,1736367841.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 356.500000 m, bearing: 22.419407 deg, lat: 36.907472 deg, lon: -122.121343 deg, deltaT: 7.812327 s, deltaX: 18.899994 m, approachRate: 2.419253 m/s, posRepo size: 4 2025-01-08T20:24:01.013Z,1736367841.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m. 2025-01-08T20:24:01.021Z,1736367841.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 356.500000 m, nav range: 349.877106 m, bearing: 20.647402 deg, approach rate: 0.000000 m/s, LOS rate: -0.105599 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.732520 deg. 2025-01-08T20:24:01.022Z,1736367841.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054820 target range: 356.500000 and range: 356.50 m. 2025-01-08T20:24:01.105Z,1736367841.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:01.292Z,1736367841.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:01.299Z,1736367841.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:01.301Z,1736367841.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m. 2025-01-08T20:24:01.304Z,1736367841.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 356.500000 m, nav range: 349.891937 m, bearing: 20.612209 deg, approach rate: 0.050152 m/s, LOS rate: -0.118997 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788983 deg. 2025-01-08T20:24:01.306Z,1736367841.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055806 target range: 356.500000 and range: 356.50 m. 2025-01-08T20:24:01.357Z,1736367841.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:01.357Z,1736367841.357 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:01.358Z,1736367841.358 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:01.358Z,1736367841.358 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:01.609Z,1736367841.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:01.611Z,1736367841.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978898 2025-01-08T20:24:01.736Z,1736367841.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:01.767Z,1736367841.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m. 2025-01-08T20:24:01.774Z,1736367841.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 356.500000 m, nav range: 349.907135 m, bearing: 20.562119 deg, approach rate: 0.032793 m/s, LOS rate: -0.108079 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.744291 deg. 2025-01-08T20:24:01.775Z,1736367841.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055026 target range: 356.500000 and range: 356.50 m. 2025-01-08T20:24:01.861Z,1736367841.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:01.862Z,1736367841.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229521 2025-01-08T20:24:02.112Z,1736367842.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:02.113Z,1736367842.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479990 2025-01-08T20:24:02.117Z,1736367842.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:02.127Z,1736367842.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m. 2025-01-08T20:24:02.130Z,1736367842.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 356.500000 m, nav range: 349.920959 m, bearing: 20.519162 deg, approach rate: 0.038164 m/s, LOS rate: -0.118582 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.765693 deg. 2025-01-08T20:24:02.131Z,1736367842.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055399 target range: 356.500000 and range: 356.50 m. 2025-01-08T20:24:02.364Z,1736367842.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:02.364Z,1736367842.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731769 2025-01-08T20:24:02.501Z,1736367842.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:02.509Z,1736367842.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m. 2025-01-08T20:24:02.512Z,1736367842.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 356.500000 m, nav range: 349.935547 m, bearing: 20.475963 deg, approach rate: 0.038115 m/s, LOS rate: -0.112870 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764964 deg. 2025-01-08T20:24:02.514Z,1736367842.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055386 target range: 356.500000 and range: 356.50 m. 2025-01-08T20:24:02.616Z,1736367842.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:02.617Z,1736367842.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984780 2025-01-08T20:24:02.868Z,1736367842.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:02.868Z,1736367842.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235904 2025-01-08T20:24:02.966Z,1736367842.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:02.982Z,1736367842.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m. 2025-01-08T20:24:02.990Z,1736367842.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 356.500000 m, nav range: 349.954254 m, bearing: 20.421318 deg, approach rate: 0.039545 m/s, LOS rate: -0.115508 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.730631 deg. 2025-01-08T20:24:02.991Z,1736367842.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054787 target range: 356.500000 and range: 356.50 m. 2025-01-08T20:24:03.120Z,1736367843.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:03.121Z,1736367843.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488542 2025-01-08T20:24:03.312Z,1736367843.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:03.339Z,1736367843.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:03.341Z,1736367843.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m. 2025-01-08T20:24:03.350Z,1736367843.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 356.500000 m, nav range: 349.968628 m, bearing: 20.380654 deg, approach rate: 0.040042 m/s, LOS rate: -0.113275 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772570 deg. 2025-01-08T20:24:03.355Z,1736367843.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055519 target range: 356.500000 and range: 356.50 m. 2025-01-08T20:24:03.373Z,1736367843.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:03.373Z,1736367843.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740761 2025-01-08T20:24:03.624Z,1736367843.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:03.624Z,1736367843.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991960 2025-01-08T20:24:03.768Z,1736367843.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:03.781Z,1736367843.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m. 2025-01-08T20:24:03.784Z,1736367843.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 356.500000 m, nav range: 349.981323 m, bearing: 20.324863 deg, approach rate: 0.028869 m/s, LOS rate: -0.126862 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.727191 deg. 2025-01-08T20:24:03.785Z,1736367843.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054727 target range: 356.500000 and range: 356.50 m. 2025-01-08T20:24:03.876Z,1736367843.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:03.877Z,1736367843.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244584 2025-01-08T20:24:04.122Z,1736367844.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:04.128Z,1736367844.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:04.129Z,1736367844.129 [DAT](INFO): DAT read: Rx Time:20:24:02.8664 2025-01-08T20:24:04.129Z,1736367844.129 [DAT](INFO): Rx dataTimestamp_ set to:1736367844.128715 2025-01-08T20:24:04.130Z,1736367844.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497009 2025-01-08T20:24:04.139Z,1736367844.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m. 2025-01-08T20:24:04.142Z,1736367844.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 356.500000 m, nav range: 349.991821 m, bearing: 20.281562 deg, approach rate: 0.029343 m/s, LOS rate: -0.121030 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764656 deg. 2025-01-08T20:24:04.143Z,1736367844.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055381 target range: 356.500000 and range: 356.50 m. 2025-01-08T20:24:04.380Z,1736367844.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:04.380Z,1736367844.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747883 2025-01-08T20:24:04.585Z,1736367844.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:04.594Z,1736367844.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m. 2025-01-08T20:24:04.597Z,1736367844.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 356.500000 m, nav range: 350.006226 m, bearing: 20.225002 deg, approach rate: 0.031657 m/s, LOS rate: -0.124297 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.724885 deg. 2025-01-08T20:24:04.598Z,1736367844.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054687 target range: 356.500000 and range: 356.50 m. 2025-01-08T20:24:04.633Z,1736367844.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:04.648Z,1736367844.648 [DAT](INFO): DAT read: 20:24:02.8664 LVL= 32752, 32753, 21362, 32755, AGC= 63, IDX= 434, 0.40,-2.536, 3.105,-1.562,-2.447, PHS=-0.001,-0.684, 0.882, RAW= 184.2, -3.0, CAL= 184.6, -10.0, ROT= 325.4, 10.0 2025-01-08T20:24:04.650Z,1736367844.650 [DAT](INFO): got valid direction response: 20:24:02.8664 LVL= 32752, 32753, 21362, 32755, AGC= 63, IDX= 434, 0.40,-2.536, 3.105,-1.562,-2.447, PHS=-0.001,-0.684, 0.882, RAW= 184.2, -3.0, CAL= 184.6, -10.0, ROT= 325.4, 10.0 2025-01-08T20:24:04.656Z,1736367844.656 [DAT](INFO): DAT read: Bearing 325.4, 10.0 (Local) 2025-01-08T20:24:04.656Z,1736367844.656 [DAT](INFO): Local bearing/azimuth received: Bearing 325.4, 10.0 (Local) 2025-01-08T20:24:04.658Z,1736367844.658 [DAT](INFO): DAT read: Range 10 to 50 : 355.5 m (Round-trip 474.0 ms) speed 0.8 m/s 2025-01-08T20:24:04.670Z,1736367844.670 [DAT](INFO): DAT read: user:1287> 2025-01-08T20:24:04.677Z,1736367844.677 [DAT](INFO): DAT read: Tx time:20:24:03.9882 2025-01-08T20:24:04.677Z,1736367844.677 [DAT](INFO): Ping request sent. 2025-01-08T20:24:04.678Z,1736367844.678 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:04.678Z,1736367844.678 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:04.698Z,1736367844.698 [DAT](INFO): direction in FSK: [-0.024994,-0.999365,-0.025393] 2025-01-08T20:24:04.699Z,1736367844.699 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:04.706Z,1736367844.706 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:04.756Z,1736367844.756 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:04.756Z,1736367844.756 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:04.884Z,1736367844.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:04.885Z,1736367844.885 [DAT](INFO): DAT read: TxSync time:20:24:03.9875 2025-01-08T20:24:05.024Z,1736367845.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:24:05.053Z,1736367845.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:05.084Z,1736367845.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 355.500000 m, deltaT: 4.031836 s, deltaX: -1.000000 m, approachRate: -0.248026 m/s, rangeRepo size: 4 2025-01-08T20:24:05.086Z,1736367845.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 355.500000 m, bearing: 27.155847 deg, lat: 36.907370 deg, lon: -122.121212 deg, deltaT: 4.031836 s, deltaX: -1.000000 m, approachRate: -0.248026 m/s, posRepo size: 4 2025-01-08T20:24:05.092Z,1736367845.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T20:24:05.094Z,1736367845.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 343.745361 m, bearing: 22.650552 deg, approach rate: 0.000000 m/s, LOS rate: -0.124297 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.713501 deg. 2025-01-08T20:24:05.100Z,1736367845.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054488 target range: 355.500000 and range: 355.50 m. 2025-01-08T20:24:05.136Z,1736367845.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:05.375Z,1736367845.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:05.382Z,1736367845.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:05.384Z,1736367845.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T20:24:05.388Z,1736367845.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:05.389Z,1736367845.389 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:05.389Z,1736367845.389 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:05.389Z,1736367845.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:05.390Z,1736367845.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 343.744598 m, bearing: 22.609873 deg, approach rate: -0.002505 m/s, LOS rate: -0.133543 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772520 deg. 2025-01-08T20:24:05.393Z,1736367845.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055518 target range: 355.500000 and range: 355.50 m. 2025-01-08T20:24:05.640Z,1736367845.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:05.641Z,1736367845.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.963230 2025-01-08T20:24:05.810Z,1736367845.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:05.821Z,1736367845.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T20:24:05.824Z,1736367845.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 343.736633 m, bearing: 22.556357 deg, approach rate: -0.018240 m/s, LOS rate: -0.122552 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.734005 deg. 2025-01-08T20:24:05.825Z,1736367845.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054846 target range: 355.500000 and range: 355.50 m. 2025-01-08T20:24:05.893Z,1736367845.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:05.894Z,1736367845.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216724 2025-01-08T20:24:06.029Z,1736367846.029 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:24:06.144Z,1736367846.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:06.144Z,1736367846.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466986 2025-01-08T20:24:06.192Z,1736367846.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:06.205Z,1736367846.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T20:24:06.212Z,1736367846.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 343.730103 m, bearing: 22.509478 deg, approach rate: -0.017241 m/s, LOS rate: -0.123760 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.753918 deg. 2025-01-08T20:24:06.213Z,1736367846.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055194 target range: 355.500000 and range: 355.50 m. 2025-01-08T20:24:06.396Z,1736367846.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:06.396Z,1736367846.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719008 2025-01-08T20:24:06.580Z,1736367846.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:06.615Z,1736367846.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T20:24:06.618Z,1736367846.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 343.723694 m, bearing: 22.461718 deg, approach rate: -0.015440 m/s, LOS rate: -0.115070 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.751274 deg. 2025-01-08T20:24:06.619Z,1736367846.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055147 target range: 355.500000 and range: 355.50 m. 2025-01-08T20:24:06.649Z,1736367846.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:06.655Z,1736367846.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976681 2025-01-08T20:24:06.900Z,1736367846.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:06.901Z,1736367846.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223614 2025-01-08T20:24:07.039Z,1736367847.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:07.047Z,1736367847.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T20:24:07.050Z,1736367847.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 343.715790 m, bearing: 22.404843 deg, approach rate: -0.018275 m/s, LOS rate: -0.131505 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.723927 deg. 2025-01-08T20:24:07.053Z,1736367847.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054670 target range: 355.500000 and range: 355.50 m. 2025-01-08T20:24:07.152Z,1736367847.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:07.152Z,1736367847.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475134 2025-01-08T20:24:07.392Z,1736367847.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:07.399Z,1736367847.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:07.401Z,1736367847.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T20:24:07.404Z,1736367847.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:07.405Z,1736367847.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727590 2025-01-08T20:24:07.406Z,1736367847.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 343.709595 m, bearing: 22.361057 deg, approach rate: -0.017514 m/s, LOS rate: -0.123786 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.763197 deg. 2025-01-08T20:24:07.407Z,1736367847.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055356 target range: 355.500000 and range: 355.50 m. 2025-01-08T20:24:07.656Z,1736367847.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:07.657Z,1736367847.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979879 2025-01-08T20:24:07.825Z,1736367847.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:07.856Z,1736367847.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T20:24:07.858Z,1736367847.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 343.706909 m, bearing: 22.309460 deg, approach rate: -0.005929 m/s, LOS rate: -0.113915 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.739764 deg. 2025-01-08T20:24:07.860Z,1736367847.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054947 target range: 355.500000 and range: 355.50 m. 2025-01-08T20:24:07.909Z,1736367847.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:07.912Z,1736367847.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233388 2025-01-08T20:24:08.160Z,1736367848.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:08.160Z,1736367848.160 [DAT](INFO): DAT read: Rx Time:20:24:06.8439 2025-01-08T20:24:08.161Z,1736367848.161 [DAT](INFO): Rx dataTimestamp_ set to:1736367848.160623 2025-01-08T20:24:08.161Z,1736367848.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484068 2025-01-08T20:24:08.224Z,1736367848.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:08.232Z,1736367848.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T20:24:08.235Z,1736367848.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 343.704437 m, bearing: 22.261983 deg, approach rate: -0.006534 m/s, LOS rate: -0.125493 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.752125 deg. 2025-01-08T20:24:08.236Z,1736367848.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055162 target range: 355.500000 and range: 355.50 m. 2025-01-08T20:24:08.412Z,1736367848.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:08.413Z,1736367848.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.735165 2025-01-08T20:24:08.603Z,1736367848.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:08.612Z,1736367848.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T20:24:08.615Z,1736367848.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 343.702148 m, bearing: 22.216870 deg, approach rate: -0.006019 m/s, LOS rate: -0.118645 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.759217 deg. 2025-01-08T20:24:08.616Z,1736367848.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055286 target range: 355.500000 and range: 355.50 m. 2025-01-08T20:24:08.665Z,1736367848.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:08.676Z,1736367848.676 [DAT](INFO): DAT read: 20:24:06.8439 LVL= 26784, 30801, 13634, 32755, AGC= 66, IDX= 204,-0.37,-1.007,-1.716,-0.111,-0.921, PHS= 0.002,-0.747, 0.807, RAW= 181.2, -0.9, CAL= 181.7, -8.5, ROT= 328.3, 8.5 2025-01-08T20:24:08.678Z,1736367848.678 [DAT](INFO): got valid direction response: 20:24:06.8439 LVL= 26784, 30801, 13634, 32755, AGC= 66, IDX= 204,-0.37,-1.007,-1.716,-0.111,-0.921, PHS= 0.002,-0.747, 0.807, RAW= 181.2, -0.9, CAL= 181.7, -8.5, ROT= 328.3, 8.5 2025-01-08T20:24:08.680Z,1736367848.680 [DAT](INFO): DAT read: Bearing 328.3, 8.5 (Local) 2025-01-08T20:24:08.681Z,1736367848.681 [DAT](INFO): Local bearing/azimuth received: Bearing 328.3, 8.5 (Local) 2025-01-08T20:24:08.683Z,1736367848.683 [DAT](INFO): DAT read: Range 10 to 50 : 338.6 m (Round-trip 451.5 ms) speed 0.4 m/s 2025-01-08T20:24:08.684Z,1736367848.684 [DAT](INFO): DAT read: user:1288> 2025-01-08T20:24:08.686Z,1736367848.686 [DAT](INFO): DAT read: Tx time:20:24:07.9382 2025-01-08T20:24:08.686Z,1736367848.686 [DAT](INFO): Ping request sent. 2025-01-08T20:24:08.686Z,1736367848.686 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:08.687Z,1736367848.687 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:08.689Z,1736367848.689 [DAT](INFO): direction in FSK: [-0.067938,-0.997394,0.024286] 2025-01-08T20:24:08.689Z,1736367848.689 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:08.690Z,1736367848.690 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:08.700Z,1736367848.700 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:08.701Z,1736367848.701 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:08.916Z,1736367848.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:08.917Z,1736367848.917 [DAT](INFO): DAT read: TxSync time:20:24:07.9375 2025-01-08T20:24:09.064Z,1736367849.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:09.090Z,1736367849.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 338.600006 m, deltaT: 4.032418 s, deltaX: -16.899994 m, approachRate: -4.191032 m/s, rangeRepo size: 4 2025-01-08T20:24:09.101Z,1736367849.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 338.600006 m, bearing: 24.670951 deg, lat: 36.907348 deg, lon: -122.121088 deg, deltaT: 4.032418 s, deltaX: -16.899994 m, approachRate: -4.191032 m/s, posRepo size: 4 2025-01-08T20:24:09.101Z,1736367849.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.60 m. 2025-01-08T20:24:09.108Z,1736367849.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.600006 m, nav range: 345.694916 m, bearing: 24.010876 deg, approach rate: 0.000000 m/s, LOS rate: -0.118645 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.724717 deg. 2025-01-08T20:24:09.110Z,1736367849.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054684 target range: 338.600006 and range: 338.60 m. 2025-01-08T20:24:09.168Z,1736367849.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:09.412Z,1736367849.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:09.419Z,1736367849.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:09.420Z,1736367849.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:09.421Z,1736367849.421 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:09.421Z,1736367849.421 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:09.422Z,1736367849.422 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:09.426Z,1736367849.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.60 m. 2025-01-08T20:24:09.429Z,1736367849.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.600006 m, nav range: 345.686157 m, bearing: 23.970370 deg, approach rate: -0.026042 m/s, LOS rate: -0.120439 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.773036 deg. 2025-01-08T20:24:09.431Z,1736367849.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055527 target range: 338.600006 and range: 338.60 m. 2025-01-08T20:24:09.672Z,1736367849.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:09.673Z,1736367849.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987134 2025-01-08T20:24:09.853Z,1736367849.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:09.893Z,1736367849.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.60 m. 2025-01-08T20:24:09.896Z,1736367849.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.600006 m, nav range: 345.676300 m, bearing: 23.919117 deg, approach rate: -0.021114 m/s, LOS rate: -0.109787 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.740791 deg. 2025-01-08T20:24:09.897Z,1736367849.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054965 target range: 338.600006 and range: 338.60 m. 2025-01-08T20:24:09.924Z,1736367849.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:09.925Z,1736367849.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238689 2025-01-08T20:24:10.177Z,1736367850.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:10.178Z,1736367850.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491858 2025-01-08T20:24:10.242Z,1736367850.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:10.272Z,1736367850.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.60 m. 2025-01-08T20:24:10.275Z,1736367850.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.600006 m, nav range: 345.667938 m, bearing: 23.873879 deg, approach rate: -0.022082 m/s, LOS rate: -0.119466 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.758841 deg. 2025-01-08T20:24:10.276Z,1736367850.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055279 target range: 338.600006 and range: 338.60 m. 2025-01-08T20:24:10.428Z,1736367850.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:10.428Z,1736367850.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742405 2025-01-08T20:24:10.646Z,1736367850.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:10.660Z,1736367850.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.60 m. 2025-01-08T20:24:10.680Z,1736367850.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:10.681Z,1736367850.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995333 2025-01-08T20:24:10.688Z,1736367850.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.600006 m, nav range: 345.658508 m, bearing: 23.826918 deg, approach rate: -0.024302 m/s, LOS rate: -0.121028 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.753671 deg. 2025-01-08T20:24:10.689Z,1736367850.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055189 target range: 338.600006 and range: 338.60 m. 2025-01-08T20:24:10.932Z,1736367850.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:10.932Z,1736367850.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246465 2025-01-08T20:24:11.092Z,1736367851.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:11.112Z,1736367851.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.60 m. 2025-01-08T20:24:11.116Z,1736367851.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.600006 m, nav range: 345.647156 m, bearing: 23.775059 deg, approach rate: -0.025183 m/s, LOS rate: -0.115041 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.738973 deg. 2025-01-08T20:24:11.120Z,1736367851.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054933 target range: 338.600006 and range: 338.60 m. 2025-01-08T20:24:11.185Z,1736367851.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:11.186Z,1736367851.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499732 2025-01-08T20:24:11.436Z,1736367851.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:11.437Z,1736367851.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750544 2025-01-08T20:24:11.456Z,1736367851.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:11.462Z,1736367851.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:11.465Z,1736367851.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.60 m. 2025-01-08T20:24:11.483Z,1736367851.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.600006 m, nav range: 345.637543 m, bearing: 23.732594 deg, approach rate: -0.027125 m/s, LOS rate: -0.119825 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.767159 deg. 2025-01-08T20:24:11.485Z,1736367851.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055425 target range: 338.600006 and range: 338.60 m. 2025-01-08T20:24:11.688Z,1736367851.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:11.689Z,1736367851.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002730 2025-01-08T20:24:11.901Z,1736367851.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:11.911Z,1736367851.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.60 m. 2025-01-08T20:24:11.914Z,1736367851.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.600006 m, nav range: 345.633209 m, bearing: 23.681217 deg, approach rate: -0.009710 m/s, LOS rate: -0.115122 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.740425 deg. 2025-01-08T20:24:11.915Z,1736367851.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054958 target range: 338.600006 and range: 338.60 m. 2025-01-08T20:24:11.944Z,1736367851.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:11.945Z,1736367851.945 [DAT](INFO): DAT read: Rx Time:20:24:10.8079 2025-01-08T20:24:11.945Z,1736367851.945 [DAT](INFO): Rx dataTimestamp_ set to:1736367851.944743 2025-01-08T20:24:11.946Z,1736367851.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259575 2025-01-08T20:24:12.196Z,1736367852.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:12.196Z,1736367852.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510384 2025-01-08T20:24:12.272Z,1736367852.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:12.280Z,1736367852.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.60 m. 2025-01-08T20:24:12.282Z,1736367852.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.600006 m, nav range: 345.629486 m, bearing: 23.638531 deg, approach rate: -0.010102 m/s, LOS rate: -0.115823 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.766497 deg. 2025-01-08T20:24:12.284Z,1736367852.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055413 target range: 338.600006 and range: 338.60 m. 2025-01-08T20:24:12.448Z,1736367852.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:12.448Z,1736367852.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762338 2025-01-08T20:24:12.676Z,1736367852.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:12.700Z,1736367852.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:12.708Z,1736367852.708 [DAT](INFO): DAT read: 20:24:10.8079 LVL= 27296, 23793, 14514, 26803, AGC= 67, IDX= 74,-0.07,-2.908, 2.718,-2.025,-2.776, PHS=-0.045,-0.743, 0.748, RAW= 182.1, 0.6, CAL= 182.4, -7.3, ROT= 327.6, 7.3 2025-01-08T20:24:12.709Z,1736367852.709 [DAT](INFO): got valid direction response: 20:24:10.8079 LVL= 27296, 23793, 14514, 26803, AGC= 67, IDX= 74,-0.07,-2.908, 2.718,-2.025,-2.776, PHS=-0.045,-0.743, 0.748, RAW= 182.1, 0.6, CAL= 182.4, -7.3, ROT= 327.6, 7.3 2025-01-08T20:24:12.710Z,1736367852.710 [DAT](INFO): DAT read: Bearing 327.6, 7.3 (Local) 2025-01-08T20:24:12.710Z,1736367852.710 [DAT](INFO): Local bearing/azimuth received: Bearing 327.6, 7.3 (Local) 2025-01-08T20:24:12.712Z,1736367852.712 [DAT](INFO): DAT read: Range 10 to 50 : 349.0 m (Round-trip 465.4 ms) speed 0.2 m/s 2025-01-08T20:24:12.713Z,1736367852.713 [DAT](INFO): DAT read: user:1289> 2025-01-08T20:24:12.714Z,1736367852.714 [DAT](INFO): DAT read: Tx time:20:24:11.8883 2025-01-08T20:24:12.714Z,1736367852.714 [DAT](INFO): Ping request sent. 2025-01-08T20:24:12.714Z,1736367852.714 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:12.715Z,1736367852.715 [DAT](INFO): DAT read: TxSync time:20:24:11.8875 2025-01-08T20:24:12.715Z,1736367852.715 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:12.716Z,1736367852.716 [DAT](INFO): direction in FSK: [-0.096120,-0.995349,0.006472] 2025-01-08T20:24:12.716Z,1736367852.716 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:12.716Z,1736367852.716 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:12.732Z,1736367852.732 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:12.732Z,1736367852.732 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:12.745Z,1736367852.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 349.000000 m, deltaT: 4.034793 s, deltaX: 10.399994 m, approachRate: 2.577578 m/s, rangeRepo size: 4 2025-01-08T20:24:12.747Z,1736367852.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 349.000000 m, bearing: 22.470191 deg, lat: 36.907370 deg, lon: -122.121088 deg, deltaT: 4.034793 s, deltaX: 10.399994 m, approachRate: 2.577578 m/s, posRepo size: 4 2025-01-08T20:24:12.756Z,1736367852.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.00 m. 2025-01-08T20:24:12.759Z,1736367852.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.000000 m, nav range: 347.940857 m, bearing: 23.425391 deg, approach rate: 0.000000 m/s, LOS rate: -0.115823 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.734793 deg. 2025-01-08T20:24:12.795Z,1736367852.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054860 target range: 349.000000 and range: 349.00 m. 2025-01-08T20:24:12.952Z,1736367852.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:13.181Z,1736367853.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:13.195Z,1736367853.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.00 m. 2025-01-08T20:24:13.197Z,1736367853.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.000000 m, nav range: 347.934753 m, bearing: 23.365896 deg, approach rate: -0.013404 m/s, LOS rate: -0.130662 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.716070 deg. 2025-01-08T20:24:13.199Z,1736367853.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054533 target range: 349.000000 and range: 349.00 m. 2025-01-08T20:24:13.204Z,1736367853.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:13.456Z,1736367853.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:13.545Z,1736367853.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:13.551Z,1736367853.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:13.554Z,1736367853.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.00 m. 2025-01-08T20:24:13.557Z,1736367853.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.000000 m, nav range: 347.930573 m, bearing: 23.323005 deg, approach rate: -0.011652 m/s, LOS rate: -0.119534 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.765882 deg. 2025-01-08T20:24:13.558Z,1736367853.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055402 target range: 349.000000 and range: 349.00 m. 2025-01-08T20:24:13.708Z,1736367853.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:13.708Z,1736367853.708 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:13.708Z,1736367853.708 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:13.709Z,1736367853.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:13.959Z,1736367853.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:13.960Z,1736367853.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:13.961Z,1736367853.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246620 2025-01-08T20:24:13.973Z,1736367853.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.00 m. 2025-01-08T20:24:13.976Z,1736367853.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.000000 m, nav range: 347.927582 m, bearing: 23.274081 deg, approach rate: -0.007131 m/s, LOS rate: -0.116653 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.747784 deg. 2025-01-08T20:24:13.977Z,1736367853.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055087 target range: 349.000000 and range: 349.00 m. 2025-01-08T20:24:14.212Z,1736367854.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:14.213Z,1736367854.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498793 2025-01-08T20:24:14.340Z,1736367854.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:14.351Z,1736367854.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.00 m. 2025-01-08T20:24:14.355Z,1736367854.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.000000 m, nav range: 347.924866 m, bearing: 23.228991 deg, approach rate: -0.007183 m/s, LOS rate: -0.119247 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.759284 deg. 2025-01-08T20:24:14.356Z,1736367854.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055287 target range: 349.000000 and range: 349.00 m. 2025-01-08T20:24:14.464Z,1736367854.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:14.465Z,1736367854.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751083 2025-01-08T20:24:14.716Z,1736367854.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:14.716Z,1736367854.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002368 2025-01-08T20:24:14.738Z,1736367854.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:14.746Z,1736367854.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.00 m. 2025-01-08T20:24:14.770Z,1736367854.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.000000 m, nav range: 347.921295 m, bearing: 23.182127 deg, approach rate: -0.009026 m/s, LOS rate: -0.118465 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.753964 deg. 2025-01-08T20:24:14.776Z,1736367854.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055194 target range: 349.000000 and range: 349.00 m. 2025-01-08T20:24:14.968Z,1736367854.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:14.969Z,1736367854.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254729 2025-01-08T20:24:15.166Z,1736367855.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:15.202Z,1736367855.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.00 m. 2025-01-08T20:24:15.209Z,1736367855.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.000000 m, nav range: 347.918427 m, bearing: 23.129244 deg, approach rate: -0.006304 m/s, LOS rate: -0.116208 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.735907 deg. 2025-01-08T20:24:15.210Z,1736367855.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054879 target range: 349.000000 and range: 349.00 m. 2025-01-08T20:24:15.220Z,1736367855.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:15.221Z,1736367855.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507398 2025-01-08T20:24:15.472Z,1736367855.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:15.473Z,1736367855.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758630 2025-01-08T20:24:15.584Z,1736367855.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:15.592Z,1736367855.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:15.594Z,1736367855.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.00 m. 2025-01-08T20:24:15.597Z,1736367855.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.000000 m, nav range: 347.915894 m, bearing: 23.077650 deg, approach rate: -0.006458 m/s, LOS rate: -0.131554 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.739774 deg. 2025-01-08T20:24:15.598Z,1736367855.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054947 target range: 349.000000 and range: 349.00 m. 2025-01-08T20:24:15.724Z,1736367855.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:15.725Z,1736367855.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010728 2025-01-08T20:24:15.970Z,1736367855.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:15.978Z,1736367855.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:15.979Z,1736367855.979 [DAT](INFO): DAT read: Rx Time:20:24:14.7556 2025-01-08T20:24:15.980Z,1736367855.980 [DAT](INFO): Rx dataTimestamp_ set to:1736367855.979278 2025-01-08T20:24:15.980Z,1736367855.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266146 2025-01-08T20:24:16.011Z,1736367856.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.00 m. 2025-01-08T20:24:16.018Z,1736367856.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.000000 m, nav range: 347.910339 m, bearing: 23.030482 deg, approach rate: -0.013324 m/s, LOS rate: -0.113154 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.753052 deg. 2025-01-08T20:24:16.019Z,1736367856.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055178 target range: 349.000000 and range: 349.00 m. 2025-01-08T20:24:16.228Z,1736367856.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:16.228Z,1736367856.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514377 2025-01-08T20:24:16.357Z,1736367856.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:16.365Z,1736367856.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.00 m. 2025-01-08T20:24:16.372Z,1736367856.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.000000 m, nav range: 347.904663 m, bearing: 22.983073 deg, approach rate: -0.016015 m/s, LOS rate: -0.133761 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.752326 deg. 2025-01-08T20:24:16.374Z,1736367856.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055166 target range: 349.000000 and range: 349.00 m. 2025-01-08T20:24:16.480Z,1736367856.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:16.489Z,1736367856.489 [DAT](INFO): DAT read: 20:24:14.7556 LVL= 32752, 32753, 19282, 32755, AGC= 65, IDX= 418,-0.18, 2.346, 1.541,-3.114, 2.310, PHS= 0.125,-0.722, 0.856, RAW= 177.6, -3.8, CAL= 178.8, -10.9, ROT= 331.2, 10.9 2025-01-08T20:24:16.491Z,1736367856.491 [DAT](INFO): got valid direction response: 20:24:14.7556 LVL= 32752, 32753, 19282, 32755, AGC= 65, IDX= 418,-0.18, 2.346, 1.541,-3.114, 2.310, PHS= 0.125,-0.722, 0.856, RAW= 177.6, -3.8, CAL= 178.8, -10.9, ROT= 331.2, 10.9 2025-01-08T20:24:16.493Z,1736367856.493 [DAT](INFO): DAT read: Bearing 331.2, 10.9 (Local) 2025-01-08T20:24:16.494Z,1736367856.494 [DAT](INFO): Local bearing/azimuth received: Bearing 331.2, 10.9 (Local) 2025-01-08T20:24:16.508Z,1736367856.508 [DAT](INFO): DAT read: Range 10 to 50 : 347.3 m (Round-trip 463.1 ms) speed 0.3 m/s 2025-01-08T20:24:16.509Z,1736367856.509 [DAT](INFO): DAT read: user:1290> 2025-01-08T20:24:16.509Z,1736367856.509 [DAT](INFO): DAT read: Tx time:20:24:15.8383 2025-01-08T20:24:16.510Z,1736367856.510 [DAT](INFO): Ping request sent. 2025-01-08T20:24:16.510Z,1736367856.510 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:16.510Z,1736367856.510 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:16.511Z,1736367856.511 [DAT](INFO): direction in FSK: [-0.017966,-0.995710,0.090765] 2025-01-08T20:24:16.512Z,1736367856.512 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:16.512Z,1736367856.512 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:16.523Z,1736367856.523 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:16.524Z,1736367856.524 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:16.732Z,1736367856.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:16.734Z,1736367856.734 [DAT](INFO): DAT read: TxSync time:20:24:15.8375 2025-01-08T20:24:16.795Z,1736367856.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:16.833Z,1736367856.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 347.299988 m, deltaT: 3.780509 s, deltaX: -1.700012 m, approachRate: -0.449678 m/s, rangeRepo size: 4 2025-01-08T20:24:16.839Z,1736367856.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 347.299988 m, bearing: 26.442869 deg, lat: 36.907331 deg, lon: -122.121088 deg, deltaT: 3.780509 s, deltaX: -1.700012 m, approachRate: -0.449678 m/s, posRepo size: 4 2025-01-08T20:24:16.840Z,1736367856.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.30 m. 2025-01-08T20:24:16.843Z,1736367856.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 347.299988 m, nav range: 343.815674 m, bearing: 23.217609 deg, approach rate: 0.000000 m/s, LOS rate: -0.133761 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.707048 deg. 2025-01-08T20:24:16.850Z,1736367856.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054376 target range: 347.299988 and range: 347.30 m. 2025-01-08T20:24:16.984Z,1736367856.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:17.228Z,1736367857.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:17.236Z,1736367857.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:17.260Z,1736367857.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.30 m. 2025-01-08T20:24:17.262Z,1736367857.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 347.299988 m, nav range: 343.805328 m, bearing: 23.163420 deg, approach rate: -0.024200 m/s, LOS rate: -0.126761 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.731987 deg. 2025-01-08T20:24:17.268Z,1736367857.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054811 target range: 347.299988 and range: 347.30 m. 2025-01-08T20:24:17.488Z,1736367857.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:17.616Z,1736367857.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:17.624Z,1736367857.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:17.626Z,1736367857.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.30 m. 2025-01-08T20:24:17.629Z,1736367857.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 347.299988 m, nav range: 343.796631 m, bearing: 23.114783 deg, approach rate: -0.023737 m/s, LOS rate: -0.132743 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748641 deg. 2025-01-08T20:24:17.630Z,1736367857.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055101 target range: 347.299988 and range: 347.30 m. 2025-01-08T20:24:17.740Z,1736367857.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:17.740Z,1736367857.740 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:17.741Z,1736367857.741 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:17.741Z,1736367857.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:17.992Z,1736367857.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:17.992Z,1736367857.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482739 2025-01-08T20:24:18.059Z,1736367858.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:18.088Z,1736367858.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.30 m. 2025-01-08T20:24:18.097Z,1736367858.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 347.299988 m, nav range: 343.787201 m, bearing: 23.058607 deg, approach rate: -0.020626 m/s, LOS rate: -0.122878 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.726023 deg. 2025-01-08T20:24:18.098Z,1736367858.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054707 target range: 347.299988 and range: 347.30 m. 2025-01-08T20:24:18.244Z,1736367858.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:18.244Z,1736367858.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734735 2025-01-08T20:24:18.496Z,1736367858.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:18.497Z,1736367858.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987451 2025-01-08T20:24:18.531Z,1736367858.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:18.558Z,1736367858.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.30 m. 2025-01-08T20:24:18.566Z,1736367858.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 347.299988 m, nav range: 343.776611 m, bearing: 22.998672 deg, approach rate: -0.022334 m/s, LOS rate: -0.126406 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.714749 deg. 2025-01-08T20:24:18.568Z,1736367858.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054510 target range: 347.299988 and range: 347.30 m. 2025-01-08T20:24:18.748Z,1736367858.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:18.749Z,1736367858.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238892 2025-01-08T20:24:19.001Z,1736367859.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:19.001Z,1736367859.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491792 2025-01-08T20:24:19.044Z,1736367859.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:19.066Z,1736367859.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.30 m. 2025-01-08T20:24:19.073Z,1736367859.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 347.299988 m, nav range: 343.762451 m, bearing: 22.934981 deg, approach rate: -0.027859 m/s, LOS rate: -0.125310 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.703476 deg. 2025-01-08T20:24:19.076Z,1736367859.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054313 target range: 347.299988 and range: 347.30 m. 2025-01-08T20:24:19.252Z,1736367859.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:19.253Z,1736367859.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743059 2025-01-08T20:24:19.485Z,1736367859.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:19.501Z,1736367859.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.30 m. 2025-01-08T20:24:19.505Z,1736367859.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:19.505Z,1736367859.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995669 2025-01-08T20:24:19.508Z,1736367859.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 347.299988 m, nav range: 343.750427 m, bearing: 22.880174 deg, approach rate: -0.027625 m/s, LOS rate: -0.125924 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.730129 deg. 2025-01-08T20:24:19.510Z,1736367859.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054778 target range: 347.299988 and range: 347.30 m. 2025-01-08T20:24:19.756Z,1736367859.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:19.757Z,1736367859.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247297 2025-01-08T20:24:19.900Z,1736367859.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:19.931Z,1736367859.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:19.981Z,1736367859.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.30 m. 2025-01-08T20:24:19.989Z,1736367859.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 347.299988 m, nav range: 343.739380 m, bearing: 22.828760 deg, approach rate: -0.023050 m/s, LOS rate: -0.107279 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.740310 deg. 2025-01-08T20:24:19.990Z,1736367859.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054956 target range: 347.299988 and range: 347.30 m. 2025-01-08T20:24:20.008Z,1736367860.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:20.009Z,1736367860.009 [DAT](INFO): DAT read: Rx Time:20:24:18.7011 2025-01-08T20:24:20.009Z,1736367860.009 [DAT](INFO): Rx dataTimestamp_ set to:1736367860.008781 2025-01-08T20:24:20.010Z,1736367860.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499902 2025-01-08T20:24:20.260Z,1736367860.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:20.260Z,1736367860.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750677 2025-01-08T20:24:20.324Z,1736367860.324 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD13.88, +149.89, -1.73, 800 2025-01-08T20:24:20.332Z,1736367860.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:24:20.332Z,1736367860.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:20.341Z,1736367860.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 347.30 m. 2025-01-08T20:24:20.380Z,1736367860.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 347.299988 m, nav range: 343.728119 m, bearing: 22.775051 deg, approach rate: -0.031186 m/s, LOS rate: -0.148744 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.733425 deg. 2025-01-08T20:24:20.389Z,1736367860.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054836 target range: 347.299988 and range: 347.30 m. 2025-01-08T20:24:20.512Z,1736367860.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:20.518Z,1736367860.518 [DAT](INFO): DAT read: 20:24:18.7011 LVL= 30192, 32753, 18386, 32755, AGC= 67, IDX= 389, 0.04,-3.001, 2.594,-2.040,-3.100, PHS= 0.187,-0.542, 1.057, RAW= 182.9, -10.2, CAL= 183.8, -15.7, ROT= 326.2, 15.7 2025-01-08T20:24:20.521Z,1736367860.521 [DAT](INFO): got valid direction response: 20:24:18.7011 LVL= 30192, 32753, 18386, 32755, AGC= 67, IDX= 389, 0.04,-3.001, 2.594,-2.040,-3.100, PHS= 0.187,-0.542, 1.057, RAW= 182.9, -10.2, CAL= 183.8, -15.7, ROT= 326.2, 15.7 2025-01-08T20:24:20.522Z,1736367860.522 [DAT](INFO): DAT read: Bearing 326.2, 15.7 (Local) 2025-01-08T20:24:20.522Z,1736367860.522 [DAT](INFO): Local bearing/azimuth received: Bearing 326.2, 15.7 (Local) 2025-01-08T20:24:20.524Z,1736367860.524 [DAT](INFO): DAT read: Range 10 to 50 : 343.9 m (Round-trip 458.6 ms) speed 0.7 m/s 2025-01-08T20:24:20.524Z,1736367860.524 [DAT](INFO): DAT read: user:1291> 2025-01-08T20:24:20.525Z,1736367860.525 [DAT](INFO): DAT read: Tx time:20:24:19.7883 2025-01-08T20:24:20.525Z,1736367860.525 [DAT](INFO): Ping request sent. 2025-01-08T20:24:20.525Z,1736367860.525 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:20.526Z,1736367860.526 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:20.527Z,1736367860.527 [DAT](INFO): direction in FSK: [0.110740,-0.993830,0.006261] 2025-01-08T20:24:20.527Z,1736367860.527 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:20.535Z,1736367860.535 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:20.540Z,1736367860.540 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:20.540Z,1736367860.540 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:20.728Z,1736367860.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:24:20.729Z,1736367860.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:20.750Z,1736367860.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 343.899994 m, deltaT: 4.031490 s, deltaX: -3.399994 m, approachRate: -0.843359 m/s, rangeRepo size: 4 2025-01-08T20:24:20.764Z,1736367860.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:20.765Z,1736367860.765 [DAT](INFO): DAT read: TxSync time:20:24:19.7875 2025-01-08T20:24:20.767Z,1736367860.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 343.899994 m, bearing: 33.849092 deg, lat: 36.907284 deg, lon: -122.121088 deg, deltaT: 4.031490 s, deltaX: -3.399994 m, approachRate: -0.843359 m/s, posRepo size: 4 2025-01-08T20:24:20.772Z,1736367860.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.90 m. 2025-01-08T20:24:20.774Z,1736367860.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.899994 m, nav range: 338.936096 m, bearing: 23.064719 deg, approach rate: 0.000000 m/s, LOS rate: -0.148744 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.712362 deg. 2025-01-08T20:24:20.781Z,1736367860.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054468 target range: 343.899994 and range: 343.90 m. 2025-01-08T20:24:21.017Z,1736367861.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:21.148Z,1736367861.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:21.165Z,1736367861.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.90 m. 2025-01-08T20:24:21.172Z,1736367861.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.899994 m, nav range: 338.925140 m, bearing: 23.013435 deg, approach rate: -0.026408 m/s, LOS rate: -0.123622 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.740699 deg. 2025-01-08T20:24:21.175Z,1736367861.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054963 target range: 343.899994 and range: 343.90 m. 2025-01-08T20:24:21.268Z,1736367861.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:21.509Z,1736367861.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:21.517Z,1736367861.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.90 m. 2025-01-08T20:24:21.520Z,1736367861.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:21.540Z,1736367861.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.899994 m, nav range: 338.916840 m, bearing: 22.969456 deg, approach rate: -0.023563 m/s, LOS rate: -0.124842 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762617 deg. 2025-01-08T20:24:21.541Z,1736367861.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055345 target range: 343.899994 and range: 343.90 m. 2025-01-08T20:24:21.772Z,1736367861.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:21.909Z,1736367861.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:21.919Z,1736367861.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.90 m. 2025-01-08T20:24:21.922Z,1736367861.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.899994 m, nav range: 338.908600 m, bearing: 22.920620 deg, approach rate: -0.020490 m/s, LOS rate: -0.121446 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748044 deg. 2025-01-08T20:24:21.928Z,1736367861.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055091 target range: 343.899994 and range: 343.90 m. 2025-01-08T20:24:22.024Z,1736367862.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:22.276Z,1736367862.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:22.335Z,1736367862.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:22.343Z,1736367862.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:22.345Z,1736367862.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.90 m. 2025-01-08T20:24:22.348Z,1736367862.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.899994 m, nav range: 338.899750 m, bearing: 22.869026 deg, approach rate: -0.020762 m/s, LOS rate: -0.121041 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.739770 deg. 2025-01-08T20:24:22.349Z,1736367862.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054947 target range: 343.899994 and range: 343.90 m. 2025-01-08T20:24:22.528Z,1736367862.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:22.529Z,1736367862.529 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:22.529Z,1736367862.529 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:22.529Z,1736367862.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:22.718Z,1736367862.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:22.735Z,1736367862.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.90 m. 2025-01-08T20:24:22.758Z,1736367862.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.899994 m, nav range: 338.892029 m, bearing: 22.822674 deg, approach rate: -0.019833 m/s, LOS rate: -0.119068 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.755498 deg. 2025-01-08T20:24:22.767Z,1736367862.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055221 target range: 343.899994 and range: 343.90 m. 2025-01-08T20:24:22.780Z,1736367862.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:22.780Z,1736367862.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254920 2025-01-08T20:24:23.032Z,1736367863.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:23.032Z,1736367863.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506925 2025-01-08T20:24:23.131Z,1736367863.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:23.139Z,1736367863.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.90 m. 2025-01-08T20:24:23.166Z,1736367863.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.899994 m, nav range: 338.886078 m, bearing: 22.773519 deg, approach rate: -0.014724 m/s, LOS rate: -0.121623 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.747089 deg. 2025-01-08T20:24:23.169Z,1736367863.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055074 target range: 343.899994 and range: 343.90 m. 2025-01-08T20:24:23.285Z,1736367863.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:23.286Z,1736367863.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760765 2025-01-08T20:24:23.536Z,1736367863.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:23.536Z,1736367863.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010876 2025-01-08T20:24:23.542Z,1736367863.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:23.550Z,1736367863.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.90 m. 2025-01-08T20:24:23.554Z,1736367863.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.899994 m, nav range: 338.880280 m, bearing: 22.724482 deg, approach rate: -0.014088 m/s, LOS rate: -0.119149 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.747443 deg. 2025-01-08T20:24:23.556Z,1736367863.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055081 target range: 343.899994 and range: 343.90 m. 2025-01-08T20:24:23.788Z,1736367863.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:23.789Z,1736367863.789 [DAT](INFO): DAT read: Rx Time:20:24:22.6487 2025-01-08T20:24:23.790Z,1736367863.790 [DAT](INFO): Rx dataTimestamp_ set to:1736367863.789297 2025-01-08T20:24:23.790Z,1736367863.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264634 2025-01-08T20:24:23.929Z,1736367863.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:23.941Z,1736367863.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.90 m. 2025-01-08T20:24:23.945Z,1736367863.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.899994 m, nav range: 338.874908 m, bearing: 22.678394 deg, approach rate: -0.013812 m/s, LOS rate: -0.118521 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.756293 deg. 2025-01-08T20:24:23.946Z,1736367863.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055235 target range: 343.899994 and range: 343.90 m. 2025-01-08T20:24:24.040Z,1736367864.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:24.041Z,1736367864.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515036 2025-01-08T20:24:24.293Z,1736367864.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:24.304Z,1736367864.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769659 2025-01-08T20:24:24.400Z,1736367864.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:24.408Z,1736367864.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:24.410Z,1736367864.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.90 m. 2025-01-08T20:24:24.413Z,1736367864.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.899994 m, nav range: 338.867462 m, bearing: 22.624074 deg, approach rate: -0.015815 m/s, LOS rate: -0.115368 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.731594 deg. 2025-01-08T20:24:24.414Z,1736367864.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054804 target range: 343.899994 and range: 343.90 m. 2025-01-08T20:24:24.544Z,1736367864.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:24.551Z,1736367864.551 [DAT](INFO): DAT read: 20:24:22.6487 LVL= 25728, 31873, 12882, 32755, AGC= 67, IDX= 410, 0.48,-2.995, 2.523,-2.106,-3.138, PHS= 0.231,-0.575, 1.029, RAW= 179.9, -9.9, CAL= 181.2, -15.6, ROT= 328.8, 15.6 2025-01-08T20:24:24.552Z,1736367864.552 [DAT](INFO): got valid direction response: 20:24:22.6487 LVL= 25728, 31873, 12882, 32755, AGC= 67, IDX= 410, 0.48,-2.995, 2.523,-2.106,-3.138, PHS= 0.231,-0.575, 1.029, RAW= 179.9, -9.9, CAL= 181.2, -15.6, ROT= 328.8, 15.6 2025-01-08T20:24:24.554Z,1736367864.554 [DAT](INFO): DAT read: Bearing 328.8, 15.6 (Local) 2025-01-08T20:24:24.555Z,1736367864.555 [DAT](INFO): Local bearing/azimuth received: Bearing 328.8, 15.6 (Local) 2025-01-08T20:24:24.557Z,1736367864.557 [DAT](INFO): DAT read: Range 10 to 50 : 342.0 m (Round-trip 456.1 ms) speed 0.4 m/s 2025-01-08T20:24:24.558Z,1736367864.558 [DAT](INFO): DAT read: user:1292> 2025-01-08T20:24:24.558Z,1736367864.558 [DAT](INFO): DAT read: Tx time:20:24:23.7384 2025-01-08T20:24:24.559Z,1736367864.559 [DAT](INFO): Ping request sent. 2025-01-08T20:24:24.559Z,1736367864.559 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:24.560Z,1736367864.560 [DAT](INFO): DAT read: TxSync time:20:24:23.7376 2025-01-08T20:24:24.560Z,1736367864.560 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:24.561Z,1736367864.561 [DAT](INFO): direction in FSK: [0.101528,-0.993106,0.058587] 2025-01-08T20:24:24.561Z,1736367864.561 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:24.562Z,1736367864.562 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:24.569Z,1736367864.569 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:24.569Z,1736367864.569 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:24.733Z,1736367864.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:24.772Z,1736367864.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 342.000000 m, deltaT: 4.032265 s, deltaX: -1.899994 m, approachRate: -0.471198 m/s, rangeRepo size: 4 2025-01-08T20:24:24.774Z,1736367864.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 342.000000 m, bearing: 33.431930 deg, lat: 36.907284 deg, lon: -122.120874 deg, deltaT: 4.032265 s, deltaX: -1.899994 m, approachRate: -0.471198 m/s, posRepo size: 4 2025-01-08T20:24:24.779Z,1736367864.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T20:24:24.782Z,1736367864.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 346.610992 m, bearing: 25.489244 deg, approach rate: 0.000000 m/s, LOS rate: -0.115368 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.771060 deg. 2025-01-08T20:24:24.788Z,1736367864.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055493 target range: 342.000000 and range: 342.00 m. 2025-01-08T20:24:24.796Z,1736367864.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:25.050Z,1736367865.050 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:25.157Z,1736367865.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:25.165Z,1736367865.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T20:24:25.168Z,1736367865.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 346.592590 m, bearing: 25.441303 deg, approach rate: -0.046248 m/s, LOS rate: -0.120492 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.750727 deg. 2025-01-08T20:24:25.169Z,1736367865.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055138 target range: 342.000000 and range: 342.00 m. 2025-01-08T20:24:25.301Z,1736367865.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:25.532Z,1736367865.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:25.552Z,1736367865.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:25.566Z,1736367865.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T20:24:25.573Z,1736367865.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 346.577057 m, bearing: 25.398843 deg, approach rate: -0.038746 m/s, LOS rate: -0.105913 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.767173 deg. 2025-01-08T20:24:25.574Z,1736367865.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055425 target range: 342.000000 and range: 342.00 m. 2025-01-08T20:24:25.805Z,1736367865.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:25.951Z,1736367865.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:25.960Z,1736367865.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T20:24:25.963Z,1736367865.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 346.559998 m, bearing: 25.351290 deg, approach rate: -0.043229 m/s, LOS rate: -0.120507 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.751891 deg. 2025-01-08T20:24:25.964Z,1736367865.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055158 target range: 342.000000 and range: 342.00 m. 2025-01-08T20:24:26.058Z,1736367866.058 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:26.308Z,1736367866.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:26.380Z,1736367866.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:26.389Z,1736367866.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T20:24:26.392Z,1736367866.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 346.541504 m, bearing: 25.302101 deg, approach rate: -0.043160 m/s, LOS rate: -0.114801 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.746982 deg. 2025-01-08T20:24:26.393Z,1736367866.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055073 target range: 342.000000 and range: 342.00 m. 2025-01-08T20:24:26.560Z,1736367866.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:26.756Z,1736367866.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:26.763Z,1736367866.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:26.765Z,1736367866.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T20:24:26.768Z,1736367866.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 346.525238 m, bearing: 25.258961 deg, approach rate: -0.043197 m/s, LOS rate: -0.114572 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.765131 deg. 2025-01-08T20:24:26.769Z,1736367866.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055389 target range: 342.000000 and range: 342.00 m. 2025-01-08T20:24:26.812Z,1736367866.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:26.813Z,1736367866.813 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:26.813Z,1736367866.813 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:26.814Z,1736367866.814 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:27.072Z,1736367867.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:27.076Z,1736367867.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516204 2025-01-08T20:24:27.175Z,1736367867.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:27.184Z,1736367867.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T20:24:27.186Z,1736367867.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 346.511780 m, bearing: 25.210256 deg, approach rate: -0.032192 m/s, LOS rate: -0.116508 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748434 deg. 2025-01-08T20:24:27.188Z,1736367867.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055098 target range: 342.000000 and range: 342.00 m. 2025-01-08T20:24:27.324Z,1736367867.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:27.324Z,1736367867.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765574 2025-01-08T20:24:27.552Z,1736367867.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:27.562Z,1736367867.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T20:24:27.565Z,1736367867.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 346.500031 m, bearing: 25.166366 deg, approach rate: -0.031043 m/s, LOS rate: -0.115964 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762883 deg. 2025-01-08T20:24:27.566Z,1736367867.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055350 target range: 342.000000 and range: 342.00 m. 2025-01-08T20:24:27.576Z,1736367867.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:27.576Z,1736367867.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017616 2025-01-08T20:24:27.828Z,1736367867.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:27.829Z,1736367867.829 [DAT](INFO): DAT read: Rx Time:20:24:26.5778 2025-01-08T20:24:27.829Z,1736367867.829 [DAT](INFO): Rx dataTimestamp_ set to:1736367867.828881 2025-01-08T20:24:27.830Z,1736367867.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270852 2025-01-08T20:24:27.961Z,1736367867.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:27.969Z,1736367867.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T20:24:27.974Z,1736367867.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 346.487457 m, bearing: 25.118817 deg, approach rate: -0.030850 m/s, LOS rate: -0.116674 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.751904 deg. 2025-01-08T20:24:27.996Z,1736367867.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055158 target range: 342.000000 and range: 342.00 m. 2025-01-08T20:24:28.081Z,1736367868.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:28.084Z,1736367868.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524788 2025-01-08T20:24:28.332Z,1736367868.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:28.338Z,1736367868.338 [DAT](INFO): DAT read: 20:24:26.5778 LVL= 32752, 30625, 17394, 32755, AGC= 67, IDX= 229,-0.01, 2.887, 2.146,-2.426, 2.905, PHS= 0.070,-0.712, 0.949, RAW= 181.9, -4.3, CAL= 182.6, -11.2, ROT= 327.4, 11.2 2025-01-08T20:24:28.339Z,1736367868.339 [DAT](INFO): got valid direction response: 20:24:26.5778 LVL= 32752, 30625, 17394, 32755, AGC= 67, IDX= 229,-0.01, 2.887, 2.146,-2.426, 2.905, PHS= 0.070,-0.712, 0.949, RAW= 181.9, -4.3, CAL= 182.6, -11.2, ROT= 327.4, 11.2 2025-01-08T20:24:28.340Z,1736367868.340 [DAT](INFO): DAT read: Bearing 327.4, 11.2 (Local) 2025-01-08T20:24:28.341Z,1736367868.341 [DAT](INFO): Local bearing/azimuth received: Bearing 327.4, 11.2 (Local) 2025-01-08T20:24:28.342Z,1736367868.342 [DAT](INFO): DAT read: Range 10 to 50 : 326.4 m (Round-trip 435.2 ms) speed 0.7 m/s 2025-01-08T20:24:28.343Z,1736367868.343 [DAT](INFO): DAT read: user:1293> 2025-01-08T20:24:28.344Z,1736367868.344 [DAT](INFO): DAT read: Tx time:20:24:27.6884 2025-01-08T20:24:28.344Z,1736367868.344 [DAT](INFO): Ping request sent. 2025-01-08T20:24:28.344Z,1736367868.344 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:28.344Z,1736367868.344 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:28.345Z,1736367868.345 [DAT](INFO): direction in FSK: [-0.002218,-0.999873,0.015782] 2025-01-08T20:24:28.345Z,1736367868.345 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:28.346Z,1736367868.346 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:28.353Z,1736367868.353 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:28.354Z,1736367868.354 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:28.495Z,1736367868.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:28.529Z,1736367868.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 326.399994 m, deltaT: 3.787546 s, deltaX: -15.600006 m, approachRate: -4.118763 m/s, rangeRepo size: 4 2025-01-08T20:24:28.536Z,1736367868.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 326.399994 m, bearing: 27.397987 deg, lat: 36.907050 deg, lon: -122.120846 deg, deltaT: 3.787546 s, deltaX: -15.600006 m, approachRate: -4.118763 m/s, posRepo size: 4 2025-01-08T20:24:28.537Z,1736367868.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T20:24:28.544Z,1736367868.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 324.234863 m, bearing: 27.397088 deg, approach rate: 0.000000 m/s, LOS rate: -0.116674 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.698781 deg. 2025-01-08T20:24:28.545Z,1736367868.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054231 target range: 326.399994 and range: 326.40 m. 2025-01-08T20:24:28.584Z,1736367868.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:28.585Z,1736367868.585 [DAT](INFO): DAT read: TxSync time:20:24:27.6876 2025-01-08T20:24:28.813Z,1736367868.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:28.820Z,1736367868.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:28.823Z,1736367868.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T20:24:28.827Z,1736367868.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 324.215485 m, bearing: 27.356880 deg, approach rate: -0.065894 m/s, LOS rate: -0.136728 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.773925 deg. 2025-01-08T20:24:28.828Z,1736367868.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055543 target range: 326.399994 and range: 326.40 m. 2025-01-08T20:24:28.836Z,1736367868.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:28.836Z,1736367868.836 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:28.836Z,1736367868.836 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:28.838Z,1736367868.838 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:29.089Z,1736367869.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:29.091Z,1736367869.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746860 2025-01-08T20:24:29.253Z,1736367869.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:29.284Z,1736367869.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T20:24:29.286Z,1736367869.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 324.190338 m, bearing: 27.300957 deg, approach rate: -0.054883 m/s, LOS rate: -0.122063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.726776 deg. 2025-01-08T20:24:29.292Z,1736367869.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054720 target range: 326.399994 and range: 326.40 m. 2025-01-08T20:24:29.340Z,1736367869.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:29.341Z,1736367869.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996555 2025-01-08T20:24:29.592Z,1736367869.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:29.592Z,1736367869.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248481 2025-01-08T20:24:29.645Z,1736367869.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:29.680Z,1736367869.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T20:24:29.688Z,1736367869.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 324.168304 m, bearing: 27.251039 deg, approach rate: -0.055926 m/s, LOS rate: -0.126712 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.744791 deg. 2025-01-08T20:24:29.689Z,1736367869.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055034 target range: 326.399994 and range: 326.40 m. 2025-01-08T20:24:29.844Z,1736367869.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:29.844Z,1736367869.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500352 2025-01-08T20:24:30.020Z,1736367870.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:30.034Z,1736367870.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T20:24:30.067Z,1736367870.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 324.147339 m, bearing: 27.203453 deg, approach rate: -0.058412 m/s, LOS rate: -0.132585 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.751792 deg. 2025-01-08T20:24:30.084Z,1736367870.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055156 target range: 326.399994 and range: 326.40 m. 2025-01-08T20:24:30.097Z,1736367870.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:30.100Z,1736367870.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755077 2025-01-08T20:24:30.349Z,1736367870.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:30.351Z,1736367870.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006644 2025-01-08T20:24:30.448Z,1736367870.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:30.458Z,1736367870.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T20:24:30.461Z,1736367870.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 324.120270 m, bearing: 27.146921 deg, approach rate: -0.063846 m/s, LOS rate: -0.133350 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.724944 deg. 2025-01-08T20:24:30.462Z,1736367870.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054688 target range: 326.399994 and range: 326.40 m. 2025-01-08T20:24:30.600Z,1736367870.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:30.600Z,1736367870.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256411 2025-01-08T20:24:30.836Z,1736367870.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:30.844Z,1736367870.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:30.846Z,1736367870.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T20:24:30.848Z,1736367870.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 324.095459 m, bearing: 27.095960 deg, approach rate: -0.063995 m/s, LOS rate: -0.131454 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.741664 deg. 2025-01-08T20:24:30.850Z,1736367870.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054980 target range: 326.399994 and range: 326.40 m. 2025-01-08T20:24:30.852Z,1736367870.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:30.853Z,1736367870.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508782 2025-01-08T20:24:31.106Z,1736367871.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:31.109Z,1736367871.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763984 2025-01-08T20:24:31.267Z,1736367871.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:31.276Z,1736367871.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T20:24:31.279Z,1736367871.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 324.063293 m, bearing: 27.037257 deg, approach rate: -0.074750 m/s, LOS rate: -0.136435 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.718430 deg. 2025-01-08T20:24:31.280Z,1736367871.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054574 target range: 326.399994 and range: 326.40 m. 2025-01-08T20:24:31.356Z,1736367871.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:31.358Z,1736367871.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013571 2025-01-08T20:24:31.608Z,1736367871.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:31.608Z,1736367871.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264498 2025-01-08T20:24:31.642Z,1736367871.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:31.690Z,1736367871.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T20:24:31.696Z,1736367871.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 324.035706 m, bearing: 26.986294 deg, approach rate: -0.066712 m/s, LOS rate: -0.123247 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.741656 deg. 2025-01-08T20:24:31.698Z,1736367871.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054980 target range: 326.399994 and range: 326.40 m. 2025-01-08T20:24:31.860Z,1736367871.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:31.860Z,1736367871.860 [DAT](INFO): DAT read: Rx Time:20:24:30.5427 2025-01-08T20:24:31.861Z,1736367871.861 [DAT](INFO): Rx dataTimestamp_ set to:1736367871.860657 2025-01-08T20:24:31.861Z,1736367871.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517525 2025-01-08T20:24:32.042Z,1736367872.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:32.059Z,1736367872.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T20:24:32.064Z,1736367872.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 324.007050 m, bearing: 26.931784 deg, approach rate: -0.077980 m/s, LOS rate: -0.148350 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.731010 deg. 2025-01-08T20:24:32.065Z,1736367872.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054794 target range: 326.399994 and range: 326.40 m. 2025-01-08T20:24:32.113Z,1736367872.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:32.117Z,1736367872.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772249 2025-01-08T20:24:32.364Z,1736367872.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:32.372Z,1736367872.372 [DAT](INFO): DAT read: 20:24:30.5427 LVL= 20080, 14497, 11058, 16307, AGC= 63, IDX= 76, 0.33,-0.803,-1.472, 0.163,-0.713, PHS=-0.002,-0.712, 0.873, RAW= 183.4, -2.3, CAL= 183.8, -9.6, ROT= 326.2, 9.6 2025-01-08T20:24:32.373Z,1736367872.373 [DAT](INFO): got valid direction response: 20:24:30.5427 LVL= 20080, 14497, 11058, 16307, AGC= 63, IDX= 76, 0.33,-0.803,-1.472, 0.163,-0.713, PHS=-0.002,-0.712, 0.873, RAW= 183.4, -2.3, CAL= 183.8, -9.6, ROT= 326.2, 9.6 2025-01-08T20:24:32.374Z,1736367872.374 [DAT](INFO): DAT read: Bearing 326.2, 9.6 (Local) 2025-01-08T20:24:32.374Z,1736367872.374 [DAT](INFO): Local bearing/azimuth received: Bearing 326.2, 9.6 (Local) 2025-01-08T20:24:32.389Z,1736367872.389 [DAT](INFO): DAT read: Range 10 to 50 : 337.5 m (Round-trip 450.0 ms) speed 0.4 m/s 2025-01-08T20:24:32.390Z,1736367872.390 [DAT](INFO): DAT read: user:1294> 2025-01-08T20:24:32.390Z,1736367872.390 [DAT](INFO): DAT read: Tx time:20:24:31.6385 2025-01-08T20:24:32.391Z,1736367872.391 [DAT](INFO): Ping request sent. 2025-01-08T20:24:32.391Z,1736367872.391 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:32.391Z,1736367872.391 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:32.392Z,1736367872.392 [DAT](INFO): direction in FSK: [-0.037515,-0.999215,-0.012757] 2025-01-08T20:24:32.392Z,1736367872.392 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:32.393Z,1736367872.393 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:32.436Z,1736367872.436 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:32.436Z,1736367872.436 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:32.575Z,1736367872.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:32.609Z,1736367872.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 337.500000 m, deltaT: 4.032549 s, deltaX: 11.100006 m, approachRate: 2.752603 m/s, rangeRepo size: 4 2025-01-08T20:24:32.611Z,1736367872.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 337.500000 m, bearing: 25.462495 deg, lat: 36.907050 deg, lon: -122.120846 deg, deltaT: 4.032549 s, deltaX: 11.100006 m, approachRate: 2.752603 m/s, posRepo size: 4 2025-01-08T20:24:32.616Z,1736367872.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:32.617Z,1736367872.617 [DAT](INFO): DAT read: TxSync time:20:24:31.6377 2025-01-08T20:24:32.618Z,1736367872.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:32.625Z,1736367872.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.966980 m, bearing: 26.860327 deg, approach rate: 0.000000 m/s, LOS rate: -0.148350 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.649259 deg. 2025-01-08T20:24:32.626Z,1736367872.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053367 target range: 337.500000 and range: 337.50 m. 2025-01-08T20:24:32.868Z,1736367872.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:32.912Z,1736367872.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:32.918Z,1736367872.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:32.922Z,1736367872.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:32.925Z,1736367872.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.941650 m, bearing: 26.814121 deg, approach rate: -0.080796 m/s, LOS rate: -0.147398 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.755929 deg. 2025-01-08T20:24:32.926Z,1736367872.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055229 target range: 337.500000 and range: 337.50 m. 2025-01-08T20:24:33.122Z,1736367873.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:33.125Z,1736367873.125 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:33.125Z,1736367873.125 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:33.126Z,1736367873.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:33.321Z,1736367873.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:33.336Z,1736367873.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:33.356Z,1736367873.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.911774 m, bearing: 26.758966 deg, approach rate: -0.072050 m/s, LOS rate: -0.133022 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.729077 deg. 2025-01-08T20:24:33.358Z,1736367873.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054760 target range: 337.500000 and range: 337.50 m. 2025-01-08T20:24:33.372Z,1736367873.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:33.373Z,1736367873.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982109 2025-01-08T20:24:33.624Z,1736367873.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:33.625Z,1736367873.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233791 2025-01-08T20:24:33.715Z,1736367873.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:33.741Z,1736367873.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:33.744Z,1736367873.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.883942 m, bearing: 26.705878 deg, approach rate: -0.069056 m/s, LOS rate: -0.131731 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.735279 deg. 2025-01-08T20:24:33.745Z,1736367873.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054868 target range: 337.500000 and range: 337.50 m. 2025-01-08T20:24:33.876Z,1736367873.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:33.877Z,1736367873.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485752 2025-01-08T20:24:34.130Z,1736367874.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:34.134Z,1736367874.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742069 2025-01-08T20:24:34.180Z,1736367874.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:34.197Z,1736367874.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:34.205Z,1736367874.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.851349 m, bearing: 26.643035 deg, approach rate: -0.071195 m/s, LOS rate: -0.137286 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.706010 deg. 2025-01-08T20:24:34.206Z,1736367874.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054358 target range: 337.500000 and range: 337.50 m. 2025-01-08T20:24:34.380Z,1736367874.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:34.380Z,1736367874.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989494 2025-01-08T20:24:34.545Z,1736367874.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:34.554Z,1736367874.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:34.573Z,1736367874.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.826233 m, bearing: 26.592611 deg, approach rate: -0.070502 m/s, LOS rate: -0.141555 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.743273 deg. 2025-01-08T20:24:34.574Z,1736367874.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055008 target range: 337.500000 and range: 337.50 m. 2025-01-08T20:24:34.634Z,1736367874.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:34.635Z,1736367874.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244313 2025-01-08T20:24:34.884Z,1736367874.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:34.884Z,1736367874.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493565 2025-01-08T20:24:34.926Z,1736367874.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:34.933Z,1736367874.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:34.952Z,1736367874.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:34.960Z,1736367874.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.800629 m, bearing: 26.539955 deg, approach rate: -0.067090 m/s, LOS rate: -0.137985 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.736576 deg. 2025-01-08T20:24:34.990Z,1736367874.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054891 target range: 337.500000 and range: 337.50 m. 2025-01-08T20:24:35.139Z,1736367875.139 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:35.142Z,1736367875.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750670 2025-01-08T20:24:35.353Z,1736367875.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:35.385Z,1736367875.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:35.388Z,1736367875.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:35.388Z,1736367875.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997681 2025-01-08T20:24:35.389Z,1736367875.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.772217 m, bearing: 26.482447 deg, approach rate: -0.063166 m/s, LOS rate: -0.127863 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.722019 deg. 2025-01-08T20:24:35.390Z,1736367875.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054637 target range: 337.500000 and range: 337.50 m. 2025-01-08T20:24:35.640Z,1736367875.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:35.641Z,1736367875.641 [DAT](INFO): DAT read: Rx Time:20:24:34.4893 2025-01-08T20:24:35.641Z,1736367875.641 [DAT](INFO): Rx dataTimestamp_ set to:1736367875.640691 2025-01-08T20:24:35.641Z,1736367875.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250691 2025-01-08T20:24:35.736Z,1736367875.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:35.745Z,1736367875.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:35.748Z,1736367875.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.747467 m, bearing: 26.430762 deg, approach rate: -0.068671 m/s, LOS rate: -0.143416 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.739490 deg. 2025-01-08T20:24:35.749Z,1736367875.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054942 target range: 337.500000 and range: 337.50 m. 2025-01-08T20:24:35.892Z,1736367875.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:35.892Z,1736367875.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501603 2025-01-08T20:24:36.146Z,1736367876.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:36.150Z,1736367876.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758097 2025-01-08T20:24:36.154Z,1736367876.154 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:24:36.214Z,1736367876.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:36.237Z,1736367876.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:36.245Z,1736367876.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.717407 m, bearing: 26.366168 deg, approach rate: -0.061184 m/s, LOS rate: -0.131488 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.700756 deg. 2025-01-08T20:24:36.246Z,1736367876.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054266 target range: 337.500000 and range: 337.50 m. 2025-01-08T20:24:36.396Z,1736367876.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:36.402Z,1736367876.402 [DAT](INFO): DAT read: 20:24:34.4893 LVL= 31104, 32753, 15858, 32755, AGC= 66, IDX= 409,.007, 2.640,-2.000,-2.949, PHS= 0.031,-0.646, 0.947, RAW= 185.0, -4.8, CAL= 185.3, -11.5, ROT= 324.7, 11.5 2025-01-08T20:24:36.404Z,1736367876.404 [DAT](INFO): unknown deviceResponse_: 20:24:34.4893 LVL= 31104, 32753, 15858, 32755, AGC= 66, IDX= 409,.007, 2.640,-2.000,-2.949, PHS= 0.031,-0.646, 0.947, RAW= 185.0, -4.8, CAL= 185.3, -11.5, ROT= 324.7, 11.5 2025-01-08T20:24:36.405Z,1736367876.405 [DAT](INFO): DAT read: Bearing 324.7, 11.5 (Local) 2025-01-08T20:24:36.405Z,1736367876.405 [DAT](INFO): Local bearing/azimuth received: Bearing 324.7, 11.5 (Local) 2025-01-08T20:24:36.406Z,1736367876.406 [DAT](INFO): DAT read: Range 10 to 50 : 334.9 m (Round-trip 446.6 ms) speed 0.4 m/s 2025-01-08T20:24:36.407Z,1736367876.407 [DAT](INFO): DAT read: user:1295> 2025-01-08T20:24:36.408Z,1736367876.408 [DAT](INFO): DAT read: Tx time:20:24:35.5885 2025-01-08T20:24:36.408Z,1736367876.408 [DAT](INFO): Ping request sent. 2025-01-08T20:24:36.408Z,1736367876.408 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:36.409Z,1736367876.409 [DAT](INFO): DAT read: TxSync time:20:24:35.5877 2025-01-08T20:24:36.410Z,1736367876.410 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:24:36.410Z,1736367876.410 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:36.410Z,1736367876.410 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:36.604Z,1736367876.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:36.622Z,1736367876.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 334.899994 m, deltaT: 4.031609 s, deltaX: -2.600006 m, approachRate: -0.644905 m/s, rangeRepo size: 4 2025-01-08T20:24:36.624Z,1736367876.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:36.627Z,1736367876.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.695923 m, bearing: 26.315767 deg, approach rate: -0.055768 m/s, LOS rate: -0.130837 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.743344 deg. 2025-01-08T20:24:36.636Z,1736367876.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055009 target range: 337.500000 and range: 334.90 m. 2025-01-08T20:24:36.649Z,1736367876.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:36.900Z,1736367876.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:36.944Z,1736367876.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:36.951Z,1736367876.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:36.953Z,1736367876.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:36.957Z,1736367876.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.677521 m, bearing: 26.270566 deg, approach rate: -0.055557 m/s, LOS rate: -0.136473 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.758946 deg. 2025-01-08T20:24:36.958Z,1736367876.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055281 target range: 337.500000 and range: 334.90 m. 2025-01-08T20:24:37.154Z,1736367877.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:37.156Z,1736367877.156 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:24:37.157Z,1736367877.157 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:37.157Z,1736367877.157 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:37.157Z,1736367877.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:37.369Z,1736367877.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:37.377Z,1736367877.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:37.380Z,1736367877.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.656738 m, bearing: 26.215924 deg, approach rate: -0.048975 m/s, LOS rate: -0.128774 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.730622 deg. 2025-01-08T20:24:37.382Z,1736367877.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054787 target range: 337.500000 and range: 334.90 m. 2025-01-08T20:24:37.404Z,1736367877.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:37.405Z,1736367877.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996251 2025-01-08T20:24:37.656Z,1736367877.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:37.658Z,1736367877.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248986 2025-01-08T20:24:37.752Z,1736367877.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:37.761Z,1736367877.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:37.764Z,1736367877.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.638611 m, bearing: 26.166654 deg, approach rate: -0.047248 m/s, LOS rate: -0.128428 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.746737 deg. 2025-01-08T20:24:37.765Z,1736367877.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055068 target range: 337.500000 and range: 334.90 m. 2025-01-08T20:24:37.908Z,1736367877.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:37.908Z,1736367877.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499976 2025-01-08T20:24:38.156Z,1736367878.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:38.160Z,1736367878.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:38.161Z,1736367878.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752043 2025-01-08T20:24:38.220Z,1736367878.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:38.236Z,1736367878.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.618988 m, bearing: 26.114596 deg, approach rate: -0.043317 m/s, LOS rate: -0.114924 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.738373 deg. 2025-01-08T20:24:38.238Z,1736367878.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054922 target range: 337.500000 and range: 334.90 m. 2025-01-08T20:24:38.412Z,1736367878.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:38.414Z,1736367878.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005068 2025-01-08T20:24:38.590Z,1736367878.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:38.622Z,1736367878.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:38.629Z,1736367878.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.601898 m, bearing: 26.061411 deg, approach rate: -0.041908 m/s, LOS rate: -0.130428 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.734993 deg. 2025-01-08T20:24:38.630Z,1736367878.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054863 target range: 337.500000 and range: 334.90 m. 2025-01-08T20:24:38.664Z,1736367878.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:38.666Z,1736367878.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257065 2025-01-08T20:24:38.916Z,1736367878.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:38.916Z,1736367878.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507774 2025-01-08T20:24:38.977Z,1736367878.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:38.984Z,1736367878.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:38.986Z,1736367878.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:38.990Z,1736367878.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.586487 m, bearing: 26.013950 deg, approach rate: -0.042289 m/s, LOS rate: -0.130236 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.752169 deg. 2025-01-08T20:24:38.991Z,1736367878.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055163 target range: 337.500000 and range: 334.90 m. 2025-01-08T20:24:39.168Z,1736367879.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:39.169Z,1736367879.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760619 2025-01-08T20:24:39.398Z,1736367879.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:39.406Z,1736367879.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:39.409Z,1736367879.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.572449 m, bearing: 25.964227 deg, approach rate: -0.033409 m/s, LOS rate: -0.118339 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.745382 deg. 2025-01-08T20:24:39.410Z,1736367879.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055045 target range: 337.500000 and range: 334.90 m. 2025-01-08T20:24:39.420Z,1736367879.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:39.422Z,1736367879.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012748 2025-01-08T20:24:39.672Z,1736367879.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:39.673Z,1736367879.673 [DAT](INFO): DAT read: Rx Time:20:24:38.4356 2025-01-08T20:24:39.674Z,1736367879.674 [DAT](INFO): Rx dataTimestamp_ set to:1736367879.673420 2025-01-08T20:24:39.675Z,1736367879.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265979 2025-01-08T20:24:39.767Z,1736367879.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:39.788Z,1736367879.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T20:24:39.790Z,1736367879.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 323.560059 m, bearing: 25.920594 deg, approach rate: -0.032896 m/s, LOS rate: -0.115853 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.763652 deg. 2025-01-08T20:24:39.796Z,1736367879.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055363 target range: 337.500000 and range: 334.90 m. 2025-01-08T20:24:39.924Z,1736367879.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:39.924Z,1736367879.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515812 2025-01-08T20:24:40.176Z,1736367880.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:40.186Z,1736367880.186 [DAT](INFO): DAT read: 20:24:38.4356 LVL= 32752, 32753, 17826, 32755, AGC= 65, IDX= 404,-0.41,-2.599, 3.083,-1.623,-2.424, PHS=-0.087,-0.729, 0.798, RAW= 185.2, 0.3, CAL= 185.4, -7.4, ROT= 324.6, 7.4 2025-01-08T20:24:40.188Z,1736367880.188 [DAT](INFO): got valid direction response: 20:24:38.4356 LVL= 32752, 32753, 17826, 32755, AGC= 65, IDX= 404,-0.41,-2.599, 3.083,-1.623,-2.424, PHS=-0.087,-0.729, 0.798, RAW= 185.2, 0.3, CAL= 185.4, -7.4, ROT= 324.6, 7.4 2025-01-08T20:24:40.189Z,1736367880.189 [DAT](INFO): DAT read: Bearing 324.6, 7.4 (Local) 2025-01-08T20:24:40.189Z,1736367880.189 [DAT](INFO): Local bearing/azimuth received: Bearing 324.6, 7.4 (Local) 2025-01-08T20:24:40.191Z,1736367880.191 [DAT](INFO): DAT read: Range 10 to 50 : 332.1 m (Round-trip 442.9 ms) speed 0.4 m/s 2025-01-08T20:24:40.192Z,1736367880.192 [DAT](INFO): DAT read: user:1296> 2025-01-08T20:24:40.192Z,1736367880.192 [DAT](INFO): DAT read: Tx time:20:24:39.5385 2025-01-08T20:24:40.193Z,1736367880.193 [DAT](INFO): Ping request sent. 2025-01-08T20:24:40.193Z,1736367880.193 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:40.193Z,1736367880.193 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:40.195Z,1736367880.195 [DAT](INFO): direction in FSK: [-0.084222,-0.995329,-0.047185] 2025-01-08T20:24:40.196Z,1736367880.196 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:40.196Z,1736367880.196 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:40.238Z,1736367880.238 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:40.239Z,1736367880.239 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:40.272Z,1736367880.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:40.305Z,1736367880.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 332.100006 m, deltaT: 3.780102 s, deltaX: -2.799988 m, approachRate: -0.740718 m/s, rangeRepo size: 4 2025-01-08T20:24:40.324Z,1736367880.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 332.100006 m, bearing: 23.461171 deg, lat: 36.907050 deg, lon: -122.120846 deg, deltaT: 7.811711 s, deltaX: -5.399994 m, approachRate: -0.691269 m/s, posRepo size: 4 2025-01-08T20:24:40.325Z,1736367880.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.10 m. 2025-01-08T20:24:40.332Z,1736367880.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.100006 m, nav range: 323.543396 m, bearing: 25.860860 deg, approach rate: 0.000000 m/s, LOS rate: -0.115853 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.715082 deg. 2025-01-08T20:24:40.334Z,1736367880.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054516 target range: 332.100006 and range: 332.10 m. 2025-01-08T20:24:40.428Z,1736367880.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:40.430Z,1736367880.430 [DAT](INFO): DAT read: TxSync time:20:24:39.5377 2025-01-08T20:24:40.680Z,1736367880.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:40.701Z,1736367880.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:40.718Z,1736367880.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.10 m. 2025-01-08T20:24:40.725Z,1736367880.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.100006 m, nav range: 323.532837 m, bearing: 25.811117 deg, approach rate: -0.025247 m/s, LOS rate: -0.118940 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.745322 deg. 2025-01-08T20:24:40.726Z,1736367880.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055043 target range: 332.100006 and range: 332.10 m. 2025-01-08T20:24:40.932Z,1736367880.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:41.021Z,1736367881.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:41.046Z,1736367881.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:41.052Z,1736367881.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.10 m. 2025-01-08T20:24:41.058Z,1736367881.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.100006 m, nav range: 323.525848 m, bearing: 25.774161 deg, approach rate: -0.020910 m/s, LOS rate: -0.110576 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.783688 deg. 2025-01-08T20:24:41.064Z,1736367881.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055713 target range: 332.100006 and range: 332.10 m. 2025-01-08T20:24:41.184Z,1736367881.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:41.184Z,1736367881.184 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:41.184Z,1736367881.184 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:41.184Z,1736367881.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:41.436Z,1736367881.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:41.436Z,1736367881.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243412 2025-01-08T20:24:41.489Z,1736367881.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:41.507Z,1736367881.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.10 m. 2025-01-08T20:24:41.513Z,1736367881.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.100006 m, nav range: 323.514496 m, bearing: 25.720703 deg, approach rate: -0.024973 m/s, LOS rate: -0.117602 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.734176 deg. 2025-01-08T20:24:41.515Z,1736367881.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054849 target range: 332.100006 and range: 332.10 m. 2025-01-08T20:24:41.688Z,1736367881.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:41.689Z,1736367881.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496038 2025-01-08T20:24:41.833Z,1736367881.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:41.843Z,1736367881.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.10 m. 2025-01-08T20:24:41.845Z,1736367881.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.100006 m, nav range: 323.506256 m, bearing: 25.681214 deg, approach rate: -0.024516 m/s, LOS rate: -0.117493 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776088 deg. 2025-01-08T20:24:41.847Z,1736367881.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055581 target range: 332.100006 and range: 332.10 m. 2025-01-08T20:24:41.940Z,1736367881.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:41.941Z,1736367881.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747821 2025-01-08T20:24:42.192Z,1736367882.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:42.192Z,1736367882.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999569 2025-01-08T20:24:42.295Z,1736367882.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:42.312Z,1736367882.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.10 m. 2025-01-08T20:24:42.315Z,1736367882.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.100006 m, nav range: 323.494598 m, bearing: 25.628429 deg, approach rate: -0.024826 m/s, LOS rate: -0.112413 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.736197 deg. 2025-01-08T20:24:42.321Z,1736367882.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054884 target range: 332.100006 and range: 332.10 m. 2025-01-08T20:24:42.444Z,1736367882.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:42.444Z,1736367882.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251576 2025-01-08T20:24:42.667Z,1736367882.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:42.696Z,1736367882.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:42.697Z,1736367882.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504230 2025-01-08T20:24:42.712Z,1736367882.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.10 m. 2025-01-08T20:24:42.715Z,1736367882.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.100006 m, nav range: 323.484344 m, bearing: 25.583948 deg, approach rate: -0.025637 m/s, LOS rate: -0.111219 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.761107 deg. 2025-01-08T20:24:42.720Z,1736367882.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055319 target range: 332.100006 and range: 332.10 m. 2025-01-08T20:24:42.948Z,1736367882.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:42.949Z,1736367882.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756145 2025-01-08T20:24:43.063Z,1736367883.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:43.070Z,1736367883.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:43.073Z,1736367883.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.10 m. 2025-01-08T20:24:43.076Z,1736367883.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.100006 m, nav range: 323.473633 m, bearing: 25.536521 deg, approach rate: -0.029708 m/s, LOS rate: -0.131537 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.752273 deg. 2025-01-08T20:24:43.077Z,1736367883.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055165 target range: 332.100006 and range: 332.10 m. 2025-01-08T20:24:43.200Z,1736367883.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:43.201Z,1736367883.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007717 2025-01-08T20:24:43.452Z,1736367883.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:43.452Z,1736367883.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259571 2025-01-08T20:24:43.469Z,1736367883.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:43.478Z,1736367883.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.10 m. 2025-01-08T20:24:43.510Z,1736367883.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.100006 m, nav range: 323.458557 m, bearing: 25.486323 deg, approach rate: -0.037222 m/s, LOS rate: -0.123945 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.743955 deg. 2025-01-08T20:24:43.516Z,1736367883.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055020 target range: 332.100006 and range: 332.10 m. 2025-01-08T20:24:43.704Z,1736367883.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:43.705Z,1736367883.705 [DAT](INFO): DAT read: Rx Time:20:24:42.3826 2025-01-08T20:24:43.706Z,1736367883.706 [DAT](INFO): Rx dataTimestamp_ set to:1736367883.705360 2025-01-08T20:24:43.706Z,1736367883.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513320 2025-01-08T20:24:43.857Z,1736367883.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:43.884Z,1736367883.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.10 m. 2025-01-08T20:24:43.888Z,1736367883.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.100006 m, nav range: 323.444122 m, bearing: 25.438379 deg, approach rate: -0.035497 m/s, LOS rate: -0.117904 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.750718 deg. 2025-01-08T20:24:43.889Z,1736367883.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055138 target range: 332.100006 and range: 332.10 m. 2025-01-08T20:24:43.958Z,1736367883.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:43.959Z,1736367883.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765916 2025-01-08T20:24:44.212Z,1736367884.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:44.218Z,1736367884.218 [DAT](INFO): DAT read: 20:24:42.3826 LVL= 32752, 32753, 17618, 32755, AGC= 58, IDX= 408,-0.25,-2.029,-2.563,-0.887,-1.930, PHS=-0.010,-0.586, 1.040, RAW= 189.6, -6.3, CAL= 189.3, -12.5, ROT= 320.7, 12.5 2025-01-08T20:24:44.219Z,1736367884.219 [DAT](INFO): got valid direction response: 20:24:42.3826 LVL= 32752, 32753, 17618, 32755, AGC= 58, IDX= 408,-0.25,-2.029,-2.563,-0.887,-1.930, PHS=-0.010,-0.586, 1.040, RAW= 189.6, -6.3, CAL= 189.3, -12.5, ROT= 320.7, 12.5 2025-01-08T20:24:44.221Z,1736367884.221 [DAT](INFO): DAT read: Bearing 320.7, 12.5 (Local) 2025-01-08T20:24:44.221Z,1736367884.221 [DAT](INFO): Local bearing/azimuth received: Bearing 320.7, 12.5 (Local) 2025-01-08T20:24:44.223Z,1736367884.223 [DAT](INFO): DAT read: Range 10 to 50 : 329.8 m (Round-trip 439.8 ms) speed 0.8 m/s 2025-01-08T20:24:44.225Z,1736367884.225 [DAT](INFO): DAT read: user:1297> 2025-01-08T20:24:44.225Z,1736367884.225 [DAT](INFO): DAT read: Tx time:20:24:43.4886 2025-01-08T20:24:44.226Z,1736367884.226 [DAT](INFO): Ping request sent. 2025-01-08T20:24:44.226Z,1736367884.226 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:44.226Z,1736367884.226 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:44.248Z,1736367884.248 [DAT](INFO): direction in FSK: [0.047308,-0.992605,-0.111789] 2025-01-08T20:24:44.248Z,1736367884.248 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:44.248Z,1736367884.248 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:44.251Z,1736367884.251 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:44.251Z,1736367884.251 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:44.406Z,1736367884.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:44.451Z,1736367884.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 329.799988 m, deltaT: 4.035789 s, deltaX: -2.300018 m, approachRate: -0.569906 m/s, rangeRepo size: 4 2025-01-08T20:24:44.457Z,1736367884.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 329.799988 m, bearing: 30.723802 deg, lat: 36.907050 deg, lon: -122.120846 deg, deltaT: 4.035789 s, deltaX: -2.300018 m, approachRate: -0.569906 m/s, posRepo size: 4 2025-01-08T20:24:44.458Z,1736367884.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.80 m. 2025-01-08T20:24:44.466Z,1736367884.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:44.467Z,1736367884.467 [DAT](INFO): DAT read: TxSync time:20:24:43.4878 2025-01-08T20:24:44.469Z,1736367884.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.799988 m, nav range: 323.416473 m, bearing: 25.366491 deg, approach rate: 0.000000 m/s, LOS rate: -0.117904 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.694531 deg. 2025-01-08T20:24:44.470Z,1736367884.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054157 target range: 329.799988 and range: 329.80 m. 2025-01-08T20:24:44.720Z,1736367884.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:44.886Z,1736367884.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:44.895Z,1736367884.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.80 m. 2025-01-08T20:24:44.898Z,1736367884.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.799988 m, nav range: 323.394012 m, bearing: 25.303711 deg, approach rate: -0.050478 m/s, LOS rate: -0.141101 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.706204 deg. 2025-01-08T20:24:44.899Z,1736367884.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054361 target range: 329.799988 and range: 329.80 m. 2025-01-08T20:24:44.972Z,1736367884.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:45.224Z,1736367885.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:45.311Z,1736367885.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:45.357Z,1736367885.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:45.361Z,1736367885.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.80 m. 2025-01-08T20:24:45.373Z,1736367885.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.799988 m, nav range: 323.374573 m, bearing: 25.248282 deg, approach rate: -0.041878 m/s, LOS rate: -0.119416 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.728261 deg. 2025-01-08T20:24:45.374Z,1736367885.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054746 target range: 329.799988 and range: 329.80 m. 2025-01-08T20:24:45.476Z,1736367885.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:45.476Z,1736367885.476 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:45.476Z,1736367885.476 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:45.477Z,1736367885.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:45.729Z,1736367885.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:45.730Z,1736367885.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503938 2025-01-08T20:24:45.808Z,1736367885.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:45.817Z,1736367885.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.80 m. 2025-01-08T20:24:45.819Z,1736367885.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.799988 m, nav range: 323.351196 m, bearing: 25.180046 deg, approach rate: -0.051092 m/s, LOS rate: -0.149149 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.689835 deg. 2025-01-08T20:24:45.821Z,1736367885.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054075 target range: 329.799988 and range: 329.80 m. 2025-01-08T20:24:45.980Z,1736367885.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:45.980Z,1736367885.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754437 2025-01-08T20:24:46.193Z,1736367886.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:46.202Z,1736367886.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.80 m. 2025-01-08T20:24:46.209Z,1736367886.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.799988 m, nav range: 323.332550 m, bearing: 25.127236 deg, approach rate: -0.048390 m/s, LOS rate: -0.137058 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.736119 deg. 2025-01-08T20:24:46.210Z,1736367886.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054883 target range: 329.799988 and range: 329.80 m. 2025-01-08T20:24:46.249Z,1736367886.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:46.250Z,1736367886.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023993 2025-01-08T20:24:46.500Z,1736367886.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:46.500Z,1736367886.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274426 2025-01-08T20:24:46.617Z,1736367886.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:46.642Z,1736367886.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.80 m. 2025-01-08T20:24:46.650Z,1736367886.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.799988 m, nav range: 323.311401 m, bearing: 25.065925 deg, approach rate: -0.048064 m/s, LOS rate: -0.139350 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.710611 deg. 2025-01-08T20:24:46.656Z,1736367886.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054438 target range: 329.799988 and range: 329.80 m. 2025-01-08T20:24:46.752Z,1736367886.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:46.754Z,1736367886.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527434 2025-01-08T20:24:47.004Z,1736367887.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:47.005Z,1736367887.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779257 2025-01-08T20:24:47.010Z,1736367887.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:47.018Z,1736367887.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.80 m. 2025-01-08T20:24:47.022Z,1736367887.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.799988 m, nav range: 323.291779 m, bearing: 25.008920 deg, approach rate: -0.052147 m/s, LOS rate: -0.151497 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.723531 deg. 2025-01-08T20:24:47.024Z,1736367887.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054663 target range: 329.799988 and range: 329.80 m. 2025-01-08T20:24:47.256Z,1736367887.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:47.257Z,1736367887.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031258 2025-01-08T20:24:47.428Z,1736367887.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:47.439Z,1736367887.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:47.457Z,1736367887.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.80 m. 2025-01-08T20:24:47.460Z,1736367887.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.799988 m, nav range: 323.268066 m, bearing: 24.946845 deg, approach rate: -0.054030 m/s, LOS rate: -0.141453 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.708318 deg. 2025-01-08T20:24:47.461Z,1736367887.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054398 target range: 329.799988 and range: 329.80 m. 2025-01-08T20:24:47.510Z,1736367887.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:47.511Z,1736367887.511 [DAT](INFO): DAT read: Rx Time:20:24:46.3291 2025-01-08T20:24:47.511Z,1736367887.511 [DAT](INFO): Rx dataTimestamp_ set to:1736367887.510892 2025-01-08T20:24:47.512Z,1736367887.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285958 2025-01-08T20:24:47.764Z,1736367887.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:47.764Z,1736367887.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538549 2025-01-08T20:24:47.828Z,1736367887.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:47.838Z,1736367887.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.80 m. 2025-01-08T20:24:47.841Z,1736367887.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.799988 m, nav range: 323.245575 m, bearing: 24.887098 deg, approach rate: -0.059210 m/s, LOS rate: -0.157297 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.715305 deg. 2025-01-08T20:24:47.842Z,1736367887.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054520 target range: 329.799988 and range: 329.80 m. 2025-01-08T20:24:48.017Z,1736367888.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:48.045Z,1736367888.045 [DAT](INFO): DAT read: 20:24:46.3291 LVL= 30704, 32737, 15218, 32755, AGC= 64, IDX= 402,-0.33, 0.244,-0.319, 1.279, 0.301, PHS= 0.031,-0.573, 0.975, RAW= 187.2, -6.5, CAL= 187.3, -12.7, ROT= 322.7, 12.7 2025-01-08T20:24:48.046Z,1736367888.046 [DAT](INFO): got valid direction response: 20:24:46.3291 LVL= 30704, 32737, 15218, 32755, AGC= 64, IDX= 402,-0.33, 0.244,-0.319, 1.279, 0.301, PHS= 0.031,-0.573, 0.975, RAW= 187.2, -6.5, CAL= 187.3, -12.7, ROT= 322.7, 12.7 2025-01-08T20:24:48.048Z,1736367888.048 [DAT](INFO): DAT read: Bearing 322.7, 12.7 (Local) 2025-01-08T20:24:48.048Z,1736367888.048 [DAT](INFO): Local bearing/azimuth received: Bearing 322.7, 12.7 (Local) 2025-01-08T20:24:48.051Z,1736367888.051 [DAT](INFO): DAT read: Range 10 to 50 : 327.3 m (Round-trip 436.4 ms) speed 0.5 m/s 2025-01-08T20:24:48.053Z,1736367888.053 [DAT](INFO): DAT read: user:1298> 2025-01-08T20:24:48.054Z,1736367888.054 [DAT](INFO): DAT read: Tx time:20:24:47.4386 2025-01-08T20:24:48.055Z,1736367888.055 [DAT](INFO): Ping request sent. 2025-01-08T20:24:48.055Z,1736367888.055 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:48.061Z,1736367888.061 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:48.062Z,1736367888.062 [DAT](INFO): direction in FSK: [0.047132,-0.996279,-0.072158] 2025-01-08T20:24:48.062Z,1736367888.062 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:48.062Z,1736367888.062 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:48.066Z,1736367888.066 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:48.066Z,1736367888.066 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:48.224Z,1736367888.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:48.260Z,1736367888.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 327.299988 m, deltaT: 3.805461 s, deltaX: -2.500000 m, approachRate: -0.656951 m/s, rangeRepo size: 4 2025-01-08T20:24:48.262Z,1736367888.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 327.299988 m, bearing: 30.854460 deg, lat: 36.907050 deg, lon: -122.120846 deg, deltaT: 3.805461 s, deltaX: -2.500000 m, approachRate: -0.656951 m/s, posRepo size: 4 2025-01-08T20:24:48.268Z,1736367888.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:48.269Z,1736367888.269 [DAT](INFO): DAT read: TxSync time:20:24:47.4378 2025-01-08T20:24:48.269Z,1736367888.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:24:48.277Z,1736367888.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 323.224304 m, bearing: 24.828879 deg, approach rate: 0.000000 m/s, LOS rate: -0.157297 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.697170 deg. 2025-01-08T20:24:48.278Z,1736367888.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054203 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:24:48.521Z,1736367888.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:48.683Z,1736367888.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:48.691Z,1736367888.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:24:48.694Z,1736367888.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 323.200836 m, bearing: 24.761022 deg, approach rate: -0.053845 m/s, LOS rate: -0.155703 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690972 deg. 2025-01-08T20:24:48.696Z,1736367888.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054095 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:24:48.773Z,1736367888.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:49.024Z,1736367889.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:49.029Z,1736367889.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:49.038Z,1736367889.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:24:49.041Z,1736367889.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 323.184723 m, bearing: 24.710221 deg, approach rate: -0.046402 m/s, LOS rate: -0.146301 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.742145 deg. 2025-01-08T20:24:49.042Z,1736367889.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054988 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:24:49.276Z,1736367889.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:49.486Z,1736367889.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:49.493Z,1736367889.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:49.496Z,1736367889.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:24:49.498Z,1736367889.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 323.166138 m, bearing: 24.643129 deg, approach rate: -0.040667 m/s, LOS rate: -0.146815 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.693271 deg. 2025-01-08T20:24:49.500Z,1736367889.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054135 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:24:49.529Z,1736367889.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:49.529Z,1736367889.529 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:49.529Z,1736367889.529 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:49.530Z,1736367889.530 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:49.780Z,1736367889.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:49.780Z,1736367889.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725605 2025-01-08T20:24:49.825Z,1736367889.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:49.833Z,1736367889.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:24:49.852Z,1736367889.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 323.152588 m, bearing: 24.593377 deg, approach rate: -0.040156 m/s, LOS rate: -0.147451 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.745296 deg. 2025-01-08T20:24:49.854Z,1736367889.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055043 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:24:50.032Z,1736367890.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:50.033Z,1736367890.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977783 2025-01-08T20:24:50.252Z,1736367890.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:50.262Z,1736367890.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:24:50.266Z,1736367890.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 323.135803 m, bearing: 24.530532 deg, approach rate: -0.039098 m/s, LOS rate: -0.146402 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.706010 deg. 2025-01-08T20:24:50.267Z,1736367890.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054358 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:24:50.284Z,1736367890.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:50.284Z,1736367890.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229544 2025-01-08T20:24:50.536Z,1736367890.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:50.536Z,1736367890.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481716 2025-01-08T20:24:50.679Z,1736367890.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:50.719Z,1736367890.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:24:50.726Z,1736367890.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 323.124420 m, bearing: 24.471359 deg, approach rate: -0.024933 m/s, LOS rate: -0.129612 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.717035 deg. 2025-01-08T20:24:50.727Z,1736367890.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054550 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:24:50.788Z,1736367890.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:50.789Z,1736367890.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733926 2025-01-08T20:24:51.040Z,1736367891.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:51.040Z,1736367891.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985675 2025-01-08T20:24:51.046Z,1736367891.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:51.080Z,1736367891.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:24:51.083Z,1736367891.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 323.114532 m, bearing: 24.420239 deg, approach rate: -0.027367 m/s, LOS rate: -0.141494 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.741192 deg. 2025-01-08T20:24:51.084Z,1736367891.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054971 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:24:51.292Z,1736367891.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:51.292Z,1736367891.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237685 2025-01-08T20:24:51.493Z,1736367891.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:51.505Z,1736367891.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:51.508Z,1736367891.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:24:51.511Z,1736367891.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 323.107513 m, bearing: 24.362186 deg, approach rate: -0.016421 m/s, LOS rate: -0.135818 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.720392 deg. 2025-01-08T20:24:51.512Z,1736367891.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054608 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:24:51.544Z,1736367891.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:51.545Z,1736367891.545 [DAT](INFO): DAT read: Rx Time:20:24:50.2760 2025-01-08T20:24:51.546Z,1736367891.546 [DAT](INFO): Rx dataTimestamp_ set to:1736367891.545825 2025-01-08T20:24:51.547Z,1736367891.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492296 2025-01-08T20:24:51.796Z,1736367891.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:51.796Z,1736367891.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741562 2025-01-08T20:24:51.844Z,1736367891.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:51.868Z,1736367891.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T20:24:51.876Z,1736367891.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 323.102173 m, bearing: 24.316470 deg, approach rate: -0.014793 m/s, LOS rate: -0.126630 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.757408 deg. 2025-01-08T20:24:51.877Z,1736367891.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055254 target range: 327.299988 and range: 327.30 m. 2025-01-08T20:24:52.048Z,1736367892.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:52.055Z,1736367892.055 [DAT](INFO): DAT read: 20:24:50.2760 LVL= 26352, 28337, 12594, 32755, AGC= 64, IDX= 222, 0.13,-2.439, 2.939,-1.115,-2.168, PHS=-0.183,-1.129, 1.051, RAW= 184.4, 2.8, CAL= 184.4, -5.5, ROT= 325.6, 5.5 2025-01-08T20:24:52.056Z,1736367892.056 [DAT](INFO): got valid direction response: 20:24:50.2760 LVL= 26352, 28337, 12594, 32755, AGC= 64, IDX= 222, 0.13,-2.439, 2.939,-1.115,-2.168, PHS=-0.183,-1.129, 1.051, RAW= 184.4, 2.8, CAL= 184.4, -5.5, ROT= 325.6, 5.5 2025-01-08T20:24:52.057Z,1736367892.057 [DAT](INFO): DAT read: Bearing 325.6, 5.5 (Local) 2025-01-08T20:24:52.058Z,1736367892.058 [DAT](INFO): Local bearing/azimuth received: Bearing 325.6, 5.5 (Local) 2025-01-08T20:24:52.060Z,1736367892.060 [DAT](INFO): DAT read: Range 10 to 50 : 324.9 m (Round-trip 433.3 ms) speed 0.6 m/s 2025-01-08T20:24:52.061Z,1736367892.061 [DAT](INFO): DAT read: user:1299> 2025-01-08T20:24:52.061Z,1736367892.061 [DAT](INFO): DAT read: Tx time:20:24:51.3886 2025-01-08T20:24:52.062Z,1736367892.062 [DAT](INFO): Ping request sent. 2025-01-08T20:24:52.062Z,1736367892.062 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:52.062Z,1736367892.062 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:52.063Z,1736367892.063 [DAT](INFO): direction in FSK: [-0.133173,-0.990473,-0.035035] 2025-01-08T20:24:52.063Z,1736367892.063 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:52.064Z,1736367892.064 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:52.066Z,1736367892.066 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:52.067Z,1736367892.067 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:52.264Z,1736367892.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:52.298Z,1736367892.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 324.899994 m, deltaT: 4.030812 s, deltaX: -2.399994 m, approachRate: -0.595412 m/s, rangeRepo size: 4 2025-01-08T20:24:52.300Z,1736367892.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:52.301Z,1736367892.301 [DAT](INFO): DAT read: TxSync time:20:24:51.3878 2025-01-08T20:24:52.306Z,1736367892.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 324.899994 m, bearing: 20.279380 deg, lat: 36.907107 deg, lon: -122.120878 deg, deltaT: 4.030812 s, deltaX: -2.399994 m, approachRate: -0.595412 m/s, posRepo size: 4 2025-01-08T20:24:52.306Z,1736367892.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m. 2025-01-08T20:24:52.313Z,1736367892.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.899994 m, nav range: 327.724060 m, bearing: 23.358651 deg, approach rate: 0.000000 m/s, LOS rate: -0.126630 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.731480 deg. 2025-01-08T20:24:52.314Z,1736367892.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054802 target range: 324.899994 and range: 324.90 m. 2025-01-08T20:24:52.552Z,1736367892.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:52.698Z,1736367892.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:52.708Z,1736367892.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m. 2025-01-08T20:24:52.713Z,1736367892.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.899994 m, nav range: 327.727783 m, bearing: 23.306939 deg, approach rate: 0.009121 m/s, LOS rate: -0.126685 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.739422 deg. 2025-01-08T20:24:52.714Z,1736367892.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054940 target range: 324.899994 and range: 324.90 m. 2025-01-08T20:24:52.804Z,1736367892.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:53.056Z,1736367893.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:53.057Z,1736367893.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:53.085Z,1736367893.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m. 2025-01-08T20:24:53.092Z,1736367893.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.899994 m, nav range: 327.732117 m, bearing: 23.263986 deg, approach rate: 0.011443 m/s, LOS rate: -0.113414 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.765701 deg. 2025-01-08T20:24:53.093Z,1736367893.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055399 target range: 324.899994 and range: 324.90 m. 2025-01-08T20:24:53.308Z,1736367893.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:53.532Z,1736367893.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:53.560Z,1736367893.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:53.561Z,1736367893.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:53.567Z,1736367893.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m. 2025-01-08T20:24:53.571Z,1736367893.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.899994 m, nav range: 327.741455 m, bearing: 23.211613 deg, approach rate: 0.019516 m/s, LOS rate: -0.109451 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.737440 deg. 2025-01-08T20:24:53.576Z,1736367893.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054906 target range: 324.899994 and range: 324.90 m. 2025-01-08T20:24:53.812Z,1736367893.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:53.813Z,1736367893.813 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:53.814Z,1736367893.814 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:53.814Z,1736367893.814 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:53.900Z,1736367893.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:53.928Z,1736367893.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m. 2025-01-08T20:24:53.930Z,1736367893.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.899994 m, nav range: 327.748993 m, bearing: 23.171056 deg, approach rate: 0.020663 m/s, LOS rate: -0.111174 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772891 deg. 2025-01-08T20:24:53.932Z,1736367893.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055525 target range: 324.899994 and range: 324.90 m. 2025-01-08T20:24:54.064Z,1736367894.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:54.064Z,1736367894.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002522 2025-01-08T20:24:54.300Z,1736367894.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:54.309Z,1736367894.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m. 2025-01-08T20:24:54.312Z,1736367894.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.899994 m, nav range: 327.756683 m, bearing: 23.127002 deg, approach rate: 0.020158 m/s, LOS rate: -0.115471 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762397 deg. 2025-01-08T20:24:54.313Z,1736367894.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055341 target range: 324.899994 and range: 324.90 m. 2025-01-08T20:24:54.316Z,1736367894.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:54.317Z,1736367894.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254895 2025-01-08T20:24:54.568Z,1736367894.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:54.569Z,1736367894.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506769 2025-01-08T20:24:54.733Z,1736367894.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:54.746Z,1736367894.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m. 2025-01-08T20:24:54.749Z,1736367894.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.899994 m, nav range: 327.772552 m, bearing: 23.081839 deg, approach rate: 0.036350 m/s, LOS rate: -0.103445 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.759074 deg. 2025-01-08T20:24:54.750Z,1736367894.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055284 target range: 324.899994 and range: 324.90 m. 2025-01-08T20:24:54.821Z,1736367894.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:54.822Z,1736367894.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760613 2025-01-08T20:24:55.072Z,1736367895.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:55.072Z,1736367895.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010556 2025-01-08T20:24:55.131Z,1736367895.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:55.149Z,1736367895.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m. 2025-01-08T20:24:55.156Z,1736367895.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.899994 m, nav range: 327.786652 m, bearing: 23.040411 deg, approach rate: 0.034959 m/s, LOS rate: -0.102716 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.770278 deg. 2025-01-08T20:24:55.158Z,1736367895.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055479 target range: 324.899994 and range: 324.90 m. 2025-01-08T20:24:55.324Z,1736367895.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:55.324Z,1736367895.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262702 2025-01-08T20:24:55.559Z,1736367895.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:55.566Z,1736367895.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:55.568Z,1736367895.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m. 2025-01-08T20:24:55.572Z,1736367895.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.899994 m, nav range: 327.800842 m, bearing: 22.996976 deg, approach rate: 0.033857 m/s, LOS rate: -0.103624 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764259 deg. 2025-01-08T20:24:55.573Z,1736367895.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055374 target range: 324.899994 and range: 324.90 m. 2025-01-08T20:24:55.576Z,1736367895.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:55.577Z,1736367895.577 [DAT](INFO): DAT read: Rx Time:20:24:54.2246 2025-01-08T20:24:55.577Z,1736367895.577 [DAT](INFO): Rx dataTimestamp_ set to:1736367895.576894 2025-01-08T20:24:55.578Z,1736367895.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515942 2025-01-08T20:24:55.828Z,1736367895.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:55.829Z,1736367895.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767015 2025-01-08T20:24:55.955Z,1736367895.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:55.963Z,1736367895.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m. 2025-01-08T20:24:55.966Z,1736367895.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.899994 m, nav range: 327.813202 m, bearing: 22.956819 deg, approach rate: 0.031304 m/s, LOS rate: -0.101704 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774089 deg. 2025-01-08T20:24:55.967Z,1736367895.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055546 target range: 324.899994 and range: 324.90 m. 2025-01-08T20:24:56.080Z,1736367896.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:56.087Z,1736367896.087 [DAT](INFO): DAT read: 20:24:54.2246 LVL= 30448, 32753, 18482, 32755, AGC= 64, IDX= 433, 0.26, 2.248, 1.584,-2.996, 2.495, PHS=-0.159,-0.864, 0.788, RAW= 184.9, 3.3, CAL= 184.9, -5.0, ROT= 325.1, 5.0 2025-01-08T20:24:56.089Z,1736367896.089 [DAT](INFO): got valid direction response: 20:24:54.2246 LVL= 30448, 32753, 18482, 32755, AGC= 64, IDX= 433, 0.26, 2.248, 1.584,-2.996, 2.495, PHS=-0.159,-0.864, 0.788, RAW= 184.9, 3.3, CAL= 184.9, -5.0, ROT= 325.1, 5.0 2025-01-08T20:24:56.089Z,1736367896.089 [DAT](INFO): DAT read: Bearing 325.1, 5.0 (Local) 2025-01-08T20:24:56.090Z,1736367896.090 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, 5.0 (Local) 2025-01-08T20:24:56.092Z,1736367896.092 [DAT](INFO): DAT read: Range 10 to 50 : 323.7 m (Round-trip 431.7 ms) speed 0.2 m/s 2025-01-08T20:24:56.093Z,1736367896.093 [DAT](INFO): DAT read: user:1300> 2025-01-08T20:24:56.093Z,1736367896.093 [DAT](INFO): DAT read: Tx time:20:24:55.3387 2025-01-08T20:24:56.094Z,1736367896.094 [DAT](INFO): Ping request sent. 2025-01-08T20:24:56.094Z,1736367896.094 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:56.094Z,1736367896.094 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:56.095Z,1736367896.095 [DAT](INFO): direction in FSK: [-0.142147,-0.988878,-0.043755] 2025-01-08T20:24:56.096Z,1736367896.096 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:56.096Z,1736367896.096 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:56.099Z,1736367896.099 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:56.099Z,1736367896.099 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:56.324Z,1736367896.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:56.332Z,1736367896.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:56.333Z,1736367896.333 [DAT](INFO): DAT read: TxSync time:20:24:55.3379 2025-01-08T20:24:56.356Z,1736367896.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 323.700012 m, deltaT: 4.032060 s, deltaX: -1.199982 m, approachRate: -0.297610 m/s, rangeRepo size: 4 2025-01-08T20:24:56.358Z,1736367896.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 323.700012 m, bearing: 19.118114 deg, lat: 36.907102 deg, lon: -122.120969 deg, deltaT: 4.032060 s, deltaX: -1.199982 m, approachRate: -0.297610 m/s, posRepo size: 4 2025-01-08T20:24:56.363Z,1736367896.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.70 m. 2025-01-08T20:24:56.366Z,1736367896.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 323.700012 m, nav range: 324.326019 m, bearing: 21.639564 deg, approach rate: 0.000000 m/s, LOS rate: -0.101704 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776114 deg. 2025-01-08T20:24:56.372Z,1736367896.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055581 target range: 323.700012 and range: 323.70 m. 2025-01-08T20:24:56.584Z,1736367896.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:56.748Z,1736367896.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:56.757Z,1736367896.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.70 m. 2025-01-08T20:24:56.759Z,1736367896.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 323.700012 m, nav range: 324.346802 m, bearing: 21.595562 deg, approach rate: 0.051306 m/s, LOS rate: -0.108621 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762558 deg. 2025-01-08T20:24:56.761Z,1736367896.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055344 target range: 323.700012 and range: 323.70 m. 2025-01-08T20:24:56.838Z,1736367896.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:57.088Z,1736367897.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:57.117Z,1736367897.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:57.142Z,1736367897.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.70 m. 2025-01-08T20:24:57.153Z,1736367897.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 323.700012 m, nav range: 324.364716 m, bearing: 21.557207 deg, approach rate: 0.046443 m/s, LOS rate: -0.099434 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779497 deg. 2025-01-08T20:24:57.160Z,1736367897.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055640 target range: 323.700012 and range: 323.70 m. 2025-01-08T20:24:57.341Z,1736367897.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:57.569Z,1736367897.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:57.577Z,1736367897.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:57.579Z,1736367897.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.70 m. 2025-01-08T20:24:57.582Z,1736367897.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 323.700012 m, nav range: 324.384064 m, bearing: 21.507558 deg, approach rate: 0.044299 m/s, LOS rate: -0.113667 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.745620 deg. 2025-01-08T20:24:57.583Z,1736367897.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055049 target range: 323.700012 and range: 323.70 m. 2025-01-08T20:24:57.592Z,1736367897.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:57.608Z,1736367897.608 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:24:57.608Z,1736367897.608 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:24:57.608Z,1736367897.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:24:57.844Z,1736367897.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:57.845Z,1736367897.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751078 2025-01-08T20:24:57.925Z,1736367897.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:57.933Z,1736367897.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.70 m. 2025-01-08T20:24:57.937Z,1736367897.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 323.700012 m, nav range: 324.398865 m, bearing: 21.468441 deg, approach rate: 0.041794 m/s, LOS rate: -0.110449 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777211 deg. 2025-01-08T20:24:57.939Z,1736367897.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055600 target range: 323.700012 and range: 323.70 m. 2025-01-08T20:24:58.096Z,1736367898.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:58.096Z,1736367898.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002448 2025-01-08T20:24:58.329Z,1736367898.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:58.338Z,1736367898.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.70 m. 2025-01-08T20:24:58.342Z,1736367898.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 323.700012 m, nav range: 324.415344 m, bearing: 21.424026 deg, approach rate: 0.040670 m/s, LOS rate: -0.109606 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.761319 deg. 2025-01-08T20:24:58.348Z,1736367898.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:58.349Z,1736367898.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254644 2025-01-08T20:24:58.363Z,1736367898.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055323 target range: 323.700012 and range: 323.70 m. 2025-01-08T20:24:58.607Z,1736367898.607 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:58.607Z,1736367898.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513509 2025-01-08T20:24:58.764Z,1736367898.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:58.793Z,1736367898.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.70 m. 2025-01-08T20:24:58.800Z,1736367898.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 323.700012 m, nav range: 324.427094 m, bearing: 21.371506 deg, approach rate: 0.025836 m/s, LOS rate: -0.115485 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.737002 deg. 2025-01-08T20:24:58.801Z,1736367898.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054898 target range: 323.700012 and range: 323.70 m. 2025-01-08T20:24:58.856Z,1736367898.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:58.856Z,1736367898.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762591 2025-01-08T20:24:59.108Z,1736367899.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:59.109Z,1736367899.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014630 2025-01-08T20:24:59.210Z,1736367899.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:59.235Z,1736367899.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.70 m. 2025-01-08T20:24:59.239Z,1736367899.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 323.700012 m, nav range: 324.439545 m, bearing: 21.317648 deg, approach rate: 0.029216 m/s, LOS rate: -0.126370 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.732988 deg. 2025-01-08T20:24:59.241Z,1736367899.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054828 target range: 323.700012 and range: 323.70 m. 2025-01-08T20:24:59.360Z,1736367899.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:59.361Z,1736367899.361 [DAT](INFO): DAT read: Rx Time:20:24:58.1705 2025-01-08T20:24:59.361Z,1736367899.361 [DAT](INFO): Rx dataTimestamp_ set to:1736367899.360688 2025-01-08T20:24:59.361Z,1736367899.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267619 2025-01-08T20:24:59.612Z,1736367899.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:59.614Z,1736367899.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519517 2025-01-08T20:24:59.632Z,1736367899.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:24:59.671Z,1736367899.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:24:59.675Z,1736367899.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.70 m. 2025-01-08T20:24:59.688Z,1736367899.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 323.700012 m, nav range: 324.445068 m, bearing: 21.263090 deg, approach rate: 0.012139 m/s, LOS rate: -0.119896 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.730886 deg. 2025-01-08T20:24:59.689Z,1736367899.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054792 target range: 323.700012 and range: 323.70 m. 2025-01-08T20:24:59.865Z,1736367899.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:24:59.884Z,1736367899.884 [DAT](INFO): DAT read: 20:24:58.1705 LVL= 32752, 32753, 21378, 32755, AGC= 64, IDX= 407,-0.10,-1.520,-2.045,-0.502,-1.503, PHS= 0.071,-0.495, 0.998, RAW= 188.0, -8.9, CAL= 187.9, -14.6, ROT= 322.1, 14.6 2025-01-08T20:24:59.886Z,1736367899.886 [DAT](INFO): got valid direction response: 20:24:58.1705 LVL= 32752, 32753, 21378, 32755, AGC= 64, IDX= 407,-0.10,-1.520,-2.045,-0.502,-1.503, PHS= 0.071,-0.495, 0.998, RAW= 188.0, -8.9, CAL= 187.9, -14.6, ROT= 322.1, 14.6 2025-01-08T20:24:59.890Z,1736367899.890 [DAT](INFO): DAT read: Bearing 322.1, 14.6 (Local) 2025-01-08T20:24:59.891Z,1736367899.891 [DAT](INFO): Local bearing/azimuth received: Bearing 322.1, 14.6 (Local) 2025-01-08T20:24:59.895Z,1736367899.895 [DAT](INFO): DAT read: Range 10 to 50 : 320.7 m (Round-trip 427.6 ms) speed 0.9 m/s 2025-01-08T20:24:59.912Z,1736367899.912 [DAT](INFO): DAT read: user:1301> 2025-01-08T20:24:59.912Z,1736367899.912 [DAT](INFO): DAT read: Tx time:20:24:59.2887 2025-01-08T20:24:59.913Z,1736367899.913 [DAT](INFO): Ping request sent. 2025-01-08T20:24:59.913Z,1736367899.913 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:24:59.913Z,1736367899.913 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:24:59.914Z,1736367899.914 [DAT](INFO): direction in FSK: [0.093327,-0.992344,-0.080897] 2025-01-08T20:24:59.914Z,1736367899.914 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:59.915Z,1736367899.915 [DAT](INFO): publishing direction and range info 2025-01-08T20:24:59.931Z,1736367899.931 [DAT](INFO): publishing transmit ping time 2025-01-08T20:24:59.932Z,1736367899.932 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:00.023Z,1736367900.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:00.066Z,1736367900.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 320.700012 m, deltaT: 3.785541 s, deltaX: -3.000000 m, approachRate: -0.792489 m/s, rangeRepo size: 4 2025-01-08T20:25:00.091Z,1736367900.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 320.700012 m, bearing: 32.587732 deg, lat: 36.906902 deg, lon: -122.120562 deg, deltaT: 3.785541 s, deltaX: -3.000000 m, approachRate: -0.792489 m/s, posRepo size: 4 2025-01-08T20:25:00.092Z,1736367900.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.70 m. 2025-01-08T20:25:00.095Z,1736367900.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.700012 m, nav range: 319.486755 m, bearing: 28.736135 deg, approach rate: 0.000000 m/s, LOS rate: -0.119896 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.753902 deg. 2025-01-08T20:25:00.105Z,1736367900.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055193 target range: 320.700012 and range: 320.70 m. 2025-01-08T20:25:00.116Z,1736367900.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:00.117Z,1736367900.117 [DAT](INFO): DAT read: TxSync time:20:24:59.2879 2025-01-08T20:25:00.368Z,1736367900.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:00.405Z,1736367900.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:00.427Z,1736367900.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.70 m. 2025-01-08T20:25:00.430Z,1736367900.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.700012 m, nav range: 319.456848 m, bearing: 28.686193 deg, approach rate: -0.083579 m/s, LOS rate: -0.139582 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.744716 deg. 2025-01-08T20:25:00.435Z,1736367900.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055033 target range: 320.700012 and range: 320.70 m. 2025-01-08T20:25:00.621Z,1736367900.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:00.828Z,1736367900.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:00.840Z,1736367900.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.70 m. 2025-01-08T20:25:00.846Z,1736367900.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.700012 m, nav range: 319.411926 m, bearing: 28.628034 deg, approach rate: -0.108059 m/s, LOS rate: -0.139920 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.720056 deg. 2025-01-08T20:25:00.848Z,1736367900.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054603 target range: 320.700012 and range: 320.70 m. 2025-01-08T20:25:00.872Z,1736367900.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:01.124Z,1736367901.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:01.189Z,1736367901.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:01.197Z,1736367901.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.70 m. 2025-01-08T20:25:01.200Z,1736367901.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.700012 m, nav range: 319.374908 m, bearing: 28.578101 deg, approach rate: -0.103375 m/s, LOS rate: -0.139456 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.744742 deg. 2025-01-08T20:25:01.201Z,1736367901.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055033 target range: 320.700012 and range: 320.70 m. 2025-01-08T20:25:01.376Z,1736367901.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:01.628Z,1736367901.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:01.682Z,1736367901.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:01.690Z,1736367901.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:01.692Z,1736367901.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.70 m. 2025-01-08T20:25:01.695Z,1736367901.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.700012 m, nav range: 319.316315 m, bearing: 28.505775 deg, approach rate: -0.118311 m/s, LOS rate: -0.146066 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.677538 deg. 2025-01-08T20:25:01.696Z,1736367901.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053860 target range: 320.700012 and range: 320.70 m. 2025-01-08T20:25:01.881Z,1736367901.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:01.882Z,1736367901.882 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:01.883Z,1736367901.883 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:01.884Z,1736367901.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:02.003Z,1736367902.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:02.012Z,1736367902.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.70 m. 2025-01-08T20:25:02.015Z,1736367902.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.700012 m, nav range: 319.279480 m, bearing: 28.458598 deg, approach rate: -0.115151 m/s, LOS rate: -0.147498 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.753011 deg. 2025-01-08T20:25:02.016Z,1736367902.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055178 target range: 320.700012 and range: 320.70 m. 2025-01-08T20:25:02.136Z,1736367902.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:02.138Z,1736367902.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224598 2025-01-08T20:25:02.388Z,1736367902.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:02.389Z,1736367902.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476059 2025-01-08T20:25:02.421Z,1736367902.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:02.438Z,1736367902.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.70 m. 2025-01-08T20:25:02.445Z,1736367902.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.700012 m, nav range: 319.232300 m, bearing: 28.397189 deg, approach rate: -0.110859 m/s, LOS rate: -0.144314 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.710303 deg. 2025-01-08T20:25:02.446Z,1736367902.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054432 target range: 320.700012 and range: 320.70 m. 2025-01-08T20:25:02.640Z,1736367902.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:02.640Z,1736367902.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727569 2025-01-08T20:25:02.854Z,1736367902.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:02.863Z,1736367902.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.70 m. 2025-01-08T20:25:02.866Z,1736367902.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.700012 m, nav range: 319.178589 m, bearing: 28.331881 deg, approach rate: -0.126381 m/s, LOS rate: -0.153696 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.698599 deg. 2025-01-08T20:25:02.867Z,1736367902.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054228 target range: 320.700012 and range: 320.70 m. 2025-01-08T20:25:02.892Z,1736367902.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:02.893Z,1736367902.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979634 2025-01-08T20:25:03.144Z,1736367903.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:03.144Z,1736367903.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231567 2025-01-08T20:25:03.220Z,1736367903.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:03.237Z,1736367903.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.70 m. 2025-01-08T20:25:03.245Z,1736367903.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.700012 m, nav range: 319.134979 m, bearing: 28.276779 deg, approach rate: -0.116530 m/s, LOS rate: -0.147257 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.729231 deg. 2025-01-08T20:25:03.246Z,1736367903.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054763 target range: 320.700012 and range: 320.70 m. 2025-01-08T20:25:03.396Z,1736367903.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:03.397Z,1736367903.397 [DAT](INFO): DAT read: Rx Time:20:25:02.1166 2025-01-08T20:25:03.397Z,1736367903.397 [DAT](INFO): Rx dataTimestamp_ set to:1736367903.397037 2025-01-08T20:25:03.398Z,1736367903.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484969 2025-01-08T20:25:03.649Z,1736367903.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:03.650Z,1736367903.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.736860 2025-01-08T20:25:03.675Z,1736367903.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:03.710Z,1736367903.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:03.716Z,1736367903.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.70 m. 2025-01-08T20:25:03.719Z,1736367903.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.700012 m, nav range: 319.077301 m, bearing: 28.208698 deg, approach rate: -0.120343 m/s, LOS rate: -0.142075 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690276 deg. 2025-01-08T20:25:03.725Z,1736367903.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054083 target range: 320.700012 and range: 320.70 m. 2025-01-08T20:25:03.900Z,1736367903.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:03.906Z,1736367903.906 [DAT](INFO): DAT read: 20:25:02.1166 LVL= 31632, 32753, 17106, 32755, AGC= 63, IDX= 399, 0.48,-0.390,-1.007, 0.606,-0.200, PHS=-0.102,-0.759, 0.803, RAW= 185.2, 0.9, CAL= 185.3, -7.0, ROT= 324.7, 7.0 2025-01-08T20:25:03.907Z,1736367903.907 [DAT](INFO): got valid direction response: 20:25:02.1166 LVL= 31632, 32753, 17106, 32755, AGC= 63, IDX= 399, 0.48,-0.390,-1.007, 0.606,-0.200, PHS=-0.102,-0.759, 0.803, RAW= 185.2, 0.9, CAL= 185.3, -7.0, ROT= 324.7, 7.0 2025-01-08T20:25:03.908Z,1736367903.908 [DAT](INFO): DAT read: Bearing 324.7, 7.0 (Local) 2025-01-08T20:25:03.909Z,1736367903.909 [DAT](INFO): Local bearing/azimuth received: Bearing 324.7, 7.0 (Local) 2025-01-08T20:25:03.910Z,1736367903.910 [DAT](INFO): DAT read: Range 10 to 50 : 317.8 m (Round-trip 423.8 ms) speed 0.4 m/s 2025-01-08T20:25:03.911Z,1736367903.911 [DAT](INFO): DAT read: user:1302> 2025-01-08T20:25:03.912Z,1736367903.912 [DAT](INFO): DAT read: Tx time:20:25:03.2387 2025-01-08T20:25:03.912Z,1736367903.912 [DAT](INFO): Ping request sent. 2025-01-08T20:25:03.912Z,1736367903.912 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:03.913Z,1736367903.913 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:03.915Z,1736367903.915 [DAT](INFO): direction in FSK: [-0.095405,-0.994295,-0.047706] 2025-01-08T20:25:03.916Z,1736367903.916 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:03.916Z,1736367903.916 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:03.922Z,1736367903.922 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:03.922Z,1736367903.922 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:04.061Z,1736367904.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:04.093Z,1736367904.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 317.799988 m, deltaT: 4.034157 s, deltaX: -2.900024 m, approachRate: -0.718868 m/s, rangeRepo size: 4 2025-01-08T20:25:04.095Z,1736367904.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 317.799988 m, bearing: 23.179354 deg, lat: 36.906958 deg, lon: -122.120870 deg, deltaT: 4.034157 s, deltaX: -2.900024 m, approachRate: -0.718868 m/s, posRepo size: 4 2025-01-08T20:25:04.100Z,1736367904.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.80 m. 2025-01-08T20:25:04.102Z,1736367904.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.799988 m, nav range: 312.807312 m, bearing: 23.178588 deg, approach rate: 0.000000 m/s, LOS rate: -0.142075 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.734405 deg. 2025-01-08T20:25:04.108Z,1736367904.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054853 target range: 317.799988 and range: 317.80 m. 2025-01-08T20:25:04.152Z,1736367904.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:04.153Z,1736367904.153 [DAT](INFO): DAT read: TxSync time:20:25:03.2379 2025-01-08T20:25:04.405Z,1736367904.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:04.429Z,1736367904.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:04.439Z,1736367904.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.80 m. 2025-01-08T20:25:04.442Z,1736367904.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.799988 m, nav range: 312.789215 m, bearing: 23.121855 deg, approach rate: -0.052417 m/s, LOS rate: -0.164334 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.724348 deg. 2025-01-08T20:25:04.463Z,1736367904.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054677 target range: 317.799988 and range: 317.80 m. 2025-01-08T20:25:04.657Z,1736367904.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:04.843Z,1736367904.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:04.884Z,1736367904.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.80 m. 2025-01-08T20:25:04.886Z,1736367904.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.799988 m, nav range: 312.773376 m, bearing: 23.059598 deg, approach rate: -0.035830 m/s, LOS rate: -0.140844 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.707778 deg. 2025-01-08T20:25:04.892Z,1736367904.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054388 target range: 317.799988 and range: 317.80 m. 2025-01-08T20:25:04.910Z,1736367904.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:05.160Z,1736367905.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:05.258Z,1736367905.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:05.293Z,1736367905.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.80 m. 2025-01-08T20:25:05.296Z,1736367905.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.799988 m, nav range: 312.757599 m, bearing: 22.997315 deg, approach rate: -0.038175 m/s, LOS rate: -0.150707 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.707697 deg. 2025-01-08T20:25:05.297Z,1736367905.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054387 target range: 317.799988 and range: 317.80 m. 2025-01-08T20:25:05.412Z,1736367905.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:05.664Z,1736367905.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:05.717Z,1736367905.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:05.725Z,1736367905.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:05.728Z,1736367905.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.80 m. 2025-01-08T20:25:05.731Z,1736367905.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.799988 m, nav range: 312.747833 m, bearing: 22.929285 deg, approach rate: -0.022456 m/s, LOS rate: -0.156436 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690463 deg. 2025-01-08T20:25:05.733Z,1736367905.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054086 target range: 317.799988 and range: 317.80 m. 2025-01-08T20:25:05.916Z,1736367905.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:05.916Z,1736367905.916 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:05.916Z,1736367905.916 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:05.916Z,1736367905.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:06.060Z,1736367906.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:06.069Z,1736367906.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.80 m. 2025-01-08T20:25:06.073Z,1736367906.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.799988 m, nav range: 312.740875 m, bearing: 22.878609 deg, approach rate: -0.020396 m/s, LOS rate: -0.148551 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.742525 deg. 2025-01-08T20:25:06.074Z,1736367906.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054995 target range: 317.799988 and range: 317.80 m. 2025-01-08T20:25:06.169Z,1736367906.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:06.169Z,1736367906.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257024 2025-01-08T20:25:06.420Z,1736367906.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:06.421Z,1736367906.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508479 2025-01-08T20:25:06.466Z,1736367906.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:06.488Z,1736367906.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.80 m. 2025-01-08T20:25:06.491Z,1736367906.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.799988 m, nav range: 312.730988 m, bearing: 22.818701 deg, approach rate: -0.024297 m/s, LOS rate: -0.147216 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.714827 deg. 2025-01-08T20:25:06.493Z,1736367906.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054511 target range: 317.799988 and range: 317.80 m. 2025-01-08T20:25:06.672Z,1736367906.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:06.673Z,1736367906.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760705 2025-01-08T20:25:06.872Z,1736367906.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:06.880Z,1736367906.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.80 m. 2025-01-08T20:25:06.884Z,1736367906.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.799988 m, nav range: 312.727203 m, bearing: 22.762526 deg, approach rate: -0.009348 m/s, LOS rate: -0.138773 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.726028 deg. 2025-01-08T20:25:06.885Z,1736367906.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054707 target range: 317.799988 and range: 317.80 m. 2025-01-08T20:25:06.924Z,1736367906.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:06.924Z,1736367906.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012103 2025-01-08T20:25:07.176Z,1736367907.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:07.176Z,1736367907.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264011 2025-01-08T20:25:07.259Z,1736367907.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:07.276Z,1736367907.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:25:07.276Z,1736367907.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.80 m. 2025-01-08T20:25:07.279Z,1736367907.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.799988 m, nav range: 312.723145 m, bearing: 22.708906 deg, approach rate: -0.010498 m/s, LOS rate: -0.138689 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.733696 deg. 2025-01-08T20:25:07.285Z,1736367907.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054841 target range: 317.799988 and range: 317.80 m. 2025-01-08T20:25:07.428Z,1736367907.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:07.428Z,1736367907.428 [DAT](INFO): DAT read: Rx Time:20:25:06.0636 2025-01-08T20:25:07.429Z,1736367907.429 [DAT](INFO): Rx dataTimestamp_ set to:1736367907.428678 2025-01-08T20:25:07.429Z,1736367907.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517128 2025-01-08T20:25:07.682Z,1736367907.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:07.685Z,1736367907.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772737 2025-01-08T20:25:07.796Z,1736367907.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:07.802Z,1736367907.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:07.805Z,1736367907.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.80 m. 2025-01-08T20:25:07.808Z,1736367907.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.799988 m, nav range: 312.728821 m, bearing: 22.639088 deg, approach rate: 0.010546 m/s, LOS rate: -0.129717 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.685107 deg. 2025-01-08T20:25:07.809Z,1736367907.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053993 target range: 317.799988 and range: 317.80 m. 2025-01-08T20:25:07.932Z,1736367907.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:07.938Z,1736367907.938 [DAT](INFO): DAT read: 20:25:06.0636 LVL= 32752, 32753, 16994, 32755, AGC= 64, IDX= 416, 0.04, 1.947, 1.341, 3.048, 2.073, PHS=-0.038,-0.686, 0.971, RAW= 187.2, -3.5, CAL= 187.2, -10.3, ROT= 322.8, 10.3 2025-01-08T20:25:07.940Z,1736367907.940 [DAT](INFO): got valid direction response: 20:25:06.0636 LVL= 32752, 32753, 16994, 32755, AGC= 64, IDX= 416, 0.04, 1.947, 1.341, 3.048, 2.073, PHS=-0.038,-0.686, 0.971, RAW= 187.2, -3.5, CAL= 187.2, -10.3, ROT= 322.8, 10.3 2025-01-08T20:25:07.941Z,1736367907.941 [DAT](INFO): DAT read: Bearing 322.8, 10.3 (Local) 2025-01-08T20:25:07.941Z,1736367907.941 [DAT](INFO): Local bearing/azimuth received: Bearing 322.8, 10.3 (Local) 2025-01-08T20:25:07.942Z,1736367907.942 [DAT](INFO): DAT read: Range 10 to 50 : 315.5 m (Round-trip 420.7 ms) speed 0.5 m/s 2025-01-08T20:25:07.943Z,1736367907.943 [DAT](INFO): DAT read: user:1303> 2025-01-08T20:25:07.944Z,1736367907.944 [DAT](INFO): DAT read: Tx time:20:25:07.1888 2025-01-08T20:25:07.944Z,1736367907.944 [DAT](INFO): Ping request sent. 2025-01-08T20:25:07.944Z,1736367907.944 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:07.945Z,1736367907.945 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:07.946Z,1736367907.946 [DAT](INFO): direction in FSK: [-0.010195,-0.997110,-0.075283] 2025-01-08T20:25:07.946Z,1736367907.946 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:07.946Z,1736367907.946 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:07.964Z,1736367907.964 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:07.964Z,1736367907.964 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:08.097Z,1736367908.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:08.133Z,1736367908.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 315.500000 m, deltaT: 4.032045 s, deltaX: -2.299988 m, approachRate: -0.570427 m/s, rangeRepo size: 4 2025-01-08T20:25:08.135Z,1736367908.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 315.500000 m, bearing: 27.746532 deg, lat: 36.906958 deg, lon: -122.120870 deg, deltaT: 4.032045 s, deltaX: -2.299988 m, approachRate: -0.570427 m/s, posRepo size: 4 2025-01-08T20:25:08.144Z,1736367908.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T20:25:08.146Z,1736367908.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 312.732178 m, bearing: 22.599800 deg, approach rate: 0.000000 m/s, LOS rate: -0.129717 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.767314 deg. 2025-01-08T20:25:08.152Z,1736367908.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055427 target range: 315.500000 and range: 315.50 m. 2025-01-08T20:25:08.184Z,1736367908.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:08.185Z,1736367908.185 [DAT](INFO): DAT read: TxSync time:20:25:07.1880 2025-01-08T20:25:08.280Z,1736367908.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:25:08.439Z,1736367908.439 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:08.481Z,1736367908.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:08.509Z,1736367908.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T20:25:08.516Z,1736367908.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 312.735138 m, bearing: 22.549945 deg, approach rate: 0.007852 m/s, LOS rate: -0.132245 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.744996 deg. 2025-01-08T20:25:08.517Z,1736367908.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055038 target range: 315.500000 and range: 315.50 m. 2025-01-08T20:25:08.692Z,1736367908.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:08.935Z,1736367908.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:08.944Z,1736367908.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:08.965Z,1736367908.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T20:25:08.972Z,1736367908.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 312.750061 m, bearing: 22.494842 deg, approach rate: 0.032762 m/s, LOS rate: -0.120969 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.729253 deg. 2025-01-08T20:25:08.974Z,1736367908.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054763 target range: 315.500000 and range: 315.50 m. 2025-01-08T20:25:09.196Z,1736367909.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:09.302Z,1736367909.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:09.312Z,1736367909.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T20:25:09.315Z,1736367909.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 312.763062 m, bearing: 22.450228 deg, approach rate: 0.037428 m/s, LOS rate: -0.128435 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.760721 deg. 2025-01-08T20:25:09.336Z,1736367909.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055312 target range: 315.500000 and range: 315.50 m. 2025-01-08T20:25:09.448Z,1736367909.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:09.701Z,1736367909.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:09.768Z,1736367909.768 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 84.27, 73.06, 76.80 2025-01-08T20:25:09.781Z,1736367909.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:25:09.782Z,1736367909.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:09.791Z,1736367909.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T20:25:09.794Z,1736367909.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 312.780304 m, bearing: 22.392119 deg, approach rate: 0.035985 m/s, LOS rate: -0.121265 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.720241 deg. 2025-01-08T20:25:09.796Z,1736367909.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054606 target range: 315.500000 and range: 315.50 m. 2025-01-08T20:25:09.952Z,1736367909.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:10.118Z,1736367910.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:25:10.118Z,1736367910.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:10.126Z,1736367910.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:10.128Z,1736367910.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T20:25:10.130Z,1736367910.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 312.791962 m, bearing: 22.351298 deg, approach rate: 0.034630 m/s, LOS rate: -0.121260 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772096 deg. 2025-01-08T20:25:10.133Z,1736367910.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055511 target range: 315.500000 and range: 315.50 m. 2025-01-08T20:25:10.204Z,1736367910.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:10.205Z,1736367910.205 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:10.205Z,1736367910.205 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:10.205Z,1736367910.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:10.456Z,1736367910.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:10.457Z,1736367910.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512148 2025-01-08T20:25:10.518Z,1736367910.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:25:10.518Z,1736367910.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:10.528Z,1736367910.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T20:25:10.531Z,1736367910.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 312.805023 m, bearing: 22.302735 deg, approach rate: 0.032604 m/s, LOS rate: -0.121217 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748875 deg. 2025-01-08T20:25:10.532Z,1736367910.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055105 target range: 315.500000 and range: 315.50 m. 2025-01-08T20:25:10.710Z,1736367910.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:10.712Z,1736367910.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766537 2025-01-08T20:25:10.960Z,1736367910.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:10.962Z,1736367910.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017444 2025-01-08T20:25:10.964Z,1736367910.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:10.977Z,1736367910.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T20:25:10.980Z,1736367910.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 312.826630 m, bearing: 22.254036 deg, approach rate: 0.048216 m/s, LOS rate: -0.108667 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748470 deg. 2025-01-08T20:25:10.981Z,1736367910.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055099 target range: 315.500000 and range: 315.50 m. 2025-01-08T20:25:11.212Z,1736367911.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:11.213Z,1736367911.213 [DAT](INFO): DAT read: Rx Time:20:25:10.0108 2025-01-08T20:25:11.213Z,1736367911.213 [DAT](INFO): Rx dataTimestamp_ set to:1736367911.212717 2025-01-08T20:25:11.213Z,1736367911.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269088 2025-01-08T20:25:11.324Z,1736367911.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:11.351Z,1736367911.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.50 m. 2025-01-08T20:25:11.355Z,1736367911.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.500000 m, nav range: 312.844269 m, bearing: 22.213715 deg, approach rate: 0.047104 m/s, LOS rate: -0.107667 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.773602 deg. 2025-01-08T20:25:11.357Z,1736367911.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055537 target range: 315.500000 and range: 315.50 m. 2025-01-08T20:25:11.464Z,1736367911.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:11.464Z,1736367911.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519921 2025-01-08T20:25:11.719Z,1736367911.719 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:11.748Z,1736367911.748 [DAT](INFO): DAT read: 20:25:10.0108 LVL= 29424, 32753, 18162, 32755, AGC= 65, IDX= 419, 0.07,-3.063, 2.517,-2.066,-3.131, PHS= 0.156,-0.588, 1.061, RAW= 183.2, -8.8, CAL= 184.0, -14.7, ROT= 326.0, 14.7 2025-01-08T20:25:11.749Z,1736367911.749 [DAT](INFO): got valid direction response: 20:25:10.0108 LVL= 29424, 32753, 18162, 32755, AGC= 65, IDX= 419, 0.07,-3.063, 2.517,-2.066,-3.131, PHS= 0.156,-0.588, 1.061, RAW= 183.2, -8.8, CAL= 184.0, -14.7, ROT= 326.0, 14.7 2025-01-08T20:25:11.750Z,1736367911.750 [DAT](INFO): DAT read: Bearing 326.0, 14.7 (Local) 2025-01-08T20:25:11.750Z,1736367911.750 [DAT](INFO): Local bearing/azimuth received: Bearing 326.0, 14.7 (Local) 2025-01-08T20:25:11.780Z,1736367911.780 [DAT](INFO): DAT read: Range 10 to 50 : 313.3 m (Round-trip 417.8 ms) speed 0.4 m/s 2025-01-08T20:25:11.781Z,1736367911.781 [DAT](INFO): DAT read: user:1304> 2025-01-08T20:25:11.782Z,1736367911.782 [DAT](INFO): DAT read: Tx time:20:25:11.0888 2025-01-08T20:25:11.782Z,1736367911.782 [DAT](INFO): Ping request sent. 2025-01-08T20:25:11.782Z,1736367911.782 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:11.782Z,1736367911.782 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:11.795Z,1736367911.795 [DAT](INFO): direction in FSK: [0.086221,-0.996276,-0.000740] 2025-01-08T20:25:11.796Z,1736367911.796 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:11.796Z,1736367911.796 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:11.799Z,1736367911.799 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:11.807Z,1736367911.807 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:11.889Z,1736367911.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:11.914Z,1736367911.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 313.299988 m, deltaT: 3.787921 s, deltaX: -2.200012 m, approachRate: -0.580797 m/s, rangeRepo size: 4 2025-01-08T20:25:11.921Z,1736367911.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 313.299988 m, bearing: 32.506183 deg, lat: 36.906827 deg, lon: -122.120600 deg, deltaT: 3.787921 s, deltaX: -2.200012 m, approachRate: -0.580797 m/s, posRepo size: 4 2025-01-08T20:25:11.921Z,1736367911.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.30 m. 2025-01-08T20:25:11.928Z,1736367911.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.299988 m, nav range: 309.640289 m, bearing: 27.293445 deg, approach rate: 0.000000 m/s, LOS rate: -0.107667 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.712848 deg. 2025-01-08T20:25:11.929Z,1736367911.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054477 target range: 313.299988 and range: 313.30 m. 2025-01-08T20:25:11.968Z,1736367911.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:11.969Z,1736367911.969 [DAT](INFO): DAT read: TxSync time:20:25:11.0880 2025-01-08T20:25:12.220Z,1736367912.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:12.221Z,1736367912.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:12.240Z,1736367912.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:12.242Z,1736367912.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.30 m. 2025-01-08T20:25:12.249Z,1736367912.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.299988 m, nav range: 309.636505 m, bearing: 27.257680 deg, approach rate: -0.011514 m/s, LOS rate: -0.108820 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787260 deg. 2025-01-08T20:25:12.250Z,1736367912.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055775 target range: 313.299988 and range: 313.30 m. 2025-01-08T20:25:12.472Z,1736367912.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:12.472Z,1736367912.472 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:12.472Z,1736367912.472 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:12.473Z,1736367912.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:12.605Z,1736367912.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:12.613Z,1736367912.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.30 m. 2025-01-08T20:25:12.616Z,1736367912.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.299988 m, nav range: 309.632355 m, bearing: 27.215145 deg, approach rate: -0.011192 m/s, LOS rate: -0.114702 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.766949 deg. 2025-01-08T20:25:12.617Z,1736367912.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055421 target range: 313.299988 and range: 313.30 m. 2025-01-08T20:25:12.726Z,1736367912.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:12.729Z,1736367912.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.946029 2025-01-08T20:25:12.976Z,1736367912.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:12.976Z,1736367912.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.194272 2025-01-08T20:25:13.053Z,1736367913.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:13.062Z,1736367913.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.30 m. 2025-01-08T20:25:13.066Z,1736367913.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.299988 m, nav range: 309.628906 m, bearing: 27.165160 deg, approach rate: -0.007689 m/s, LOS rate: -0.111446 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.744599 deg. 2025-01-08T20:25:13.069Z,1736367913.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055031 target range: 313.299988 and range: 313.30 m. 2025-01-08T20:25:13.228Z,1736367913.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:13.228Z,1736367913.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.446280 2025-01-08T20:25:13.409Z,1736367913.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:13.418Z,1736367913.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.30 m. 2025-01-08T20:25:13.442Z,1736367913.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.299988 m, nav range: 309.625946 m, bearing: 27.125650 deg, approach rate: -0.008314 m/s, LOS rate: -0.110966 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776027 deg. 2025-01-08T20:25:13.448Z,1736367913.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055579 target range: 313.299988 and range: 313.30 m. 2025-01-08T20:25:13.480Z,1736367913.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:13.481Z,1736367913.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.698631 2025-01-08T20:25:13.733Z,1736367913.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:13.736Z,1736367913.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953082 2025-01-08T20:25:13.836Z,1736367913.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:13.846Z,1736367913.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.30 m. 2025-01-08T20:25:13.849Z,1736367913.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.299988 m, nav range: 309.618774 m, bearing: 27.076407 deg, approach rate: -0.016753 m/s, LOS rate: -0.115033 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.746824 deg. 2025-01-08T20:25:13.850Z,1736367913.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055070 target range: 313.299988 and range: 313.30 m. 2025-01-08T20:25:13.984Z,1736367913.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:13.984Z,1736367913.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202253 2025-01-08T20:25:14.223Z,1736367914.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:14.231Z,1736367914.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.30 m. 2025-01-08T20:25:14.234Z,1736367914.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.299988 m, nav range: 309.611694 m, bearing: 27.031856 deg, approach rate: -0.018378 m/s, LOS rate: -0.115644 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.760902 deg. 2025-01-08T20:25:14.236Z,1736367914.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:14.237Z,1736367914.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454585 2025-01-08T20:25:14.235Z,1736367914.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055315 target range: 313.299988 and range: 313.30 m. 2025-01-08T20:25:14.488Z,1736367914.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:14.489Z,1736367914.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706896 2025-01-08T20:25:14.615Z,1736367914.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:14.637Z,1736367914.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:14.644Z,1736367914.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.30 m. 2025-01-08T20:25:14.652Z,1736367914.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.299988 m, nav range: 309.604248 m, bearing: 26.986629 deg, approach rate: -0.018025 m/s, LOS rate: -0.109483 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.758872 deg. 2025-01-08T20:25:14.657Z,1736367914.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055280 target range: 313.299988 and range: 313.30 m. 2025-01-08T20:25:14.741Z,1736367914.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:14.744Z,1736367914.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961540 2025-01-08T20:25:14.992Z,1736367914.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:14.993Z,1736367914.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.210930 2025-01-08T20:25:15.109Z,1736367915.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:15.126Z,1736367915.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.30 m. 2025-01-08T20:25:15.131Z,1736367915.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.299988 m, nav range: 309.583496 m, bearing: 26.926199 deg, approach rate: -0.043045 m/s, LOS rate: -0.125357 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.713255 deg. 2025-01-08T20:25:15.145Z,1736367915.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054484 target range: 313.299988 and range: 313.30 m. 2025-01-08T20:25:15.244Z,1736367915.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:15.244Z,1736367915.244 [DAT](INFO): DAT read: Rx Time:20:25:13.8881 2025-01-08T20:25:15.245Z,1736367915.245 [DAT](INFO): Rx dataTimestamp_ set to:1736367915.244669 2025-01-08T20:25:15.245Z,1736367915.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463467 2025-01-08T20:25:15.474Z,1736367915.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:15.482Z,1736367915.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.30 m. 2025-01-08T20:25:15.485Z,1736367915.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.299988 m, nav range: 309.568268 m, bearing: 26.881601 deg, approach rate: -0.042775 m/s, LOS rate: -0.125279 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.760757 deg. 2025-01-08T20:25:15.486Z,1736367915.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055313 target range: 313.299988 and range: 313.30 m. 2025-01-08T20:25:15.496Z,1736367915.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:15.496Z,1736367915.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.714411 2025-01-08T20:25:15.749Z,1736367915.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:15.798Z,1736367915.798 [DAT](INFO): DAT read: 20:25:13.8881 LVL= 31440, 32753, 17266, 32755, AGC= 68, IDX= 208,-0.03, 1.064, 0.481, 2.106, 1.228, PHS=-0.076,-0.701, 0.875, RAW= 186.8, -1.5, CAL= 186.9, -8.7, ROT= 323.1, 8.7 2025-01-08T20:25:15.802Z,1736367915.802 [DAT](INFO): got valid direction response: 20:25:13.8881 LVL= 31440, 32753, 17266, 32755, AGC= 68, IDX= 208,-0.03, 1.064, 0.481, 2.106, 1.228, PHS=-0.076,-0.701, 0.875, RAW= 186.8, -1.5, CAL= 186.9, -8.7, ROT= 323.1, 8.7 2025-01-08T20:25:15.804Z,1736367915.804 [DAT](INFO): DAT read: Bearing 323.1, 8.7 (Local) 2025-01-08T20:25:15.805Z,1736367915.805 [DAT](INFO): Local bearing/azimuth received: Bearing 323.1, 8.7 (Local) 2025-01-08T20:25:15.807Z,1736367915.807 [DAT](INFO): DAT read: Range 10 to 50 : 296.4 m (Round-trip 395.2 ms) speed 0.3 m/s 2025-01-08T20:25:15.808Z,1736367915.808 [DAT](INFO): DAT read: user:1305> 2025-01-08T20:25:15.809Z,1736367915.809 [DAT](INFO): DAT read: Tx time:20:25:14.9888 2025-01-08T20:25:15.809Z,1736367915.809 [DAT](INFO): Ping request sent. 2025-01-08T20:25:15.809Z,1736367915.809 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:15.810Z,1736367915.810 [DAT](INFO): DAT read: TxSync time:20:25:14.9881 2025-01-08T20:25:15.810Z,1736367915.810 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:15.811Z,1736367915.811 [DAT](INFO): direction in FSK: [-0.049010,-0.996217,-0.071762] 2025-01-08T20:25:15.812Z,1736367915.812 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:15.812Z,1736367915.812 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:15.815Z,1736367915.815 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:15.815Z,1736367915.815 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:15.917Z,1736367915.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:15.948Z,1736367915.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 296.399994 m, deltaT: 4.029985 s, deltaX: -16.899994 m, approachRate: -4.193563 m/s, rangeRepo size: 4 2025-01-08T20:25:15.950Z,1736367915.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 296.399994 m, bearing: 23.873160 deg, lat: 36.906757 deg, lon: -122.120600 deg, deltaT: 4.029985 s, deltaX: -16.899994 m, approachRate: -4.193563 m/s, posRepo size: 4 2025-01-08T20:25:15.959Z,1736367915.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m. 2025-01-08T20:25:15.962Z,1736367915.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.399994 m, nav range: 302.641449 m, bearing: 27.486835 deg, approach rate: 0.000000 m/s, LOS rate: -0.125279 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.721257 deg. 2025-01-08T20:25:15.967Z,1736367915.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054624 target range: 296.399994 and range: 296.40 m. 2025-01-08T20:25:15.000Z,1736367916.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:16.252Z,1736367916.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:16.280Z,1736367916.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:16.301Z,1736367916.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m. 2025-01-08T20:25:16.308Z,1736367916.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.399994 m, nav range: 302.615936 m, bearing: 27.438952 deg, approach rate: -0.071281 m/s, LOS rate: -0.133794 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.750897 deg. 2025-01-08T20:25:16.309Z,1736367916.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055141 target range: 296.399994 and range: 296.40 m. 2025-01-08T20:25:16.504Z,1736367916.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:16.676Z,1736367916.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:16.685Z,1736367916.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:16.688Z,1736367916.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m. 2025-01-08T20:25:16.692Z,1736367916.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.399994 m, nav range: 302.589905 m, bearing: 27.386818 deg, approach rate: -0.067225 m/s, LOS rate: -0.134646 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.738139 deg. 2025-01-08T20:25:16.693Z,1736367916.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054918 target range: 296.399994 and range: 296.40 m. 2025-01-08T20:25:16.761Z,1736367916.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:16.763Z,1736367916.763 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:16.764Z,1736367916.764 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:16.765Z,1736367916.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:17.012Z,1736367917.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:17.012Z,1736367917.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.203217 2025-01-08T20:25:17.114Z,1736367917.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:17.137Z,1736367917.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m. 2025-01-08T20:25:17.145Z,1736367917.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.399994 m, nav range: 302.550110 m, bearing: 27.324104 deg, approach rate: -0.088809 m/s, LOS rate: -0.139975 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.706391 deg. 2025-01-08T20:25:17.146Z,1736367917.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054364 target range: 296.399994 and range: 296.40 m. 2025-01-08T20:25:17.265Z,1736367917.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:17.266Z,1736367917.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.456727 2025-01-08T20:25:17.467Z,1736367917.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:17.496Z,1736367917.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m. 2025-01-08T20:25:17.498Z,1736367917.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.399994 m, nav range: 302.520142 m, bearing: 27.273705 deg, approach rate: -0.084445 m/s, LOS rate: -0.142030 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.743345 deg. 2025-01-08T20:25:17.508Z,1736367917.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055009 target range: 296.399994 and range: 296.40 m. 2025-01-08T20:25:17.516Z,1736367917.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:17.517Z,1736367917.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.707410 2025-01-08T20:25:17.770Z,1736367917.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:17.773Z,1736367917.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963062 2025-01-08T20:25:17.892Z,1736367917.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:17.900Z,1736367917.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m. 2025-01-08T20:25:17.903Z,1736367917.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.399994 m, nav range: 302.472015 m, bearing: 27.209020 deg, approach rate: -0.117661 m/s, LOS rate: -0.158171 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.700470 deg. 2025-01-08T20:25:17.905Z,1736367917.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054261 target range: 296.399994 and range: 296.40 m. 2025-01-08T20:25:18.020Z,1736367918.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:18.021Z,1736367918.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211949 2025-01-08T20:25:18.272Z,1736367918.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:18.272Z,1736367918.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463299 2025-01-08T20:25:18.277Z,1736367918.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:18.285Z,1736367918.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m. 2025-01-08T20:25:18.289Z,1736367918.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.399994 m, nav range: 302.429138 m, bearing: 27.150362 deg, approach rate: -0.111369 m/s, LOS rate: -0.152379 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.718559 deg. 2025-01-08T20:25:18.290Z,1736367918.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054576 target range: 296.399994 and range: 296.40 m. 2025-01-08T20:25:18.524Z,1736367918.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:18.525Z,1736367918.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715396 2025-01-08T20:25:18.692Z,1736367918.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:18.698Z,1736367918.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:18.700Z,1736367918.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m. 2025-01-08T20:25:18.703Z,1736367918.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.399994 m, nav range: 302.383728 m, bearing: 27.087231 deg, approach rate: -0.109425 m/s, LOS rate: -0.152151 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.705135 deg. 2025-01-08T20:25:18.705Z,1736367918.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054342 target range: 296.399994 and range: 296.40 m. 2025-01-08T20:25:18.778Z,1736367918.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:18.781Z,1736367918.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971266 2025-01-08T20:25:19.028Z,1736367919.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:19.028Z,1736367919.028 [DAT](INFO): DAT read: Rx Time:20:25:17.7856 2025-01-08T20:25:19.029Z,1736367919.029 [DAT](INFO): Rx dataTimestamp_ set to:1736367919.028595 2025-01-08T20:25:19.029Z,1736367919.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220247 2025-01-08T20:25:19.152Z,1736367919.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:19.160Z,1736367919.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m. 2025-01-08T20:25:19.179Z,1736367919.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.399994 m, nav range: 302.327606 m, bearing: 27.012520 deg, approach rate: -0.122032 m/s, LOS rate: -0.162482 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.670383 deg. 2025-01-08T20:25:19.180Z,1736367919.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053736 target range: 296.399994 and range: 296.40 m. 2025-01-08T20:25:19.280Z,1736367919.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:19.281Z,1736367919.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471351 2025-01-08T20:25:19.513Z,1736367919.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:19.526Z,1736367919.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m. 2025-01-08T20:25:19.529Z,1736367919.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.399994 m, nav range: 302.284485 m, bearing: 26.953893 deg, approach rate: -0.118912 m/s, LOS rate: -0.161692 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.718653 deg. 2025-01-08T20:25:19.530Z,1736367919.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054578 target range: 296.399994 and range: 296.40 m. 2025-01-08T20:25:19.532Z,1736367919.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:19.543Z,1736367919.543 [DAT](INFO): DAT read: 20:25:17.7856 LVL= 30016, 30273, 15634, 28899, AGC= 64, IDX= 413,-0.25,-0.609,-1.427, 0.732,-0.311, PHS=-0.210,-1.070, 1.040, RAW= 186.1, 2.6, CAL= 186.1, -5.5, ROT= 323.9, 5.5 2025-01-08T20:25:19.545Z,1736367919.545 [DAT](INFO): got valid direction response: 20:25:17.7856 LVL= 30016, 30273, 15634, 28899, AGC= 64, IDX= 413,-0.25,-0.609,-1.427, 0.732,-0.311, PHS=-0.210,-1.070, 1.040, RAW= 186.1, 2.6, CAL= 186.1, -5.5, ROT= 323.9, 5.5 2025-01-08T20:25:19.545Z,1736367919.545 [DAT](INFO): DAT read: Bearing 323.9, 5.5 (Local) 2025-01-08T20:25:19.546Z,1736367919.546 [DAT](INFO): Local bearing/azimuth received: Bearing 323.9, 5.5 (Local) 2025-01-08T20:25:19.547Z,1736367919.547 [DAT](INFO): DAT read: Range 10 to 50 : 294.3 m (Round-trip 392.5 ms) speed 0.4 m/s 2025-01-08T20:25:19.548Z,1736367919.548 [DAT](INFO): DAT read: user:1306> 2025-01-08T20:25:19.549Z,1736367919.549 [DAT](INFO): DAT read: Tx time:20:25:18.8889 2025-01-08T20:25:19.549Z,1736367919.549 [DAT](INFO): Ping request sent. 2025-01-08T20:25:19.549Z,1736367919.549 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:19.549Z,1736367919.549 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:19.550Z,1736367919.550 [DAT](INFO): direction in FSK: [-0.127437,-0.989751,-0.064444] 2025-01-08T20:25:19.551Z,1736367919.551 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:19.551Z,1736367919.551 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:19.574Z,1736367919.574 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:19.574Z,1736367919.574 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:19.784Z,1736367919.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:19.785Z,1736367919.785 [DAT](INFO): DAT read: TxSync time:20:25:18.8881 2025-01-08T20:25:19.967Z,1736367919.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:20.036Z,1736367920.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:20.045Z,1736367920.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 294.299988 m, deltaT: 3.782166 s, deltaX: -2.100006 m, approachRate: -0.555239 m/s, rangeRepo size: 4 2025-01-08T20:25:20.052Z,1736367920.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 294.299988 m, bearing: 20.353693 deg, lat: 36.906767 deg, lon: -122.120850 deg, deltaT: 3.782166 s, deltaX: -2.100006 m, approachRate: -0.555239 m/s, posRepo size: 4 2025-01-08T20:25:20.052Z,1736367920.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T20:25:20.059Z,1736367920.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 293.827118 m, bearing: 22.915361 deg, approach rate: 0.000000 m/s, LOS rate: -0.161692 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.641485 deg. 2025-01-08T20:25:20.060Z,1736367920.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053231 target range: 294.299988 and range: 294.30 m. 2025-01-08T20:25:20.289Z,1736367920.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:20.347Z,1736367920.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:20.373Z,1736367920.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T20:25:20.380Z,1736367920.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 293.805176 m, bearing: 22.850796 deg, approach rate: -0.066777 m/s, LOS rate: -0.196507 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.700848 deg. 2025-01-08T20:25:20.381Z,1736367920.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054267 target range: 294.299988 and range: 294.30 m. 2025-01-08T20:25:20.540Z,1736367920.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:20.748Z,1736367920.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:20.774Z,1736367920.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:20.781Z,1736367920.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T20:25:20.784Z,1736367920.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 293.784088 m, bearing: 22.782746 deg, approach rate: -0.051957 m/s, LOS rate: -0.167676 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690394 deg. 2025-01-08T20:25:20.786Z,1736367920.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054085 target range: 294.299988 and range: 294.30 m. 2025-01-08T20:25:20.792Z,1736367920.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:20.792Z,1736367920.792 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:20.792Z,1736367920.792 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:20.793Z,1736367920.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:21.045Z,1736367921.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:21.046Z,1736367921.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496990 2025-01-08T20:25:21.181Z,1736367921.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:21.189Z,1736367921.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T20:25:21.208Z,1736367921.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 293.768433 m, bearing: 22.710064 deg, approach rate: -0.038158 m/s, LOS rate: -0.177159 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.676500 deg. 2025-01-08T20:25:21.210Z,1736367921.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053842 target range: 294.299988 and range: 294.30 m. 2025-01-08T20:25:21.296Z,1736367921.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:21.297Z,1736367921.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748204 2025-01-08T20:25:21.548Z,1736367921.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:21.548Z,1736367921.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999201 2025-01-08T20:25:21.561Z,1736367921.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:21.569Z,1736367921.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T20:25:21.574Z,1736367921.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 293.755035 m, bearing: 22.646227 deg, approach rate: -0.035255 m/s, LOS rate: -0.167995 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.703036 deg. 2025-01-08T20:25:21.575Z,1736367921.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054306 target range: 294.299988 and range: 294.30 m. 2025-01-08T20:25:21.800Z,1736367921.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:21.800Z,1736367921.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251180 2025-01-08T20:25:21.994Z,1736367921.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:22.002Z,1736367922.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T20:25:22.006Z,1736367922.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 293.743561 m, bearing: 22.575788 deg, approach rate: -0.026515 m/s, LOS rate: -0.162770 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.683233 deg. 2025-01-08T20:25:22.008Z,1736367922.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053960 target range: 294.299988 and range: 294.30 m. 2025-01-08T20:25:22.053Z,1736367922.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:22.054Z,1736367922.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504587 2025-01-08T20:25:22.304Z,1736367922.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:22.305Z,1736367922.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755878 2025-01-08T20:25:22.367Z,1736367922.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:22.388Z,1736367922.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T20:25:22.390Z,1736367922.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 293.733826 m, bearing: 22.515083 deg, approach rate: -0.025302 m/s, LOS rate: -0.157782 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.712438 deg. 2025-01-08T20:25:22.392Z,1736367922.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054470 target range: 294.299988 and range: 294.30 m. 2025-01-08T20:25:22.556Z,1736367922.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:22.556Z,1736367922.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007242 2025-01-08T20:25:22.768Z,1736367922.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:22.775Z,1736367922.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:22.777Z,1736367922.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T20:25:22.780Z,1736367922.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 293.723572 m, bearing: 22.449832 deg, approach rate: -0.026273 m/s, LOS rate: -0.167195 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.698796 deg. 2025-01-08T20:25:22.781Z,1736367922.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054231 target range: 294.299988 and range: 294.30 m. 2025-01-08T20:25:22.822Z,1736367922.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:22.823Z,1736367922.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273504 2025-01-08T20:25:23.072Z,1736367923.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:23.072Z,1736367923.072 [DAT](INFO): DAT read: Rx Time:20:25:21.7020 2025-01-08T20:25:23.074Z,1736367923.074 [DAT](INFO): Rx dataTimestamp_ set to:1736367923.072996 2025-01-08T20:25:23.077Z,1736367923.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527116 2025-01-08T20:25:23.213Z,1736367923.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:23.221Z,1736367923.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T20:25:23.224Z,1736367923.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 293.724548 m, bearing: 22.380204 deg, approach rate: 0.002199 m/s, LOS rate: -0.156790 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.685673 deg. 2025-01-08T20:25:23.225Z,1736367923.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054003 target range: 294.299988 and range: 294.30 m. 2025-01-08T20:25:23.324Z,1736367923.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:23.325Z,1736367923.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775374 2025-01-08T20:25:23.576Z,1736367923.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:23.586Z,1736367923.586 [DAT](INFO): DAT read: 20:25:21.7020 LVL= 32752, 32753, 19154, 32755, AGC= 66, IDX= 101,-0.01, 1.511, 0.831, 2.557, 1.556, PHS= 0.043,-0.679, 0.998, RAW= 184.6, -5.0, CAL= 185.0, -11.6, ROT= 325.0, 11.6 2025-01-08T20:25:23.587Z,1736367923.587 [DAT](INFO): got valid direction response: 20:25:21.7020 LVL= 32752, 32753, 19154, 32755, AGC= 66, IDX= 101,-0.01, 1.511, 0.831, 2.557, 1.556, PHS= 0.043,-0.679, 0.998, RAW= 184.6, -5.0, CAL= 185.0, -11.6, ROT= 325.0, 11.6 2025-01-08T20:25:23.589Z,1736367923.589 [DAT](INFO): DAT read: Bearing 325.0, 11.6 (Local) 2025-01-08T20:25:23.589Z,1736367923.589 [DAT](INFO): Local bearing/azimuth received: Bearing 325.0, 11.6 (Local) 2025-01-08T20:25:23.591Z,1736367923.591 [DAT](INFO): DAT read: Range 10 to 50 : 306.6 m (Round-trip 408.9 ms) speed 0.5 m/s 2025-01-08T20:25:23.592Z,1736367923.592 [DAT](INFO): DAT read: user:1307> 2025-01-08T20:25:23.593Z,1736367923.593 [DAT](INFO): DAT read: Tx time:20:25:22.7889 2025-01-08T20:25:23.593Z,1736367923.593 [DAT](INFO): Ping request sent. 2025-01-08T20:25:23.593Z,1736367923.593 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:23.593Z,1736367923.593 [DAT](INFO): DAT read: TxSync time:20:25:22.7881 2025-01-08T20:25:23.594Z,1736367923.594 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:23.595Z,1736367923.595 [DAT](INFO): direction in FSK: [0.015434,-0.999459,-0.029026] 2025-01-08T20:25:23.595Z,1736367923.595 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:23.596Z,1736367923.596 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:23.598Z,1736367923.598 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:23.599Z,1736367923.599 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:23.619Z,1736367923.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:23.695Z,1736367923.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 306.600006 m, deltaT: 4.043720 s, deltaX: 12.300018 m, approachRate: 3.041758 m/s, rangeRepo size: 4 2025-01-08T20:25:23.701Z,1736367923.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 306.600006 m, bearing: 29.449935 deg, lat: 36.906729 deg, lon: -122.120600 deg, deltaT: 4.043720 s, deltaX: 12.300018 m, approachRate: 3.041758 m/s, posRepo size: 4 2025-01-08T20:25:23.702Z,1736367923.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-01-08T20:25:23.709Z,1736367923.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600006 m, nav range: 299.140015 m, bearing: 26.563155 deg, approach rate: 0.000000 m/s, LOS rate: -0.156790 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.672191 deg. 2025-01-08T20:25:23.711Z,1736367923.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053767 target range: 306.600006 and range: 306.60 m. 2025-01-08T20:25:23.828Z,1736367923.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:24.074Z,1736367924.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:24.080Z,1736367924.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:24.097Z,1736367924.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-01-08T20:25:24.104Z,1736367924.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600006 m, nav range: 299.118256 m, bearing: 26.499157 deg, approach rate: -0.054061 m/s, LOS rate: -0.159017 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.702550 deg. 2025-01-08T20:25:24.106Z,1736367924.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054297 target range: 306.600006 and range: 306.60 m. 2025-01-08T20:25:24.332Z,1736367924.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:24.385Z,1736367924.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:24.402Z,1736367924.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-01-08T20:25:24.409Z,1736367924.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600006 m, nav range: 299.103302 m, bearing: 26.455478 deg, approach rate: -0.049003 m/s, LOS rate: -0.143144 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.763514 deg. 2025-01-08T20:25:24.416Z,1736367924.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055361 target range: 306.600006 and range: 306.60 m. 2025-01-08T20:25:24.584Z,1736367924.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:24.779Z,1736367924.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:24.785Z,1736367924.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:24.788Z,1736367924.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-01-08T20:25:24.791Z,1736367924.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600006 m, nav range: 299.084900 m, bearing: 26.400169 deg, approach rate: -0.047615 m/s, LOS rate: -0.143120 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.728621 deg. 2025-01-08T20:25:24.792Z,1736367924.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054752 target range: 306.600006 and range: 306.60 m. 2025-01-08T20:25:24.837Z,1736367924.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:24.839Z,1736367924.839 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:24.839Z,1736367924.839 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:24.840Z,1736367924.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:25.088Z,1736367925.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:25.089Z,1736367925.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495829 2025-01-08T20:25:25.218Z,1736367925.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:25.227Z,1736367925.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-01-08T20:25:25.229Z,1736367925.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600006 m, nav range: 299.080536 m, bearing: 26.343481 deg, approach rate: -0.009956 m/s, LOS rate: -0.129335 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.724489 deg. 2025-01-08T20:25:25.230Z,1736367925.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054680 target range: 306.600006 and range: 306.60 m. 2025-01-08T20:25:25.341Z,1736367925.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:25.342Z,1736367925.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748800 2025-01-08T20:25:25.592Z,1736367925.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:25.593Z,1736367925.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999645 2025-01-08T20:25:25.593Z,1736367925.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:25.602Z,1736367925.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-01-08T20:25:25.605Z,1736367925.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600006 m, nav range: 299.076385 m, bearing: 26.294969 deg, approach rate: -0.011059 m/s, LOS rate: -0.129261 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.749019 deg. 2025-01-08T20:25:25.607Z,1736367925.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055108 target range: 306.600006 and range: 306.60 m. 2025-01-08T20:25:25.846Z,1736367925.846 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:25.847Z,1736367925.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254493 2025-01-08T20:25:26.017Z,1736367926.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:26.026Z,1736367926.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-01-08T20:25:26.029Z,1736367926.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600006 m, nav range: 299.076904 m, bearing: 26.245257 deg, approach rate: 0.001223 m/s, LOS rate: -0.117172 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.745423 deg. 2025-01-08T20:25:26.030Z,1736367926.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055045 target range: 306.600006 and range: 306.60 m. 2025-01-08T20:25:26.096Z,1736367926.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:26.098Z,1736367926.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504653 2025-01-08T20:25:26.348Z,1736367926.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:26.348Z,1736367926.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755520 2025-01-08T20:25:26.406Z,1736367926.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:26.414Z,1736367926.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-01-08T20:25:26.429Z,1736367926.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600006 m, nav range: 299.077240 m, bearing: 26.199608 deg, approach rate: 0.000865 m/s, LOS rate: -0.117646 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.757610 deg. 2025-01-08T20:25:26.430Z,1736367926.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055258 target range: 306.600006 and range: 306.60 m. 2025-01-08T20:25:26.600Z,1736367926.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:26.601Z,1736367926.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007684 2025-01-08T20:25:26.852Z,1736367926.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:26.853Z,1736367926.853 [DAT](INFO): DAT read: Rx Time:20:25:25.5783 2025-01-08T20:25:26.853Z,1736367926.853 [DAT](INFO): Rx dataTimestamp_ set to:1736367926.852706 2025-01-08T20:25:26.854Z,1736367926.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260615 2025-01-08T20:25:26.922Z,1736367926.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:26.961Z,1736367926.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:26.967Z,1736367926.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-01-08T20:25:26.970Z,1736367926.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600006 m, nav range: 299.077423 m, bearing: 26.139091 deg, approach rate: 0.000333 m/s, LOS rate: -0.110202 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.713006 deg. 2025-01-08T20:25:26.977Z,1736367926.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054480 target range: 306.600006 and range: 306.60 m. 2025-01-08T20:25:27.104Z,1736367927.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:27.105Z,1736367927.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511989 2025-01-08T20:25:27.356Z,1736367927.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:27.362Z,1736367927.362 [DAT](INFO): DAT read: 20:25:25.5784 LVL= 32752, 32753, 20306, 32755, AGC= 63, IDX= 194, 0.23, 0.429,-0.436, 1.788, 0.739, PHS=-0.222,-1.128, 1.046, RAW= 185.5, 3.2, CAL= 185.5, -5.1, ROT= 324.5, 5.1 2025-01-08T20:25:27.364Z,1736367927.364 [DAT](INFO): got valid direction response: 20:25:25.5784 LVL= 32752, 32753, 20306, 32755, AGC= 63, IDX= 194, 0.23, 0.429,-0.436, 1.788, 0.739, PHS=-0.222,-1.128, 1.046, RAW= 185.5, 3.2, CAL= 185.5, -5.1, ROT= 324.5, 5.1 2025-01-08T20:25:27.365Z,1736367927.365 [DAT](INFO): DAT read: Bearing 324.5, 5.1 (Local) 2025-01-08T20:25:27.365Z,1736367927.365 [DAT](INFO): Local bearing/azimuth received: Bearing 324.5, 5.1 (Local) 2025-01-08T20:25:27.366Z,1736367927.366 [DAT](INFO): DAT read: Range 10 to 50 : 288.9 m (Round-trip 385.2 ms) speed 0.4 m/s 2025-01-08T20:25:27.367Z,1736367927.367 [DAT](INFO): DAT read: user:1308> 2025-01-08T20:25:27.368Z,1736367927.368 [DAT](INFO): DAT read: Tx time:20:25:26.6890 2025-01-08T20:25:27.368Z,1736367927.368 [DAT](INFO): Ping request sent. 2025-01-08T20:25:27.368Z,1736367927.368 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:27.369Z,1736367927.369 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:27.370Z,1736367927.370 [DAT](INFO): direction in FSK: [-0.139894,-0.988643,-0.054914] 2025-01-08T20:25:27.370Z,1736367927.370 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:27.371Z,1736367927.371 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:27.375Z,1736367927.375 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:27.375Z,1736367927.375 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:27.476Z,1736367927.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:27.510Z,1736367927.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 288.899994 m, deltaT: 3.780279 s, deltaX: -17.700012 m, approachRate: -4.682197 m/s, rangeRepo size: 4 2025-01-08T20:25:27.517Z,1736367927.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 288.899994 m, bearing: 19.620887 deg, lat: 36.906724 deg, lon: -122.120850 deg, deltaT: 3.780279 s, deltaX: -17.700012 m, approachRate: -4.682197 m/s, posRepo size: 4 2025-01-08T20:25:27.518Z,1736367927.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.90 m. 2025-01-08T20:25:27.525Z,1736367927.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.899994 m, nav range: 289.502441 m, bearing: 22.170038 deg, approach rate: 0.000000 m/s, LOS rate: -0.110202 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.713855 deg. 2025-01-08T20:25:27.526Z,1736367927.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054494 target range: 288.899994 and range: 288.90 m. 2025-01-08T20:25:27.608Z,1736367927.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:27.609Z,1736367927.609 [DAT](INFO): DAT read: TxSync time:20:25:26.6882 2025-01-08T20:25:27.860Z,1736367927.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:28.025Z,1736367928.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:28.034Z,1736367928.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.90 m. 2025-01-08T20:25:28.038Z,1736367928.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.899994 m, nav range: 289.530701 m, bearing: 22.109320 deg, approach rate: 0.053894 m/s, LOS rate: -0.115786 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.712420 deg. 2025-01-08T20:25:28.040Z,1736367928.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054469 target range: 288.899994 and range: 288.90 m. 2025-01-08T20:25:28.112Z,1736367928.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:28.363Z,1736367928.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:28.364Z,1736367928.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:28.373Z,1736367928.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.90 m. 2025-01-08T20:25:28.377Z,1736367928.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.899994 m, nav range: 289.548523 m, bearing: 22.072031 deg, approach rate: 0.052571 m/s, LOS rate: -0.109985 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782698 deg. 2025-01-08T20:25:28.378Z,1736367928.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055696 target range: 288.899994 and range: 288.90 m. 2025-01-08T20:25:28.616Z,1736367928.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:28.749Z,1736367928.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:28.759Z,1736367928.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.90 m. 2025-01-08T20:25:28.762Z,1736367928.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.899994 m, nav range: 289.569275 m, bearing: 22.029300 deg, approach rate: 0.053825 m/s, LOS rate: -0.110826 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.766372 deg. 2025-01-08T20:25:28.763Z,1736367928.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055411 target range: 288.899994 and range: 288.90 m. 2025-01-08T20:25:28.868Z,1736367928.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:29.120Z,1736367929.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:29.185Z,1736367929.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:29.193Z,1736367929.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:29.195Z,1736367929.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.90 m. 2025-01-08T20:25:29.200Z,1736367929.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.899994 m, nav range: 289.588654 m, bearing: 21.981905 deg, approach rate: 0.044466 m/s, LOS rate: -0.108745 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.752380 deg. 2025-01-08T20:25:29.201Z,1736367929.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055167 target range: 288.899994 and range: 288.90 m. 2025-01-08T20:25:29.373Z,1736367929.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:29.374Z,1736367929.374 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:29.374Z,1736367929.374 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:29.375Z,1736367929.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:29.557Z,1736367929.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:29.566Z,1736367929.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.90 m. 2025-01-08T20:25:29.568Z,1736367929.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.899994 m, nav range: 289.604584 m, bearing: 21.941384 deg, approach rate: 0.042929 m/s, LOS rate: -0.109192 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.773000 deg. 2025-01-08T20:25:29.570Z,1736367929.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055527 target range: 288.899994 and range: 288.90 m. 2025-01-08T20:25:29.625Z,1736367929.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:29.626Z,1736367929.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257111 2025-01-08T20:25:29.876Z,1736367929.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:29.876Z,1736367929.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507933 2025-01-08T20:25:30.038Z,1736367930.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:30.076Z,1736367930.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.90 m. 2025-01-08T20:25:30.087Z,1736367930.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.899994 m, nav range: 289.624969 m, bearing: 21.889002 deg, approach rate: 0.040351 m/s, LOS rate: -0.103676 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.737423 deg. 2025-01-08T20:25:30.092Z,1736367930.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054906 target range: 288.899994 and range: 288.90 m. 2025-01-08T20:25:30.128Z,1736367930.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:30.129Z,1736367930.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760162 2025-01-08T20:25:30.380Z,1736367930.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:30.381Z,1736367930.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012604 2025-01-08T20:25:30.424Z,1736367930.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:30.444Z,1736367930.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.90 m. 2025-01-08T20:25:30.451Z,1736367930.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.899994 m, nav range: 289.631378 m, bearing: 21.843311 deg, approach rate: 0.017162 m/s, LOS rate: -0.122355 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.757486 deg. 2025-01-08T20:25:30.453Z,1736367930.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055256 target range: 288.899994 and range: 288.90 m. 2025-01-08T20:25:30.633Z,1736367930.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:30.636Z,1736367930.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267136 2025-01-08T20:25:30.792Z,1736367930.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:30.800Z,1736367930.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.90 m. 2025-01-08T20:25:30.803Z,1736367930.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.899994 m, nav range: 289.637451 m, bearing: 21.799637 deg, approach rate: 0.017071 m/s, LOS rate: -0.122765 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.763539 deg. 2025-01-08T20:25:30.805Z,1736367930.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055362 target range: 288.899994 and range: 288.90 m. 2025-01-08T20:25:30.884Z,1736367930.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:30.886Z,1736367930.886 [DAT](INFO): DAT read: Rx Time:20:25:29.4972 2025-01-08T20:25:30.886Z,1736367930.886 [DAT](INFO): Rx dataTimestamp_ set to:1736367930.886125 2025-01-08T20:25:30.888Z,1736367930.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519619 2025-01-08T20:25:31.136Z,1736367931.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:31.136Z,1736367931.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767924 2025-01-08T20:25:31.257Z,1736367931.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:31.265Z,1736367931.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:31.267Z,1736367931.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.90 m. 2025-01-08T20:25:31.270Z,1736367931.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.899994 m, nav range: 289.640381 m, bearing: 21.739693 deg, approach rate: 0.006272 m/s, LOS rate: -0.128325 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.714727 deg. 2025-01-08T20:25:31.298Z,1736367931.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054510 target range: 288.899994 and range: 288.90 m. 2025-01-08T20:25:31.388Z,1736367931.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:31.395Z,1736367931.395 [DAT](INFO): DAT read: 20:25:29.4972 LVL= 31632, 29361, 16626, 29299, AGC= 66, IDX= 115,-0.40,-0.218,-0.720, 0.796,-0.151, PHS= 0.021,-0.522, 0.944, RAW= 188.5, -7.0, CAL= 188.4, -13.1, ROT= 321.6, 13.1 2025-01-08T20:25:31.396Z,1736367931.396 [DAT](INFO): got valid direction response: 20:25:29.4972 LVL= 31632, 29361, 16626, 29299, AGC= 66, IDX= 115,-0.40,-0.218,-0.720, 0.796,-0.151, PHS= 0.021,-0.522, 0.944, RAW= 188.5, -7.0, CAL= 188.4, -13.1, ROT= 321.6, 13.1 2025-01-08T20:25:31.397Z,1736367931.397 [DAT](INFO): DAT read: Bearing 321.6, 13.1 (Local) 2025-01-08T20:25:31.398Z,1736367931.398 [DAT](INFO): Local bearing/azimuth received: Bearing 321.6, 13.1 (Local) 2025-01-08T20:25:31.402Z,1736367931.402 [DAT](INFO): DAT read: Range 10 to 50 : 303.0 m (Round-trip 404.1 ms) speed 0.4 m/s 2025-01-08T20:25:31.404Z,1736367931.404 [DAT](INFO): DAT read: user:1309> 2025-01-08T20:25:31.407Z,1736367931.407 [DAT](INFO): DAT read: Tx time:20:25:30.5890 2025-01-08T20:25:31.408Z,1736367931.408 [DAT](INFO): Ping request sent. 2025-01-08T20:25:31.408Z,1736367931.408 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:31.409Z,1736367931.409 [DAT](INFO): DAT read: TxSync time:20:25:30.5882 2025-01-08T20:25:31.411Z,1736367931.411 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:31.416Z,1736367931.416 [DAT](INFO): direction in FSK: [0.058563,-0.993923,-0.093206] 2025-01-08T20:25:31.416Z,1736367931.416 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:31.416Z,1736367931.416 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:31.429Z,1736367931.429 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:31.429Z,1736367931.429 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:31.639Z,1736367931.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:31.640Z,1736367931.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:31.693Z,1736367931.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 303.000000 m, deltaT: 4.031897 s, deltaX: 14.100006 m, approachRate: 3.497115 m/s, rangeRepo size: 4 2025-01-08T20:25:31.695Z,1736367931.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 303.000000 m, bearing: 30.417736 deg, lat: 36.906724 deg, lon: -122.120850 deg, deltaT: 4.031897 s, deltaX: 14.100006 m, approachRate: 3.497115 m/s, posRepo size: 4 2025-01-08T20:25:31.700Z,1736367931.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T20:25:31.703Z,1736367931.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 289.642731 m, bearing: 21.690602 deg, approach rate: 0.000000 m/s, LOS rate: -0.128325 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.730912 deg. 2025-01-08T20:25:31.708Z,1736367931.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054792 target range: 303.000000 and range: 303.00 m. 2025-01-08T20:25:31.894Z,1736367931.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:32.078Z,1736367932.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:32.088Z,1736367932.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T20:25:32.091Z,1736367932.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 289.639862 m, bearing: 21.627247 deg, approach rate: -0.007261 m/s, LOS rate: -0.160367 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.704490 deg. 2025-01-08T20:25:32.092Z,1736367932.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054331 target range: 303.000000 and range: 303.00 m. 2025-01-08T20:25:32.144Z,1736367932.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:32.396Z,1736367932.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:32.435Z,1736367932.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:32.455Z,1736367932.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T20:25:32.458Z,1736367932.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 289.638184 m, bearing: 21.575796 deg, approach rate: -0.004615 m/s, LOS rate: -0.141462 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.740203 deg. 2025-01-08T20:25:32.463Z,1736367932.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054954 target range: 303.000000 and range: 303.00 m. 2025-01-08T20:25:32.648Z,1736367932.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:32.816Z,1736367932.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:32.837Z,1736367932.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T20:25:32.845Z,1736367932.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 289.637390 m, bearing: 21.520829 deg, approach rate: -0.002056 m/s, LOS rate: -0.142436 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.729654 deg. 2025-01-08T20:25:32.846Z,1736367932.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054770 target range: 303.000000 and range: 303.00 m. 2025-01-08T20:25:32.901Z,1736367932.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:33.152Z,1736367933.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:33.245Z,1736367933.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:33.254Z,1736367933.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T20:25:33.258Z,1736367933.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 289.629272 m, bearing: 21.454941 deg, approach rate: -0.019483 m/s, LOS rate: -0.158137 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.696888 deg. 2025-01-08T20:25:33.259Z,1736367933.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054198 target range: 303.000000 and range: 303.00 m. 2025-01-08T20:25:33.404Z,1736367933.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:33.640Z,1736367933.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:33.648Z,1736367933.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:33.651Z,1736367933.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T20:25:33.659Z,1736367933.659 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:33.659Z,1736367933.659 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:33.660Z,1736367933.660 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:33.660Z,1736367933.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:33.664Z,1736367933.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 289.622101 m, bearing: 21.394212 deg, approach rate: -0.018065 m/s, LOS rate: -0.152978 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.712368 deg. 2025-01-08T20:25:33.666Z,1736367933.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054468 target range: 303.000000 and range: 303.00 m. 2025-01-08T20:25:33.914Z,1736367933.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:33.914Z,1736367933.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506875 2025-01-08T20:25:34.101Z,1736367934.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:34.133Z,1736367934.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T20:25:34.141Z,1736367934.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 289.617676 m, bearing: 21.316664 deg, approach rate: -0.009173 m/s, LOS rate: -0.160763 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.661909 deg. 2025-01-08T20:25:34.142Z,1736367934.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053588 target range: 303.000000 and range: 303.00 m. 2025-01-08T20:25:34.164Z,1736367934.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:34.164Z,1736367934.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756971 2025-01-08T20:25:34.417Z,1736367934.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:34.419Z,1736367934.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011346 2025-01-08T20:25:34.483Z,1736367934.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:34.492Z,1736367934.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T20:25:34.495Z,1736367934.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 289.614868 m, bearing: 21.252338 deg, approach rate: -0.007819 m/s, LOS rate: -0.179150 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.701576 deg. 2025-01-08T20:25:34.497Z,1736367934.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054280 target range: 303.000000 and range: 303.00 m. 2025-01-08T20:25:34.668Z,1736367934.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:34.669Z,1736367934.670 [DAT](INFO): DAT read: Rx Time:20:25:33.3922 2025-01-08T20:25:34.670Z,1736367934.670 [DAT](INFO): Rx dataTimestamp_ set to:1736367934.669689 2025-01-08T20:25:34.671Z,1736367934.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264000 2025-01-08T20:25:34.865Z,1736367934.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:34.874Z,1736367934.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T20:25:34.877Z,1736367934.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 289.613220 m, bearing: 21.188083 deg, approach rate: -0.004314 m/s, LOS rate: -0.168203 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.701794 deg. 2025-01-08T20:25:34.878Z,1736367934.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054284 target range: 303.000000 and range: 303.00 m. 2025-01-08T20:25:34.921Z,1736367934.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:34.922Z,1736367934.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514790 2025-01-08T20:25:35.172Z,1736367935.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:35.178Z,1736367935.178 [DAT](INFO): DAT read: 20:25:33.3922 LVL= 30480, 32753, 17746, 32755, AGC= 65, IDX= 184,-0.19, 2.416, 1.542,-2.466, 2.717, PHS=-0.213,-1.128, 1.097, RAW= 185.9, 2.5, CAL= 185.9, -5.6, ROT= 324.1, 5.6 2025-01-08T20:25:35.179Z,1736367935.179 [DAT](INFO): got valid direction response: 20:25:33.3922 LVL= 30480, 32753, 17746, 32755, AGC= 65, IDX= 184,-0.19, 2.416, 1.542,-2.466, 2.717, PHS=-0.213,-1.128, 1.097, RAW= 185.9, 2.5, CAL= 185.9, -5.6, ROT= 324.1, 5.6 2025-01-08T20:25:35.180Z,1736367935.180 [DAT](INFO): DAT read: Bearing 324.1, 5.6 (Local) 2025-01-08T20:25:35.181Z,1736367935.181 [DAT](INFO): Local bearing/azimuth received: Bearing 324.1, 5.6 (Local) 2025-01-08T20:25:35.182Z,1736367935.182 [DAT](INFO): DAT read: Range 10 to 50 : 299.3 m (Round-trip 399.1 ms) speed 0.8 m/s 2025-01-08T20:25:35.183Z,1736367935.183 [DAT](INFO): DAT read: user:1310> 2025-01-08T20:25:35.184Z,1736367935.184 [DAT](INFO): DAT read: Tx time:20:25:34.4890 2025-01-08T20:25:35.184Z,1736367935.184 [DAT](INFO): Ping request sent. 2025-01-08T20:25:35.184Z,1736367935.184 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:35.185Z,1736367935.185 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:35.186Z,1736367935.186 [DAT](INFO): direction in FSK: [-0.126095,-0.990187,-0.060252] 2025-01-08T20:25:35.186Z,1736367935.186 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:35.186Z,1736367935.186 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:35.206Z,1736367935.206 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:35.206Z,1736367935.206 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:35.292Z,1736367935.292 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 77.82, 84.27, 83.25 2025-01-08T20:25:35.319Z,1736367935.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:25:35.319Z,1736367935.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:35.350Z,1736367935.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 299.299988 m, deltaT: 3.783993 s, deltaX: -3.700012 m, approachRate: -0.977806 m/s, rangeRepo size: 4 2025-01-08T20:25:35.359Z,1736367935.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 299.299988 m, bearing: 20.408882 deg, lat: 36.906724 deg, lon: -122.120870 deg, deltaT: 3.783993 s, deltaX: -3.700012 m, approachRate: -0.977806 m/s, posRepo size: 4 2025-01-08T20:25:35.368Z,1736367935.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m. 2025-01-08T20:25:35.371Z,1736367935.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.299988 m, nav range: 288.956421 m, bearing: 20.772278 deg, approach rate: 0.000000 m/s, LOS rate: -0.168203 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.654701 deg. 2025-01-08T20:25:35.377Z,1736367935.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053462 target range: 299.299988 and range: 299.30 m. 2025-01-08T20:25:35.424Z,1736367935.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:35.426Z,1736367935.426 [DAT](INFO): DAT read: TxSync time:20:25:34.4882 2025-01-08T20:25:35.676Z,1736367935.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:35.686Z,1736367935.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:25:35.687Z,1736367935.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:35.729Z,1736367935.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:35.735Z,1736367935.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m. 2025-01-08T20:25:35.739Z,1736367935.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.299988 m, nav range: 288.958771 m, bearing: 20.710228 deg, approach rate: 0.006156 m/s, LOS rate: -0.162549 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.708408 deg. 2025-01-08T20:25:35.744Z,1736367935.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054399 target range: 299.299988 and range: 299.30 m. 2025-01-08T20:25:35.928Z,1736367935.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:35.928Z,1736367935.928 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:35.928Z,1736367935.928 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:35.928Z,1736367935.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:36.165Z,1736367936.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:36.174Z,1736367936.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m. 2025-01-08T20:25:36.177Z,1736367936.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.299988 m, nav range: 288.956787 m, bearing: 20.626789 deg, approach rate: -0.004479 m/s, LOS rate: -0.188385 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.644239 deg. 2025-01-08T20:25:36.178Z,1736367936.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053279 target range: 299.299988 and range: 299.30 m. 2025-01-08T20:25:36.180Z,1736367936.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:36.181Z,1736367936.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996159 2025-01-08T20:25:36.432Z,1736367936.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:36.432Z,1736367936.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248061 2025-01-08T20:25:36.506Z,1736367936.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:36.514Z,1736367936.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m. 2025-01-08T20:25:36.517Z,1736367936.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.299988 m, nav range: 288.955780 m, bearing: 20.567274 deg, approach rate: -0.002960 m/s, LOS rate: -0.174954 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.716012 deg. 2025-01-08T20:25:36.518Z,1736367936.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054532 target range: 299.299988 and range: 299.30 m. 2025-01-08T20:25:36.684Z,1736367936.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:36.684Z,1736367936.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500061 2025-01-08T20:25:36.908Z,1736367936.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:36.917Z,1736367936.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m. 2025-01-08T20:25:36.936Z,1736367936.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:36.936Z,1736367936.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752086 2025-01-08T20:25:36.948Z,1736367936.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.299988 m, nav range: 288.954956 m, bearing: 20.497139 deg, approach rate: -0.002048 m/s, LOS rate: -0.174290 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.684151 deg. 2025-01-08T20:25:36.949Z,1736367936.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053976 target range: 299.299988 and range: 299.30 m. 2025-01-08T20:25:37.188Z,1736367937.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:37.189Z,1736367937.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004398 2025-01-08T20:25:37.320Z,1736367937.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:37.349Z,1736367937.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m. 2025-01-08T20:25:37.354Z,1736367937.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.299988 m, nav range: 288.963165 m, bearing: 20.426599 deg, approach rate: 0.018979 m/s, LOS rate: -0.163077 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.682943 deg. 2025-01-08T20:25:37.364Z,1736367937.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053955 target range: 299.299988 and range: 299.30 m. 2025-01-08T20:25:37.441Z,1736367937.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:37.443Z,1736367937.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257953 2025-01-08T20:25:37.692Z,1736367937.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:37.693Z,1736367937.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508197 2025-01-08T20:25:37.702Z,1736367937.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:37.730Z,1736367937.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m. 2025-01-08T20:25:37.734Z,1736367937.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.299988 m, nav range: 288.971802 m, bearing: 20.360997 deg, approach rate: 0.023845 m/s, LOS rate: -0.181119 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.697759 deg. 2025-01-08T20:25:37.744Z,1736367937.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054214 target range: 299.299988 and range: 299.30 m. 2025-01-08T20:25:37.944Z,1736367937.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:37.944Z,1736367937.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759994 2025-01-08T20:25:38.178Z,1736367938.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:38.184Z,1736367938.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:38.186Z,1736367938.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m. 2025-01-08T20:25:38.190Z,1736367938.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.299988 m, nav range: 288.984344 m, bearing: 20.286140 deg, approach rate: 0.026409 m/s, LOS rate: -0.157605 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.669997 deg. 2025-01-08T20:25:38.191Z,1736367938.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053729 target range: 299.299988 and range: 299.30 m. 2025-01-08T20:25:38.196Z,1736367938.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:38.196Z,1736367938.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012109 2025-01-08T20:25:38.440Z,1736367938.440 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:25:38.448Z,1736367938.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:38.448Z,1736367938.448 [DAT](INFO): DAT read: Rx Time:20:25:37.2890 2025-01-08T20:25:38.449Z,1736367938.449 [DAT](INFO): Rx dataTimestamp_ set to:1736367938.448657 2025-01-08T20:25:38.449Z,1736367938.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265100 2025-01-08T20:25:38.536Z,1736367938.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:38.546Z,1736367938.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m. 2025-01-08T20:25:38.549Z,1736367938.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.299988 m, nav range: 288.994141 m, bearing: 20.229630 deg, approach rate: 0.027249 m/s, LOS rate: -0.157185 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.725032 deg. 2025-01-08T20:25:38.550Z,1736367938.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054689 target range: 299.299988 and range: 299.30 m. 2025-01-08T20:25:38.700Z,1736367938.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:38.700Z,1736367938.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515982 2025-01-08T20:25:38.903Z,1736367938.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:38.929Z,1736367938.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.30 m. 2025-01-08T20:25:38.942Z,1736367938.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.299988 m, nav range: 289.004547 m, bearing: 20.171852 deg, approach rate: 0.027130 m/s, LOS rate: -0.150623 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.721228 deg. 2025-01-08T20:25:38.953Z,1736367938.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:38.956Z,1736367938.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771091 2025-01-08T20:25:38.961Z,1736367938.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054623 target range: 299.299988 and range: 299.30 m. 2025-01-08T20:25:39.205Z,1736367939.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:39.214Z,1736367939.214 [DAT](INFO): DAT read: 20:25:37.2890 LVL= 29296, 32753, 15794, 32755, AGC= 66, IDX= 401, 0.40,-1.887,-2.495,-0.796,-1.862, PHS= 0.063,-0.586, 1.063, RAW= 187.0, -7.6, CAL= 187.1, -13.6, ROT= 322.9, 13.6 2025-01-08T20:25:39.220Z,1736367939.220 [DAT](INFO): got valid direction response: 20:25:37.2890 LVL= 29296, 32753, 15794, 32755, AGC= 66, IDX= 401, 0.40,-1.887,-2.495,-0.796,-1.862, PHS= 0.063,-0.586, 1.063, RAW= 187.0, -7.6, CAL= 187.1, -13.6, ROT= 322.9, 13.6 2025-01-08T20:25:39.222Z,1736367939.222 [DAT](INFO): DAT read: Bearing 322.9, 13.6 (Local) 2025-01-08T20:25:39.222Z,1736367939.222 [DAT](INFO): Local bearing/azimuth received: Bearing 322.9, 13.6 (Local) 2025-01-08T20:25:39.224Z,1736367939.224 [DAT](INFO): DAT read: Range 10 to 50 : 296.8 m (Round-trip 395.8 ms) speed 0.1 m/s 2025-01-08T20:25:39.225Z,1736367939.225 [DAT](INFO): DAT read: user:1311> 2025-01-08T20:25:39.226Z,1736367939.226 [DAT](INFO): DAT read: Tx time:20:25:38.3891 2025-01-08T20:25:39.226Z,1736367939.226 [DAT](INFO): Ping request sent. 2025-01-08T20:25:39.226Z,1736367939.226 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:39.227Z,1736367939.227 [DAT](INFO): DAT read: TxSync time:20:25:38.3883 2025-01-08T20:25:39.227Z,1736367939.227 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:39.228Z,1736367939.228 [DAT](INFO): direction in FSK: [0.067608,-0.995469,-0.066856] 2025-01-08T20:25:39.229Z,1736367939.229 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:39.229Z,1736367939.229 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:39.236Z,1736367939.236 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:39.236Z,1736367939.236 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:39.351Z,1736367939.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:39.382Z,1736367939.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 296.799988 m, deltaT: 4.032881 s, deltaX: -2.500000 m, approachRate: -0.619904 m/s, rangeRepo size: 4 2025-01-08T20:25:39.388Z,1736367939.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 296.799988 m, bearing: 32.614290 deg, lat: 36.906696 deg, lon: -122.120428 deg, deltaT: 4.032881 s, deltaX: -2.500000 m, approachRate: -0.619904 m/s, posRepo size: 4 2025-01-08T20:25:39.389Z,1736367939.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T20:25:39.408Z,1736367939.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 302.020477 m, bearing: 27.333144 deg, approach rate: 0.000000 m/s, LOS rate: -0.150623 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690422 deg. 2025-01-08T20:25:39.409Z,1736367939.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054085 target range: 296.799988 and range: 296.80 m. 2025-01-08T20:25:39.444Z,1736367939.444 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:25:39.456Z,1736367939.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:39.708Z,1736367939.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:39.734Z,1736367939.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:39.751Z,1736367939.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T20:25:39.758Z,1736367939.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 302.002991 m, bearing: 27.280517 deg, approach rate: -0.047316 m/s, LOS rate: -0.142408 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.736666 deg. 2025-01-08T20:25:39.759Z,1736367939.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054893 target range: 296.799988 and range: 296.80 m. 2025-01-08T20:25:39.960Z,1736367939.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:40.195Z,1736367940.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:40.205Z,1736367940.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:40.213Z,1736367940.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:40.214Z,1736367940.214 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:40.214Z,1736367940.214 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:40.214Z,1736367940.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:40.217Z,1736367940.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T20:25:40.223Z,1736367940.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.997192 m, bearing: 27.226342 deg, approach rate: -0.012605 m/s, LOS rate: -0.117773 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.732029 deg. 2025-01-08T20:25:40.253Z,1736367940.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054811 target range: 296.799988 and range: 296.80 m. 2025-01-08T20:25:40.464Z,1736367940.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:40.465Z,1736367940.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238374 2025-01-08T20:25:40.566Z,1736367940.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:40.590Z,1736367940.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T20:25:40.593Z,1736367940.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.992767 m, bearing: 27.182714 deg, approach rate: -0.011669 m/s, LOS rate: -0.115046 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.763672 deg. 2025-01-08T20:25:40.594Z,1736367940.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055364 target range: 296.799988 and range: 296.80 m. 2025-01-08T20:25:40.716Z,1736367940.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:40.716Z,1736367940.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490334 2025-01-08T20:25:40.945Z,1736367940.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:40.968Z,1736367940.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:40.968Z,1736367940.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742188 2025-01-08T20:25:40.976Z,1736367940.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T20:25:40.978Z,1736367940.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.987427 m, bearing: 27.138272 deg, approach rate: -0.014004 m/s, LOS rate: -0.116533 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.761229 deg. 2025-01-08T20:25:40.984Z,1736367940.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055321 target range: 296.799988 and range: 296.80 m. 2025-01-08T20:25:41.220Z,1736367941.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:41.221Z,1736367941.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994521 2025-01-08T20:25:41.394Z,1736367941.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:41.423Z,1736367941.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T20:25:41.430Z,1736367941.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.988800 m, bearing: 27.089475 deg, approach rate: 0.003042 m/s, LOS rate: -0.108082 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748164 deg. 2025-01-08T20:25:41.431Z,1736367941.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055093 target range: 296.799988 and range: 296.80 m. 2025-01-08T20:25:41.473Z,1736367941.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:41.476Z,1736367941.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248562 2025-01-08T20:25:41.724Z,1736367941.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:41.724Z,1736367941.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498157 2025-01-08T20:25:41.748Z,1736367941.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:41.758Z,1736367941.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T20:25:41.760Z,1736367941.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.989502 m, bearing: 27.051053 deg, approach rate: 0.002096 m/s, LOS rate: -0.114726 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779292 deg. 2025-01-08T20:25:41.762Z,1736367941.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055636 target range: 296.799988 and range: 296.80 m. 2025-01-08T20:25:41.976Z,1736367941.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:41.977Z,1736367941.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751235 2025-01-08T20:25:42.228Z,1736367942.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:42.228Z,1736367942.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002313 2025-01-08T20:25:42.239Z,1736367942.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:42.246Z,1736367942.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:42.249Z,1736367942.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T20:25:42.253Z,1736367942.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 301.996826 m, bearing: 26.999442 deg, approach rate: 0.014892 m/s, LOS rate: -0.104936 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.739728 deg. 2025-01-08T20:25:42.254Z,1736367942.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054946 target range: 296.799988 and range: 296.80 m. 2025-01-08T20:25:42.480Z,1736367942.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:42.482Z,1736367942.482 [DAT](INFO): DAT read: Rx Time:20:25:41.1868 2025-01-08T20:25:42.483Z,1736367942.483 [DAT](INFO): Rx dataTimestamp_ set to:1736367942.482670 2025-01-08T20:25:42.484Z,1736367942.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257796 2025-01-08T20:25:42.614Z,1736367942.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:42.624Z,1736367942.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.80 m. 2025-01-08T20:25:42.626Z,1736367942.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.799988 m, nav range: 302.002045 m, bearing: 26.959966 deg, approach rate: 0.013960 m/s, LOS rate: -0.105602 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776129 deg. 2025-01-08T20:25:42.628Z,1736367942.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055581 target range: 296.799988 and range: 296.80 m. 2025-01-08T20:25:42.732Z,1736367942.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:42.732Z,1736367942.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506271 2025-01-08T20:25:42.984Z,1736367942.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:42.992Z,1736367942.992 [DAT](INFO): DAT read: 20:25:41.1868 LVL= 29360, 32753, 17810, 32755, AGC= 58, IDX= 426, 0.37, 2.473, 1.870,-2.675, 2.481, PHS= 0.080,-0.564, 1.125, RAW= 187.8, -8.7, CAL= 187.7, -14.5, ROT= 322.3, 14.5 2025-01-08T20:25:42.994Z,1736367942.994 [DAT](INFO): got valid direction response: 20:25:41.1868 LVL= 29360, 32753, 17810, 32755, AGC= 58, IDX= 426, 0.37, 2.473, 1.870,-2.675, 2.481, PHS= 0.080,-0.564, 1.125, RAW= 187.8, -8.7, CAL= 187.7, -14.5, ROT= 322.3, 14.5 2025-01-08T20:25:42.996Z,1736367942.996 [DAT](INFO): DAT read: Bearing 322.3, 14.5 (Local) 2025-01-08T20:25:42.996Z,1736367942.996 [DAT](INFO): Local bearing/azimuth received: Bearing 322.3, 14.5 (Local) 2025-01-08T20:25:42.998Z,1736367942.998 [DAT](INFO): DAT read: Range 10 to 50 : 295.1 m (Round-trip 393.5 ms) speed 0.4 m/s 2025-01-08T20:25:43.016Z,1736367943.016 [DAT](INFO): DAT read: user:1312> 2025-01-08T20:25:43.017Z,1736367943.017 [DAT](INFO): DAT read: Tx time:20:25:42.2891 2025-01-08T20:25:43.017Z,1736367943.017 [DAT](INFO): Ping request sent. 2025-01-08T20:25:43.017Z,1736367943.017 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:43.017Z,1736367943.017 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:43.018Z,1736367943.018 [DAT](INFO): direction in FSK: [0.091040,-0.992735,-0.078665] 2025-01-08T20:25:43.018Z,1736367943.018 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:43.028Z,1736367943.028 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:43.059Z,1736367943.059 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:43.064Z,1736367943.064 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:43.101Z,1736367943.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:43.194Z,1736367943.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 295.100006 m, deltaT: 3.779173 s, deltaX: -1.699982 m, approachRate: -0.449829 m/s, rangeRepo size: 4 2025-01-08T20:25:43.202Z,1736367943.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 295.100006 m, bearing: 32.824540 deg, lat: 36.906595 deg, lon: -122.120371 deg, deltaT: 3.779173 s, deltaX: -1.699982 m, approachRate: -0.449829 m/s, posRepo size: 4 2025-01-08T20:25:43.202Z,1736367943.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T20:25:43.214Z,1736367943.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 294.406677 m, bearing: 28.776970 deg, approach rate: 0.000000 m/s, LOS rate: -0.105602 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.716234 deg. 2025-01-08T20:25:43.215Z,1736367943.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054536 target range: 295.100006 and range: 295.10 m. 2025-01-08T20:25:43.236Z,1736367943.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:43.237Z,1736367943.237 [DAT](INFO): DAT read: TxSync time:20:25:42.2883 2025-01-08T20:25:43.488Z,1736367943.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:43.590Z,1736367943.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:43.643Z,1736367943.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T20:25:43.646Z,1736367943.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 294.403839 m, bearing: 28.725636 deg, approach rate: -0.006283 m/s, LOS rate: -0.113642 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.740551 deg. 2025-01-08T20:25:43.653Z,1736367943.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054960 target range: 295.100006 and range: 295.10 m. 2025-01-08T20:25:43.741Z,1736367943.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:43.934Z,1736367943.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:43.944Z,1736367943.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T20:25:43.947Z,1736367943.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 294.402405 m, bearing: 28.689346 deg, approach rate: -0.004685 m/s, LOS rate: -0.118546 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.785686 deg. 2025-01-08T20:25:43.948Z,1736367943.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055748 target range: 295.100006 and range: 295.10 m. 2025-01-08T20:25:43.992Z,1736367943.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:44.244Z,1736367944.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:44.377Z,1736367944.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:44.384Z,1736367944.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:44.386Z,1736367944.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T20:25:44.394Z,1736367944.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 294.393524 m, bearing: 28.640746 deg, approach rate: -0.020086 m/s, LOS rate: -0.109922 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748754 deg. 2025-01-08T20:25:44.395Z,1736367944.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055104 target range: 295.100006 and range: 295.10 m. 2025-01-08T20:25:44.496Z,1736367944.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:44.497Z,1736367944.497 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:44.498Z,1736367944.498 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:44.498Z,1736367944.498 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:44.748Z,1736367944.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:44.748Z,1736367944.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731557 2025-01-08T20:25:44.773Z,1736367944.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:44.782Z,1736367944.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T20:25:44.789Z,1736367944.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 294.385437 m, bearing: 28.597300 deg, approach rate: -0.020460 m/s, LOS rate: -0.109917 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.764215 deg. 2025-01-08T20:25:44.791Z,1736367944.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055373 target range: 295.100006 and range: 295.10 m. 2025-01-08T20:25:45.000Z,1736367945.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:45.001Z,1736367945.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983959 2025-01-08T20:25:45.149Z,1736367945.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:45.172Z,1736367945.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T20:25:45.228Z,1736367945.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 294.377228 m, bearing: 28.556036 deg, approach rate: -0.021157 m/s, LOS rate: -0.106352 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.770759 deg. 2025-01-08T20:25:45.229Z,1736367945.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055487 target range: 295.100006 and range: 295.10 m. 2025-01-08T20:25:45.254Z,1736367945.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:45.256Z,1736367945.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238695 2025-01-08T20:25:45.504Z,1736367945.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:45.504Z,1736367945.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487400 2025-01-08T20:25:45.608Z,1736367945.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:45.621Z,1736367945.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T20:25:45.626Z,1736367945.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 294.356171 m, bearing: 28.500784 deg, approach rate: -0.046649 m/s, LOS rate: -0.122410 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.728791 deg. 2025-01-08T20:25:45.627Z,1736367945.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054755 target range: 295.100006 and range: 295.10 m. 2025-01-08T20:25:45.756Z,1736367945.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:45.757Z,1736367945.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739917 2025-01-08T20:25:45.976Z,1736367945.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:45.985Z,1736367945.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T20:25:45.988Z,1736367945.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 294.339478 m, bearing: 28.456497 deg, approach rate: -0.045891 m/s, LOS rate: -0.121757 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.761687 deg. 2025-01-08T20:25:45.989Z,1736367945.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055329 target range: 295.100006 and range: 295.10 m. 2025-01-08T20:25:46.008Z,1736367946.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:46.009Z,1736367946.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991652 2025-01-08T20:25:46.260Z,1736367946.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:46.261Z,1736367946.261 [DAT](INFO): DAT read: Rx Time:20:25:45.0855 2025-01-08T20:25:46.262Z,1736367946.262 [DAT](INFO): Rx dataTimestamp_ set to:1736367946.261422 2025-01-08T20:25:46.263Z,1736367946.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245695 2025-01-08T20:25:46.398Z,1736367946.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:46.406Z,1736367946.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:46.408Z,1736367946.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T20:25:46.411Z,1736367946.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 294.308075 m, bearing: 28.399423 deg, approach rate: -0.074098 m/s, LOS rate: -0.134687 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.723317 deg. 2025-01-08T20:25:46.412Z,1736367946.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054659 target range: 295.100006 and range: 295.10 m. 2025-01-08T20:25:46.514Z,1736367946.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:46.514Z,1736367946.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497432 2025-01-08T20:25:46.771Z,1736367946.771 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:46.789Z,1736367946.789 [DAT](INFO): DAT read: 20:25:45.0855 LVL= 32752, 32753, 18546, 31779, AGC= 60, IDX= 429, 0.08, 1.273, 0.727, 2.306, 1.152, PHS= 0.209,-0.378, 1.151, RAW= 187.6, -14.6, CAL= 187.6, -19.1, ROT= 322.4, 19.1 2025-01-08T20:25:46.792Z,1736367946.792 [DAT](INFO): got valid direction response: 20:25:45.0855 LVL= 32752, 32753, 18546, 31779, AGC= 60, IDX= 429, 0.08, 1.273, 0.727, 2.306, 1.152, PHS= 0.209,-0.378, 1.151, RAW= 187.6, -14.6, CAL= 187.6, -19.1, ROT= 322.4, 19.1 2025-01-08T20:25:46.799Z,1736367946.799 [DAT](INFO): DAT read: Bearing 322.4, 19.1 (Local) 2025-01-08T20:25:46.800Z,1736367946.800 [DAT](INFO): Local bearing/azimuth received: Bearing 322.4, 19.1 (Local) 2025-01-08T20:25:46.801Z,1736367946.801 [DAT](INFO): DAT read: Range 10 to 50 : 294.1 m (Round-trip 392.2 ms) speed 0.8 m/s 2025-01-08T20:25:46.802Z,1736367946.802 [DAT](INFO): DAT read: user:1313> 2025-01-08T20:25:46.803Z,1736367946.803 [DAT](INFO): DAT read: Tx time:20:25:46.1891 2025-01-08T20:25:46.803Z,1736367946.803 [DAT](INFO): Ping request sent. 2025-01-08T20:25:46.803Z,1736367946.803 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:46.806Z,1736367946.806 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:46.807Z,1736367946.807 [DAT](INFO): direction in FSK: [0.200657,-0.977390,-0.066678] 2025-01-08T20:25:46.808Z,1736367946.808 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:46.808Z,1736367946.808 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:46.811Z,1736367946.811 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:46.811Z,1736367946.811 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:46.856Z,1736367946.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:46.894Z,1736367946.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 294.100006 m, deltaT: 3.787699 s, deltaX: -1.000000 m, approachRate: -0.264013 m/s, rangeRepo size: 4 2025-01-08T20:25:46.901Z,1736367946.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 294.100006 m, bearing: 38.994699 deg, lat: 36.906491 deg, lon: -122.120221 deg, deltaT: 3.787699 s, deltaX: -1.000000 m, approachRate: -0.264013 m/s, posRepo size: 4 2025-01-08T20:25:46.902Z,1736367946.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.10 m. 2025-01-08T20:25:46.913Z,1736367946.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.100006 m, nav range: 290.960144 m, bearing: 31.733464 deg, approach rate: 0.000000 m/s, LOS rate: -0.134687 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.698385 deg. 2025-01-08T20:25:46.914Z,1736367946.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054224 target range: 294.100006 and range: 294.10 m. 2025-01-08T20:25:47.020Z,1736367947.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:47.021Z,1736367947.021 [DAT](INFO): DAT read: TxSync time:20:25:46.1883 2025-01-08T20:25:47.272Z,1736367947.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:47.307Z,1736367947.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:47.325Z,1736367947.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.10 m. 2025-01-08T20:25:47.332Z,1736367947.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.100006 m, nav range: 290.897736 m, bearing: 31.665402 deg, approach rate: -0.144859 m/s, LOS rate: -0.158017 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690326 deg. 2025-01-08T20:25:47.333Z,1736367947.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054084 target range: 294.100006 and range: 294.10 m. 2025-01-08T20:25:47.524Z,1736367947.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:47.619Z,1736367947.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:47.639Z,1736367947.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.10 m. 2025-01-08T20:25:47.652Z,1736367947.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.100006 m, nav range: 290.855286 m, bearing: 31.618329 deg, approach rate: -0.135118 m/s, LOS rate: -0.149853 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.753320 deg. 2025-01-08T20:25:47.653Z,1736367947.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055183 target range: 294.100006 and range: 294.10 m. 2025-01-08T20:25:47.776Z,1736367947.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:48.028Z,1736367948.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:48.030Z,1736367948.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:48.039Z,1736367948.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.10 m. 2025-01-08T20:25:48.042Z,1736367948.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.100006 m, nav range: 290.801270 m, bearing: 31.556126 deg, approach rate: -0.134976 m/s, LOS rate: -0.155463 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.707913 deg. 2025-01-08T20:25:48.063Z,1736367948.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054391 target range: 294.100006 and range: 294.10 m. 2025-01-08T20:25:48.282Z,1736367948.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:48.448Z,1736367948.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:48.476Z,1736367948.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:48.478Z,1736367948.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.10 m. 2025-01-08T20:25:48.485Z,1736367948.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.100006 m, nav range: 290.732086 m, bearing: 31.488974 deg, approach rate: -0.157582 m/s, LOS rate: -0.152992 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.693052 deg. 2025-01-08T20:25:48.486Z,1736367948.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054131 target range: 294.100006 and range: 294.10 m. 2025-01-08T20:25:48.533Z,1736367948.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:48.533Z,1736367948.533 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:48.533Z,1736367948.533 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:48.534Z,1736367948.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:48.784Z,1736367948.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:48.784Z,1736367948.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981383 2025-01-08T20:25:48.848Z,1736367948.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:48.858Z,1736367948.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.10 m. 2025-01-08T20:25:48.861Z,1736367948.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.100006 m, nav range: 290.667084 m, bearing: 31.424743 deg, approach rate: -0.171316 m/s, LOS rate: -0.169321 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.701822 deg. 2025-01-08T20:25:48.862Z,1736367948.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054284 target range: 294.100006 and range: 294.10 m. 2025-01-08T20:25:49.036Z,1736367949.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:49.036Z,1736367949.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233452 2025-01-08T20:25:49.288Z,1736367949.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:49.289Z,1736367949.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485885 2025-01-08T20:25:49.314Z,1736367949.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:49.351Z,1736367949.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.10 m. 2025-01-08T20:25:49.355Z,1736367949.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.100006 m, nav range: 290.587616 m, bearing: 31.346969 deg, approach rate: -0.162313 m/s, LOS rate: -0.158897 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.661171 deg. 2025-01-08T20:25:49.360Z,1736367949.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053575 target range: 294.100006 and range: 294.10 m. 2025-01-08T20:25:49.540Z,1736367949.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:49.540Z,1736367949.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737352 2025-01-08T20:25:49.652Z,1736367949.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:49.669Z,1736367949.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.10 m. 2025-01-08T20:25:49.674Z,1736367949.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.100006 m, nav range: 290.530884 m, bearing: 31.290422 deg, approach rate: -0.176649 m/s, LOS rate: -0.176104 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.724885 deg. 2025-01-08T20:25:49.677Z,1736367949.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054687 target range: 294.100006 and range: 294.10 m. 2025-01-08T20:25:49.792Z,1736367949.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:49.793Z,1736367949.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989601 2025-01-08T20:25:50.044Z,1736367950.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:50.044Z,1736367950.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241454 2025-01-08T20:25:50.093Z,1736367950.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:50.102Z,1736367950.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.10 m. 2025-01-08T20:25:50.105Z,1736367950.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.100006 m, nav range: 290.458252 m, bearing: 31.216587 deg, approach rate: -0.167570 m/s, LOS rate: -0.170389 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.672998 deg. 2025-01-08T20:25:50.106Z,1736367950.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053781 target range: 294.100006 and range: 294.10 m. 2025-01-08T20:25:50.298Z,1736367950.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:50.301Z,1736367950.301 [DAT](INFO): DAT read: Rx Time:20:25:48.9807 2025-01-08T20:25:50.302Z,1736367950.302 [DAT](INFO): Rx dataTimestamp_ set to:1736367950.301191 2025-01-08T20:25:50.304Z,1736367950.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500739 2025-01-08T20:25:50.492Z,1736367950.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:50.515Z,1736367950.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:50.517Z,1736367950.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.10 m. 2025-01-08T20:25:50.524Z,1736367950.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.100006 m, nav range: 290.396729 m, bearing: 31.149474 deg, approach rate: -0.148114 m/s, LOS rate: -0.161606 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.693174 deg. 2025-01-08T20:25:50.525Z,1736367950.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054133 target range: 294.100006 and range: 294.10 m. 2025-01-08T20:25:50.548Z,1736367950.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:50.549Z,1736367950.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.745602 2025-01-08T20:25:50.800Z,1736367950.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:50.807Z,1736367950.807 [DAT](INFO): DAT read: 20:25:48.9807 LVL= 29200, 32753, 12530, 28883, AGC= 63, IDX= 396, 0.21,-2.719, 3.072,-1.491,-2.727, PHS= 0.097,-0.437, 1.233, RAW= 191.8, -12.1, CAL= 190.9, -17.1, ROT= 319.1, 17.1 2025-01-08T20:25:50.808Z,1736367950.808 [DAT](INFO): got valid direction response: 20:25:48.9807 LVL= 29200, 32753, 12530, 28883, AGC= 63, IDX= 396, 0.21,-2.719, 3.072,-1.491,-2.727, PHS= 0.097,-0.437, 1.233, RAW= 191.8, -12.1, CAL= 190.9, -17.1, ROT= 319.1, 17.1 2025-01-08T20:25:50.809Z,1736367950.809 [DAT](INFO): DAT read: Bearing 319.1, 17.1 (Local) 2025-01-08T20:25:50.809Z,1736367950.809 [DAT](INFO): Local bearing/azimuth received: Bearing 319.1, 17.1 (Local) 2025-01-08T20:25:50.811Z,1736367950.811 [DAT](INFO): DAT read: Range 10 to 50 : 290.6 m (Round-trip 387.5 ms) speed 0.5 m/s 2025-01-08T20:25:50.812Z,1736367950.812 [DAT](INFO): DAT read: user:1314> 2025-01-08T20:25:50.813Z,1736367950.813 [DAT](INFO): DAT read: Tx time:20:25:50.0891 2025-01-08T20:25:50.813Z,1736367950.813 [DAT](INFO): Ping request sent. 2025-01-08T20:25:50.813Z,1736367950.813 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:50.813Z,1736367950.813 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:50.814Z,1736367950.814 [DAT](INFO): direction in FSK: [0.160060,-0.977279,-0.138948] 2025-01-08T20:25:50.814Z,1736367950.814 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:50.815Z,1736367950.815 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:50.818Z,1736367950.818 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:50.818Z,1736367950.818 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:50.879Z,1736367950.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:50.929Z,1736367950.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 290.600006 m, deltaT: 4.028199 s, deltaX: -3.500000 m, approachRate: -0.868875 m/s, rangeRepo size: 4 2025-01-08T20:25:50.936Z,1736367950.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 290.600006 m, bearing: 38.658592 deg, lat: 36.906460 deg, lon: -122.120202 deg, deltaT: 4.028199 s, deltaX: -3.500000 m, approachRate: -0.868875 m/s, posRepo size: 4 2025-01-08T20:25:50.937Z,1736367950.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.60 m. 2025-01-08T20:25:50.944Z,1736367950.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.600006 m, nav range: 288.262695 m, bearing: 31.726744 deg, approach rate: 0.000000 m/s, LOS rate: -0.161606 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.694956 deg. 2025-01-08T20:25:50.945Z,1736367950.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054164 target range: 290.600006 and range: 290.60 m. 2025-01-08T20:25:51.052Z,1736367951.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:51.053Z,1736367951.053 [DAT](INFO): DAT read: TxSync time:20:25:50.0883 2025-01-08T20:25:51.306Z,1736367951.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:51.346Z,1736367951.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:51.355Z,1736367951.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.60 m. 2025-01-08T20:25:51.358Z,1736367951.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.600006 m, nav range: 288.190399 m, bearing: 31.649144 deg, approach rate: -0.170065 m/s, LOS rate: -0.182587 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.661699 deg. 2025-01-08T20:25:51.359Z,1736367951.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053584 target range: 290.600006 and range: 290.60 m. 2025-01-08T20:25:51.556Z,1736367951.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:51.690Z,1736367951.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:51.702Z,1736367951.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.60 m. 2025-01-08T20:25:51.705Z,1736367951.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.600006 m, nav range: 288.137421 m, bearing: 31.591917 deg, approach rate: -0.151990 m/s, LOS rate: -0.164207 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.722846 deg. 2025-01-08T20:25:51.706Z,1736367951.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054651 target range: 290.600006 and range: 290.60 m. 2025-01-08T20:25:51.808Z,1736367951.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:52.060Z,1736367952.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:52.070Z,1736367952.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:52.081Z,1736367952.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.60 m. 2025-01-08T20:25:52.084Z,1736367952.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.600006 m, nav range: 288.080658 m, bearing: 31.528647 deg, approach rate: -0.150089 m/s, LOS rate: -0.167329 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.704709 deg. 2025-01-08T20:25:52.085Z,1736367952.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054335 target range: 290.600006 and range: 290.60 m. 2025-01-08T20:25:52.313Z,1736367952.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:52.514Z,1736367952.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:52.522Z,1736367952.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:52.524Z,1736367952.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.60 m. 2025-01-08T20:25:52.527Z,1736367952.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.600006 m, nav range: 288.022156 m, bearing: 31.460114 deg, approach rate: -0.131834 m/s, LOS rate: -0.154469 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.688917 deg. 2025-01-08T20:25:52.528Z,1736367952.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054059 target range: 290.600006 and range: 290.60 m. 2025-01-08T20:25:52.565Z,1736367952.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:52.565Z,1736367952.565 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:52.565Z,1736367952.565 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:52.566Z,1736367952.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:52.816Z,1736367952.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:52.816Z,1736367952.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003527 2025-01-08T20:25:52.886Z,1736367952.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:52.896Z,1736367952.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.60 m. 2025-01-08T20:25:52.899Z,1736367952.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.600006 m, nav range: 287.973938 m, bearing: 31.402573 deg, approach rate: -0.129611 m/s, LOS rate: -0.154699 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.721905 deg. 2025-01-08T20:25:52.900Z,1736367952.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054635 target range: 290.600006 and range: 290.60 m. 2025-01-08T20:25:53.068Z,1736367953.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:53.068Z,1736367953.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255428 2025-01-08T20:25:53.322Z,1736367953.322 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:53.324Z,1736367953.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510894 2025-01-08T20:25:53.353Z,1736367953.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:53.388Z,1736367953.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.60 m. 2025-01-08T20:25:53.395Z,1736367953.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.600006 m, nav range: 287.912994 m, bearing: 31.330391 deg, approach rate: -0.127227 m/s, LOS rate: -0.150721 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.677965 deg. 2025-01-08T20:25:53.396Z,1736367953.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053868 target range: 290.600006 and range: 290.60 m. 2025-01-08T20:25:53.572Z,1736367953.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:53.573Z,1736367953.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760047 2025-01-08T20:25:53.721Z,1736367953.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:53.756Z,1736367953.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.60 m. 2025-01-08T20:25:53.772Z,1736367953.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.600006 m, nav range: 287.870087 m, bearing: 31.277364 deg, approach rate: -0.112685 m/s, LOS rate: -0.139281 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.735453 deg. 2025-01-08T20:25:53.773Z,1736367953.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054871 target range: 290.600006 and range: 290.60 m. 2025-01-08T20:25:53.824Z,1736367953.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:53.825Z,1736367953.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011627 2025-01-08T20:25:54.076Z,1736367954.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:54.077Z,1736367954.077 [DAT](INFO): DAT read: Rx Time:20:25:52.8776 2025-01-08T20:25:54.077Z,1736367954.077 [DAT](INFO): Rx dataTimestamp_ set to:1736367954.076739 2025-01-08T20:25:54.078Z,1736367954.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264638 2025-01-08T20:25:54.118Z,1736367954.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:54.128Z,1736367954.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.60 m. 2025-01-08T20:25:54.130Z,1736367954.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.600006 m, nav range: 287.822845 m, bearing: 31.219964 deg, approach rate: -0.127101 m/s, LOS rate: -0.154459 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.722329 deg. 2025-01-08T20:25:54.144Z,1736367954.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054642 target range: 290.600006 and range: 290.60 m. 2025-01-08T20:25:54.329Z,1736367954.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:54.331Z,1736367954.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518008 2025-01-08T20:25:54.527Z,1736367954.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:54.553Z,1736367954.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:54.578Z,1736367954.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.60 m. 2025-01-08T20:25:54.581Z,1736367954.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:54.592Z,1736367954.592 [DAT](INFO): DAT read: 20:25:52.8776 LVL= 32752, 32753, 14290, 32755, AGC= 66, IDX= 411, 0.20, 2.770, 2.196,-2.497, 2.667, PHS= 0.190,-0.424, 1.116, RAW= 186.7, -13.1, CAL= 186.8, -18.0, ROT= 323.2, 18.0 2025-01-08T20:25:54.593Z,1736367954.593 [DAT](INFO): got valid direction response: 20:25:52.8776 LVL= 32752, 32753, 14290, 32755, AGC= 66, IDX= 411, 0.20, 2.770, 2.196,-2.497, 2.667, PHS= 0.190,-0.424, 1.116, RAW= 186.7, -13.1, CAL= 186.8, -18.0, ROT= 323.2, 18.0 2025-01-08T20:25:54.594Z,1736367954.594 [DAT](INFO): DAT read: Bearing 323.2, 18.0 (Local) 2025-01-08T20:25:54.595Z,1736367954.595 [DAT](INFO): Local bearing/azimuth received: Bearing 323.2, 18.0 (Local) 2025-01-08T20:25:54.601Z,1736367954.601 [DAT](INFO): DAT read: Range 10 to 50 : 288.1 m (Round-trip 384.2 ms) speed 0.3 m/s 2025-01-08T20:25:54.601Z,1736367954.601 [DAT](INFO): DAT read: user:1315> 2025-01-08T20:25:54.602Z,1736367954.602 [DAT](INFO): DAT read: Tx time:20:25:53.9908 2025-01-08T20:25:54.602Z,1736367954.602 [DAT](INFO): Ping request sent. 2025-01-08T20:25:54.602Z,1736367954.602 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:54.603Z,1736367954.603 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:54.606Z,1736367954.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.600006 m, nav range: 287.788849 m, bearing: 31.165321 deg, approach rate: -0.075959 m/s, LOS rate: -0.122103 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.730610 deg. 2025-01-08T20:25:54.612Z,1736367954.612 [DAT](INFO): direction in FSK: [0.171385,-0.983775,-0.053047] 2025-01-08T20:25:54.613Z,1736367954.613 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:54.613Z,1736367954.613 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:54.616Z,1736367954.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054787 target range: 290.600006 and range: 290.60 m. 2025-01-08T20:25:54.626Z,1736367954.626 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:54.626Z,1736367954.626 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:54.832Z,1736367954.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:54.833Z,1736367954.833 [DAT](INFO): DAT read: TxSync time:20:25:53.9900 2025-01-08T20:25:54.940Z,1736367954.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:54.965Z,1736367954.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 288.100006 m, deltaT: 3.781863 s, deltaX: -2.500000 m, approachRate: -0.661050 m/s, rangeRepo size: 4 2025-01-08T20:25:54.973Z,1736367954.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 288.100006 m, bearing: 38.614935 deg, lat: 36.906282 deg, lon: -122.119936 deg, deltaT: 3.781863 s, deltaX: -2.500000 m, approachRate: -0.661050 m/s, posRepo size: 4 2025-01-08T20:25:54.973Z,1736367954.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.10 m. 2025-01-08T20:25:54.976Z,1736367954.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.100006 m, nav range: 284.690277 m, bearing: 37.257310 deg, approach rate: 0.000000 m/s, LOS rate: -0.122103 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.751995 deg. 2025-01-08T20:25:54.977Z,1736367954.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055160 target range: 288.100006 and range: 288.10 m. 2025-01-08T20:25:55.084Z,1736367955.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:55.337Z,1736367955.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:55.405Z,1736367955.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:55.413Z,1736367955.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.10 m. 2025-01-08T20:25:55.416Z,1736367955.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.100006 m, nav range: 284.632111 m, bearing: 37.199852 deg, approach rate: -0.129627 m/s, LOS rate: -0.128072 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.722150 deg. 2025-01-08T20:25:55.417Z,1736367955.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054639 target range: 288.100006 and range: 288.10 m. 2025-01-08T20:25:55.588Z,1736367955.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:55.728Z,1736367955.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:55.737Z,1736367955.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.10 m. 2025-01-08T20:25:55.740Z,1736367955.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.100006 m, nav range: 284.590698 m, bearing: 37.159866 deg, approach rate: -0.128063 m/s, LOS rate: -0.123671 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774580 deg. 2025-01-08T20:25:55.741Z,1736367955.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055554 target range: 288.100006 and range: 288.10 m. 2025-01-08T20:25:55.840Z,1736367955.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:56.092Z,1736367956.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:56.116Z,1736367956.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:56.125Z,1736367956.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.10 m. 2025-01-08T20:25:56.128Z,1736367956.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.100006 m, nav range: 284.540680 m, bearing: 37.111849 deg, approach rate: -0.128688 m/s, LOS rate: -0.123560 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.750481 deg. 2025-01-08T20:25:56.129Z,1736367956.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055134 target range: 288.100006 and range: 288.10 m. 2025-01-08T20:25:56.346Z,1736367956.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:56.553Z,1736367956.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:56.560Z,1736367956.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:56.562Z,1736367956.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.10 m. 2025-01-08T20:25:56.565Z,1736367956.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.100006 m, nav range: 284.493103 m, bearing: 37.060802 deg, approach rate: -0.108862 m/s, LOS rate: -0.116823 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.741389 deg. 2025-01-08T20:25:56.566Z,1736367956.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054975 target range: 288.100006 and range: 288.10 m. 2025-01-08T20:25:56.596Z,1736367956.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:56.596Z,1736367956.596 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:25:56.597Z,1736367956.597 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:25:56.597Z,1736367956.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:25:56.848Z,1736367956.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:56.848Z,1736367956.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245818 2025-01-08T20:25:56.928Z,1736367956.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:56.937Z,1736367956.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.10 m. 2025-01-08T20:25:56.940Z,1736367956.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.100006 m, nav range: 284.451019 m, bearing: 37.016869 deg, approach rate: -0.112471 m/s, LOS rate: -0.117430 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.762739 deg. 2025-01-08T20:25:56.941Z,1736367956.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055347 target range: 288.100006 and range: 288.10 m. 2025-01-08T20:25:57.100Z,1736367957.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:57.100Z,1736367957.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497893 2025-01-08T20:25:57.333Z,1736367957.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:57.354Z,1736367957.354 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:57.357Z,1736367957.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753697 2025-01-08T20:25:57.409Z,1736367957.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.10 m. 2025-01-08T20:25:57.418Z,1736367957.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.100006 m, nav range: 284.405060 m, bearing: 36.969621 deg, approach rate: -0.097290 m/s, LOS rate: -0.100034 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.752790 deg. 2025-01-08T20:25:57.424Z,1736367957.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055174 target range: 288.100006 and range: 288.10 m. 2025-01-08T20:25:57.605Z,1736367957.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:57.605Z,1736367957.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002761 2025-01-08T20:25:57.773Z,1736367957.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:57.782Z,1736367957.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.10 m. 2025-01-08T20:25:57.804Z,1736367957.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.100006 m, nav range: 284.356293 m, bearing: 36.917651 deg, approach rate: -0.130937 m/s, LOS rate: -0.139562 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.738619 deg. 2025-01-08T20:25:57.806Z,1736367957.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054927 target range: 288.100006 and range: 288.10 m. 2025-01-08T20:25:57.857Z,1736367957.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:57.860Z,1736367957.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256616 2025-01-08T20:25:58.108Z,1736367958.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:58.108Z,1736367958.108 [DAT](INFO): DAT read: Rx Time:20:25:56.7782 2025-01-08T20:25:58.109Z,1736367958.109 [DAT](INFO): Rx dataTimestamp_ set to:1736367958.108640 2025-01-08T20:25:58.109Z,1736367958.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506982 2025-01-08T20:25:58.136Z,1736367958.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:58.145Z,1736367958.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.10 m. 2025-01-08T20:25:58.148Z,1736367958.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.100006 m, nav range: 284.316010 m, bearing: 36.874973 deg, approach rate: -0.110752 m/s, LOS rate: -0.117350 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.766507 deg. 2025-01-08T20:25:58.149Z,1736367958.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055413 target range: 288.100006 and range: 288.10 m. 2025-01-08T20:25:58.360Z,1736367958.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:58.360Z,1736367958.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757866 2025-01-08T20:25:58.570Z,1736367958.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:58.578Z,1736367958.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:25:58.580Z,1736367958.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.10 m. 2025-01-08T20:25:58.583Z,1736367958.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.100006 m, nav range: 284.266968 m, bearing: 36.822180 deg, approach rate: -0.112780 m/s, LOS rate: -0.121429 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.736150 deg. 2025-01-08T20:25:58.584Z,1736367958.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054883 target range: 288.100006 and range: 288.10 m. 2025-01-08T20:25:58.612Z,1736367958.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:58.618Z,1736367958.618 [DAT](INFO): DAT read: 20:25:56.7782 LVL= 29584, 32753, 14626, 32755, AGC= 66, IDX= 204, 0.48,-0.342,-1.222, 0.963,-0.133, PHS=-0.121,-1.042, 1.093, RAW= 184.5, 0.8, CAL= 184.7, -7.1, ROT= 325.3, 7.1 2025-01-08T20:25:58.620Z,1736367958.620 [DAT](INFO): got valid direction response: 20:25:56.7782 LVL= 29584, 32753, 14626, 32755, AGC= 66, IDX= 204, 0.48,-0.342,-1.222, 0.963,-0.133, PHS=-0.121,-1.042, 1.093, RAW= 184.5, 0.8, CAL= 184.7, -7.1, ROT= 325.3, 7.1 2025-01-08T20:25:58.622Z,1736367958.622 [DAT](INFO): DAT read: Bearing 325.3, 7.1 (Local) 2025-01-08T20:25:58.622Z,1736367958.622 [DAT](INFO): Local bearing/azimuth received: Bearing 325.3, 7.1 (Local) 2025-01-08T20:25:58.624Z,1736367958.624 [DAT](INFO): DAT read: Range 10 to 50 : 287.4 m (Round-trip 383.3 ms) speed 0.8 m/s 2025-01-08T20:25:58.624Z,1736367958.624 [DAT](INFO): DAT read: user:1316> 2025-01-08T20:25:58.625Z,1736367958.625 [DAT](INFO): DAT read: Tx time:20:25:57.8908 2025-01-08T20:25:58.625Z,1736367958.625 [DAT](INFO): Ping request sent. 2025-01-08T20:25:58.625Z,1736367958.625 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:25:58.626Z,1736367958.626 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:25:58.627Z,1736367958.627 [DAT](INFO): direction in FSK: [-0.094705,-0.994874,-0.035447] 2025-01-08T20:25:58.627Z,1736367958.627 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:58.631Z,1736367958.631 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:58.634Z,1736367958.634 [DAT](INFO): publishing transmit ping time 2025-01-08T20:25:58.634Z,1736367958.634 [DAT](INFO): publishing direction and range info 2025-01-08T20:25:58.865Z,1736367958.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:58.866Z,1736367958.866 [DAT](INFO): DAT read: TxSync time:20:25:57.8900 2025-01-08T20:25:58.955Z,1736367958.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:58.969Z,1736367958.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 287.399994 m, deltaT: 4.030161 s, deltaX: -0.700012 m, approachRate: -0.173693 m/s, rangeRepo size: 4 2025-01-08T20:25:58.972Z,1736367958.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 287.399994 m, bearing: 21.346697 deg, lat: 36.906282 deg, lon: -122.119936 deg, deltaT: 4.030161 s, deltaX: -0.700012 m, approachRate: -0.173693 m/s, posRepo size: 4 2025-01-08T20:25:58.973Z,1736367958.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T20:25:58.977Z,1736367958.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 284.223663 m, bearing: 36.775488 deg, approach rate: 0.000000 m/s, LOS rate: -0.121429 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.753217 deg. 2025-01-08T20:25:58.978Z,1736367958.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055181 target range: 287.399994 and range: 287.40 m. 2025-01-08T20:25:59.116Z,1736367959.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:59.353Z,1736367959.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:59.362Z,1736367959.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T20:25:59.370Z,1736367959.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:59.377Z,1736367959.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 284.179230 m, bearing: 36.726953 deg, approach rate: -0.112800 m/s, LOS rate: -0.123229 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748932 deg. 2025-01-08T20:25:59.426Z,1736367959.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055107 target range: 287.399994 and range: 287.40 m. 2025-01-08T20:25:59.620Z,1736367959.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:25:59.801Z,1736367959.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:25:59.810Z,1736367959.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T20:25:59.817Z,1736367959.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 284.118042 m, bearing: 36.669807 deg, approach rate: -0.136556 m/s, LOS rate: -0.127564 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.723082 deg. 2025-01-08T20:25:59.818Z,1736367959.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054655 target range: 287.399994 and range: 287.40 m. 2025-01-08T20:25:59.872Z,1736367959.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:00.124Z,1736367960.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:00.161Z,1736367960.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:00.169Z,1736367960.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T20:26:00.173Z,1736367960.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 284.070770 m, bearing: 36.623892 deg, approach rate: -0.131613 m/s, LOS rate: -0.127858 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.756788 deg. 2025-01-08T20:26:00.174Z,1736367960.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055244 target range: 287.399994 and range: 287.40 m. 2025-01-08T20:26:00.377Z,1736367960.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:00.597Z,1736367960.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:00.605Z,1736367960.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:00.607Z,1736367960.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T20:26:00.610Z,1736367960.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 283.999603 m, bearing: 36.564026 deg, approach rate: -0.162702 m/s, LOS rate: -0.136900 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.714915 deg. 2025-01-08T20:26:00.611Z,1736367960.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054513 target range: 287.399994 and range: 287.40 m. 2025-01-08T20:26:00.630Z,1736367960.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:00.630Z,1736367960.630 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:00.631Z,1736367960.631 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:00.631Z,1736367960.631 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:00.880Z,1736367960.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:00.880Z,1736367960.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254900 2025-01-08T20:26:00.977Z,1736367960.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:00.985Z,1736367960.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T20:26:00.988Z,1736367960.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 283.938019 m, bearing: 36.511809 deg, approach rate: -0.162730 m/s, LOS rate: -0.138007 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.737873 deg. 2025-01-08T20:26:00.990Z,1736367960.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054914 target range: 287.399994 and range: 287.40 m. 2025-01-08T20:26:01.134Z,1736367961.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:01.135Z,1736367961.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509644 2025-01-08T20:26:01.388Z,1736367961.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:01.389Z,1736367961.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763332 2025-01-08T20:26:01.448Z,1736367961.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:01.478Z,1736367961.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T20:26:01.485Z,1736367961.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 283.863739 m, bearing: 36.447717 deg, approach rate: -0.150706 m/s, LOS rate: -0.130071 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.702230 deg. 2025-01-08T20:26:01.486Z,1736367961.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054291 target range: 287.399994 and range: 287.40 m. 2025-01-08T20:26:01.641Z,1736367961.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:01.642Z,1736367961.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016618 2025-01-08T20:26:01.835Z,1736367961.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:01.851Z,1736367961.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T20:26:01.854Z,1736367961.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 283.791016 m, bearing: 36.392805 deg, approach rate: -0.196938 m/s, LOS rate: -0.148743 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.729777 deg. 2025-01-08T20:26:01.864Z,1736367961.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054772 target range: 287.399994 and range: 287.40 m. 2025-01-08T20:26:01.892Z,1736367961.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:01.893Z,1736367961.893 [DAT](INFO): DAT read: Rx Time:20:26:00.6739 2025-01-08T20:26:01.893Z,1736367961.893 [DAT](INFO): Rx dataTimestamp_ set to:1736367961.892812 2025-01-08T20:26:01.894Z,1736367961.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268171 2025-01-08T20:26:02.144Z,1736367962.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:02.144Z,1736367962.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518824 2025-01-08T20:26:02.188Z,1736367962.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:02.212Z,1736367962.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T20:26:02.215Z,1736367962.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 283.723694 m, bearing: 36.341350 deg, approach rate: -0.184419 m/s, LOS rate: -0.140987 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.740156 deg. 2025-01-08T20:26:02.221Z,1736367962.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054953 target range: 287.399994 and range: 287.40 m. 2025-01-08T20:26:02.397Z,1736367962.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:02.404Z,1736367962.404 [DAT](INFO): DAT read: 20:26:00.6739 LVL= 28128, 29937, 15090, 32755, AGC= 66, IDX= 190, 0.40, 3.067, 2.254,-1.745,-2.949, PHS=-0.179,-1.034, 1.201, RAW= 187.7, 0.1, CAL= 187.7, -7.5, ROT= 322.3, 7.5 2025-01-08T20:26:02.405Z,1736367962.405 [DAT](INFO): got valid direction response: 20:26:00.6739 LVL= 28128, 29937, 15090, 32755, AGC= 66, IDX= 190, 0.40, 3.067, 2.254,-1.745,-2.949, PHS=-0.179,-1.034, 1.201, RAW= 187.7, 0.1, CAL= 187.7, -7.5, ROT= 322.3, 7.5 2025-01-08T20:26:02.410Z,1736367962.410 [DAT](INFO): DAT read: Bearing 322.3, 7.5 (Local) 2025-01-08T20:26:02.411Z,1736367962.411 [DAT](INFO): Local bearing/azimuth received: Bearing 322.3, 7.5 (Local) 2025-01-08T20:26:02.413Z,1736367962.413 [DAT](INFO): DAT read: Range 10 to 50 : 284.2 m (Round-trip 379.0 ms) speed 0.6 m/s 2025-01-08T20:26:02.414Z,1736367962.414 [DAT](INFO): DAT read: user:1317> 2025-01-08T20:26:02.415Z,1736367962.415 [DAT](INFO): DAT read: Tx time:20:26:01.7892 2025-01-08T20:26:02.415Z,1736367962.415 [DAT](INFO): Ping request sent. 2025-01-08T20:26:02.415Z,1736367962.415 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:02.422Z,1736367962.422 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:26:02.426Z,1736367962.426 [DAT](INFO): direction in FSK: [-0.077142,-0.993015,-0.089278] 2025-01-08T20:26:02.428Z,1736367962.428 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:02.429Z,1736367962.429 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:02.505Z,1736367962.505 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:02.506Z,1736367962.506 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:02.649Z,1736367962.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:02.650Z,1736367962.650 [DAT](INFO): DAT read: TxSync time:20:26:01.7884 2025-01-08T20:26:02.680Z,1736367962.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:02.713Z,1736367962.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 284.200012 m, deltaT: 3.785109 s, deltaX: -3.199982 m, approachRate: -0.845413 m/s, rangeRepo size: 4 2025-01-08T20:26:02.719Z,1736367962.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 284.200012 m, bearing: 23.590622 deg, lat: 36.906282 deg, lon: -122.119936 deg, deltaT: 3.785109 s, deltaX: -3.199982 m, approachRate: -0.845413 m/s, posRepo size: 4 2025-01-08T20:26:02.728Z,1736367962.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T20:26:02.730Z,1736367962.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 283.621857 m, bearing: 36.266821 deg, approach rate: 0.000000 m/s, LOS rate: -0.140987 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.683041 deg. 2025-01-08T20:26:02.736Z,1736367962.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053957 target range: 284.200012 and range: 284.20 m. 2025-01-08T20:26:02.901Z,1736367962.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:03.034Z,1736367963.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:03.042Z,1736367963.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:03.044Z,1736367963.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T20:26:03.046Z,1736367963.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 283.547852 m, bearing: 36.211905 deg, approach rate: -0.223319 m/s, LOS rate: -0.165760 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.729765 deg. 2025-01-08T20:26:03.048Z,1736367963.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054772 target range: 284.200012 and range: 284.20 m. 2025-01-08T20:26:03.152Z,1736367963.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:03.153Z,1736367963.153 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:03.153Z,1736367963.153 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:03.153Z,1736367963.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:03.404Z,1736367963.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:03.405Z,1736367963.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990260 2025-01-08T20:26:03.529Z,1736367963.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:03.539Z,1736367963.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T20:26:03.542Z,1736367963.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 283.443665 m, bearing: 36.136264 deg, approach rate: -0.210540 m/s, LOS rate: -0.152909 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.667554 deg. 2025-01-08T20:26:03.543Z,1736367963.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053686 target range: 284.200012 and range: 284.20 m. 2025-01-08T20:26:03.656Z,1736367963.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:03.657Z,1736367963.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242049 2025-01-08T20:26:03.862Z,1736367963.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:03.871Z,1736367963.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T20:26:03.874Z,1736367963.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 283.376221 m, bearing: 36.085282 deg, approach rate: -0.203027 m/s, LOS rate: -0.153509 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.741573 deg. 2025-01-08T20:26:03.875Z,1736367963.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054978 target range: 284.200012 and range: 284.20 m. 2025-01-08T20:26:03.908Z,1736367963.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:03.910Z,1736367963.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494164 2025-01-08T20:26:04.160Z,1736367964.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:04.160Z,1736367964.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745461 2025-01-08T20:26:04.245Z,1736367964.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:04.253Z,1736367964.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T20:26:04.273Z,1736367964.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 283.298920 m, bearing: 36.026613 deg, approach rate: -0.202100 m/s, LOS rate: -0.153430 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.718502 deg. 2025-01-08T20:26:04.274Z,1736367964.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054575 target range: 284.200012 and range: 284.20 m. 2025-01-08T20:26:04.413Z,1736367964.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:04.414Z,1736367964.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998903 2025-01-08T20:26:04.664Z,1736367964.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:04.665Z,1736367964.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250508 2025-01-08T20:26:04.712Z,1736367964.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:04.730Z,1736367964.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T20:26:04.737Z,1736367964.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 283.195923 m, bearing: 35.953984 deg, approach rate: -0.216161 m/s, LOS rate: -0.152483 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.676592 deg. 2025-01-08T20:26:04.739Z,1736367964.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053844 target range: 284.200012 and range: 284.20 m. 2025-01-08T20:26:04.917Z,1736367964.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:04.918Z,1736367964.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503293 2025-01-08T20:26:05.097Z,1736367965.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:05.105Z,1736367965.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:05.107Z,1736367965.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T20:26:05.110Z,1736367965.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 283.111267 m, bearing: 35.894143 deg, approach rate: -0.224597 m/s, LOS rate: -0.158808 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.714982 deg. 2025-01-08T20:26:05.111Z,1736367965.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054514 target range: 284.200012 and range: 284.20 m. 2025-01-08T20:26:05.168Z,1736367965.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:05.169Z,1736367965.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754359 2025-01-08T20:26:05.420Z,1736367965.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:05.421Z,1736367965.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005398 2025-01-08T20:26:05.534Z,1736367965.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:05.544Z,1736367965.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T20:26:05.546Z,1736367965.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 283.015320 m, bearing: 35.826208 deg, approach rate: -0.219521 m/s, LOS rate: -0.155485 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690682 deg. 2025-01-08T20:26:05.548Z,1736367965.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054090 target range: 284.200012 and range: 284.20 m. 2025-01-08T20:26:05.672Z,1736367965.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:05.674Z,1736367965.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258516 2025-01-08T20:26:05.904Z,1736367965.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:05.912Z,1736367965.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T20:26:05.915Z,1736367965.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 282.939178 m, bearing: 35.769866 deg, approach rate: -0.206823 m/s, LOS rate: -0.153081 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.725487 deg. 2025-01-08T20:26:05.916Z,1736367965.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054697 target range: 284.200012 and range: 284.20 m. 2025-01-08T20:26:05.924Z,1736367965.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:05.926Z,1736367965.926 [DAT](INFO): DAT read: Rx Time:20:26:04.5484 2025-01-08T20:26:05.928Z,1736367965.928 [DAT](INFO): Rx dataTimestamp_ set to:1736367965.926815 2025-01-08T20:26:05.929Z,1736367965.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513907 2025-01-08T20:26:06.177Z,1736367966.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:06.178Z,1736367966.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762606 2025-01-08T20:26:06.283Z,1736367966.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:06.292Z,1736367966.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T20:26:06.294Z,1736367966.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 282.861328 m, bearing: 35.712049 deg, approach rate: -0.205140 m/s, LOS rate: -0.152393 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.721058 deg. 2025-01-08T20:26:06.296Z,1736367966.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054620 target range: 284.200012 and range: 284.20 m. 2025-01-08T20:26:06.428Z,1736367966.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:06.443Z,1736367966.443 [DAT](INFO): DAT read: 20:26:04.5484 LVL= 21616, 22897, 11362, 20723, AGC= 66, IDX= 191, 0.06, 1.851, 1.478, 3.026, 1.774, PHS= 0.165,-0.249, 1.249, RAW= 194.5, -17.1, CAL= 192.9, -21.9, ROT= 317.1, 21.9 2025-01-08T20:26:06.444Z,1736367966.444 [DAT](INFO): got valid direction response: 20:26:04.5484 LVL= 21616, 22897, 11362, 20723, AGC= 66, IDX= 191, 0.06, 1.851, 1.478, 3.026, 1.774, PHS= 0.165,-0.249, 1.249, RAW= 194.5, -17.1, CAL= 192.9, -21.9, ROT= 317.1, 21.9 2025-01-08T20:26:06.445Z,1736367966.445 [DAT](INFO): DAT read: Bearing 317.1, 21.9 (Local) 2025-01-08T20:26:06.445Z,1736367966.445 [DAT](INFO): Local bearing/azimuth received: Bearing 317.1, 21.9 (Local) 2025-01-08T20:26:06.464Z,1736367966.464 [DAT](INFO): DAT read: Range 10 to 50 : 266.1 m (Round-trip 354.9 ms) speed 0.5 m/s 2025-01-08T20:26:06.472Z,1736367966.472 [DAT](INFO): DAT read: user:1318> 2025-01-08T20:26:06.473Z,1736367966.473 [DAT](INFO): DAT read: Tx time:20:26:05.6393 2025-01-08T20:26:06.473Z,1736367966.473 [DAT](INFO): Ping request sent. 2025-01-08T20:26:06.473Z,1736367966.473 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:06.474Z,1736367966.474 [DAT](INFO): DAT read: TxSync time:20:26:05.6385 2025-01-08T20:26:06.474Z,1736367966.474 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:26:06.480Z,1736367966.480 [DAT](INFO): direction in FSK: [0.256934,-0.950920,-0.172442] 2025-01-08T20:26:06.480Z,1736367966.480 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:06.481Z,1736367966.481 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:06.555Z,1736367966.555 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:06.564Z,1736367966.564 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:06.680Z,1736367966.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:06.736Z,1736367966.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:06.751Z,1736367966.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 266.100006 m, deltaT: 4.030919 s, deltaX: -18.100006 m, approachRate: -4.490293 m/s, rangeRepo size: 4 2025-01-08T20:26:06.753Z,1736367966.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 266.100006 m, bearing: 44.437884 deg, lat: 36.906243 deg, lon: -122.119936 deg, deltaT: 4.030919 s, deltaX: -18.100006 m, approachRate: -4.490293 m/s, posRepo size: 4 2025-01-08T20:26:06.755Z,1736367966.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.10 m. 2025-01-08T20:26:06.758Z,1736367966.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.100006 m, nav range: 279.281830 m, bearing: 36.159702 deg, approach rate: 0.000000 m/s, LOS rate: -0.152393 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.684677 deg. 2025-01-08T20:26:06.759Z,1736367966.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053985 target range: 266.100006 and range: 266.10 m. 2025-01-08T20:26:06.932Z,1736367966.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:07.080Z,1736367967.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:07.093Z,1736367967.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.10 m. 2025-01-08T20:26:07.100Z,1736367967.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.100006 m, nav range: 279.215820 m, bearing: 36.107400 deg, approach rate: -0.192839 m/s, LOS rate: -0.152830 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.737614 deg. 2025-01-08T20:26:07.101Z,1736367967.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054909 target range: 266.100006 and range: 266.10 m. 2025-01-08T20:26:07.184Z,1736367967.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:07.436Z,1736367967.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:07.542Z,1736367967.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:07.565Z,1736367967.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:07.572Z,1736367967.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.10 m. 2025-01-08T20:26:07.575Z,1736367967.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.100006 m, nav range: 279.127197 m, bearing: 36.037281 deg, approach rate: -0.186856 m/s, LOS rate: -0.147889 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.684133 deg. 2025-01-08T20:26:07.580Z,1736367967.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053976 target range: 266.100006 and range: 266.10 m. 2025-01-08T20:26:07.689Z,1736367967.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:07.690Z,1736367967.690 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:07.690Z,1736367967.690 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:07.690Z,1736367967.690 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:07.904Z,1736367967.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:07.912Z,1736367967.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.10 m. 2025-01-08T20:26:07.915Z,1736367967.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.100006 m, nav range: 279.058502 m, bearing: 35.984623 deg, approach rate: -0.199097 m/s, LOS rate: -0.152653 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.736546 deg. 2025-01-08T20:26:07.916Z,1736367967.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054890 target range: 266.100006 and range: 266.10 m. 2025-01-08T20:26:07.941Z,1736367967.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:07.943Z,1736367967.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468955 2025-01-08T20:26:08.192Z,1736367968.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:08.192Z,1736367968.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719087 2025-01-08T20:26:08.302Z,1736367968.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:08.312Z,1736367968.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.10 m. 2025-01-08T20:26:08.315Z,1736367968.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.100006 m, nav range: 278.982086 m, bearing: 35.926765 deg, approach rate: -0.191302 m/s, LOS rate: -0.144883 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.720935 deg. 2025-01-08T20:26:08.316Z,1736367968.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054618 target range: 266.100006 and range: 266.10 m. 2025-01-08T20:26:08.444Z,1736367968.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:08.444Z,1736367968.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971062 2025-01-08T20:26:08.696Z,1736367968.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:08.697Z,1736367968.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223297 2025-01-08T20:26:08.727Z,1736367968.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:08.737Z,1736367968.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.10 m. 2025-01-08T20:26:08.757Z,1736367968.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.100006 m, nav range: 278.913605 m, bearing: 35.864136 deg, approach rate: -0.161070 m/s, LOS rate: -0.147340 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.706625 deg. 2025-01-08T20:26:08.758Z,1736367968.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054368 target range: 266.100006 and range: 266.10 m. 2025-01-08T20:26:08.950Z,1736367968.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:08.951Z,1736367968.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477962 2025-01-08T20:26:09.098Z,1736367969.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:09.124Z,1736367969.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.10 m. 2025-01-08T20:26:09.126Z,1736367969.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.100006 m, nav range: 278.852661 m, bearing: 35.809310 deg, approach rate: -0.164470 m/s, LOS rate: -0.147994 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.730041 deg. 2025-01-08T20:26:09.132Z,1736367969.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054777 target range: 266.100006 and range: 266.10 m. 2025-01-08T20:26:09.200Z,1736367969.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:09.201Z,1736367969.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728087 2025-01-08T20:26:09.452Z,1736367969.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:09.452Z,1736367969.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978994 2025-01-08T20:26:09.512Z,1736367969.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:09.542Z,1736367969.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.10 m. 2025-01-08T20:26:09.568Z,1736367969.568 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:26:09.575Z,1736367969.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.100006 m, nav range: 278.784790 m, bearing: 35.748333 deg, approach rate: -0.156768 m/s, LOS rate: -0.140878 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.711582 deg. 2025-01-08T20:26:09.588Z,1736367969.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054455 target range: 266.100006 and range: 266.10 m. 2025-01-08T20:26:09.705Z,1736367969.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:09.705Z,1736367969.705 [DAT](INFO): DAT read: Rx Time:20:26:08.4171 2025-01-08T20:26:09.706Z,1736367969.706 [DAT](INFO): Rx dataTimestamp_ set to:1736367969.705493 2025-01-08T20:26:09.706Z,1736367969.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232993 2025-01-08T20:26:09.929Z,1736367969.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:09.951Z,1736367969.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:09.953Z,1736367969.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.10 m. 2025-01-08T20:26:09.956Z,1736367969.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:09.956Z,1736367969.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483165 2025-01-08T20:26:09.960Z,1736367969.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.100006 m, nav range: 278.723175 m, bearing: 35.687051 deg, approach rate: -0.149110 m/s, LOS rate: -0.148336 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.710672 deg. 2025-01-08T20:26:09.961Z,1736367969.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054439 target range: 266.100006 and range: 266.10 m. 2025-01-08T20:26:10.208Z,1736367970.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:10.216Z,1736367970.216 [DAT](INFO): DAT read: 20:26:08.4171 LVL= 26080, 24689, 14162, 24467, AGC= 66, IDX= 127,-0.04, 2.943, 2.471,-2.219, 2.678, PHS= 0.353,-0.159, 1.384, RAW= 191.0, -22.3, CAL= 190.3, -28.2, ROT= 319.7, 28.2 2025-01-08T20:26:10.218Z,1736367970.218 [DAT](INFO): got valid direction response: 20:26:08.4171 LVL= 26080, 24689, 14162, 24467, AGC= 66, IDX= 127,-0.04, 2.943, 2.471,-2.219, 2.678, PHS= 0.353,-0.159, 1.384, RAW= 191.0, -22.3, CAL= 190.3, -28.2, ROT= 319.7, 28.2 2025-01-08T20:26:10.219Z,1736367970.219 [DAT](INFO): DAT read: Bearing 319.7, 28.2 (Local) 2025-01-08T20:26:10.219Z,1736367970.219 [DAT](INFO): Local bearing/azimuth received: Bearing 319.7, 28.2 (Local) 2025-01-08T20:26:10.221Z,1736367970.221 [DAT](INFO): DAT read: Range 10 to 50 : 280.2 m (Round-trip 373.7 ms) speed 0.4 m/s 2025-01-08T20:26:10.222Z,1736367970.222 [DAT](INFO): DAT read: user:1319> 2025-01-08T20:26:10.223Z,1736367970.223 [DAT](INFO): DAT read: Tx time:20:26:09.5393 2025-01-08T20:26:10.226Z,1736367970.226 [DAT](INFO): Ping request sent. 2025-01-08T20:26:10.226Z,1736367970.226 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:10.231Z,1736367970.231 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:26:10.232Z,1736367970.232 [DAT](INFO): direction in FSK: [0.345271,-0.932510,-0.105896] 2025-01-08T20:26:10.232Z,1736367970.232 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:10.232Z,1736367970.232 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:10.236Z,1736367970.236 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:10.236Z,1736367970.236 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:10.351Z,1736367970.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:10.385Z,1736367970.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 280.200012 m, deltaT: 3.780161 s, deltaX: 14.100006 m, approachRate: 3.730001 m/s, rangeRepo size: 4 2025-01-08T20:26:10.396Z,1736367970.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 280.200012 m, bearing: 48.661291 deg, lat: 36.906243 deg, lon: -122.119878 deg, deltaT: 3.780161 s, deltaX: 14.100006 m, approachRate: 3.730001 m/s, posRepo size: 4 2025-01-08T20:26:10.397Z,1736367970.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m. 2025-01-08T20:26:10.403Z,1736367970.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.200012 m, nav range: 281.709747 m, bearing: 36.481350 deg, approach rate: 0.000000 m/s, LOS rate: -0.148336 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.702644 deg. 2025-01-08T20:26:10.405Z,1736367970.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054299 target range: 280.200012 and range: 280.20 m. 2025-01-08T20:26:10.460Z,1736367970.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:10.462Z,1736367970.462 [DAT](INFO): DAT read: TxSync time:20:26:09.5385 2025-01-08T20:26:10.574Z,1736367970.574 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:26:10.712Z,1736367970.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:10.778Z,1736367970.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:10.799Z,1736367970.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m. 2025-01-08T20:26:10.802Z,1736367970.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.200012 m, nav range: 281.647827 m, bearing: 36.420843 deg, approach rate: -0.150925 m/s, LOS rate: -0.147512 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.712998 deg. 2025-01-08T20:26:10.807Z,1736367970.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054479 target range: 280.200012 and range: 280.20 m. 2025-01-08T20:26:10.964Z,1736367970.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:11.122Z,1736367971.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:11.130Z,1736367971.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m. 2025-01-08T20:26:11.133Z,1736367971.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.200012 m, nav range: 281.598785 m, bearing: 36.372261 deg, approach rate: -0.146389 m/s, LOS rate: -0.145043 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748785 deg. 2025-01-08T20:26:11.134Z,1736367971.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055104 target range: 280.200012 and range: 280.20 m. 2025-01-08T20:26:11.217Z,1736367971.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:11.468Z,1736367971.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:11.524Z,1736367971.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:11.536Z,1736367971.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m. 2025-01-08T20:26:11.566Z,1736367971.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.200012 m, nav range: 281.542175 m, bearing: 36.315322 deg, approach rate: -0.139264 m/s, LOS rate: -0.140100 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.723707 deg. 2025-01-08T20:26:11.574Z,1736367971.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054666 target range: 280.200012 and range: 280.20 m. 2025-01-08T20:26:11.720Z,1736367971.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:11.950Z,1736367971.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:11.972Z,1736367971.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:11.977Z,1736367971.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:11.979Z,1736367971.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m. 2025-01-08T20:26:11.985Z,1736367971.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.200012 m, nav range: 281.481384 m, bearing: 36.248475 deg, approach rate: -0.137485 m/s, LOS rate: -0.151214 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.693972 deg. 2025-01-08T20:26:11.987Z,1736367971.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054147 target range: 280.200012 and range: 280.20 m. 2025-01-08T20:26:12.224Z,1736367972.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:12.225Z,1736367972.225 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:12.225Z,1736367972.225 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:12.225Z,1736367972.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:12.325Z,1736367972.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:12.333Z,1736367972.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m. 2025-01-08T20:26:12.336Z,1736367972.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.200012 m, nav range: 281.427673 m, bearing: 36.189641 deg, approach rate: -0.151523 m/s, LOS rate: -0.166007 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.718023 deg. 2025-01-08T20:26:12.338Z,1736367972.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054567 target range: 280.200012 and range: 280.20 m. 2025-01-08T20:26:12.476Z,1736367972.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:12.477Z,1736367972.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251483 2025-01-08T20:26:12.728Z,1736367972.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:12.728Z,1736367972.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502812 2025-01-08T20:26:12.776Z,1736367972.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:12.784Z,1736367972.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m. 2025-01-08T20:26:12.808Z,1736367972.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.200012 m, nav range: 281.363617 m, bearing: 36.127474 deg, approach rate: -0.141943 m/s, LOS rate: -0.137789 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.708012 deg. 2025-01-08T20:26:12.816Z,1736367972.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054392 target range: 280.200012 and range: 280.20 m. 2025-01-08T20:26:12.980Z,1736367972.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:12.981Z,1736367972.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755066 2025-01-08T20:26:13.138Z,1736367973.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:13.151Z,1736367973.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m. 2025-01-08T20:26:13.154Z,1736367973.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.200012 m, nav range: 281.312317 m, bearing: 36.077698 deg, approach rate: -0.139966 m/s, LOS rate: -0.135833 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.745201 deg. 2025-01-08T20:26:13.156Z,1736367973.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055042 target range: 280.200012 and range: 280.20 m. 2025-01-08T20:26:13.235Z,1736367973.235 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:13.236Z,1736367973.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010447 2025-01-08T20:26:13.488Z,1736367973.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:13.489Z,1736367973.489 [DAT](INFO): DAT read: Rx Time:20:26:12.3149 2025-01-08T20:26:13.489Z,1736367973.489 [DAT](INFO): Rx dataTimestamp_ set to:1736367973.489062 2025-01-08T20:26:13.490Z,1736367973.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264380 2025-01-08T20:26:13.582Z,1736367973.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:13.645Z,1736367973.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m. 2025-01-08T20:26:13.653Z,1736367973.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.200012 m, nav range: 281.249603 m, bearing: 36.016425 deg, approach rate: -0.127044 m/s, LOS rate: -0.124152 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.710698 deg. 2025-01-08T20:26:13.659Z,1736367973.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054439 target range: 280.200012 and range: 280.20 m. 2025-01-08T20:26:13.740Z,1736367973.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:13.741Z,1736367973.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515865 2025-01-08T20:26:13.994Z,1736367973.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:13.997Z,1736367973.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771409 2025-01-08T20:26:14.073Z,1736367974.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:14.080Z,1736367974.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:14.082Z,1736367974.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m. 2025-01-08T20:26:14.085Z,1736367974.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.200012 m, nav range: 281.175385 m, bearing: 35.949319 deg, approach rate: -0.169610 m/s, LOS rate: -0.153396 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.693187 deg. 2025-01-08T20:26:14.087Z,1736367974.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054134 target range: 280.200012 and range: 280.20 m. 2025-01-08T20:26:14.244Z,1736367974.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:14.251Z,1736367974.251 [DAT](INFO): DAT read: 20:26:12.3149 LVL= 32752, 32753, 16450, 32323, AGC= 64, IDX= 185, 0.37, 2.264, 1.450,-2.737, 2.517, PHS=-0.165,-1.020, 1.026, RAW= 185.4, 1.8, CAL= 185.5, -6.2, ROT= 324.5, 6.2 2025-01-08T20:26:14.252Z,1736367974.252 [DAT](INFO): got valid direction response: 20:26:12.3149 LVL= 32752, 32753, 16450, 32323, AGC= 64, IDX= 185, 0.37, 2.264, 1.450,-2.737, 2.517, PHS=-0.165,-1.020, 1.026, RAW= 185.4, 1.8, CAL= 185.5, -6.2, ROT= 324.5, 6.2 2025-01-08T20:26:14.253Z,1736367974.253 [DAT](INFO): DAT read: Bearing 324.5, 6.2 (Local) 2025-01-08T20:26:14.253Z,1736367974.253 [DAT](INFO): Local bearing/azimuth received: Bearing 324.5, 6.2 (Local) 2025-01-08T20:26:14.256Z,1736367974.256 [DAT](INFO): DAT read: Range 10 to 50 : 278.5 m (Round-trip 371.4 ms) speed 0.4 m/s 2025-01-08T20:26:14.256Z,1736367974.256 [DAT](INFO): DAT read: user:1320> 2025-01-08T20:26:14.257Z,1736367974.257 [DAT](INFO): DAT read: Tx time:20:26:13.4393 2025-01-08T20:26:14.257Z,1736367974.257 [DAT](INFO): Ping request sent. 2025-01-08T20:26:14.258Z,1736367974.258 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:14.258Z,1736367974.258 [DAT](INFO): DAT read: TxSync time:20:26:13.4385 2025-01-08T20:26:14.259Z,1736367974.259 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:26:14.296Z,1736367974.296 [DAT](INFO): direction in FSK: [-0.112912,-0.992248,-0.051916] 2025-01-08T20:26:14.296Z,1736367974.296 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:14.296Z,1736367974.296 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:14.305Z,1736367974.305 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:14.305Z,1736367974.305 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:14.398Z,1736367974.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:14.442Z,1736367974.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 278.500000 m, deltaT: 4.035805 s, deltaX: -1.700012 m, approachRate: -0.421232 m/s, rangeRepo size: 4 2025-01-08T20:26:14.452Z,1736367974.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 278.500000 m, bearing: 21.272736 deg, lat: 36.906490 deg, lon: -122.120578 deg, deltaT: 4.035805 s, deltaX: -1.700012 m, approachRate: -0.421232 m/s, posRepo size: 4 2025-01-08T20:26:14.453Z,1736367974.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.50 m. 2025-01-08T20:26:14.461Z,1736367974.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 278.500000 m, nav range: 274.948242 m, bearing: 21.916944 deg, approach rate: 0.000000 m/s, LOS rate: -0.153396 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.729301 deg. 2025-01-08T20:26:14.462Z,1736367974.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054764 target range: 278.500000 and range: 278.50 m. 2025-01-08T20:26:14.496Z,1736367974.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:14.748Z,1736367974.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:14.805Z,1736367974.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:14.814Z,1736367974.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.50 m. 2025-01-08T20:26:14.817Z,1736367974.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 278.500000 m, nav range: 274.955200 m, bearing: 21.860184 deg, approach rate: 0.018676 m/s, LOS rate: -0.152350 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.724279 deg. 2025-01-08T20:26:14.818Z,1736367974.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054676 target range: 278.500000 and range: 278.50 m. 2025-01-08T20:26:14.000Z,1736367975.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:15.196Z,1736367975.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:15.214Z,1736367975.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.50 m. 2025-01-08T20:26:15.221Z,1736367975.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 278.500000 m, nav range: 274.963318 m, bearing: 21.805712 deg, approach rate: 0.020303 m/s, LOS rate: -0.136231 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.731148 deg. 2025-01-08T20:26:15.223Z,1736367975.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054796 target range: 278.500000 and range: 278.50 m. 2025-01-08T20:26:15.252Z,1736367975.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:15.504Z,1736367975.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:15.584Z,1736367975.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:15.662Z,1736367975.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.50 m. 2025-01-08T20:26:15.678Z,1736367975.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 278.500000 m, nav range: 274.972321 m, bearing: 21.751632 deg, approach rate: 0.020374 m/s, LOS rate: -0.122387 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.732321 deg. 2025-01-08T20:26:15.688Z,1736367975.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054817 target range: 278.500000 and range: 278.50 m. 2025-01-08T20:26:15.756Z,1736367975.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:16.010Z,1736367976.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:16.025Z,1736367976.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:16.034Z,1736367976.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.50 m. 2025-01-08T20:26:16.037Z,1736367976.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 278.500000 m, nav range: 274.976685 m, bearing: 21.686788 deg, approach rate: 0.011537 m/s, LOS rate: -0.171416 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.700029 deg. 2025-01-08T20:26:16.038Z,1736367976.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054253 target range: 278.500000 and range: 278.50 m. 2025-01-08T20:26:16.264Z,1736367976.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:16.389Z,1736367976.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:16.395Z,1736367976.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:16.397Z,1736367976.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.50 m. 2025-01-08T20:26:16.400Z,1736367976.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 278.500000 m, nav range: 274.980042 m, bearing: 21.633496 deg, approach rate: 0.009237 m/s, LOS rate: -0.146640 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.734683 deg. 2025-01-08T20:26:16.401Z,1736367976.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054858 target range: 278.500000 and range: 278.50 m. 2025-01-08T20:26:16.517Z,1736367976.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:16.517Z,1736367976.517 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:16.517Z,1736367976.517 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:16.517Z,1736367976.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:16.768Z,1736367976.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:16.768Z,1736367976.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510870 2025-01-08T20:26:16.822Z,1736367976.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:16.831Z,1736367976.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.50 m. 2025-01-08T20:26:16.834Z,1736367976.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 278.500000 m, nav range: 274.981445 m, bearing: 21.572184 deg, approach rate: 0.003237 m/s, LOS rate: -0.141380 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.710622 deg. 2025-01-08T20:26:16.835Z,1736367976.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054438 target range: 278.500000 and range: 278.50 m. 2025-01-08T20:26:17.020Z,1736367977.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:17.021Z,1736367977.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763234 2025-01-08T20:26:17.267Z,1736367977.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:17.272Z,1736367977.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:17.273Z,1736367977.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015266 2025-01-08T20:26:17.278Z,1736367977.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.50 m. 2025-01-08T20:26:17.297Z,1736367977.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 278.500000 m, nav range: 274.982666 m, bearing: 21.509292 deg, approach rate: 0.002729 m/s, LOS rate: -0.140614 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.705881 deg. 2025-01-08T20:26:17.298Z,1736367977.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054355 target range: 278.500000 and range: 278.50 m. 2025-01-08T20:26:17.524Z,1736367977.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:17.525Z,1736367977.525 [DAT](INFO): DAT read: Rx Time:20:26:16.2120 2025-01-08T20:26:17.525Z,1736367977.525 [DAT](INFO): Rx dataTimestamp_ set to:1736367977.524789 2025-01-08T20:26:17.526Z,1736367977.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268029 2025-01-08T20:26:17.737Z,1736367977.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:17.746Z,1736367977.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.50 m. 2025-01-08T20:26:17.749Z,1736367977.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 278.500000 m, nav range: 274.978424 m, bearing: 21.441449 deg, approach rate: -0.009065 m/s, LOS rate: -0.144988 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.691028 deg. 2025-01-08T20:26:17.750Z,1736367977.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054096 target range: 278.500000 and range: 278.50 m. 2025-01-08T20:26:17.776Z,1736367977.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:17.777Z,1736367977.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519017 2025-01-08T20:26:18.028Z,1736367978.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:18.034Z,1736367978.034 [DAT](INFO): DAT read: 20:26:16.2120 LVL= 26400, 27793, 10770, 30707, AGC= 64, IDX= 178, 0.29,-0.720,-1.571, 0.673,-0.440, PHS=-0.193,-1.084, 1.110, RAW= 186.2, 1.8, CAL= 186.2, -6.2, ROT= 323.8, 6.2 2025-01-08T20:26:18.035Z,1736367978.035 [DAT](INFO): got valid direction response: 20:26:16.2120 LVL= 26400, 27793, 10770, 30707, AGC= 64, IDX= 178, 0.29,-0.720,-1.571, 0.673,-0.440, PHS=-0.193,-1.084, 1.110, RAW= 186.2, 1.8, CAL= 186.2, -6.2, ROT= 323.8, 6.2 2025-01-08T20:26:18.036Z,1736367978.036 [DAT](INFO): DAT read: Bearing 323.8, 6.2 (Local) 2025-01-08T20:26:18.037Z,1736367978.037 [DAT](INFO): Local bearing/azimuth received: Bearing 323.8, 6.2 (Local) 2025-01-08T20:26:18.056Z,1736367978.056 [DAT](INFO): DAT read: Range 10 to 50 : 276.3 m (Round-trip 368.4 ms) speed 0.5 m/s 2025-01-08T20:26:18.056Z,1736367978.056 [DAT](INFO): DAT read: user:1321> 2025-01-08T20:26:18.057Z,1736367978.057 [DAT](INFO): DAT read: Tx time:20:26:17.3394 2025-01-08T20:26:18.057Z,1736367978.057 [DAT](INFO): Ping request sent. 2025-01-08T20:26:18.057Z,1736367978.057 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:18.058Z,1736367978.058 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:26:18.059Z,1736367978.059 [DAT](INFO): direction in FSK: [-0.110836,-0.991707,-0.065061] 2025-01-08T20:26:18.059Z,1736367978.059 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:18.069Z,1736367978.069 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:18.078Z,1736367978.078 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:18.078Z,1736367978.078 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:18.178Z,1736367978.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:18.222Z,1736367978.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 276.299988 m, deltaT: 3.784001 s, deltaX: -2.200012 m, approachRate: -0.581398 m/s, rangeRepo size: 4 2025-01-08T20:26:18.229Z,1736367978.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 276.299988 m, bearing: 21.454215 deg, lat: 36.906453 deg, lon: -122.120578 deg, deltaT: 3.784001 s, deltaX: -2.200012 m, approachRate: -0.581398 m/s, posRepo size: 4 2025-01-08T20:26:18.230Z,1736367978.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m. 2025-01-08T20:26:18.241Z,1736367978.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.299988 m, nav range: 271.146027 m, bearing: 21.694610 deg, approach rate: 0.000000 m/s, LOS rate: -0.144988 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.688268 deg. 2025-01-08T20:26:18.242Z,1736367978.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054048 target range: 276.299988 and range: 276.30 m. 2025-01-08T20:26:18.280Z,1736367978.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:18.281Z,1736367978.281 [DAT](INFO): DAT read: TxSync time:20:26:17.3386 2025-01-08T20:26:18.532Z,1736367978.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:18.586Z,1736367978.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:18.598Z,1736367978.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:18.605Z,1736367978.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m. 2025-01-08T20:26:18.613Z,1736367978.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.299988 m, nav range: 271.141266 m, bearing: 21.634842 deg, approach rate: -0.012363 m/s, LOS rate: -0.155211 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.715250 deg. 2025-01-08T20:26:18.614Z,1736367978.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054519 target range: 276.299988 and range: 276.30 m. 2025-01-08T20:26:18.784Z,1736367978.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:18.784Z,1736367978.784 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:18.784Z,1736367978.784 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:18.784Z,1736367978.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:18.985Z,1736367978.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:18.993Z,1736367978.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m. 2025-01-08T20:26:18.996Z,1736367978.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.299988 m, nav range: 271.135071 m, bearing: 21.575062 deg, approach rate: -0.015969 m/s, LOS rate: -0.154102 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.715213 deg. 2025-01-08T20:26:18.998Z,1736367978.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054518 target range: 276.299988 and range: 276.30 m. 2025-01-08T20:26:19.036Z,1736367979.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:19.036Z,1736367979.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978942 2025-01-08T20:26:19.288Z,1736367979.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:19.289Z,1736367979.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231331 2025-01-08T20:26:19.356Z,1736367979.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:19.381Z,1736367979.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m. 2025-01-08T20:26:19.383Z,1736367979.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.299988 m, nav range: 271.131042 m, bearing: 21.519330 deg, approach rate: -0.010404 m/s, LOS rate: -0.143942 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.727360 deg. 2025-01-08T20:26:19.384Z,1736367979.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054730 target range: 276.299988 and range: 276.30 m. 2025-01-08T20:26:19.540Z,1736367979.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:19.540Z,1736367979.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482893 2025-01-08T20:26:19.785Z,1736367979.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:19.792Z,1736367979.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:19.793Z,1736367979.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735209 2025-01-08T20:26:19.796Z,1736367979.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m. 2025-01-08T20:26:19.798Z,1736367979.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.299988 m, nav range: 271.122772 m, bearing: 21.452294 deg, approach rate: -0.019931 m/s, LOS rate: -0.161557 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.693443 deg. 2025-01-08T20:26:19.800Z,1736367979.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054138 target range: 276.299988 and range: 276.30 m. 2025-01-08T20:26:20.044Z,1736367980.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:20.044Z,1736367980.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986926 2025-01-08T20:26:20.171Z,1736367980.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:20.179Z,1736367980.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m. 2025-01-08T20:26:20.182Z,1736367980.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.299988 m, nav range: 271.115051 m, bearing: 21.391940 deg, approach rate: -0.020125 m/s, LOS rate: -0.157323 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.713489 deg. 2025-01-08T20:26:20.184Z,1736367980.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054488 target range: 276.299988 and range: 276.30 m. 2025-01-08T20:26:20.296Z,1736367980.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:20.297Z,1736367980.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239753 2025-01-08T20:26:20.548Z,1736367980.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:20.548Z,1736367980.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490940 2025-01-08T20:26:20.569Z,1736367980.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:20.578Z,1736367980.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m. 2025-01-08T20:26:20.594Z,1736367980.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.299988 m, nav range: 271.107239 m, bearing: 21.329684 deg, approach rate: -0.019564 m/s, LOS rate: -0.155906 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.707785 deg. 2025-01-08T20:26:20.599Z,1736367980.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054389 target range: 276.299988 and range: 276.30 m. 2025-01-08T20:26:20.800Z,1736367980.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:20.801Z,1736367980.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743022 2025-01-08T20:26:21.030Z,1736367981.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:21.042Z,1736367981.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:21.044Z,1736367981.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m. 2025-01-08T20:26:21.046Z,1736367981.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.299988 m, nav range: 271.097107 m, bearing: 21.254566 deg, approach rate: -0.021784 m/s, LOS rate: -0.161511 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.669195 deg. 2025-01-08T20:26:21.048Z,1736367981.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053715 target range: 276.299988 and range: 276.30 m. 2025-01-08T20:26:21.052Z,1736367981.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:21.052Z,1736367981.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994948 2025-01-08T20:26:21.305Z,1736367981.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:21.306Z,1736367981.306 [DAT](INFO): DAT read: Rx Time:20:26:20.1087 2025-01-08T20:26:21.306Z,1736367981.306 [DAT](INFO): Rx dataTimestamp_ set to:1736367981.305810 2025-01-08T20:26:21.307Z,1736367981.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249106 2025-01-08T20:26:21.383Z,1736367981.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:21.405Z,1736367981.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m. 2025-01-08T20:26:21.408Z,1736367981.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 276.299988 m, nav range: 271.089447 m, bearing: 21.196924 deg, approach rate: -0.021244 m/s, LOS rate: -0.159866 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.721627 deg. 2025-01-08T20:26:21.409Z,1736367981.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054630 target range: 276.299988 and range: 276.30 m. 2025-01-08T20:26:21.556Z,1736367981.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:21.556Z,1736367981.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498925 2025-01-08T20:26:21.809Z,1736367981.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:21.828Z,1736367981.828 [DAT](INFO): DAT read: 20:26:20.1087 LVL= 24544, 28465, 11474, 31699, AGC= 65, IDX= 170, 0.20, 0.977, 0.073, 2.315, 1.322, PHS=-0.257,-1.202, 0.990, RAW= 184.5, 5.0, CAL= 184.5, -3.7, ROT= 325.5, 3.7 2025-01-08T20:26:21.829Z,1736367981.829 [DAT](INFO): got valid direction response: 20:26:20.1087 LVL= 24544, 28465, 11474, 31699, AGC= 65, IDX= 170, 0.20, 0.977, 0.073, 2.315, 1.322, PHS=-0.257,-1.202, 0.990, RAW= 184.5, 5.0, CAL= 184.5, -3.7, ROT= 325.5, 3.7 2025-01-08T20:26:21.830Z,1736367981.830 [DAT](INFO): DAT read: Bearing 325.5, 3.7 (Local) 2025-01-08T20:26:21.830Z,1736367981.830 [DAT](INFO): Local bearing/azimuth received: Bearing 325.5, 3.7 (Local) 2025-01-08T20:26:21.837Z,1736367981.837 [DAT](INFO): DAT read: Range 10 to 50 : 273.9 m (Round-trip 365.2 ms) speed 0.8 m/s 2025-01-08T20:26:21.838Z,1736367981.838 [DAT](INFO): DAT read: user:1322> 2025-01-08T20:26:21.839Z,1736367981.839 [DAT](INFO): DAT read: Tx time:20:26:21.2394 2025-01-08T20:26:21.843Z,1736367981.843 [DAT](INFO): Ping request sent. 2025-01-08T20:26:21.843Z,1736367981.843 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:21.844Z,1736367981.844 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:26:21.845Z,1736367981.845 [DAT](INFO): direction in FSK: [-0.173716,-0.983949,-0.040828] 2025-01-08T20:26:21.845Z,1736367981.845 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:21.845Z,1736367981.845 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:21.852Z,1736367981.852 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:21.853Z,1736367981.853 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:21.934Z,1736367981.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:21.988Z,1736367981.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 273.899994 m, deltaT: 3.781972 s, deltaX: -2.399994 m, approachRate: -0.634588 m/s, rangeRepo size: 4 2025-01-08T20:26:22.001Z,1736367982.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 273.899994 m, bearing: 17.900744 deg, lat: 36.906453 deg, lon: -122.120592 deg, deltaT: 3.781972 s, deltaX: -2.399994 m, approachRate: -0.634588 m/s, posRepo size: 4 2025-01-08T20:26:22.002Z,1736367982.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m. 2025-01-08T20:26:22.009Z,1736367982.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.899994 m, nav range: 270.649323 m, bearing: 20.862854 deg, approach rate: 0.000000 m/s, LOS rate: -0.159866 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.616957 deg. 2025-01-08T20:26:22.010Z,1736367982.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052803 target range: 273.899994 and range: 273.90 m. 2025-01-08T20:26:22.060Z,1736367982.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:22.062Z,1736367982.062 [DAT](INFO): DAT read: TxSync time:20:26:21.2386 2025-01-08T20:26:22.307Z,1736367982.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:22.312Z,1736367982.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:22.331Z,1736367982.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m. 2025-01-08T20:26:22.334Z,1736367982.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.899994 m, nav range: 270.649872 m, bearing: 20.800463 deg, approach rate: 0.001596 m/s, LOS rate: -0.181231 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.707384 deg. 2025-01-08T20:26:22.339Z,1736367982.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054381 target range: 273.899994 and range: 273.90 m. 2025-01-08T20:26:22.565Z,1736367982.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:22.699Z,1736367982.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:22.713Z,1736367982.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m. 2025-01-08T20:26:22.716Z,1736367982.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.899994 m, nav range: 270.651764 m, bearing: 20.734887 deg, approach rate: 0.004901 m/s, LOS rate: -0.169859 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.697831 deg. 2025-01-08T20:26:22.717Z,1736367982.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054215 target range: 273.899994 and range: 273.90 m. 2025-01-08T20:26:22.817Z,1736367982.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:23.069Z,1736367983.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:23.137Z,1736367983.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:23.148Z,1736367983.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:23.150Z,1736367983.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m. 2025-01-08T20:26:23.157Z,1736367983.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.899994 m, nav range: 270.663666 m, bearing: 20.660240 deg, approach rate: 0.027260 m/s, LOS rate: -0.170961 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.670627 deg. 2025-01-08T20:26:23.158Z,1736367983.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053740 target range: 273.899994 and range: 273.90 m. 2025-01-08T20:26:23.320Z,1736367983.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:23.320Z,1736367983.320 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:23.320Z,1736367983.320 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:23.321Z,1736367983.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:23.503Z,1736367983.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:23.541Z,1736367983.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m. 2025-01-08T20:26:23.544Z,1736367983.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.899994 m, nav range: 270.673920 m, bearing: 20.597860 deg, approach rate: 0.026206 m/s, LOS rate: -0.159419 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.707424 deg. 2025-01-08T20:26:23.545Z,1736367983.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054382 target range: 273.899994 and range: 273.90 m. 2025-01-08T20:26:23.572Z,1736367983.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:23.573Z,1736367983.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729382 2025-01-08T20:26:23.824Z,1736367983.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:23.825Z,1736367983.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981330 2025-01-08T20:26:23.922Z,1736367983.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:23.952Z,1736367983.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m. 2025-01-08T20:26:23.960Z,1736367983.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.899994 m, nav range: 270.689636 m, bearing: 20.526905 deg, approach rate: 0.038686 m/s, LOS rate: -0.174645 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.681705 deg. 2025-01-08T20:26:23.961Z,1736367983.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053933 target range: 273.899994 and range: 273.90 m. 2025-01-08T20:26:24.076Z,1736367984.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:24.077Z,1736367984.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233702 2025-01-08T20:26:24.300Z,1736367984.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:24.308Z,1736367984.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m. 2025-01-08T20:26:24.310Z,1736367984.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.899994 m, nav range: 270.704224 m, bearing: 20.463089 deg, approach rate: 0.040468 m/s, LOS rate: -0.177029 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.703120 deg. 2025-01-08T20:26:24.312Z,1736367984.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054307 target range: 273.899994 and range: 273.90 m. 2025-01-08T20:26:24.328Z,1736367984.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:24.329Z,1736367984.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485314 2025-01-08T20:26:24.580Z,1736367984.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:24.580Z,1736367984.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736979 2025-01-08T20:26:24.701Z,1736367984.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:24.727Z,1736367984.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m. 2025-01-08T20:26:24.730Z,1736367984.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.899994 m, nav range: 270.719940 m, bearing: 20.395183 deg, approach rate: 0.038984 m/s, LOS rate: -0.168426 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690853 deg. 2025-01-08T20:26:24.731Z,1736367984.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054093 target range: 273.899994 and range: 273.90 m. 2025-01-08T20:26:24.834Z,1736367984.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:24.834Z,1736367984.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990926 2025-01-08T20:26:25.088Z,1736367985.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:25.089Z,1736367985.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245707 2025-01-08T20:26:25.169Z,1736367985.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:25.175Z,1736367985.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:25.177Z,1736367985.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m. 2025-01-08T20:26:25.180Z,1736367985.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.899994 m, nav range: 270.743134 m, bearing: 20.318878 deg, approach rate: 0.049746 m/s, LOS rate: -0.163647 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.665662 deg. 2025-01-08T20:26:25.181Z,1736367985.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053653 target range: 273.899994 and range: 273.90 m. 2025-01-08T20:26:25.186Z,1736367985.186 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T20:16:25.0Z 2025-01-08T20:26:25.186Z,1736367985.186 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T20:26:25.186Z,1736367985.186 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T20:26:25.186Z,1736367985.186 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T20:26:25.186Z,1736367985.186 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T20:26:25.187Z,1736367985.187 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T20:26:25.341Z,1736367985.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:25.343Z,1736367985.343 [DAT](INFO): DAT read: Rx Time:20:26:24.0052 2025-01-08T20:26:25.343Z,1736367985.343 [DAT](INFO): Rx dataTimestamp_ set to:1736367985.342755 2025-01-08T20:26:25.345Z,1736367985.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501085 2025-01-08T20:26:25.541Z,1736367985.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:25.557Z,1736367985.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m. 2025-01-08T20:26:25.564Z,1736367985.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.899994 m, nav range: 270.761841 m, bearing: 20.258060 deg, approach rate: 0.049254 m/s, LOS rate: -0.160115 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.712116 deg. 2025-01-08T20:26:25.565Z,1736367985.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054464 target range: 273.899994 and range: 273.90 m. 2025-01-08T20:26:25.574Z,1736367985.574 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T20:26:25.574Z,1736367985.574 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T20:26:25.574Z,1736367985.574 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T20:26:25.574Z,1736367985.574 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T20:26:25.574Z,1736367985.574 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T20:26:25.592Z,1736367985.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:25.600Z,1736367985.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756318 2025-01-08T20:26:25.844Z,1736367985.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:25.850Z,1736367985.850 [DAT](INFO): DAT read: 20:26:24.0052 LVL= 28400, 29409, 12210, 28275, AGC= 64, IDX= 404,-0.31, 1.065, 0.532, 2.136, 0.938, PHS= 0.216,-0.358, 1.195, RAW= 188.6, -15.3, CAL= 188.3, -19.7, ROT= 321.7, 19.7 2025-01-08T20:26:25.852Z,1736367985.852 [DAT](INFO): got valid direction response: 20:26:24.0052 LVL= 28400, 29409, 12210, 28275, AGC= 64, IDX= 404,-0.31, 1.065, 0.532, 2.136, 0.938, PHS= 0.216,-0.358, 1.195, RAW= 188.6, -15.3, CAL= 188.3, -19.7, ROT= 321.7, 19.7 2025-01-08T20:26:25.853Z,1736367985.853 [DAT](INFO): DAT read: Bearing 321.7, 19.7 (Local) 2025-01-08T20:26:25.853Z,1736367985.853 [DAT](INFO): Local bearing/azimuth received: Bearing 321.7, 19.7 (Local) 2025-01-08T20:26:25.856Z,1736367985.856 [DAT](INFO): DAT read: Range 10 to 50 : 271.2 m (Round-trip 361.7 ms) speed 0.4 m/s 2025-01-08T20:26:25.857Z,1736367985.857 [DAT](INFO): DAT read: user:1323> 2025-01-08T20:26:25.857Z,1736367985.857 [DAT](INFO): DAT read: Tx time:20:26:25.0894 2025-01-08T20:26:25.858Z,1736367985.858 [DAT](INFO): Ping request sent. 2025-01-08T20:26:25.858Z,1736367985.858 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:25.858Z,1736367985.858 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:26:25.859Z,1736367985.859 [DAT](INFO): direction in FSK: [0.215722,-0.973115,-0.080699] 2025-01-08T20:26:25.859Z,1736367985.859 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:25.860Z,1736367985.860 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:25.863Z,1736367985.863 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:25.863Z,1736367985.863 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:26.096Z,1736367986.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:26.097Z,1736367986.097 [DAT](INFO): DAT read: TxSync time:20:26:25.0886 2025-01-08T20:26:26.301Z,1736367986.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:26.319Z,1736367986.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 271.200012 m, deltaT: 4.034172 s, deltaX: -2.699982 m, approachRate: -0.669278 m/s, rangeRepo size: 4 2025-01-08T20:26:26.321Z,1736367986.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 271.200012 m, bearing: 41.144626 deg, lat: 36.906453 deg, lon: -122.120592 deg, deltaT: 4.034172 s, deltaX: -2.699982 m, approachRate: -0.669278 m/s, posRepo size: 4 2025-01-08T20:26:26.322Z,1736367986.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:26.325Z,1736367986.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 270.818512 m, bearing: 20.140724 deg, approach rate: 0.000000 m/s, LOS rate: -0.160115 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.529097 deg. 2025-01-08T20:26:26.326Z,1736367986.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051270 target range: 271.200012 and range: 271.20 m. 2025-01-08T20:26:26.348Z,1736367986.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:26.600Z,1736367986.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:26.677Z,1736367986.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:26.712Z,1736367986.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:26.714Z,1736367986.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 270.848145 m, bearing: 20.082656 deg, approach rate: 0.075317 m/s, LOS rate: -0.147574 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.720373 deg. 2025-01-08T20:26:26.716Z,1736367986.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054608 target range: 271.200012 and range: 271.20 m. 2025-01-08T20:26:26.854Z,1736367986.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:27.092Z,1736367987.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:27.102Z,1736367987.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:27.105Z,1736367987.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:27.108Z,1736367987.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 270.885834 m, bearing: 20.023399 deg, approach rate: 0.096417 m/s, LOS rate: -0.151571 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.716811 deg. 2025-01-08T20:26:27.109Z,1736367987.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054546 target range: 271.200012 and range: 271.20 m. 2025-01-08T20:26:27.358Z,1736367987.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:27.469Z,1736367987.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:27.476Z,1736367987.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:27.478Z,1736367987.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:27.481Z,1736367987.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 270.920166 m, bearing: 19.969535 deg, approach rate: 0.091294 m/s, LOS rate: -0.143216 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.732984 deg. 2025-01-08T20:26:27.482Z,1736367987.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054828 target range: 271.200012 and range: 271.20 m. 2025-01-08T20:26:27.615Z,1736367987.615 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:27.615Z,1736367987.615 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:27.615Z,1736367987.615 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:27.616Z,1736367987.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:27.868Z,1736367987.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:27.868Z,1736367987.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010488 2025-01-08T20:26:27.910Z,1736367987.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:27.919Z,1736367987.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:27.923Z,1736367987.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 270.959045 m, bearing: 19.911347 deg, approach rate: 0.088291 m/s, LOS rate: -0.132120 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.720018 deg. 2025-01-08T20:26:27.941Z,1736367987.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054602 target range: 271.200012 and range: 271.20 m. 2025-01-08T20:26:28.121Z,1736367988.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:28.122Z,1736367988.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264378 2025-01-08T20:26:28.280Z,1736367988.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:28.290Z,1736367988.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:28.298Z,1736367988.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 270.990784 m, bearing: 19.862542 deg, approach rate: 0.085651 m/s, LOS rate: -0.131692 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.748159 deg. 2025-01-08T20:26:28.300Z,1736367988.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055093 target range: 271.200012 and range: 271.20 m. 2025-01-08T20:26:28.373Z,1736367988.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:28.374Z,1736367988.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515788 2025-01-08T20:26:28.624Z,1736367988.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:28.624Z,1736367988.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766576 2025-01-08T20:26:28.701Z,1736367988.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:28.725Z,1736367988.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:28.730Z,1736367988.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.025818 m, bearing: 19.808260 deg, approach rate: 0.080728 m/s, LOS rate: -0.125063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.731732 deg. 2025-01-08T20:26:28.732Z,1736367988.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054806 target range: 271.200012 and range: 271.20 m. 2025-01-08T20:26:28.879Z,1736367988.879 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:28.882Z,1736367988.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023148 2025-01-08T20:26:29.108Z,1736367989.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:29.116Z,1736367989.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:29.132Z,1736367989.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:29.132Z,1736367989.132 [DAT](INFO): DAT read: Rx Time:20:26:27.8549 2025-01-08T20:26:29.133Z,1736367989.133 [DAT](INFO): Rx dataTimestamp_ set to:1736367989.132624 2025-01-08T20:26:29.133Z,1736367989.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275568 2025-01-08T20:26:29.119Z,1736367989.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.059570 m, bearing: 19.754931 deg, approach rate: 0.085853 m/s, LOS rate: -0.135631 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.734591 deg. 2025-01-08T20:26:29.152Z,1736367989.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054856 target range: 271.200012 and range: 271.20 m. 2025-01-08T20:26:29.386Z,1736367989.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:29.389Z,1736367989.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530897 2025-01-08T20:26:29.479Z,1736367989.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:29.486Z,1736367989.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:29.488Z,1736367989.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:29.491Z,1736367989.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.089569 m, bearing: 19.707420 deg, approach rate: 0.080721 m/s, LOS rate: -0.127831 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.752038 deg. 2025-01-08T20:26:29.492Z,1736367989.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055161 target range: 271.200012 and range: 271.20 m. 2025-01-08T20:26:29.636Z,1736367989.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:29.642Z,1736367989.642 [DAT](INFO): DAT read: 20:26:27.8549 LVL= 26000, 32753, 16242, 32755, AGC= 63, IDX= 185,-0.23, 1.818, 0.979, 3.057, 2.111, PHS=-0.205,-1.085, 0.943, RAW=AL= 184.4, -4.5, ROT= 325.6, 4.5 2025-01-08T20:26:29.644Z,1736367989.644 [DAT](INFO): unknown deviceResponse_: 20:26:27.8549 LVL= 26000, 32753, 16242, 32755, AGC= 63, IDX= 185,-0.23, 1.818, 0.979, 3.057, 2.111, PHS=-0.205,-1.085, 0.943, RAW=AL= 184.4, -4.5, ROT= 325.6, 4.5 2025-01-08T20:26:29.645Z,1736367989.645 [DAT](INFO): DAT read: Bearing 325.6, 4.5 (Local) 2025-01-08T20:26:29.646Z,1736367989.646 [DAT](INFO): Local bearing/azimuth received: Bearing 325.6, 4.5 (Local) 2025-01-08T20:26:29.654Z,1736367989.654 [DAT](INFO): DAT read: Range 10 to 50 : 270.9 m (Round-trip 361.3 ms) speed 0.3 m/s 2025-01-08T20:26:29.655Z,1736367989.655 [DAT](INFO): DAT read: user:1324> 2025-01-08T20:26:29.656Z,1736367989.656 [DAT](INFO): DAT read: Tx time:20:26:28.9395 2025-01-08T20:26:29.657Z,1736367989.657 [DAT](INFO): Ping request sent. 2025-01-08T20:26:29.657Z,1736367989.657 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:29.657Z,1736367989.657 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:26:29.657Z,1736367989.657 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:29.658Z,1736367989.658 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:29.888Z,1736367989.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:29.889Z,1736367989.889 [DAT](INFO): DAT read: TxSync time:20:26:28.9387 2025-01-08T20:26:29.925Z,1736367989.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:29.962Z,1736367989.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 270.899994 m, deltaT: 3.792154 s, deltaX: -0.300018 m, approachRate: -0.079116 m/s, rangeRepo size: 4 2025-01-08T20:26:29.962Z,1736367989.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:29.969Z,1736367989.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.115601 m, bearing: 19.651525 deg, approach rate: 0.055037 m/s, LOS rate: -0.118163 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.726890 deg. 2025-01-08T20:26:29.975Z,1736367989.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054722 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:30.140Z,1736367990.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:30.290Z,1736367990.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:30.317Z,1736367990.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:30.326Z,1736367990.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.137512 m, bearing: 19.605893 deg, approach rate: 0.061524 m/s, LOS rate: -0.128117 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.757670 deg. 2025-01-08T20:26:30.336Z,1736367990.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055259 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:30.393Z,1736367990.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:30.644Z,1736367990.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:30.706Z,1736367990.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:30.714Z,1736367990.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:30.717Z,1736367990.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.162476 m, bearing: 19.553838 deg, approach rate: 0.062854 m/s, LOS rate: -0.131055 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.738406 deg. 2025-01-08T20:26:30.718Z,1736367990.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054923 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:30.898Z,1736367990.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:31.127Z,1736367991.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:31.135Z,1736367991.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:31.142Z,1736367991.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.181335 m, bearing: 19.499625 deg, approach rate: 0.044819 m/s, LOS rate: -0.128823 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.731930 deg. 2025-01-08T20:26:31.148Z,1736367991.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:31.143Z,1736367991.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054810 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:31.400Z,1736367991.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:31.499Z,1736367991.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:31.507Z,1736367991.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:31.509Z,1736367991.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:31.512Z,1736367991.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.197388 m, bearing: 19.451657 deg, approach rate: 0.042938 m/s, LOS rate: -0.128301 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.750662 deg. 2025-01-08T20:26:31.513Z,1736367991.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055137 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:31.652Z,1736367991.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:31.653Z,1736367991.653 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:31.653Z,1736367991.653 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:31.653Z,1736367991.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:31.911Z,1736367991.911 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:31.914Z,1736367991.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256453 2025-01-08T20:26:31.954Z,1736367991.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:31.988Z,1736367991.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:31.995Z,1736367991.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.213654 m, bearing: 19.391092 deg, approach rate: 0.034306 m/s, LOS rate: -0.127732 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.712870 deg. 2025-01-08T20:26:31.996Z,1736367991.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054477 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:32.164Z,1736367992.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:32.165Z,1736367992.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508005 2025-01-08T20:26:32.310Z,1736367992.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:32.319Z,1736367992.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:32.322Z,1736367992.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.226044 m, bearing: 19.343602 deg, approach rate: 0.036921 m/s, LOS rate: -0.141507 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.752094 deg. 2025-01-08T20:26:32.323Z,1736367992.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055162 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:32.416Z,1736367992.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:32.417Z,1736367992.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760657 2025-01-08T20:26:32.668Z,1736367992.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:32.669Z,1736367992.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012488 2025-01-08T20:26:32.726Z,1736367992.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:32.734Z,1736367992.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:32.738Z,1736367992.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.240479 m, bearing: 19.288206 deg, approach rate: 0.034720 m/s, LOS rate: -0.133234 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.728379 deg. 2025-01-08T20:26:32.758Z,1736367992.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054748 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:32.921Z,1736367992.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:32.924Z,1736367992.924 [DAT](INFO): DAT read: Rx Time:20:26:31.6541 2025-01-08T20:26:32.926Z,1736367992.926 [DAT](INFO): Rx dataTimestamp_ set to:1736367992.924681 2025-01-08T20:26:32.929Z,1736367992.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270440 2025-01-08T20:26:33.149Z,1736367993.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:33.158Z,1736367993.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:33.163Z,1736367993.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.249573 m, bearing: 19.227355 deg, approach rate: 0.021465 m/s, LOS rate: -0.143621 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.712011 deg. 2025-01-08T20:26:33.164Z,1736367993.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054462 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:33.172Z,1736367993.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:33.173Z,1736367993.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516114 2025-01-08T20:26:33.425Z,1736367993.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:33.434Z,1736367993.434 [DAT](INFO): DAT read: 20:26:31.6541 LVL= 32752, 31953, 13186, 29795, AGC= 63, IDX= 440,-0.03,-0.365,-1.211, 1.015, 0.021, PHS=-0.298,-1.184, 0.991, RAW= 186.1, 5.2, CAL= 186.1, -3.5, ROT= 323.9, 3.5 2025-01-08T20:26:33.435Z,1736367993.435 [DAT](INFO): got valid direction response: 20:26:31.6541 LVL= 32752, 31953, 13186, 29795, AGC= 63, IDX= 440,-0.03,-0.365,-1.211, 1.015, 0.021, PHS=-0.298,-1.184, 0.991, RAW= 186.1, 5.2, CAL= 186.1, -3.5, ROT= 323.9, 3.5 2025-01-08T20:26:33.436Z,1736367993.436 [DAT](INFO): DAT read: Bearing 323.9, 3.5 (Local) 2025-01-08T20:26:33.437Z,1736367993.437 [DAT](INFO): Local bearing/azimuth received: Bearing 323.9, 3.5 (Local) 2025-01-08T20:26:33.438Z,1736367993.438 [DAT](INFO): DAT read: Range 10 to 50 : 232.8 m (Round-trip 310.5 ms) speed 1.0 m/s 2025-01-08T20:26:33.439Z,1736367993.439 [DAT](INFO): DAT read: user:1325> 2025-01-08T20:26:33.440Z,1736367993.440 [DAT](INFO): DAT read: Tx time:20:26:32.7395 2025-01-08T20:26:33.440Z,1736367993.440 [DAT](INFO): Ping request sent. 2025-01-08T20:26:33.440Z,1736367993.440 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:33.441Z,1736367993.441 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:26:33.442Z,1736367993.442 [DAT](INFO): direction in FSK: [-0.175797,-0.982100,-0.067642] 2025-01-08T20:26:33.442Z,1736367993.442 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:33.442Z,1736367993.442 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:33.445Z,1736367993.445 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:33.445Z,1736367993.445 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:33.569Z,1736367993.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:33.624Z,1736367993.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 232.800003 m, deltaT: 3.788890 s, deltaX: -38.099991 m, approachRate: -10.055713 m/s, rangeRepo size: 4 2025-01-08T20:26:33.625Z,1736367993.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:33.632Z,1736367993.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.258850 m, bearing: 19.167047 deg, approach rate: 0.020114 m/s, LOS rate: -0.130746 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.713640 deg. 2025-01-08T20:26:33.633Z,1736367993.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054491 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:33.678Z,1736367993.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:33.680Z,1736367993.680 [DAT](INFO): DAT read: TxSync time:20:26:32.7387 2025-01-08T20:26:33.931Z,1736367993.931 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:33.995Z,1736367993.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:34.002Z,1736367994.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:34.005Z,1736367994.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:34.008Z,1736367994.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.261200 m, bearing: 19.100899 deg, approach rate: 0.006107 m/s, LOS rate: -0.171911 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.696113 deg. 2025-01-08T20:26:34.009Z,1736367994.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054185 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:34.184Z,1736367994.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:34.185Z,1736367994.185 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:34.185Z,1736367994.185 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:34.185Z,1736367994.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:34.338Z,1736367994.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:34.379Z,1736367994.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:34.382Z,1736367994.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.264618 m, bearing: 19.047708 deg, approach rate: 0.009423 m/s, LOS rate: -0.146644 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.734987 deg. 2025-01-08T20:26:34.388Z,1736367994.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054863 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:34.436Z,1736367994.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:34.437Z,1736367994.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996232 2025-01-08T20:26:34.688Z,1736367994.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:34.689Z,1736367994.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248629 2025-01-08T20:26:34.750Z,1736367994.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:34.767Z,1736367994.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:34.774Z,1736367994.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.269958 m, bearing: 18.983715 deg, approach rate: 0.013357 m/s, LOS rate: -0.160049 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.702582 deg. 2025-01-08T20:26:34.779Z,1736367994.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054298 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:34.941Z,1736367994.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:34.944Z,1736367994.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502913 2025-01-08T20:26:35.174Z,1736367995.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:35.185Z,1736367995.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:35.189Z,1736367995.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.282013 m, bearing: 18.913084 deg, approach rate: 0.028826 m/s, LOS rate: -0.168892 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.682673 deg. 2025-01-08T20:26:35.190Z,1736367995.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053950 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:35.192Z,1736367995.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:35.193Z,1736367995.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752152 2025-01-08T20:26:35.444Z,1736367995.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:35.444Z,1736367995.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003995 2025-01-08T20:26:35.576Z,1736367995.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:35.594Z,1736367995.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:35.601Z,1736367995.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.293976 m, bearing: 18.846234 deg, approach rate: 0.029255 m/s, LOS rate: -0.163473 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.694016 deg. 2025-01-08T20:26:35.602Z,1736367995.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054148 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:35.696Z,1736367995.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:35.697Z,1736367995.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257026 2025-01-08T20:26:35.950Z,1736367995.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:35.952Z,1736367995.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511087 2025-01-08T20:26:36.128Z,1736367996.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:36.134Z,1736367996.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:36.136Z,1736367996.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:36.140Z,1736367996.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.301422 m, bearing: 18.750710 deg, approach rate: 0.013720 m/s, LOS rate: -0.175996 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.607997 deg. 2025-01-08T20:26:36.142Z,1736367996.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052647 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:36.200Z,1736367996.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:36.202Z,1736367996.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760728 2025-01-08T20:26:36.368Z,1736367996.368 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T20:26:36.452Z,1736367996.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:36.452Z,1736367996.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011932 2025-01-08T20:26:36.626Z,1736367996.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:36.655Z,1736367996.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:36.669Z,1736367996.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.309509 m, bearing: 18.664626 deg, approach rate: 0.015638 m/s, LOS rate: -0.166460 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.636313 deg. 2025-01-08T20:26:36.676Z,1736367996.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053141 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:36.706Z,1736367996.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:36.707Z,1736367996.707 [DAT](INFO): DAT read: Rx Time:20:26:35.4508 2025-01-08T20:26:36.707Z,1736367996.707 [DAT](INFO): Rx dataTimestamp_ set to:1736367996.706762 2025-01-08T20:26:36.708Z,1736367996.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267267 2025-01-08T20:26:36.957Z,1736367996.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:36.960Z,1736367996.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518441 2025-01-08T20:26:37.053Z,1736367997.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:37.062Z,1736367997.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:37.066Z,1736367997.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.317719 m, bearing: 18.587795 deg, approach rate: 0.020077 m/s, LOS rate: -0.187901 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.664072 deg. 2025-01-08T20:26:37.067Z,1736367997.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053626 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:37.208Z,1736367997.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:37.214Z,1736367997.214 [DAT](INFO): DAT read: 20:26:35.4508 LVL= 32240, 32753, 14546, 30963, AGC= 63, IDX= 406,-0.42, 1.434, 0.626, 2.793, 1.815, PHS=-0.293,-1.142, 0.975, RAW= 186.5, 5.0, CAL= 186.5, -3.6, ROT= 323.5, 3.6 2025-01-08T20:26:37.215Z,1736367997.215 [DAT](INFO): got valid direction response: 20:26:35.4508 LVL= 32240, 32753, 14546, 30963, AGC= 63, IDX= 406,-0.42, 1.434, 0.626, 2.793, 1.815, PHS=-0.293,-1.142, 0.975, RAW= 186.5, 5.0, CAL= 186.5, -3.6, ROT= 323.5, 3.6 2025-01-08T20:26:37.216Z,1736367997.216 [DAT](INFO): DAT read: Bearing 323.5, 3.6 (Local) 2025-01-08T20:26:37.217Z,1736367997.217 [DAT](INFO): Local bearing/azimuth received: Bearing 323.5, 3.6 (Local) 2025-01-08T20:26:37.218Z,1736367997.218 [DAT](INFO): DAT read: Range 10 to 50 : 230.4 m (Round-trip 307.2 ms) speed 0.8 m/s 2025-01-08T20:26:37.219Z,1736367997.219 [DAT](INFO): DAT read: user:1326> 2025-01-08T20:26:37.220Z,1736367997.220 [DAT](INFO): DAT read: Tx time:20:26:36.5395 2025-01-08T20:26:37.220Z,1736367997.220 [DAT](INFO): Ping request sent. 2025-01-08T20:26:37.220Z,1736367997.220 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:37.220Z,1736367997.220 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:26:37.222Z,1736367997.222 [DAT](INFO): direction in FSK: [-0.171367,-0.982392,-0.074431] 2025-01-08T20:26:37.223Z,1736367997.223 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:37.223Z,1736367997.223 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:37.226Z,1736367997.226 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:37.227Z,1736367997.227 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:37.460Z,1736367997.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:37.461Z,1736367997.461 [DAT](INFO): DAT read: TxSync time:20:26:36.5387 2025-01-08T20:26:37.532Z,1736367997.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:37.546Z,1736367997.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 230.399994 m, deltaT: 7.571623 s, deltaX: -40.500000 m, approachRate: -5.348919 m/s, rangeRepo size: 4 2025-01-08T20:26:37.548Z,1736367997.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:37.554Z,1736367997.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.328003 m, bearing: 18.501704 deg, approach rate: 0.021285 m/s, LOS rate: -0.178167 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.636295 deg. 2025-01-08T20:26:37.573Z,1736367997.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053141 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:37.712Z,1736367997.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:37.914Z,1736367997.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:37.927Z,1736367997.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:37.930Z,1736367997.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.337616 m, bearing: 18.433177 deg, approach rate: 0.025216 m/s, LOS rate: -0.179744 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.688986 deg. 2025-01-08T20:26:37.931Z,1736367997.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054060 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:37.965Z,1736367997.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:38.216Z,1736367998.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:38.334Z,1736367998.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:38.358Z,1736367998.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:38.360Z,1736367998.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:38.363Z,1736367998.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.344757 m, bearing: 18.358543 deg, approach rate: 0.016486 m/s, LOS rate: -0.172292 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.670661 deg. 2025-01-08T20:26:38.368Z,1736367998.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053741 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:38.468Z,1736367998.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:38.469Z,1736367998.469 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:38.469Z,1736367998.469 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:38.469Z,1736367998.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:38.720Z,1736367998.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:38.722Z,1736367998.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501647 2025-01-08T20:26:38.735Z,1736367998.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:38.745Z,1736367998.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:38.748Z,1736367998.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.352020 m, bearing: 18.287296 deg, approach rate: 0.018890 m/s, LOS rate: -0.185295 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.680820 deg. 2025-01-08T20:26:38.749Z,1736367998.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053918 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:38.974Z,1736367998.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:38.977Z,1736367998.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756479 2025-01-08T20:26:39.186Z,1736367999.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:39.211Z,1736367999.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:39.214Z,1736367999.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.366669 m, bearing: 18.208645 deg, approach rate: 0.032525 m/s, LOS rate: -0.174626 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.658619 deg. 2025-01-08T20:26:39.222Z,1736367999.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053530 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:39.224Z,1736367999.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:39.225Z,1736367999.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004512 2025-01-08T20:26:39.477Z,1736367999.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:39.479Z,1736367999.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258513 2025-01-08T20:26:39.546Z,1736367999.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:39.575Z,1736367999.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:39.589Z,1736367999.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.378754 m, bearing: 18.145846 deg, approach rate: 0.031819 m/s, LOS rate: -0.165340 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.706168 deg. 2025-01-08T20:26:39.597Z,1736367999.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054360 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:39.728Z,1736367999.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:39.729Z,1736367999.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509135 2025-01-08T20:26:39.936Z,1736367999.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:39.945Z,1736367999.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:39.966Z,1736367999.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.391815 m, bearing: 18.077950 deg, approach rate: 0.035239 m/s, LOS rate: -0.183168 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690880 deg. 2025-01-08T20:26:39.982Z,1736367999.982 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:39.985Z,1736367999.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764778 2025-01-08T20:26:39.993Z,1736367999.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054093 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:40.232Z,1736368000.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:40.232Z,1736368000.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012307 2025-01-08T20:26:40.364Z,1736368000.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:40.371Z,1736368000.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:40.374Z,1736368000.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:40.377Z,1736368000.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.413757 m, bearing: 18.005417 deg, approach rate: 0.051254 m/s, LOS rate: -0.169416 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.676975 deg. 2025-01-08T20:26:40.378Z,1736368000.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053851 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:40.484Z,1736368000.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:40.485Z,1736368000.485 [DAT](INFO): DAT read: Rx Time:20:26:39.2718 2025-01-08T20:26:40.485Z,1736368000.485 [DAT](INFO): Rx dataTimestamp_ set to:1736368000.484892 2025-01-08T20:26:40.486Z,1736368000.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265710 2025-01-08T20:26:40.696Z,1736368000.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:26:40.736Z,1736368000.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:40.736Z,1736368000.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516184 2025-01-08T20:26:40.745Z,1736368000.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:40.754Z,1736368000.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.20 m. 2025-01-08T20:26:40.758Z,1736368000.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.200012 m, nav range: 271.433319 m, bearing: 17.940762 deg, approach rate: 0.051456 m/s, LOS rate: -0.170058 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.700608 deg. 2025-01-08T20:26:40.759Z,1736368000.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054263 target range: 271.200012 and range: 270.90 m. 2025-01-08T20:26:40.989Z,1736368000.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:41.009Z,1736368001.009 [DAT](INFO): DAT read: 20:26:39.2718 LVL= 23232, 24433, 12898, 17331, AGC= 61, IDX= 140,-0.47,-2.603,-2.917,-1.351,-2.660, PHS= 0.145,-0.210, 1.306, RAW= 197.1, -17.7, CAL= 195.0, -22.8, ROT= 315.0, 22.8 2025-01-08T20:26:41.014Z,1736368001.014 [DAT](INFO): got valid direction response: 20:26:39.2718 LVL= 23232, 24433, 12898, 17331, AGC= 61, IDX= 140,-0.47,-2.603,-2.917,-1.351,-2.660, PHS= 0.145,-0.210, 1.306, RAW= 197.1, -17.7, CAL= 195.0, -22.8, ROT= 315.0, 22.8 2025-01-08T20:26:41.018Z,1736368001.018 [DAT](INFO): DAT read: Bearing 315.0, 22.8 (Local) 2025-01-08T20:26:41.019Z,1736368001.019 [DAT](INFO): Local bearing/azimuth received: Bearing 315.0, 22.8 (Local) 2025-01-08T20:26:41.025Z,1736368001.025 [DAT](INFO): DAT read: Range 10 to 50 : 246.0 m (Round-trip 328.1 ms) speed 0.2 m/s 2025-01-08T20:26:41.048Z,1736368001.048 [DAT](INFO): DAT read: user:1327> 2025-01-08T20:26:41.064Z,1736368001.064 [DAT](INFO): DAT read: Tx time:20:26:40.3896 2025-01-08T20:26:41.065Z,1736368001.065 [DAT](INFO): Ping request sent. 2025-01-08T20:26:41.065Z,1736368001.065 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:41.065Z,1736368001.065 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:26:41.066Z,1736368001.066 [DAT](INFO): direction in FSK: [0.272199,-0.938739,-0.211368] 2025-01-08T20:26:41.066Z,1736368001.066 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:41.067Z,1736368001.067 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:41.085Z,1736368001.085 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:41.089Z,1736368001.089 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:41.236Z,1736368001.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:41.240Z,1736368001.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:41.241Z,1736368001.241 [DAT](INFO): DAT read: TxSync time:20:26:40.3888 2025-01-08T20:26:41.278Z,1736368001.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 246.000000 m, deltaT: 11.352606 s, deltaX: -24.899994 m, approachRate: -2.193328 m/s, rangeRepo size: 4 2025-01-08T20:26:41.285Z,1736368001.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 246.000000 m, bearing: 45.347630 deg, lat: 36.906064 deg, lon: -122.120744 deg, deltaT: 15.144760 s, deltaX: -25.200012 m, approachRate: -1.663943 m/s, posRepo size: 4 2025-01-08T20:26:41.285Z,1736368001.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.00 m. 2025-01-08T20:26:41.292Z,1736368001.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.000000 m, nav range: 226.199356 m, bearing: 17.963205 deg, approach rate: 0.000000 m/s, LOS rate: -0.170058 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.632431 deg. 2025-01-08T20:26:41.293Z,1736368001.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053073 target range: 246.000000 and range: 246.00 m. 2025-01-08T20:26:41.492Z,1736368001.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:41.575Z,1736368001.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:41.592Z,1736368001.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.00 m. 2025-01-08T20:26:41.594Z,1736368001.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.000000 m, nav range: 226.220398 m, bearing: 17.900640 deg, approach rate: 0.064948 m/s, LOS rate: -0.193096 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.706878 deg. 2025-01-08T20:26:41.596Z,1736368001.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054373 target range: 246.000000 and range: 246.00 m. 2025-01-08T20:26:41.700Z,1736368001.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:26:41.744Z,1736368001.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:41.967Z,1736368001.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:41.993Z,1736368001.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.00 m. 2025-01-08T20:26:41.998Z,1736368001.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:42.012Z,1736368002.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.000000 m, nav range: 226.246002 m, bearing: 17.828248 deg, approach rate: 0.063818 m/s, LOS rate: -0.180413 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.677409 deg. 2025-01-08T20:26:42.022Z,1736368002.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053858 target range: 246.000000 and range: 246.00 m. 2025-01-08T20:26:42.248Z,1736368002.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:42.416Z,1736368002.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:42.423Z,1736368002.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:42.425Z,1736368002.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.00 m. 2025-01-08T20:26:42.428Z,1736368002.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.000000 m, nav range: 226.281250 m, bearing: 17.752437 deg, approach rate: 0.081469 m/s, LOS rate: -0.175197 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.667160 deg. 2025-01-08T20:26:42.430Z,1736368002.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053679 target range: 246.000000 and range: 246.00 m. 2025-01-08T20:26:42.500Z,1736368002.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:42.501Z,1736368002.501 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:42.501Z,1736368002.501 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:42.502Z,1736368002.502 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:42.752Z,1736368002.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:42.752Z,1736368002.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.687734 2025-01-08T20:26:42.794Z,1736368002.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:42.802Z,1736368002.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.00 m. 2025-01-08T20:26:42.813Z,1736368002.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.000000 m, nav range: 226.311203 m, bearing: 17.688437 deg, approach rate: 0.079448 m/s, LOS rate: -0.169734 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.702581 deg. 2025-01-08T20:26:42.814Z,1736368002.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054298 target range: 246.000000 and range: 246.00 m. 2025-01-08T20:26:43.004Z,1736368003.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:43.005Z,1736368003.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940452 2025-01-08T20:26:43.221Z,1736368003.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:43.230Z,1736368003.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.00 m. 2025-01-08T20:26:43.233Z,1736368003.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.000000 m, nav range: 226.352478 m, bearing: 17.622200 deg, approach rate: 0.096514 m/s, LOS rate: -0.154855 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.695883 deg. 2025-01-08T20:26:43.234Z,1736368003.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054181 target range: 246.000000 and range: 246.00 m. 2025-01-08T20:26:43.269Z,1736368003.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:43.271Z,1736368003.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205974 2025-01-08T20:26:43.520Z,1736368003.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:43.520Z,1736368003.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455679 2025-01-08T20:26:43.600Z,1736368003.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:43.608Z,1736368003.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.00 m. 2025-01-08T20:26:43.612Z,1736368003.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.000000 m, nav range: 226.388748 m, bearing: 17.563191 deg, approach rate: 0.095841 m/s, LOS rate: -0.155900 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.717560 deg. 2025-01-08T20:26:43.614Z,1736368003.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054559 target range: 246.000000 and range: 246.00 m. 2025-01-08T20:26:43.772Z,1736368003.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:43.773Z,1736368003.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708162 2025-01-08T20:26:44.004Z,1736368004.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:44.018Z,1736368004.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.00 m. 2025-01-08T20:26:44.022Z,1736368004.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.000000 m, nav range: 226.426971 m, bearing: 17.500481 deg, approach rate: 0.093277 m/s, LOS rate: -0.153007 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.706459 deg. 2025-01-08T20:26:44.023Z,1736368004.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054365 target range: 246.000000 and range: 246.00 m. 2025-01-08T20:26:44.024Z,1736368004.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:44.026Z,1736368004.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961199 2025-01-08T20:26:44.281Z,1736368004.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:44.281Z,1736368004.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216725 2025-01-08T20:26:44.434Z,1736368004.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:44.442Z,1736368004.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:44.444Z,1736368004.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.00 m. 2025-01-08T20:26:44.447Z,1736368004.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.000000 m, nav range: 226.472336 m, bearing: 17.438185 deg, approach rate: 0.106572 m/s, LOS rate: -0.146320 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.707706 deg. 2025-01-08T20:26:44.448Z,1736368004.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054387 target range: 246.000000 and range: 246.00 m. 2025-01-08T20:26:44.532Z,1736368004.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:44.533Z,1736368004.533 [DAT](INFO): DAT read: Rx Time:20:26:43.1437 2025-01-08T20:26:44.533Z,1736368004.533 [DAT](INFO): Rx dataTimestamp_ set to:1736368004.532756 2025-01-08T20:26:44.534Z,1736368004.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468905 2025-01-08T20:26:44.784Z,1736368004.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:44.784Z,1736368004.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.719617 2025-01-08T20:26:44.939Z,1736368004.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:44.968Z,1736368004.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.00 m. 2025-01-08T20:26:44.976Z,1736368004.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.000000 m, nav range: 226.524963 m, bearing: 17.365610 deg, approach rate: 0.100346 m/s, LOS rate: -0.138348 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.676883 deg. 2025-01-08T20:26:44.977Z,1736368004.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053849 target range: 246.000000 and range: 246.00 m. 2025-01-08T20:26:45.038Z,1736368005.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:45.048Z,1736368005.048 [DAT](INFO): DAT read: 20:26:43.1437 LVL= 19344, 21617, 8770, 19363, AGC= 61, IDX= 156,-0.29, 2.306, 2.017,-2.771, 2.379, PHS= 0.015,-0.315, 1.130, RAW= 197.4, -12.6, CAL= 195.4, -17.7, ROT= 314.6, 17.7 2025-01-08T20:26:45.049Z,1736368005.049 [DAT](INFO): got valid direction response: 20:26:43.1437 LVL= 19344, 21617, 8770, 19363, AGC= 61, IDX= 156,-0.29, 2.306, 2.017,-2.771, 2.379, PHS= 0.015,-0.315, 1.130, RAW= 197.4, -12.6, CAL= 195.4, -17.7, ROT= 314.6, 17.7 2025-01-08T20:26:45.050Z,1736368005.050 [DAT](INFO): DAT read: Bearing 314.6, 17.7 (Local) 2025-01-08T20:26:45.051Z,1736368005.051 [DAT](INFO): Local bearing/azimuth received: Bearing 314.6, 17.7 (Local) 2025-01-08T20:26:45.053Z,1736368005.053 [DAT](INFO): DAT read: Range 10 to 50 : 262.5 m (Round-trip 350.0 ms) speed 0.2 m/s 2025-01-08T20:26:45.054Z,1736368005.054 [DAT](INFO): DAT read: user:1328> 2025-01-08T20:26:45.057Z,1736368005.057 [DAT](INFO): DAT read: Tx time:20:26:44.2396 2025-01-08T20:26:45.058Z,1736368005.058 [DAT](INFO): Ping request sent. 2025-01-08T20:26:45.059Z,1736368005.059 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:45.118Z,1736368005.118 [DAT](INFO): DAT read: TxSync time:20:26:44.2388 2025-01-08T20:26:45.126Z,1736368005.126 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:26:45.127Z,1736368005.127 [DAT](INFO): direction in FSK: [0.179322,-0.956710,-0.229236] 2025-01-08T20:26:45.132Z,1736368005.132 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:45.133Z,1736368005.133 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:45.142Z,1736368005.142 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:45.142Z,1736368005.142 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:45.289Z,1736368005.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:45.414Z,1736368005.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:26:45.415Z,1736368005.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:45.430Z,1736368005.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 262.500000 m, deltaT: 4.049897 s, deltaX: 16.500000 m, approachRate: 4.074178 m/s, rangeRepo size: 4 2025-01-08T20:26:45.432Z,1736368005.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 262.500000 m, bearing: 38.414461 deg, lat: 36.905967 deg, lon: -122.119780 deg, deltaT: 4.049897 s, deltaX: 16.500000 m, approachRate: 4.074178 m/s, posRepo size: 4 2025-01-08T20:26:45.433Z,1736368005.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.50 m. 2025-01-08T20:26:45.436Z,1736368005.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.500000 m, nav range: 256.250610 m, bearing: 36.680821 deg, approach rate: 0.000000 m/s, LOS rate: -0.138348 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.703366 deg. 2025-01-08T20:26:45.437Z,1736368005.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054311 target range: 262.500000 and range: 262.50 m. 2025-01-08T20:26:45.540Z,1736368005.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:45.792Z,1736368005.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:45.845Z,1736368005.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T20:26:45.845Z,1736368005.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:45.853Z,1736368005.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.50 m. 2025-01-08T20:26:45.857Z,1736368005.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.500000 m, nav range: 256.211700 m, bearing: 36.625530 deg, approach rate: -0.091754 m/s, LOS rate: -0.130403 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.728657 deg. 2025-01-08T20:26:45.859Z,1736368005.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054753 target range: 262.500000 and range: 262.50 m. 2025-01-08T20:26:46.044Z,1736368006.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:46.280Z,1736368006.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:46.294Z,1736368006.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.50 m. 2025-01-08T20:26:46.296Z,1736368006.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:46.308Z,1736368006.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.500000 m, nav range: 256.182678 m, bearing: 36.568743 deg, approach rate: -0.065769 m/s, LOS rate: -0.128701 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.724179 deg. 2025-01-08T20:26:46.309Z,1736368006.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054675 target range: 262.500000 and range: 262.50 m. 2025-01-08T20:26:46.548Z,1736368006.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:46.680Z,1736368006.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:46.688Z,1736368006.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:46.690Z,1736368006.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.50 m. 2025-01-08T20:26:46.693Z,1736368006.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.500000 m, nav range: 256.156250 m, bearing: 36.516535 deg, approach rate: -0.066739 m/s, LOS rate: -0.131854 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.737917 deg. 2025-01-08T20:26:46.694Z,1736368006.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054914 target range: 262.500000 and range: 262.50 m. 2025-01-08T20:26:46.800Z,1736368006.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:46.800Z,1736368006.800 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:46.800Z,1736368006.800 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:46.801Z,1736368006.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:47.052Z,1736368007.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:47.052Z,1736368007.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994363 2025-01-08T20:26:47.061Z,1736368007.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:47.074Z,1736368007.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.50 m. 2025-01-08T20:26:47.078Z,1736368007.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.500000 m, nav range: 256.130096 m, bearing: 36.466902 deg, approach rate: -0.068109 m/s, LOS rate: -0.129269 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.745641 deg. 2025-01-08T20:26:47.079Z,1736368007.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055049 target range: 262.500000 and range: 262.50 m. 2025-01-08T20:26:47.304Z,1736368007.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:47.305Z,1736368007.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247175 2025-01-08T20:26:47.507Z,1736368007.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:47.515Z,1736368007.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.50 m. 2025-01-08T20:26:47.518Z,1736368007.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.500000 m, nav range: 256.092163 m, bearing: 36.406448 deg, approach rate: -0.086059 m/s, LOS rate: -0.137172 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.713169 deg. 2025-01-08T20:26:47.520Z,1736368007.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054482 target range: 262.500000 and range: 262.50 m. 2025-01-08T20:26:47.556Z,1736368007.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:47.557Z,1736368007.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498985 2025-01-08T20:26:47.808Z,1736368007.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:47.808Z,1736368007.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750337 2025-01-08T20:26:47.877Z,1736368007.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:47.898Z,1736368007.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.50 m. 2025-01-08T20:26:47.917Z,1736368007.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.500000 m, nav range: 256.059631 m, bearing: 36.356205 deg, approach rate: -0.084959 m/s, LOS rate: -0.131230 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.743810 deg. 2025-01-08T20:26:47.919Z,1736368007.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055017 target range: 262.500000 and range: 262.50 m. 2025-01-08T20:26:48.060Z,1736368008.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:48.061Z,1736368008.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002985 2025-01-08T20:26:48.299Z,1736368008.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:48.309Z,1736368008.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.50 m. 2025-01-08T20:26:48.312Z,1736368008.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:48.313Z,1736368008.313 [DAT](INFO): DAT read: Rx Time:20:26:46.9910 2025-01-08T20:26:48.313Z,1736368008.313 [DAT](INFO): Rx dataTimestamp_ set to:1736368008.312721 2025-01-08T20:26:48.314Z,1736368008.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255446 2025-01-08T20:26:48.314Z,1736368008.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.500000 m, nav range: 256.015533 m, bearing: 36.298698 deg, approach rate: -0.107363 m/s, LOS rate: -0.140034 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.722006 deg. 2025-01-08T20:26:48.316Z,1736368008.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054637 target range: 262.500000 and range: 262.50 m. 2025-01-08T20:26:48.564Z,1736368008.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:48.564Z,1736368008.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506285 2025-01-08T20:26:48.718Z,1736368008.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:48.725Z,1736368008.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:48.736Z,1736368008.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.50 m. 2025-01-08T20:26:48.743Z,1736368008.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.500000 m, nav range: 255.967926 m, bearing: 36.235846 deg, approach rate: -0.111787 m/s, LOS rate: -0.147610 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.705967 deg. 2025-01-08T20:26:48.745Z,1736368008.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054357 target range: 262.500000 and range: 262.50 m. 2025-01-08T20:26:48.816Z,1736368008.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:48.826Z,1736368008.826 [DAT](INFO): DAT read: 20:26:46.9910 LVL= 29312, 31905, 13106, 32755, AGC= 60, IDX= 170,-0.25, 2.648, 1.898,-2.203, 3.069, PHS=-0.333,-1.124, 1.008, RAW= 188.5, 4.9, CAL= 188.5, -3.7, ROT= 321.5, 3.7 2025-01-08T20:26:48.828Z,1736368008.828 [DAT](INFO): got valid direction response: 20:26:46.9910 LVL= 29312, 31905, 13106, 32755, AGC= 60, IDX= 170,-0.25, 2.648, 1.898,-2.203, 3.069, PHS=-0.333,-1.124, 1.008, RAW= 188.5, 4.9, CAL= 188.5, -3.7, ROT= 321.5, 3.7 2025-01-08T20:26:48.829Z,1736368008.829 [DAT](INFO): DAT read: Bearing 321.5, 3.7 (Local) 2025-01-08T20:26:48.830Z,1736368008.830 [DAT](INFO): Local bearing/azimuth received: Bearing 321.5, 3.7 (Local) 2025-01-08T20:26:48.834Z,1736368008.834 [DAT](INFO): DAT read: Range 10 to 50 : 260.4 m (Round-trip 347.2 ms) speed 0.9 m/s 2025-01-08T20:26:48.844Z,1736368008.844 [DAT](INFO): DAT read: user:1329> 2025-01-08T20:26:48.845Z,1736368008.845 [DAT](INFO): DAT read: Tx time:20:26:48.0896 2025-01-08T20:26:48.846Z,1736368008.846 [DAT](INFO): Ping request sent. 2025-01-08T20:26:48.846Z,1736368008.846 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:48.846Z,1736368008.846 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:26:48.852Z,1736368008.852 [DAT](INFO): direction in FSK: [-0.164592,-0.980511,-0.107278] 2025-01-08T20:26:48.852Z,1736368008.852 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:48.852Z,1736368008.852 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:48.862Z,1736368008.862 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:48.862Z,1736368008.862 [DAT](INFO): publishing direction and range info 2025-01-08T20:26:49.068Z,1736368009.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:49.069Z,1736368009.069 [DAT](INFO): DAT read: TxSync time:20:26:48.0888 2025-01-08T20:26:49.082Z,1736368009.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:49.165Z,1736368009.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 260.399994 m, deltaT: 3.777366 s, deltaX: -2.100006 m, approachRate: -0.555945 m/s, rangeRepo size: 4 2025-01-08T20:26:49.205Z,1736368009.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 260.399994 m, bearing: 17.116348 deg, lat: 36.906064 deg, lon: -122.120641 deg, deltaT: 3.777366 s, deltaX: -2.100006 m, approachRate: -0.555945 m/s, posRepo size: 4 2025-01-08T20:26:49.206Z,1736368009.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:49.213Z,1736368009.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 229.805084 m, bearing: 18.919393 deg, approach rate: 0.000000 m/s, LOS rate: -0.147610 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.712229 deg. 2025-01-08T20:26:49.214Z,1736368009.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054466 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:49.321Z,1736368009.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:49.562Z,1736368009.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:49.572Z,1736368009.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:49.591Z,1736368009.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:49.598Z,1736368009.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 229.842285 m, bearing: 18.835658 deg, approach rate: 0.083756 m/s, LOS rate: -0.188495 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.643394 deg. 2025-01-08T20:26:49.599Z,1736368009.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053265 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:49.824Z,1736368009.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:49.939Z,1736368009.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:49.947Z,1736368009.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:49.970Z,1736368009.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 229.872620 m, bearing: 18.770050 deg, approach rate: 0.085118 m/s, LOS rate: -0.184070 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.697760 deg. 2025-01-08T20:26:49.972Z,1736368009.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054214 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:50.077Z,1736368010.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:50.328Z,1736368010.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:50.385Z,1736368010.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:50.394Z,1736368010.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:50.397Z,1736368010.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 229.894241 m, bearing: 18.686218 deg, approach rate: 0.048361 m/s, LOS rate: -0.187491 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.643084 deg. 2025-01-08T20:26:50.398Z,1736368010.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053259 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:50.580Z,1736368010.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:50.755Z,1736368010.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:50.762Z,1736368010.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:50.764Z,1736368010.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:50.772Z,1736368010.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 229.912720 m, bearing: 18.616707 deg, approach rate: 0.049938 m/s, LOS rate: -0.187838 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.686043 deg. 2025-01-08T20:26:50.775Z,1736368010.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054009 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:50.832Z,1736368010.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:50.833Z,1736368010.833 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:50.833Z,1736368010.833 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:50.834Z,1736368010.834 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:51.084Z,1736368011.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:51.084Z,1736368011.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238735 2025-01-08T20:26:51.192Z,1736368011.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:51.225Z,1736368011.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:51.232Z,1736368011.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 229.935043 m, bearing: 18.535718 deg, approach rate: 0.048437 m/s, LOS rate: -0.175710 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.651615 deg. 2025-01-08T20:26:51.233Z,1736368011.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053408 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:51.336Z,1736368011.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:51.337Z,1736368011.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490832 2025-01-08T20:26:51.570Z,1736368011.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:51.588Z,1736368011.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:51.589Z,1736368011.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743375 2025-01-08T20:26:51.602Z,1736368011.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:51.609Z,1736368011.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 229.947250 m, bearing: 18.460077 deg, approach rate: 0.032389 m/s, LOS rate: -0.200691 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.667645 deg. 2025-01-08T20:26:51.610Z,1736368011.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053688 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:51.840Z,1736368011.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:51.841Z,1736368011.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994814 2025-01-08T20:26:51.956Z,1736368011.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:51.986Z,1736368011.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:51.990Z,1736368011.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 229.960678 m, bearing: 18.384042 deg, approach rate: 0.035106 m/s, LOS rate: -0.198778 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.666467 deg. 2025-01-08T20:26:51.992Z,1736368011.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053667 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:52.092Z,1736368012.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:52.093Z,1736368012.093 [DAT](INFO): DAT read: Rx Time:20:26:50.8372 2025-01-08T20:26:52.093Z,1736368012.093 [DAT](INFO): Rx dataTimestamp_ set to:1736368012.092806 2025-01-08T20:26:52.094Z,1736368012.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247938 2025-01-08T20:26:52.344Z,1736368012.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:52.344Z,1736368012.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498780 2025-01-08T20:26:52.427Z,1736368012.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:52.444Z,1736368012.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:52.447Z,1736368012.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 229.969849 m, bearing: 18.289784 deg, approach rate: 0.019938 m/s, LOS rate: -0.204924 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.611796 deg. 2025-01-08T20:26:52.452Z,1736368012.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052713 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:52.596Z,1736368012.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:52.605Z,1736368012.605 [DAT](INFO): DAT read: 20:26:50.8372 LVL= 24736, 27921, 11762, 25731, AGC= 62, IDX= 408, 0.32,-1.695,-2.050,-0.470,-1.694, PHS= 0.088,-0.309, 1.221, RAW= 195.5, -14.4, CAL= 193.7, -19.1, ROT= 316.3, 19.1 2025-01-08T20:26:52.607Z,1736368012.607 [DAT](INFO): got valid direction response: 20:26:50.8372 LVL= 24736, 27921, 11762, 25731, AGC= 62, IDX= 408, 0.32,-1.695,-2.050,-0.470,-1.694, PHS= 0.088,-0.309, 1.221, RAW= 195.5, -14.4, CAL= 193.7, -19.1, ROT= 316.3, 19.1 2025-01-08T20:26:52.609Z,1736368012.609 [DAT](INFO): DAT read: $Error in header 2025-01-08T20:26:52.609Z,1736368012.609 [DAT](INFO): Received a bad header 2025-01-08T20:26:52.648Z,1736368012.648 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T20:26:52.650Z,1736368012.650 [DAT](INFO): direction in FSK: [0.209645,-0.958119,-0.195084] 2025-01-08T20:26:52.655Z,1736368012.655 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:52.655Z,1736368012.655 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:52.664Z,1736368012.664 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:52.814Z,1736368012.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:52.830Z,1736368012.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:52.836Z,1736368012.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:52.844Z,1736368012.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 229.978775 m, bearing: 18.210712 deg, approach rate: 0.022792 m/s, LOS rate: -0.201888 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.657352 deg. 2025-01-08T20:26:52.845Z,1736368012.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053508 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:52.848Z,1736368012.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:52.848Z,1736368012.848 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:52.848Z,1736368012.848 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:52.848Z,1736368012.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:53.100Z,1736368013.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:53.101Z,1736368013.101 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:53.101Z,1736368013.101 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:53.101Z,1736368013.101 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:53.234Z,1736368013.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:53.253Z,1736368013.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:53.260Z,1736368013.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 229.989700 m, bearing: 18.126081 deg, approach rate: 0.026207 m/s, LOS rate: -0.203002 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.640677 deg. 2025-01-08T20:26:53.264Z,1736368013.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053217 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:53.352Z,1736368013.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:53.353Z,1736368013.353 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:53.353Z,1736368013.353 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:53.353Z,1736368013.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:53.604Z,1736368013.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:53.605Z,1736368013.605 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:53.605Z,1736368013.605 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:53.606Z,1736368013.606 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:53.612Z,1736368013.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:53.622Z,1736368013.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:53.629Z,1736368013.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 229.998245 m, bearing: 18.048336 deg, approach rate: 0.023155 m/s, LOS rate: -0.210668 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.661331 deg. 2025-01-08T20:26:53.631Z,1736368013.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053578 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:53.858Z,1736368013.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:53.860Z,1736368013.860 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:53.861Z,1736368013.861 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:53.861Z,1736368013.861 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:53.993Z,1736368013.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:54.001Z,1736368014.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:54.004Z,1736368014.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.007843 m, bearing: 17.970367 deg, approach rate: 0.025329 m/s, LOS rate: -0.205754 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.660660 deg. 2025-01-08T20:26:54.005Z,1736368014.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053566 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:54.108Z,1736368014.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:54.108Z,1736368014.108 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:54.108Z,1736368014.108 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:54.109Z,1736368014.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:54.360Z,1736368014.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:54.360Z,1736368014.360 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:54.360Z,1736368014.360 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:54.360Z,1736368014.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:54.446Z,1736368014.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:54.464Z,1736368014.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:54.467Z,1736368014.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.017075 m, bearing: 17.878590 deg, approach rate: 0.019914 m/s, LOS rate: -0.197964 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.619242 deg. 2025-01-08T20:26:54.468Z,1736368014.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052843 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:54.612Z,1736368014.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:54.613Z,1736368014.613 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:54.613Z,1736368014.613 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:54.613Z,1736368014.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:54.807Z,1736368014.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:54.816Z,1736368014.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:54.818Z,1736368014.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.025162 m, bearing: 17.805309 deg, approach rate: 0.023034 m/s, LOS rate: -0.208711 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.674720 deg. 2025-01-08T20:26:54.833Z,1736368014.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053811 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:54.864Z,1736368014.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:54.864Z,1736368014.864 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:54.864Z,1736368014.864 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:54.865Z,1736368014.865 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:55.116Z,1736368015.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:55.116Z,1736368015.116 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:55.116Z,1736368015.116 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:55.116Z,1736368015.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:55.253Z,1736368015.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:55.287Z,1736368015.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:55.293Z,1736368015.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:55.300Z,1736368015.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.035614 m, bearing: 17.715144 deg, approach rate: 0.021890 m/s, LOS rate: -0.188826 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.624076 deg. 2025-01-08T20:26:55.302Z,1736368015.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052927 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:55.368Z,1736368015.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:55.369Z,1736368015.369 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:55.369Z,1736368015.369 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:55.369Z,1736368015.369 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:55.620Z,1736368015.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:55.621Z,1736368015.621 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:55.621Z,1736368015.621 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:55.621Z,1736368015.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:55.629Z,1736368015.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:55.644Z,1736368015.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:55.647Z,1736368015.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.048233 m, bearing: 17.640187 deg, approach rate: 0.036000 m/s, LOS rate: -0.213826 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.669699 deg. 2025-01-08T20:26:55.689Z,1736368015.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053724 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:55.872Z,1736368015.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:55.872Z,1736368015.872 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:55.873Z,1736368015.873 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:55.873Z,1736368015.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:56.012Z,1736368016.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:56.020Z,1736368016.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:56.040Z,1736368016.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.061478 m, bearing: 17.564099 deg, approach rate: 0.035165 m/s, LOS rate: -0.202002 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.666309 deg. 2025-01-08T20:26:56.041Z,1736368016.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053664 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:56.129Z,1736368016.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:56.129Z,1736368016.129 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:56.129Z,1736368016.129 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:56.129Z,1736368016.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:56.380Z,1736368016.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:56.380Z,1736368016.380 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:56.380Z,1736368016.380 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:56.380Z,1736368016.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:56.472Z,1736368016.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:56.482Z,1736368016.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:56.489Z,1736368016.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.082703 m, bearing: 17.478231 deg, approach rate: 0.045940 m/s, LOS rate: -0.185840 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.636977 deg. 2025-01-08T20:26:56.491Z,1736368016.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053153 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:56.632Z,1736368016.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:56.632Z,1736368016.632 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:56.632Z,1736368016.632 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:56.632Z,1736368016.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:56.820Z,1736368016.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:56.828Z,1736368016.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:56.848Z,1736368016.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.099609 m, bearing: 17.410335 deg, approach rate: 0.048823 m/s, LOS rate: -0.196056 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690885 deg. 2025-01-08T20:26:56.849Z,1736368016.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054093 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:56.884Z,1736368016.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:56.884Z,1736368016.884 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:56.884Z,1736368016.884 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:56.884Z,1736368016.884 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:57.136Z,1736368017.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:57.136Z,1736368017.136 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:57.136Z,1736368017.136 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:57.136Z,1736368017.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:57.227Z,1736368017.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:57.282Z,1736368017.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:57.309Z,1736368017.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.119278 m, bearing: 17.332838 deg, approach rate: 0.043446 m/s, LOS rate: -0.171171 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.662085 deg. 2025-01-08T20:26:57.310Z,1736368017.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053591 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:57.389Z,1736368017.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:57.389Z,1736368017.389 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:57.389Z,1736368017.389 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:57.389Z,1736368017.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:57.640Z,1736368017.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:57.640Z,1736368017.640 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:57.640Z,1736368017.640 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:57.640Z,1736368017.640 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:57.658Z,1736368017.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:57.703Z,1736368017.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:57.709Z,1736368017.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:57.719Z,1736368017.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.150482 m, bearing: 17.253446 deg, approach rate: 0.072917 m/s, LOS rate: -0.185494 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.656417 deg. 2025-01-08T20:26:57.724Z,1736368017.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053492 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:57.893Z,1736368017.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:57.894Z,1736368017.894 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:57.894Z,1736368017.894 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:57.895Z,1736368017.895 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:58.043Z,1736368018.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:58.059Z,1736368018.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:58.064Z,1736368018.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.178528 m, bearing: 17.182532 deg, approach rate: 0.080242 m/s, LOS rate: -0.202870 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.681840 deg. 2025-01-08T20:26:58.065Z,1736368018.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053936 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:58.144Z,1736368018.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:58.145Z,1736368018.145 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:58.145Z,1736368018.145 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:58.145Z,1736368018.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:58.396Z,1736368018.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:58.396Z,1736368018.396 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:58.396Z,1736368018.396 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:58.396Z,1736368018.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:58.465Z,1736368018.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:58.474Z,1736368018.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:58.478Z,1736368018.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.211731 m, bearing: 17.108549 deg, approach rate: 0.079828 m/s, LOS rate: -0.177848 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.672640 deg. 2025-01-08T20:26:58.479Z,1736368018.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053775 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:58.649Z,1736368018.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:58.649Z,1736368018.649 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:26:58.650Z,1736368018.650 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:26:58.650Z,1736368018.650 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T20:26:58.852Z,1736368018.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:58.860Z,1736368018.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:58.863Z,1736368018.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.242233 m, bearing: 17.040848 deg, approach rate: 0.079119 m/s, LOS rate: -0.175585 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.691480 deg. 2025-01-08T20:26:58.865Z,1736368018.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054104 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:58.901Z,1736368018.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:58.902Z,1736368018.902 [DAT](INFO): Reached modem response timeout 2025-01-08T20:26:58.902Z,1736368018.902 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:26:58.904Z,1736368018.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:59.152Z,1736368019.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:59.152Z,1736368019.152 [DAT](INFO): Reached modem response timeout 2025-01-08T20:26:59.152Z,1736368019.152 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:26:59.153Z,1736368019.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:59.243Z,1736368019.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:59.258Z,1736368019.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:59.261Z,1736368019.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.273468 m, bearing: 16.972397 deg, approach rate: 0.078532 m/s, LOS rate: -0.172080 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.689233 deg. 2025-01-08T20:26:59.262Z,1736368019.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054065 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:59.404Z,1736368019.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:59.405Z,1736368019.405 [DAT](INFO): Reached modem response timeout 2025-01-08T20:26:59.405Z,1736368019.405 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:26:59.405Z,1736368019.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:26:59.656Z,1736368019.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:59.657Z,1736368019.657 [DAT](INFO): DAT read: RX DATA OVERRUNResponse Not Received 2025-01-08T20:26:59.658Z,1736368019.658 [DAT](INFO): response not received 2025-01-08T20:26:59.658Z,1736368019.658 [DAT](INFO): DAT read: user:1331> 2025-01-08T20:26:59.660Z,1736368019.660 [DAT](INFO): DAT read: Tx time:20:26:59.0397 2025-01-08T20:26:59.660Z,1736368019.660 [DAT](INFO): Ping request sent. 2025-01-08T20:26:59.660Z,1736368019.660 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:26:59.661Z,1736368019.661 [DAT](INFO): publishing transmit ping time 2025-01-08T20:26:59.662Z,1736368019.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001125 2025-01-08T20:26:59.746Z,1736368019.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:26:59.761Z,1736368019.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:26:59.767Z,1736368019.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:26:59.770Z,1736368019.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.326370 m, bearing: 16.887635 deg, approach rate: 0.104647 m/s, LOS rate: -0.167631 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.640332 deg. 2025-01-08T20:26:59.776Z,1736368019.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053211 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:26:59.908Z,1736368019.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:26:59.909Z,1736368019.909 [DAT](INFO): DAT read: TxSync time:20:26:59.0389 2025-01-08T20:26:59.909Z,1736368019.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248963 2025-01-08T20:27:00.047Z,1736368020.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:00.070Z,1736368020.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:27:00.073Z,1736368020.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.358078 m, bearing: 16.837088 deg, approach rate: 0.103484 m/s, LOS rate: -0.164948 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.742935 deg. 2025-01-08T20:27:00.074Z,1736368020.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055002 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:27:00.160Z,1736368020.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:00.161Z,1736368020.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500411 2025-01-08T20:27:00.412Z,1736368020.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:00.412Z,1736368020.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751882 2025-01-08T20:27:00.485Z,1736368020.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:00.494Z,1736368020.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:27:00.497Z,1736368020.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.413208 m, bearing: 16.765984 deg, approach rate: 0.129990 m/s, LOS rate: -0.167613 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.681299 deg. 2025-01-08T20:27:00.498Z,1736368020.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053926 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:27:00.664Z,1736368020.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:00.665Z,1736368020.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004618 2025-01-08T20:27:00.865Z,1736368020.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:00.876Z,1736368020.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:27:00.881Z,1736368020.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.460892 m, bearing: 16.704171 deg, approach rate: 0.125316 m/s, LOS rate: -0.162415 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.709156 deg. 2025-01-08T20:27:00.882Z,1736368020.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054412 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:27:00.916Z,1736368020.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:00.918Z,1736368020.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257084 2025-01-08T20:27:01.168Z,1736368021.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:01.168Z,1736368021.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507911 2025-01-08T20:27:01.261Z,1736368021.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:01.270Z,1736368021.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:27:01.273Z,1736368021.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.511398 m, bearing: 16.639917 deg, approach rate: 0.127745 m/s, LOS rate: -0.162481 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.701836 deg. 2025-01-08T20:27:01.274Z,1736368021.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054285 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:27:01.421Z,1736368021.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:01.423Z,1736368021.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762545 2025-01-08T20:27:01.672Z,1736368021.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:01.673Z,1736368021.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012461 2025-01-08T20:27:01.722Z,1736368021.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:01.730Z,1736368021.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:27:01.749Z,1736368021.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.578506 m, bearing: 16.567480 deg, approach rate: 0.145698 m/s, LOS rate: -0.157220 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.677312 deg. 2025-01-08T20:27:01.759Z,1736368021.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053857 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:27:01.924Z,1736368021.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:01.924Z,1736368021.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263875 2025-01-08T20:27:02.074Z,1736368022.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:02.081Z,1736368022.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:02.082Z,1736368022.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:27:02.085Z,1736368022.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.628647 m, bearing: 16.511949 deg, approach rate: 0.142328 m/s, LOS rate: -0.157597 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.727999 deg. 2025-01-08T20:27:02.086Z,1736368022.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054741 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:27:02.176Z,1736368022.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:02.177Z,1736368022.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516714 2025-01-08T20:27:02.428Z,1736368022.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:02.428Z,1736368022.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767952 2025-01-08T20:27:02.501Z,1736368022.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:02.511Z,1736368022.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:27:02.529Z,1736368022.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.684143 m, bearing: 16.445629 deg, approach rate: 0.129658 m/s, LOS rate: -0.154909 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.695645 deg. 2025-01-08T20:27:02.531Z,1736368022.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054177 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:27:02.680Z,1736368022.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:02.681Z,1736368022.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020664 2025-01-08T20:27:02.904Z,1736368022.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:02.917Z,1736368022.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:27:02.919Z,1736368022.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.736786 m, bearing: 16.383104 deg, approach rate: 0.129618 m/s, LOS rate: -0.153914 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.707027 deg. 2025-01-08T20:27:02.921Z,1736368022.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054375 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:27:02.933Z,1736368022.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:02.937Z,1736368022.937 [DAT](INFO): DAT read: Rx Time:20:27:01.7557 2025-01-08T20:27:02.940Z,1736368022.940 [DAT](INFO): Rx dataTimestamp_ set to:1736368022.938074 2025-01-08T20:27:02.940Z,1736368022.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279829 2025-01-08T20:27:03.184Z,1736368023.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:03.185Z,1736368023.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524890 2025-01-08T20:27:03.279Z,1736368023.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:03.289Z,1736368023.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.40 m. 2025-01-08T20:27:03.316Z,1736368023.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.399994 m, nav range: 230.785431 m, bearing: 16.325018 deg, approach rate: 0.130904 m/s, LOS rate: -0.156278 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.720334 deg. 2025-01-08T20:27:03.317Z,1736368023.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054607 target range: 260.399994 and range: 260.40 m. 2025-01-08T20:27:03.437Z,1736368023.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:03.440Z,1736368023.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779488 2025-01-08T20:27:03.693Z,1736368023.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:03.705Z,1736368023.705 [DAT](INFO): DAT read: 20:27:01.7557 LVL= 23824, 23473, 11890, 29043, AGC= 64, IDX= 117,-0.40, 2.600, 1.881,-2.276, 3.046, PHS=-0.358,-1.119, 0.958, RAW= 188.8, 5.8, CAL= 188.9, -2.9, ROT= 321.1, 2.9 2025-01-08T20:27:03.706Z,1736368023.706 [DAT](INFO): got valid direction response: 20:27:01.7557 LVL= 23824, 23473, 11890, 29043, AGC= 64, IDX= 117,-0.40, 2.600, 1.881,-2.276, 3.046, PHS=-0.358,-1.119, 0.958, RAW= 188.8, 5.8, CAL= 188.9, -2.9, ROT= 321.1, 2.9 2025-01-08T20:27:03.707Z,1736368023.707 [DAT](INFO): DAT read: Bearing 321.1, 2.9 (Local) 2025-01-08T20:27:03.708Z,1736368023.708 [DAT](INFO): Local bearing/azimuth received: Bearing 321.1, 2.9 (Local) 2025-01-08T20:27:03.709Z,1736368023.709 [DAT](INFO): DAT read: Range 10 to 50 : 233.8 m (Round-trip 311.8 ms) speed 0.4 m/s 2025-01-08T20:27:03.710Z,1736368023.710 [DAT](INFO): DAT read: user:1332> 2025-01-08T20:27:03.711Z,1736368023.711 [DAT](INFO): DAT read: Tx time:20:27:02.8398 2025-01-08T20:27:03.719Z,1736368023.719 [DAT](INFO): Ping request sent. 2025-01-08T20:27:03.719Z,1736368023.719 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:03.720Z,1736368023.720 [DAT](INFO): DAT read: TxSync time:20:27:02.8390 2025-01-08T20:27:03.721Z,1736368023.721 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:27:03.722Z,1736368023.722 [DAT](INFO): direction in FSK: [-0.180653,-0.977010,-0.113203] 2025-01-08T20:27:03.723Z,1736368023.723 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:03.725Z,1736368023.725 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:03.739Z,1736368023.739 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:03.747Z,1736368023.747 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:03.855Z,1736368023.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:03.886Z,1736368023.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 233.800003 m, deltaT: 14.877667 s, deltaX: -26.599991 m, approachRate: -1.787914 m/s, rangeRepo size: 4 2025-01-08T20:27:03.897Z,1736368023.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 233.800003 m, bearing: 17.352336 deg, lat: 36.906026 deg, lon: -122.120603 deg, deltaT: 14.877667 s, deltaX: -26.599991 m, approachRate: -1.787914 m/s, posRepo size: 4 2025-01-08T20:27:03.897Z,1736368023.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.80 m. 2025-01-08T20:27:03.904Z,1736368023.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.800003 m, nav range: 227.786484 m, bearing: 17.351898 deg, approach rate: 0.000000 m/s, LOS rate: -0.156278 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.614597 deg. 2025-01-08T20:27:03.905Z,1736368023.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052762 target range: 233.800003 and range: 233.80 m. 2025-01-08T20:27:03.944Z,1736368023.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:04.196Z,1736368024.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:04.208Z,1736368024.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:04.214Z,1736368024.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:04.220Z,1736368024.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.80 m. 2025-01-08T20:27:04.228Z,1736368024.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.800003 m, nav range: 227.830566 m, bearing: 17.297231 deg, approach rate: 0.131650 m/s, LOS rate: -0.163228 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.730587 deg. 2025-01-08T20:27:04.229Z,1736368024.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054786 target range: 233.800003 and range: 233.80 m. 2025-01-08T20:27:04.448Z,1736368024.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:04.448Z,1736368024.448 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:04.448Z,1736368024.448 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:04.448Z,1736368024.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:04.613Z,1736368024.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:04.623Z,1736368024.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.80 m. 2025-01-08T20:27:04.625Z,1736368024.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.800003 m, nav range: 227.879486 m, bearing: 17.234551 deg, approach rate: 0.121620 m/s, LOS rate: -0.155795 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.706559 deg. 2025-01-08T20:27:04.626Z,1736368024.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054367 target range: 233.800003 and range: 233.80 m. 2025-01-08T20:27:04.700Z,1736368024.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:04.701Z,1736368024.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981612 2025-01-08T20:27:04.952Z,1736368024.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:04.952Z,1736368024.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232888 2025-01-08T20:27:05.018Z,1736368025.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:05.027Z,1736368025.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.80 m. 2025-01-08T20:27:05.030Z,1736368025.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.800003 m, nav range: 227.928711 m, bearing: 17.171862 deg, approach rate: 0.121672 m/s, LOS rate: -0.154919 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.706531 deg. 2025-01-08T20:27:05.031Z,1736368025.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054367 target range: 233.800003 and range: 233.80 m. 2025-01-08T20:27:05.204Z,1736368025.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:05.205Z,1736368025.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485655 2025-01-08T20:27:05.456Z,1736368025.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:05.457Z,1736368025.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737314 2025-01-08T20:27:05.461Z,1736368025.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:05.470Z,1736368025.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.80 m. 2025-01-08T20:27:05.473Z,1736368025.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.800003 m, nav range: 227.979065 m, bearing: 17.100921 deg, approach rate: 0.113784 m/s, LOS rate: -0.160268 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.681782 deg. 2025-01-08T20:27:05.474Z,1736368025.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053935 target range: 233.800003 and range: 233.80 m. 2025-01-08T20:27:05.708Z,1736368025.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:05.708Z,1736368025.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988958 2025-01-08T20:27:05.798Z,1736368025.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:05.808Z,1736368025.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.80 m. 2025-01-08T20:27:05.810Z,1736368025.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.800003 m, nav range: 228.017014 m, bearing: 17.046935 deg, approach rate: 0.112326 m/s, LOS rate: -0.159771 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.732624 deg. 2025-01-08T20:27:05.812Z,1736368025.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054822 target range: 233.800003 and range: 233.80 m. 2025-01-08T20:27:05.960Z,1736368025.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:05.962Z,1736368025.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242121 2025-01-08T20:27:06.204Z,1736368026.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:06.212Z,1736368026.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:06.213Z,1736368026.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493075 2025-01-08T20:27:06.215Z,1736368026.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.80 m. 2025-01-08T20:27:06.218Z,1736368026.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.800003 m, nav range: 228.062241 m, bearing: 16.982007 deg, approach rate: 0.110963 m/s, LOS rate: -0.159267 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.699813 deg. 2025-01-08T20:27:06.219Z,1736368026.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054249 target range: 233.800003 and range: 233.80 m. 2025-01-08T20:27:06.464Z,1736368026.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:06.465Z,1736368026.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745639 2025-01-08T20:27:06.626Z,1736368026.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:06.633Z,1736368026.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:06.635Z,1736368026.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.80 m. 2025-01-08T20:27:06.639Z,1736368026.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.800003 m, nav range: 228.100784 m, bearing: 16.913197 deg, approach rate: 0.091742 m/s, LOS rate: -0.163753 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.688163 deg. 2025-01-08T20:27:06.657Z,1736368026.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054046 target range: 233.800003 and range: 233.80 m. 2025-01-08T20:27:06.716Z,1736368026.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:06.717Z,1736368026.717 [DAT](INFO): DAT read: Rx Time:20:27:05.5544 2025-01-08T20:27:06.717Z,1736368026.717 [DAT](INFO): Rx dataTimestamp_ set to:1736368026.716763 2025-01-08T20:27:06.718Z,1736368026.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998110 2025-01-08T20:27:06.968Z,1736368026.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:06.968Z,1736368026.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248957 2025-01-08T20:27:07.022Z,1736368027.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:07.030Z,1736368027.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.80 m. 2025-01-08T20:27:07.046Z,1736368027.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.800003 m, nav range: 228.136642 m, bearing: 16.848813 deg, approach rate: 0.090861 m/s, LOS rate: -0.163119 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.701434 deg. 2025-01-08T20:27:07.052Z,1736368027.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054278 target range: 233.800003 and range: 233.80 m. 2025-01-08T20:27:07.221Z,1736368027.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:07.224Z,1736368027.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504020 2025-01-08T20:27:07.472Z,1736368027.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:07.479Z,1736368027.479 [DAT](INFO): DAT read: 20:27:05.5544 LVL= 29104, 30113, 14610, 32755, AGC= 60, IDX= 155, 0.42,-2.803, 2.759,-1.396,-2.370, PHS=-0.345,-1.107, 0.971, RAW= 188.8, 5.3, CAL= 188.8, -3.3, ROT= 321.2, 3.3 2025-01-08T20:27:07.481Z,1736368027.481 [DAT](INFO): got valid direction response: 20:27:05.5544 LVL= 29104, 30113, 14610, 32755, AGC= 60, IDX= 155, 0.42,-2.803, 2.759,-1.396,-2.370, PHS=-0.345,-1.107, 0.971, RAW= 188.8, 5.3, CAL= 188.8, -3.3, ROT= 321.2, 3.3 2025-01-08T20:27:07.482Z,1736368027.482 [DAT](INFO): DAT read: Bearing 321.2, 3.3 (Local) 2025-01-08T20:27:07.482Z,1736368027.482 [DAT](INFO): Local bearing/azimuth received: Bearing 321.2, 3.3 (Local) 2025-01-08T20:27:07.484Z,1736368027.484 [DAT](INFO): DAT read: Range 10 to 50 : 232.8 m (Round-trip 310.5 ms) speed 0.5 m/s 2025-01-08T20:27:07.484Z,1736368027.484 [DAT](INFO): DAT read: user:1333> 2025-01-08T20:27:07.485Z,1736368027.485 [DAT](INFO): DAT read: Tx time:20:27:06.6398 2025-01-08T20:27:07.485Z,1736368027.485 [DAT](INFO): Ping request sent. 2025-01-08T20:27:07.486Z,1736368027.486 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:07.486Z,1736368027.486 [DAT](INFO): DAT read: TxSync time:20:27:06.6390 2025-01-08T20:27:07.487Z,1736368027.487 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:27:07.492Z,1736368027.492 [DAT](INFO): direction in FSK: [-0.172896,-0.978499,-0.112458] 2025-01-08T20:27:07.492Z,1736368027.492 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:07.493Z,1736368027.493 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:07.528Z,1736368027.528 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:07.528Z,1736368027.528 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:07.548Z,1736368027.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:07.580Z,1736368027.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 232.800003 m, deltaT: 3.778626 s, deltaX: -1.000000 m, approachRate: -0.264646 m/s, rangeRepo size: 4 2025-01-08T20:27:07.582Z,1736368027.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 232.800003 m, bearing: 17.019737 deg, lat: 36.906009 deg, lon: -122.120597 deg, deltaT: 3.778626 s, deltaX: -1.000000 m, approachRate: -0.264646 m/s, posRepo size: 4 2025-01-08T20:27:07.582Z,1736368027.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.80 m. 2025-01-08T20:27:07.593Z,1736368027.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 232.800003 m, nav range: 226.499527 m, bearing: 17.019309 deg, approach rate: 0.000000 m/s, LOS rate: -0.163119 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.630072 deg. 2025-01-08T20:27:07.594Z,1736368027.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053032 target range: 232.800003 and range: 232.80 m. 2025-01-08T20:27:07.724Z,1736368027.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:07.909Z,1736368027.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:07.931Z,1736368027.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.80 m. 2025-01-08T20:27:07.934Z,1736368027.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 232.800003 m, nav range: 226.526016 m, bearing: 16.954046 deg, approach rate: 0.074228 m/s, LOS rate: -0.182857 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.698793 deg. 2025-01-08T20:27:07.940Z,1736368027.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054231 target range: 232.800003 and range: 232.80 m. 2025-01-08T20:27:07.976Z,1736368027.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:08.228Z,1736368028.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:08.283Z,1736368028.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:08.295Z,1736368028.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.80 m. 2025-01-08T20:27:08.298Z,1736368028.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 232.800003 m, nav range: 226.553574 m, bearing: 16.888161 deg, approach rate: 0.074918 m/s, LOS rate: -0.179093 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.696926 deg. 2025-01-08T20:27:08.299Z,1736368028.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054199 target range: 232.800003 and range: 232.80 m. 2025-01-08T20:27:08.480Z,1736368028.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:08.729Z,1736368028.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:08.744Z,1736368028.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:08.749Z,1736368028.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:08.752Z,1736368028.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.80 m. 2025-01-08T20:27:08.772Z,1736368028.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 232.800003 m, nav range: 226.581390 m, bearing: 16.805346 deg, approach rate: 0.060946 m/s, LOS rate: -0.181426 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.646143 deg. 2025-01-08T20:27:08.773Z,1736368028.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053313 target range: 232.800003 and range: 232.80 m. 2025-01-08T20:27:08.996Z,1736368028.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:08.996Z,1736368028.996 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:08.997Z,1736368028.997 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:08.997Z,1736368028.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:09.103Z,1736368029.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:09.116Z,1736368029.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.80 m. 2025-01-08T20:27:09.119Z,1736368029.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 232.800003 m, nav range: 226.605042 m, bearing: 16.736052 deg, approach rate: 0.064838 m/s, LOS rate: -0.189945 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.686698 deg. 2025-01-08T20:27:09.120Z,1736368029.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054020 target range: 232.800003 and range: 232.80 m. 2025-01-08T20:27:09.248Z,1736368029.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:09.249Z,1736368029.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762955 2025-01-08T20:27:09.500Z,1736368029.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:09.500Z,1736368029.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014878 2025-01-08T20:27:09.544Z,1736368029.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:09.553Z,1736368029.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.80 m. 2025-01-08T20:27:09.557Z,1736368029.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 232.800003 m, nav range: 226.626160 m, bearing: 16.648636 deg, approach rate: 0.048374 m/s, LOS rate: -0.200220 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.632335 deg. 2025-01-08T20:27:09.558Z,1736368029.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053071 target range: 232.800003 and range: 232.80 m. 2025-01-08T20:27:09.752Z,1736368029.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:09.752Z,1736368029.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266768 2025-01-08T20:27:09.910Z,1736368029.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:09.918Z,1736368029.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.80 m. 2025-01-08T20:27:09.921Z,1736368029.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 232.800003 m, nav range: 226.643784 m, bearing: 16.576475 deg, approach rate: 0.048292 m/s, LOS rate: -0.197715 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.678091 deg. 2025-01-08T20:27:09.923Z,1736368029.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053870 target range: 232.800003 and range: 232.80 m. 2025-01-08T20:27:10.005Z,1736368030.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:10.007Z,1736368030.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520988 2025-01-08T20:27:10.256Z,1736368030.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:10.257Z,1736368030.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770969 2025-01-08T20:27:10.313Z,1736368030.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:10.322Z,1736368030.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.80 m. 2025-01-08T20:27:10.325Z,1736368030.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 232.800003 m, nav range: 226.663834 m, bearing: 16.496712 deg, approach rate: 0.049558 m/s, LOS rate: -0.197136 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.655288 deg. 2025-01-08T20:27:10.326Z,1736368030.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053472 target range: 232.800003 and range: 232.80 m. 2025-01-08T20:27:10.510Z,1736368030.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:10.512Z,1736368030.512 [DAT](INFO): DAT read: Rx Time:20:27:09.3498 2025-01-08T20:27:10.512Z,1736368030.512 [DAT](INFO): Rx dataTimestamp_ set to:1736368030.511888 2025-01-08T20:27:10.513Z,1736368030.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027125 2025-01-08T20:27:10.760Z,1736368030.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:10.761Z,1736368030.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275074 2025-01-08T20:27:10.764Z,1736368030.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:10.771Z,1736368030.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:10.774Z,1736368030.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.80 m. 2025-01-08T20:27:10.777Z,1736368030.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 232.800003 m, nav range: 226.687073 m, bearing: 16.404066 deg, approach rate: 0.051490 m/s, LOS rate: -0.205251 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.616650 deg. 2025-01-08T20:27:10.778Z,1736368030.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052798 target range: 232.800003 and range: 232.80 m. 2025-01-08T20:27:11.013Z,1736368031.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:11.016Z,1736368031.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529470 2025-01-08T20:27:11.126Z,1736368031.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:11.142Z,1736368031.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.80 m. 2025-01-08T20:27:11.146Z,1736368031.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 232.800003 m, nav range: 226.706696 m, bearing: 16.329792 deg, approach rate: 0.053471 m/s, LOS rate: -0.202377 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.671755 deg. 2025-01-08T20:27:11.148Z,1736368031.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053760 target range: 232.800003 and range: 232.80 m. 2025-01-08T20:27:11.264Z,1736368031.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:11.272Z,1736368031.272 [DAT](INFO): DAT read: 20:27:09.3498 LVL= 32544, 32433, 11650, 31811, AGC= 64, IDX= 134, 0.19, 0.042,-0.726, 1.514, 0.521, PHS=-0.392,-1.200, 0.990, RAW= 188.6, 6.3, CAL= 188.7, -2.5, ROT= 321.3, 2.5 2025-01-08T20:27:11.273Z,1736368031.273 [DAT](INFO): got valid direction response: 20:27:09.3498 LVL= 32544, 32433, 11650, 31811, AGC= 64, IDX= 134, 0.19, 0.042,-0.726, 1.514, 0.521, PHS=-0.392,-1.200, 0.990, RAW= 188.6, 6.3, CAL= 188.7, -2.5, ROT= 321.3, 2.5 2025-01-08T20:27:11.274Z,1736368031.274 [DAT](INFO): DAT read: Bearing 321.3, 2.5 (Local) 2025-01-08T20:27:11.274Z,1736368031.274 [DAT](INFO): Local bearing/azimuth received: Bearing 321.3, 2.5 (Local) 2025-01-08T20:27:11.276Z,1736368031.276 [DAT](INFO): DAT read: Range 10 to 50 : 229.3 m (Round-trip 305.8 ms) speed 0.2 m/s 2025-01-08T20:27:11.277Z,1736368031.277 [DAT](INFO): DAT read: user:1334> 2025-01-08T20:27:11.278Z,1736368031.278 [DAT](INFO): DAT read: Tx time:20:27:10.4398 2025-01-08T20:27:11.278Z,1736368031.278 [DAT](INFO): Ping request sent. 2025-01-08T20:27:11.278Z,1736368031.278 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:11.279Z,1736368031.279 [DAT](INFO): DAT read: TxSync time:20:27:10.4390 2025-01-08T20:27:11.284Z,1736368031.284 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:27:11.285Z,1736368031.285 [DAT](INFO): direction in FSK: [-0.191556,-0.975187,-0.110981] 2025-01-08T20:27:11.285Z,1736368031.285 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:11.285Z,1736368031.285 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:11.289Z,1736368031.289 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:11.289Z,1736368031.289 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:11.516Z,1736368031.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:11.581Z,1736368031.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:11.628Z,1736368031.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 229.300003 m, deltaT: 3.791555 s, deltaX: -3.500000 m, approachRate: -0.923104 m/s, rangeRepo size: 4 2025-01-08T20:27:11.631Z,1736368031.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 229.300003 m, bearing: 16.154217 deg, lat: 36.906009 deg, lon: -122.120603 deg, deltaT: 3.791555 s, deltaX: -3.500000 m, approachRate: -0.923104 m/s, posRepo size: 4 2025-01-08T20:27:11.643Z,1736368031.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T20:27:11.646Z,1736368031.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 226.582306 m, bearing: 16.110124 deg, approach rate: 0.000000 m/s, LOS rate: -0.202377 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.613580 deg. 2025-01-08T20:27:11.653Z,1736368031.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052744 target range: 229.300003 and range: 229.30 m. 2025-01-08T20:27:11.768Z,1736368031.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:11.820Z,1736368031.820 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:27:11.949Z,1736368031.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:11.981Z,1736368031.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T20:27:11.986Z,1736368031.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 226.597702 m, bearing: 16.031428 deg, approach rate: 0.040793 m/s, LOS rate: -0.208495 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.658484 deg. 2025-01-08T20:27:11.991Z,1736368031.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053528 target range: 229.300003 and range: 229.30 m. 2025-01-08T20:27:12.020Z,1736368032.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:12.272Z,1736368032.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:12.355Z,1736368032.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:12.363Z,1736368032.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T20:27:12.366Z,1736368032.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 226.615936 m, bearing: 15.944857 deg, approach rate: 0.047716 m/s, LOS rate: -0.226523 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.634868 deg. 2025-01-08T20:27:12.367Z,1736368032.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053116 target range: 229.300003 and range: 229.30 m. 2025-01-08T20:27:12.524Z,1736368032.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:12.776Z,1736368032.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:12.816Z,1736368032.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:12.824Z,1736368032.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:27:12.832Z,1736368032.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:12.834Z,1736368032.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T20:27:12.842Z,1736368032.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 226.647095 m, bearing: 15.846356 deg, approach rate: 0.066105 m/s, LOS rate: -0.208948 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.599098 deg. 2025-01-08T20:27:12.843Z,1736368032.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052491 target range: 229.300003 and range: 229.30 m. 2025-01-08T20:27:13.028Z,1736368033.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:13.028Z,1736368033.028 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:13.028Z,1736368033.028 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:13.028Z,1736368033.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:13.161Z,1736368033.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:13.210Z,1736368033.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T20:27:13.224Z,1736368033.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 226.671753 m, bearing: 15.772820 deg, approach rate: 0.065658 m/s, LOS rate: -0.195786 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.673971 deg. 2025-01-08T20:27:13.225Z,1736368033.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053798 target range: 229.300003 and range: 229.30 m. 2025-01-08T20:27:13.280Z,1736368033.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:13.280Z,1736368033.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002326 2025-01-08T20:27:13.533Z,1736368033.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:13.536Z,1736368033.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256691 2025-01-08T20:27:13.610Z,1736368033.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:13.619Z,1736368033.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T20:27:13.624Z,1736368033.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 226.712204 m, bearing: 15.680550 deg, approach rate: 0.098884 m/s, LOS rate: -0.225516 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.617800 deg. 2025-01-08T20:27:13.626Z,1736368033.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052818 target range: 229.300003 and range: 229.30 m. 2025-01-08T20:27:13.784Z,1736368033.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:13.784Z,1736368033.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506266 2025-01-08T20:27:13.975Z,1736368033.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:13.983Z,1736368033.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T20:27:14.018Z,1736368034.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 226.746002 m, bearing: 15.605690 deg, approach rate: 0.092770 m/s, LOS rate: -0.205447 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.670010 deg. 2025-01-08T20:27:14.019Z,1736368034.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053729 target range: 229.300003 and range: 229.30 m. 2025-01-08T20:27:14.036Z,1736368034.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:14.036Z,1736368034.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758320 2025-01-08T20:27:14.290Z,1736368034.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:14.290Z,1736368034.290 [DAT](INFO): DAT read: Rx Time:20:27:13.1475 2025-01-08T20:27:14.291Z,1736368034.291 [DAT](INFO): Rx dataTimestamp_ set to:1736368034.290601 2025-01-08T20:27:14.292Z,1736368034.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013438 2025-01-08T20:27:14.373Z,1736368034.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:14.390Z,1736368034.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T20:27:14.395Z,1736368034.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 226.783768 m, bearing: 15.524031 deg, approach rate: 0.092797 m/s, LOS rate: -0.200619 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.649622 deg. 2025-01-08T20:27:14.412Z,1736368034.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053373 target range: 229.300003 and range: 229.30 m. 2025-01-08T20:27:14.542Z,1736368034.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:14.544Z,1736368034.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265626 2025-01-08T20:27:14.792Z,1736368034.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:14.792Z,1736368034.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514372 2025-01-08T20:27:14.886Z,1736368034.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:14.900Z,1736368034.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:14.902Z,1736368034.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T20:27:14.906Z,1736368034.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 226.833923 m, bearing: 15.422665 deg, approach rate: 0.098044 m/s, LOS rate: -0.198106 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.590530 deg. 2025-01-08T20:27:14.916Z,1736368034.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052342 target range: 229.300003 and range: 229.30 m. 2025-01-08T20:27:15.044Z,1736368035.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:15.051Z,1736368035.051 [DAT](INFO): DAT read: 20:27:13.1475 LVL= 30864, 30385, 10786, 32755, AGC= 54, IDX= 416,-0.13, 1.552, 0.861, 2.941, 2.009, PHS=-0.370,-1.101, 0.928, RAW= 189.2, 6.1, CAL= 189.2, -2.6, ROT= 320.8, 2.6 2025-01-08T20:27:15.052Z,1736368035.052 [DAT](INFO): got valid direction response: 20:27:13.1475 LVL= 30864, 30385, 10786, 32755, AGC= 54, IDX= 416,-0.13, 1.552, 0.861, 2.941, 2.009, PHS=-0.370,-1.101, 0.928, RAW= 189.2, 6.1, CAL= 189.2, -2.6, ROT= 320.8, 2.6 2025-01-08T20:27:15.053Z,1736368035.053 [DAT](INFO): DAT read: Bearing 320.8, 2.6 (Local) 2025-01-08T20:27:15.053Z,1736368035.053 [DAT](INFO): Local bearing/azimuth received: Bearing 320.8, 2.6 (Local) 2025-01-08T20:27:15.055Z,1736368035.055 [DAT](INFO): DAT read: Range 10 to 50 : 227.6 m (Round-trip 303.5 ms) speed 0.4 m/s 2025-01-08T20:27:15.065Z,1736368035.065 [DAT](INFO): DAT read: user:1335> 2025-01-08T20:27:15.066Z,1736368035.066 [DAT](INFO): DAT read: Tx time:20:27:14.2399 2025-01-08T20:27:15.066Z,1736368035.066 [DAT](INFO): Ping request sent. 2025-01-08T20:27:15.066Z,1736368035.066 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:15.067Z,1736368035.067 [DAT](INFO): DAT read: TxSync time:20:27:14.2391 2025-01-08T20:27:15.067Z,1736368035.067 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:27:15.068Z,1736368035.068 [DAT](INFO): direction in FSK: [-0.187296,-0.974919,-0.120217] 2025-01-08T20:27:15.068Z,1736368035.068 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:15.069Z,1736368035.069 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:15.128Z,1736368035.128 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:15.128Z,1736368035.128 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:15.234Z,1736368035.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:15.277Z,1736368035.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 227.600006 m, deltaT: 3.780053 s, deltaX: -1.699997 m, approachRate: -0.449728 m/s, rangeRepo size: 4 2025-01-08T20:27:15.279Z,1736368035.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 227.600006 m, bearing: 17.622507 deg, lat: 36.906009 deg, lon: -122.120603 deg, deltaT: 3.780053 s, deltaX: -1.699997 m, approachRate: -0.449728 m/s, posRepo size: 4 2025-01-08T20:27:15.284Z,1736368035.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m. 2025-01-08T20:27:15.286Z,1736368035.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 227.600006 m, nav range: 226.868378 m, bearing: 15.354003 deg, approach rate: 0.000000 m/s, LOS rate: -0.198106 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.672043 deg. 2025-01-08T20:27:15.292Z,1736368035.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053765 target range: 227.600006 and range: 227.60 m. 2025-01-08T20:27:15.296Z,1736368035.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:15.549Z,1736368035.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:15.636Z,1736368035.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:15.645Z,1736368035.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m. 2025-01-08T20:27:15.649Z,1736368035.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 227.600006 m, nav range: 226.909821 m, bearing: 15.281497 deg, approach rate: 0.112470 m/s, LOS rate: -0.196734 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.677080 deg. 2025-01-08T20:27:15.652Z,1736368035.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053853 target range: 227.600006 and range: 227.60 m. 2025-01-08T20:27:15.800Z,1736368035.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:16.011Z,1736368036.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:16.035Z,1736368036.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m. 2025-01-08T20:27:16.043Z,1736368036.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 227.600006 m, nav range: 226.948380 m, bearing: 15.213627 deg, approach rate: 0.098801 m/s, LOS rate: -0.173876 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690982 deg. 2025-01-08T20:27:16.045Z,1736368036.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054095 target range: 227.600006 and range: 227.60 m. 2025-01-08T20:27:16.052Z,1736368036.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:16.304Z,1736368036.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:16.443Z,1736368036.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:16.459Z,1736368036.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m. 2025-01-08T20:27:16.462Z,1736368036.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 227.600006 m, nav range: 226.992828 m, bearing: 15.135530 deg, approach rate: 0.106840 m/s, LOS rate: -0.187683 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.660312 deg. 2025-01-08T20:27:16.463Z,1736368036.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053560 target range: 227.600006 and range: 227.60 m. 2025-01-08T20:27:16.558Z,1736368036.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:16.808Z,1736368036.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:16.838Z,1736368036.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:16.876Z,1736368036.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m. 2025-01-08T20:27:16.878Z,1736368036.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 227.600006 m, nav range: 227.039612 m, bearing: 15.069024 deg, approach rate: 0.111255 m/s, LOS rate: -0.158124 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.695080 deg. 2025-01-08T20:27:16.884Z,1736368036.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054167 target range: 227.600006 and range: 227.60 m. 2025-01-08T20:27:17.060Z,1736368037.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:17.241Z,1736368037.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:17.249Z,1736368037.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:17.252Z,1736368037.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m. 2025-01-08T20:27:17.255Z,1736368037.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 227.600006 m, nav range: 227.086823 m, bearing: 15.001138 deg, approach rate: 0.124252 m/s, LOS rate: -0.178629 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.690942 deg. 2025-01-08T20:27:17.256Z,1736368037.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054095 target range: 227.600006 and range: 227.60 m. 2025-01-08T20:27:17.312Z,1736368037.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:17.312Z,1736368037.312 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:17.312Z,1736368037.312 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:17.313Z,1736368037.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:17.565Z,1736368037.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:17.568Z,1736368037.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500985 2025-01-08T20:27:17.679Z,1736368037.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:17.709Z,1736368037.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m. 2025-01-08T20:27:17.716Z,1736368037.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 227.600006 m, nav range: 227.145493 m, bearing: 14.933865 deg, approach rate: 0.128155 m/s, LOS rate: -0.146907 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.692792 deg. 2025-01-08T20:27:17.717Z,1736368037.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054127 target range: 227.600006 and range: 227.60 m. 2025-01-08T20:27:17.816Z,1736368037.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:17.816Z,1736368037.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750340 2025-01-08T20:27:18.024Z,1736368038.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:18.056Z,1736368038.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m. 2025-01-08T20:27:18.058Z,1736368038.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 227.600006 m, nav range: 227.190933 m, bearing: 14.880724 deg, approach rate: 0.131661 m/s, LOS rate: -0.153941 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.735165 deg. 2025-01-08T20:27:18.060Z,1736368038.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054866 target range: 227.600006 and range: 227.60 m. 2025-01-08T20:27:18.068Z,1736368038.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:18.069Z,1736368038.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002759 2025-01-08T20:27:18.320Z,1736368038.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:18.321Z,1736368038.321 [DAT](INFO): DAT read: Rx Time:20:27:16.9452 2025-01-08T20:27:18.321Z,1736368038.321 [DAT](INFO): Rx dataTimestamp_ set to:1736368038.320687 2025-01-08T20:27:18.323Z,1736368038.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256239 2025-01-08T20:27:18.440Z,1736368038.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:18.465Z,1736368038.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m. 2025-01-08T20:27:18.472Z,1736368038.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 227.600006 m, nav range: 227.245331 m, bearing: 14.816897 deg, approach rate: 0.132601 m/s, LOS rate: -0.155549 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.703123 deg. 2025-01-08T20:27:18.473Z,1736368038.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054307 target range: 227.600006 and range: 227.60 m. 2025-01-08T20:27:18.576Z,1736368038.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:18.579Z,1736368038.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511978 2025-01-08T20:27:18.828Z,1736368038.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:18.834Z,1736368038.834 [DAT](INFO): DAT read: 20:27:16.9452 LVL= 32752, 32753, 18114, 32755, AGC= 62, IDX= 424,-0.20,-2.169,-2.961,-0.696,-1.674, PHS=-0.407,-1.240, 0.975, RAW= 188.1, 7.0, CAL= 188.2, -2.0, ROT= 321.8, 2.0 2025-01-08T20:27:18.844Z,1736368038.844 [DAT](INFO): got valid direction response: 20:27:16.9452 LVL= 32752, 32753, 18114, 32755, AGC= 62, IDX= 424,-0.20,-2.169,-2.961,-0.696,-1.674, PHS=-0.407,-1.240, 0.975, RAW= 188.1, 7.0, CAL= 188.2, -2.0, ROT= 321.8, 2.0 2025-01-08T20:27:18.845Z,1736368038.845 [DAT](INFO): DAT read: Bearing 321.8, 2.0 (Local) 2025-01-08T20:27:18.846Z,1736368038.846 [DAT](INFO): Local bearing/azimuth received: Bearing 321.8, 2.0 (Local) 2025-01-08T20:27:18.868Z,1736368038.868 [DAT](INFO): DAT read: Range 10 to 50 : 225.8 m (Round-trip 301.1 ms) speed 0.4 m/s 2025-01-08T20:27:18.869Z,1736368038.869 [DAT](INFO): DAT read: user:1336> 2025-01-08T20:27:18.869Z,1736368038.869 [DAT](INFO): DAT read: Tx time:20:27:18.0399 2025-01-08T20:27:18.870Z,1736368038.870 [DAT](INFO): Ping request sent. 2025-01-08T20:27:18.870Z,1736368038.870 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:18.870Z,1736368038.870 [DAT](INFO): DAT read: TxSync time:20:27:18.0391 2025-01-08T20:27:18.888Z,1736368038.888 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:27:18.889Z,1736368038.889 [DAT](INFO): direction in FSK: [-0.204512,-0.973338,-0.103863] 2025-01-08T20:27:18.889Z,1736368038.889 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:18.889Z,1736368038.889 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:18.901Z,1736368038.901 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:18.902Z,1736368038.902 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:18.941Z,1736368038.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:18.976Z,1736368038.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 225.800003 m, deltaT: 3.783992 s, deltaX: -1.800003 m, approachRate: -0.475689 m/s, rangeRepo size: 4 2025-01-08T20:27:18.979Z,1736368038.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 225.800003 m, bearing: 15.533786 deg, lat: 36.905976 deg, lon: -122.120597 deg, deltaT: 3.783992 s, deltaX: -1.800003 m, approachRate: -0.475689 m/s, posRepo size: 4 2025-01-08T20:27:18.984Z,1736368038.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:18.986Z,1736368038.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 223.916489 m, bearing: 15.107133 deg, approach rate: 0.000000 m/s, LOS rate: -0.155549 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.661716 deg. 2025-01-08T20:27:18.996Z,1736368038.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053584 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:19.080Z,1736368039.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:19.295Z,1736368039.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:19.309Z,1736368039.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:19.315Z,1736368039.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:19.318Z,1736368039.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 223.965485 m, bearing: 15.055191 deg, approach rate: 0.140897 m/s, LOS rate: -0.149336 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.738765 deg. 2025-01-08T20:27:19.324Z,1736368039.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054929 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:19.332Z,1736368039.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:19.332Z,1736368039.332 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:19.332Z,1736368039.332 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:19.333Z,1736368039.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:19.585Z,1736368039.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:19.588Z,1736368039.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.717666 2025-01-08T20:27:19.786Z,1736368039.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:19.795Z,1736368039.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:19.798Z,1736368039.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.035721 m, bearing: 14.985042 deg, approach rate: 0.145131 m/s, LOS rate: -0.144906 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.684176 deg. 2025-01-08T20:27:19.819Z,1736368039.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053976 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:19.836Z,1736368039.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:19.837Z,1736368039.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966870 2025-01-08T20:27:20.088Z,1736368040.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:20.089Z,1736368040.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219390 2025-01-08T20:27:20.169Z,1736368040.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:20.201Z,1736368040.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:20.209Z,1736368040.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.090820 m, bearing: 14.930416 deg, approach rate: 0.135649 m/s, LOS rate: -0.134449 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.730721 deg. 2025-01-08T20:27:20.210Z,1736368040.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054789 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:20.341Z,1736368040.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:20.342Z,1736368040.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472338 2025-01-08T20:27:20.594Z,1736368040.594 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:20.597Z,1736368040.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727032 2025-01-08T20:27:20.722Z,1736368040.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:20.746Z,1736368040.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:20.753Z,1736368040.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.170593 m, bearing: 14.849238 deg, approach rate: 0.146452 m/s, LOS rate: -0.148979 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.651111 deg. 2025-01-08T20:27:20.759Z,1736368040.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053399 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:20.847Z,1736368040.847 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:20.848Z,1736368040.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978140 2025-01-08T20:27:21.066Z,1736368041.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:21.075Z,1736368041.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:21.078Z,1736368041.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.219208 m, bearing: 14.798408 deg, approach rate: 0.147898 m/s, LOS rate: -0.154604 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.742101 deg. 2025-01-08T20:27:21.079Z,1736368041.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054987 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:21.108Z,1736368041.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:21.109Z,1736368041.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238946 2025-01-08T20:27:21.360Z,1736368041.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:21.360Z,1736368041.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490797 2025-01-08T20:27:21.472Z,1736368041.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:21.478Z,1736368041.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:21.480Z,1736368041.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:21.483Z,1736368041.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.275940 m, bearing: 14.738777 deg, approach rate: 0.139961 m/s, LOS rate: -0.147076 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.715708 deg. 2025-01-08T20:27:21.484Z,1736368041.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054527 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:21.614Z,1736368041.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:21.624Z,1736368041.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753411 2025-01-08T20:27:21.864Z,1736368041.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:21.864Z,1736368041.864 [DAT](INFO): DAT read: Rx Time:20:27:20.7168 2025-01-08T20:27:21.865Z,1736368041.865 [DAT](INFO): Rx dataTimestamp_ set to:1736368041.864520 2025-01-08T20:27:21.865Z,1736368041.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995638 2025-01-08T20:27:21.940Z,1736368041.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:21.957Z,1736368041.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:21.964Z,1736368041.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.337631 m, bearing: 14.665649 deg, approach rate: 0.129340 m/s, LOS rate: -0.153275 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.675236 deg. 2025-01-08T20:27:21.965Z,1736368041.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053820 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:22.116Z,1736368042.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:22.116Z,1736368042.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246710 2025-01-08T20:27:22.288Z,1736368042.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:22.313Z,1736368042.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:22.323Z,1736368042.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.383682 m, bearing: 14.611507 deg, approach rate: 0.129401 m/s, LOS rate: -0.152105 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.732164 deg. 2025-01-08T20:27:22.326Z,1736368042.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054814 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:22.370Z,1736368042.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:22.373Z,1736368042.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502901 2025-01-08T20:27:22.622Z,1736368042.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:22.666Z,1736368042.666 [DAT](INFO): DAT read: 20:27:20.7168 LVL= 29216, 30849, 16818, 28531, AGC= 65, IDX= 149, 0.29,-1.584,-2.292,-0.117,-1.083, PHS=-0.413,-1.162, 0.963, RAW= 189.7, 6.6, CAL= 189.8, -2.2, ROT= 320.2, 2.2 2025-01-08T20:27:22.668Z,1736368042.668 [DAT](INFO): got valid direction response: 20:27:20.7168 LVL= 29216, 30849, 16818, 28531, AGC= 65, IDX= 149, 0.29,-1.584,-2.292,-0.117,-1.083, PHS=-0.413,-1.162, 0.963, RAW= 189.7, 6.6, CAL= 189.8, -2.2, ROT= 320.2, 2.2 2025-01-08T20:27:22.671Z,1736368042.671 [DAT](INFO): DAT read: Bearing 320.2, 2.2 (Local) 2025-01-08T20:27:22.680Z,1736368042.680 [DAT](INFO): Local bearing/azimuth received: Bearing 320.2, 2.2 (Local) 2025-01-08T20:27:22.682Z,1736368042.682 [DAT](INFO): DAT read: Range 10 to 50 : 204.6 m (Round-trip 272.8 ms) speed 0.7 m/s 2025-01-08T20:27:22.692Z,1736368042.692 [DAT](INFO): DAT read: user:1337> 2025-01-08T20:27:22.693Z,1736368042.693 [DAT](INFO): DAT read: Tx time:20:27:21.8399 2025-01-08T20:27:22.693Z,1736368042.693 [DAT](INFO): Ping request sent. 2025-01-08T20:27:22.693Z,1736368042.693 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:22.694Z,1736368042.694 [DAT](INFO): DAT read: TxSync time:20:27:21.8391 2025-01-08T20:27:22.694Z,1736368042.694 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:27:22.695Z,1736368042.695 [DAT](INFO): direction in FSK: [-0.194754,-0.972325,-0.129051] 2025-01-08T20:27:22.707Z,1736368042.707 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:22.708Z,1736368042.708 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:22.711Z,1736368042.711 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:22.711Z,1736368042.711 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:22.825Z,1736368042.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:22.873Z,1736368042.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:22.879Z,1736368042.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 204.600006 m, deltaT: 3.794358 s, deltaX: -21.199997 m, approachRate: -5.587242 m/s, rangeRepo size: 4 2025-01-08T20:27:22.884Z,1736368042.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:22.886Z,1736368042.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.451691 m, bearing: 14.520863 deg, approach rate: 0.122805 m/s, LOS rate: -0.163630 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.622708 deg. 2025-01-08T20:27:22.892Z,1736368042.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052903 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:23.124Z,1736368043.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:23.170Z,1736368043.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:23.178Z,1736368043.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:23.181Z,1736368043.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.496368 m, bearing: 14.462615 deg, approach rate: 0.143471 m/s, LOS rate: -0.187013 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.719847 deg. 2025-01-08T20:27:23.182Z,1736368043.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054599 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:23.376Z,1736368043.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:23.584Z,1736368043.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:23.592Z,1736368043.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:23.594Z,1736368043.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:23.597Z,1736368043.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.550522 m, bearing: 14.392846 deg, approach rate: 0.130285 m/s, LOS rate: -0.167811 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.685303 deg. 2025-01-08T20:27:23.598Z,1736368043.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053996 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:23.629Z,1736368043.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:23.631Z,1736368043.631 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:23.631Z,1736368043.631 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:23.632Z,1736368043.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:23.880Z,1736368043.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:23.880Z,1736368043.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.187464 2025-01-08T20:27:24.032Z,1736368044.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:24.042Z,1736368044.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:24.045Z,1736368044.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.600159 m, bearing: 14.310795 deg, approach rate: 0.110776 m/s, LOS rate: -0.183074 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.648460 deg. 2025-01-08T20:27:24.046Z,1736368044.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053353 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:24.132Z,1736368044.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:24.132Z,1736368044.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.439554 2025-01-08T20:27:24.384Z,1736368044.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:24.385Z,1736368044.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.691601 2025-01-08T20:27:24.386Z,1736368044.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:24.396Z,1736368044.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:24.398Z,1736368044.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.639435 m, bearing: 14.245985 deg, approach rate: 0.111014 m/s, LOS rate: -0.183155 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.700161 deg. 2025-01-08T20:27:24.400Z,1736368044.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054255 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:24.637Z,1736368044.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:24.640Z,1736368044.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.946952 2025-01-08T20:27:24.813Z,1736368044.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:24.822Z,1736368044.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:24.825Z,1736368044.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.673431 m, bearing: 14.162125 deg, approach rate: 0.079703 m/s, LOS rate: -0.196576 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.643015 deg. 2025-01-08T20:27:24.826Z,1736368044.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053258 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:24.889Z,1736368044.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:24.890Z,1736368044.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.196871 2025-01-08T20:27:25.140Z,1736368045.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:25.140Z,1736368045.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.447561 2025-01-08T20:27:25.202Z,1736368045.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:25.210Z,1736368045.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:25.213Z,1736368045.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.705429 m, bearing: 14.085710 deg, approach rate: 0.082536 m/s, LOS rate: -0.197079 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.665345 deg. 2025-01-08T20:27:25.214Z,1736368045.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053648 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:25.392Z,1736368045.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:25.392Z,1736368045.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.699374 2025-01-08T20:27:25.613Z,1736368045.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:25.629Z,1736368045.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:25.637Z,1736368045.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:25.644Z,1736368045.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:25.645Z,1736368045.645 [DAT](INFO): DAT read: Rx Time:20:27:24.5137 2025-01-08T20:27:25.645Z,1736368045.645 [DAT](INFO): Rx dataTimestamp_ set to:1736368045.644914 2025-01-08T20:27:25.646Z,1736368045.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953062 2025-01-08T20:27:25.662Z,1736368045.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.740555 m, bearing: 14.004953 deg, approach rate: 0.083359 m/s, LOS rate: -0.191619 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.652325 deg. 2025-01-08T20:27:25.676Z,1736368045.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053421 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:25.896Z,1736368045.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:25.896Z,1736368045.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203454 2025-01-08T20:27:26.033Z,1736368046.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:26.042Z,1736368046.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.80 m. 2025-01-08T20:27:26.045Z,1736368046.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 225.800003 m, nav range: 224.775101 m, bearing: 13.918847 deg, approach rate: 0.084115 m/s, LOS rate: -0.209624 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.636282 deg. 2025-01-08T20:27:26.046Z,1736368046.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053140 target range: 225.800003 and range: 225.80 m. 2025-01-08T20:27:26.148Z,1736368046.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:26.148Z,1736368046.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.455529 2025-01-08T20:27:26.400Z,1736368046.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:26.408Z,1736368046.408 [DAT](INFO): DAT read: 20:27:24.5137 LVL= 22352, 26417, 12866, 28659, AGC= 63, IDX= 405,-0.46, 3.049, 2.424,-1.750,-2.695, PHS=-0.451,-1.117, 0.942, RAW= 191.5, 6.9, CAL= 191.8, -1.8, ROT= 318.2, 1.8 2025-01-08T20:27:26.409Z,1736368046.409 [DAT](INFO): got valid direction response: 20:27:24.5137 LVL= 22352, 26417, 12866, 28659, AGC= 63, IDX= 405,-0.46, 3.049, 2.424,-1.750,-2.695, PHS=-0.451,-1.117, 0.942, RAW= 191.5, 6.9, CAL= 191.8, -1.8, ROT= 318.2, 1.8 2025-01-08T20:27:26.410Z,1736368046.410 [DAT](INFO): DAT read: Bearing 318.2, 1.8 (Local) 2025-01-08T20:27:26.410Z,1736368046.410 [DAT](INFO): Local bearing/azimuth received: Bearing 318.2, 1.8 (Local) 2025-01-08T20:27:26.412Z,1736368046.412 [DAT](INFO): DAT read: Range 10 to 50 : 202.2 m (Round-trip 269.6 ms) speed 0.5 m/s 2025-01-08T20:27:26.413Z,1736368046.413 [DAT](INFO): DAT read: user:1338> 2025-01-08T20:27:26.414Z,1736368046.414 [DAT](INFO): DAT read: Tx time:20:27:25.6400 2025-01-08T20:27:26.414Z,1736368046.414 [DAT](INFO): Ping request sent. 2025-01-08T20:27:26.414Z,1736368046.414 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:26.414Z,1736368046.414 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:27:26.416Z,1736368046.416 [DAT](INFO): direction in FSK: [-0.197228,-0.967180,-0.160201] 2025-01-08T20:27:26.416Z,1736368046.416 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:26.416Z,1736368046.416 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:26.419Z,1736368046.419 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:26.425Z,1736368046.425 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:26.502Z,1736368046.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:26.554Z,1736368046.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 202.199997 m, deltaT: 7.572023 s, deltaX: -23.600006 m, approachRate: -3.116737 m/s, rangeRepo size: 4 2025-01-08T20:27:26.557Z,1736368046.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 202.199997 m, bearing: 16.039837 deg, lat: 36.905935 deg, lon: -122.120600 deg, deltaT: 7.572023 s, deltaX: -23.600006 m, approachRate: -3.116737 m/s, posRepo size: 4 2025-01-08T20:27:26.558Z,1736368046.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.20 m. 2025-01-08T20:27:26.565Z,1736368046.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.199997 m, nav range: 220.300171 m, bearing: 14.038714 deg, approach rate: 0.000000 m/s, LOS rate: -0.209624 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.573115 deg. 2025-01-08T20:27:26.566Z,1736368046.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052038 target range: 202.199997 and range: 202.20 m. 2025-01-08T20:27:26.652Z,1736368046.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:26.654Z,1736368046.654 [DAT](INFO): DAT read: TxSync time:20:27:25.6392 2025-01-08T20:27:26.904Z,1736368046.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:26.914Z,1736368046.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:26.942Z,1736368046.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.20 m. 2025-01-08T20:27:26.948Z,1736368046.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.199997 m, nav range: 220.333313 m, bearing: 13.949737 deg, approach rate: 0.085342 m/s, LOS rate: -0.229083 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.627670 deg. 2025-01-08T20:27:26.950Z,1736368046.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052990 target range: 202.199997 and range: 202.20 m. 2025-01-08T20:27:27.156Z,1736368047.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:27.389Z,1736368047.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:27.399Z,1736368047.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.20 m. 2025-01-08T20:27:27.410Z,1736368047.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:27.426Z,1736368047.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.199997 m, nav range: 220.374191 m, bearing: 13.847155 deg, approach rate: 0.089603 m/s, LOS rate: -0.224814 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.586869 deg. 2025-01-08T20:27:27.432Z,1736368047.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052278 target range: 202.199997 and range: 202.20 m. 2025-01-08T20:27:27.660Z,1736368047.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:27.828Z,1736368047.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:27.835Z,1736368047.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:27.838Z,1736368047.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.20 m. 2025-01-08T20:27:27.841Z,1736368047.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.199997 m, nav range: 220.412079 m, bearing: 13.751131 deg, approach rate: 0.086213 m/s, LOS rate: -0.218465 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.606536 deg. 2025-01-08T20:27:27.843Z,1736368047.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052621 target range: 202.199997 and range: 202.20 m. 2025-01-08T20:27:27.912Z,1736368047.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:27.912Z,1736368047.912 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:27.913Z,1736368047.913 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:27.913Z,1736368047.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:28.164Z,1736368048.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:28.166Z,1736368048.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751152 2025-01-08T20:27:28.255Z,1736368048.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:28.263Z,1736368048.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.20 m. 2025-01-08T20:27:28.266Z,1736368048.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.199997 m, nav range: 220.449448 m, bearing: 13.657936 deg, approach rate: 0.087759 m/s, LOS rate: -0.218827 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.615022 deg. 2025-01-08T20:27:28.267Z,1736368048.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052769 target range: 202.199997 and range: 202.20 m. 2025-01-08T20:27:28.416Z,1736368048.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:28.418Z,1736368048.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003574 2025-01-08T20:27:28.652Z,1736368048.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:28.670Z,1736368048.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:28.673Z,1736368048.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258939 2025-01-08T20:27:28.679Z,1736368048.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.20 m. 2025-01-08T20:27:28.684Z,1736368048.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.199997 m, nav range: 220.484680 m, bearing: 13.571417 deg, approach rate: 0.084792 m/s, LOS rate: -0.208186 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.635042 deg. 2025-01-08T20:27:28.688Z,1736368048.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053119 target range: 202.199997 and range: 202.20 m. 2025-01-08T20:27:28.920Z,1736368048.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:28.920Z,1736368048.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506304 2025-01-08T20:27:29.070Z,1736368049.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:29.079Z,1736368049.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.20 m. 2025-01-08T20:27:29.082Z,1736368049.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.199997 m, nav range: 220.529022 m, bearing: 13.482495 deg, approach rate: 0.110829 m/s, LOS rate: -0.222208 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.627847 deg. 2025-01-08T20:27:29.083Z,1736368049.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052993 target range: 202.199997 and range: 202.20 m. 2025-01-08T20:27:29.172Z,1736368049.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:29.173Z,1736368049.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758806 2025-01-08T20:27:29.424Z,1736368049.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:29.424Z,1736368049.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010380 2025-01-08T20:27:29.472Z,1736368049.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:29.495Z,1736368049.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.20 m. 2025-01-08T20:27:29.497Z,1736368049.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.199997 m, nav range: 220.571899 m, bearing: 13.398090 deg, approach rate: 0.103103 m/s, LOS rate: -0.202923 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.641391 deg. 2025-01-08T20:27:29.498Z,1736368049.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053230 target range: 202.199997 and range: 202.20 m. 2025-01-08T20:27:29.676Z,1736368049.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:29.677Z,1736368049.677 [DAT](INFO): DAT read: Rx Time:20:27:28.3365 2025-01-08T20:27:29.678Z,1736368049.678 [DAT](INFO): Rx dataTimestamp_ set to:1736368049.677814 2025-01-08T20:27:29.680Z,1736368049.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264959 2025-01-08T20:27:29.883Z,1736368049.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:29.891Z,1736368049.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:29.893Z,1736368049.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.20 m. 2025-01-08T20:27:29.912Z,1736368049.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.199997 m, nav range: 220.621918 m, bearing: 13.313706 deg, approach rate: 0.125503 m/s, LOS rate: -0.211682 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.641465 deg. 2025-01-08T20:27:29.913Z,1736368049.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053231 target range: 202.199997 and range: 202.20 m. 2025-01-08T20:27:29.928Z,1736368049.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:29.928Z,1736368049.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514394 2025-01-08T20:27:30.180Z,1736368050.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:30.186Z,1736368050.186 [DAT](INFO): DAT read: 20:27:28.3365 LVL= 23024, 21745, 10066, 30115, AGC= 60, IDX= 158,-0.13,-0.073,-0.610, 1.448, 0.470, PHS=-0.455,-1.033, 0.975, RAW= 193.8, 5.8, CAL= 194.1, -2.6, ROT= 315.9, 2.6 2025-01-08T20:27:30.188Z,1736368050.188 [DAT](INFO): got valid direction response: 20:27:28.3365 LVL= 23024, 21745, 10066, 30115, AGC= 60, IDX= 158,-0.13,-0.073,-0.610, 1.448, 0.470, PHS=-0.455,-1.033, 0.975, RAW= 193.8, 5.8, CAL= 194.1, -2.6, ROT= 315.9, 2.6 2025-01-08T20:27:30.189Z,1736368050.189 [DAT](INFO): DAT read: Bearing 315.9, 2.6 (Local) 2025-01-08T20:27:30.189Z,1736368050.189 [DAT](INFO): Local bearing/azimuth received: Bearing 315.9, 2.6 (Local) 2025-01-08T20:27:30.191Z,1736368050.191 [DAT](INFO): DAT read: Range 10 to 50 : 219.2 m (Round-trip 292.3 ms) speed 0.4 m/s 2025-01-08T20:27:30.192Z,1736368050.192 [DAT](INFO): DAT read: user:1339> 2025-01-08T20:27:30.192Z,1736368050.192 [DAT](INFO): DAT read: Tx time:20:27:29.4400 2025-01-08T20:27:30.193Z,1736368050.193 [DAT](INFO): Ping request sent. 2025-01-08T20:27:30.193Z,1736368050.193 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:30.193Z,1736368050.193 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:27:30.194Z,1736368050.194 [DAT](INFO): direction in FSK: [-0.171842,-0.965355,-0.196368] 2025-01-08T20:27:30.194Z,1736368050.194 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:30.195Z,1736368050.195 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:30.202Z,1736368050.202 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:30.203Z,1736368050.203 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:30.276Z,1736368050.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:30.320Z,1736368050.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 219.199997 m, deltaT: 3.779891 s, deltaX: 17.000000 m, approachRate: 4.497484 m/s, rangeRepo size: 4 2025-01-08T20:27:30.322Z,1736368050.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 219.199997 m, bearing: 18.885197 deg, lat: 36.905770 deg, lon: -122.120590 deg, deltaT: 3.779891 s, deltaX: 17.000000 m, approachRate: 4.497484 m/s, posRepo size: 4 2025-01-08T20:27:30.322Z,1736368050.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.20 m. 2025-01-08T20:27:30.333Z,1736368050.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.199997 m, nav range: 203.143707 m, bearing: 14.666103 deg, approach rate: 0.000000 m/s, LOS rate: -0.211682 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.629425 deg. 2025-01-08T20:27:30.335Z,1736368050.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053021 target range: 219.199997 and range: 219.20 m. 2025-01-08T20:27:30.432Z,1736368050.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:30.433Z,1736368050.433 [DAT](INFO): DAT read: TxSync time:20:27:29.4392 2025-01-08T20:27:30.661Z,1736368050.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:30.675Z,1736368050.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.20 m. 2025-01-08T20:27:30.684Z,1736368050.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:30.702Z,1736368050.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.199997 m, nav range: 203.183273 m, bearing: 14.581099 deg, approach rate: 0.108804 m/s, LOS rate: -0.233710 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.639595 deg. 2025-01-08T20:27:30.708Z,1736368050.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053198 target range: 219.199997 and range: 219.20 m. 2025-01-08T20:27:30.936Z,1736368050.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:31.116Z,1736368051.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:31.125Z,1736368051.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.20 m. 2025-01-08T20:27:31.128Z,1736368051.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.199997 m, nav range: 203.239151 m, bearing: 14.486392 deg, approach rate: 0.123839 m/s, LOS rate: -0.209835 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.610518 deg. 2025-01-08T20:27:31.129Z,1736368051.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052691 target range: 219.199997 and range: 219.20 m. 2025-01-08T20:27:31.189Z,1736368051.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:31.440Z,1736368051.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:31.495Z,1736368051.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:31.503Z,1736368051.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.20 m. 2025-01-08T20:27:31.506Z,1736368051.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.199997 m, nav range: 203.286636 m, bearing: 14.407797 deg, approach rate: 0.125815 m/s, LOS rate: -0.208192 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.658828 deg. 2025-01-08T20:27:31.508Z,1736368051.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053534 target range: 219.199997 and range: 219.20 m. 2025-01-08T20:27:31.692Z,1736368051.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:31.929Z,1736368051.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:31.936Z,1736368051.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:31.939Z,1736368051.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.20 m. 2025-01-08T20:27:31.942Z,1736368051.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.199997 m, nav range: 203.356979 m, bearing: 14.323564 deg, approach rate: 0.161321 m/s, LOS rate: -0.193109 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.641945 deg. 2025-01-08T20:27:31.944Z,1736368051.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:31.944Z,1736368051.944 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:31.944Z,1736368051.944 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:31.945Z,1736368051.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:31.943Z,1736368051.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053239 target range: 219.199997 and range: 219.20 m. 2025-01-08T20:27:32.196Z,1736368052.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:32.196Z,1736368052.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003546 2025-01-08T20:27:32.288Z,1736368052.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:32.318Z,1736368052.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.20 m. 2025-01-08T20:27:32.321Z,1736368052.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.199997 m, nav range: 203.414398 m, bearing: 14.254157 deg, approach rate: 0.152611 m/s, LOS rate: -0.184422 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.686395 deg. 2025-01-08T20:27:32.322Z,1736368052.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054015 target range: 219.199997 and range: 219.20 m. 2025-01-08T20:27:32.449Z,1736368052.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:32.451Z,1736368052.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257882 2025-01-08T20:27:32.692Z,1736368052.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:32.700Z,1736368052.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:32.700Z,1736368052.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507581 2025-01-08T20:27:32.702Z,1736368052.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.20 m. 2025-01-08T20:27:32.705Z,1736368052.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.199997 m, nav range: 203.478561 m, bearing: 14.175753 deg, approach rate: 0.166915 m/s, LOS rate: -0.203896 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.659420 deg. 2025-01-08T20:27:32.707Z,1736368052.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053544 target range: 219.199997 and range: 219.20 m. 2025-01-08T20:27:32.952Z,1736368052.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:32.953Z,1736368052.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759488 2025-01-08T20:27:33.113Z,1736368053.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:33.122Z,1736368053.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.20 m. 2025-01-08T20:27:33.125Z,1736368053.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.199997 m, nav range: 203.542313 m, bearing: 14.099845 deg, approach rate: 0.151125 m/s, LOS rate: -0.179887 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.666904 deg. 2025-01-08T20:27:33.126Z,1736368053.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053675 target range: 219.199997 and range: 219.20 m. 2025-01-08T20:27:33.205Z,1736368053.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:33.206Z,1736368053.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012859 2025-01-08T20:27:33.456Z,1736368053.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:33.456Z,1736368053.456 [DAT](INFO): DAT read: Rx Time:20:27:32.1353 2025-01-08T20:27:33.457Z,1736368053.457 [DAT](INFO): Rx dataTimestamp_ set to:1736368053.456680 2025-01-08T20:27:33.457Z,1736368053.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264633 2025-01-08T20:27:33.524Z,1736368053.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:33.541Z,1736368053.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.20 m. 2025-01-08T20:27:33.548Z,1736368053.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.199997 m, nav range: 203.604111 m, bearing: 14.025564 deg, approach rate: 0.147241 m/s, LOS rate: -0.176927 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.671785 deg. 2025-01-08T20:27:33.549Z,1736368053.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053760 target range: 219.199997 and range: 219.20 m. 2025-01-08T20:27:33.708Z,1736368053.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:33.709Z,1736368053.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515695 2025-01-08T20:27:33.913Z,1736368053.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:33.922Z,1736368053.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.20 m. 2025-01-08T20:27:33.925Z,1736368053.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.199997 m, nav range: 203.667114 m, bearing: 13.960080 deg, approach rate: 0.165203 m/s, LOS rate: -0.171655 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.698164 deg. 2025-01-08T20:27:33.926Z,1736368053.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054220 target range: 219.199997 and range: 219.20 m. 2025-01-08T20:27:33.960Z,1736368053.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:33.967Z,1736368053.967 [DAT](INFO): DAT read: 20:27:32.1353 LVL= 32752, 32753, 15730, 32755, AGC= 60, IDX= 433, 0.27, 1.545, 0.965, 3.035, 2.053, PHS=-0.420,-1.041, 0.979, RAW= 192.5, 5.4, CAL= 192.7, -3.0, ROT= 317.3, 3.0 2025-01-08T20:27:33.968Z,1736368053.968 [DAT](INFO): got valid direction response: 20:27:32.1353 LVL= 32752, 32753, 15730, 32755, AGC= 60, IDX= 433, 0.27, 1.545, 0.965, 3.035, 2.053, PHS=-0.420,-1.041, 0.979, RAW= 192.5, 5.4, CAL= 192.7, -3.0, ROT= 317.3, 3.0 2025-01-08T20:27:33.969Z,1736368053.969 [DAT](INFO): DAT read: Bearing 317.3, 3.0 (Local) 2025-01-08T20:27:33.969Z,1736368053.969 [DAT](INFO): Local bearing/azimuth received: Bearing 317.3, 3.0 (Local) 2025-01-08T20:27:33.972Z,1736368053.972 [DAT](INFO): DAT read: Range 10 to 50 : 218.4 m (Round-trip 291.2 ms) speed 0.0 m/s 2025-01-08T20:27:33.972Z,1736368053.972 [DAT](INFO): DAT read: user:1340> 2025-01-08T20:27:33.973Z,1736368053.973 [DAT](INFO): DAT read: Tx time:20:27:33.2400 2025-01-08T20:27:33.973Z,1736368053.973 [DAT](INFO): Ping request sent. 2025-01-08T20:27:33.973Z,1736368053.973 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:33.974Z,1736368053.974 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:27:33.975Z,1736368053.975 [DAT](INFO): direction in FSK: [-0.167659,-0.970044,-0.175800] 2025-01-08T20:27:33.975Z,1736368053.975 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:33.976Z,1736368053.976 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:33.979Z,1736368053.979 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:33.979Z,1736368053.979 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:34.212Z,1736368054.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:34.213Z,1736368054.213 [DAT](INFO): DAT read: TxSync time:20:27:33.2392 2025-01-08T20:27:34.297Z,1736368054.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:34.311Z,1736368054.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 218.399994 m, deltaT: 3.780118 s, deltaX: -0.800003 m, approachRate: -0.211634 m/s, rangeRepo size: 4 2025-01-08T20:27:34.314Z,1736368054.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 218.399994 m, bearing: 18.027715 deg, lat: 36.905770 deg, lon: -122.120590 deg, deltaT: 3.780118 s, deltaX: -0.800003 m, approachRate: -0.211634 m/s, posRepo size: 4 2025-01-08T20:27:34.314Z,1736368054.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:34.333Z,1736368054.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 203.729111 m, bearing: 13.895292 deg, approach rate: 0.000000 m/s, LOS rate: -0.171655 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.694811 deg. 2025-01-08T20:27:34.334Z,1736368054.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054162 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:34.464Z,1736368054.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:34.716Z,1736368054.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:34.722Z,1736368054.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:34.729Z,1736368054.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:34.731Z,1736368054.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:34.734Z,1736368054.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 203.798172 m, bearing: 13.823470 deg, approach rate: 0.164155 m/s, LOS rate: -0.170658 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.679166 deg. 2025-01-08T20:27:34.735Z,1736368054.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053889 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:34.968Z,1736368054.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:34.968Z,1736368054.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:34.968Z,1736368054.968 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:34.969Z,1736368054.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:35.167Z,1736368055.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:35.184Z,1736368055.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:35.186Z,1736368055.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 203.865479 m, bearing: 13.751157 deg, approach rate: 0.150230 m/s, LOS rate: -0.161350 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.677691 deg. 2025-01-08T20:27:35.192Z,1736368055.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053863 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:35.222Z,1736368055.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:35.223Z,1736368055.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249745 2025-01-08T20:27:35.472Z,1736368055.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:35.472Z,1736368055.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498837 2025-01-08T20:27:35.522Z,1736368055.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:35.531Z,1736368055.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:35.538Z,1736368055.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 203.919067 m, bearing: 13.693273 deg, approach rate: 0.152608 m/s, LOS rate: -0.164797 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.720950 deg. 2025-01-08T20:27:35.541Z,1736368055.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054618 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:35.724Z,1736368055.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:35.725Z,1736368055.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751096 2025-01-08T20:27:35.948Z,1736368055.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:35.957Z,1736368055.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:35.960Z,1736368055.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 203.978241 m, bearing: 13.622346 deg, approach rate: 0.138757 m/s, LOS rate: -0.166270 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.681837 deg. 2025-01-08T20:27:35.961Z,1736368055.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053936 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:35.978Z,1736368055.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:35.988Z,1736368055.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005573 2025-01-08T20:27:36.228Z,1736368056.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:36.228Z,1736368056.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254881 2025-01-08T20:27:36.321Z,1736368056.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:36.330Z,1736368056.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:36.333Z,1736368056.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.029510 m, bearing: 13.560000 deg, approach rate: 0.137348 m/s, LOS rate: -0.166978 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.707568 deg. 2025-01-08T20:27:36.334Z,1736368056.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054385 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:36.480Z,1736368056.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:36.481Z,1736368056.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507006 2025-01-08T20:27:36.724Z,1736368056.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:36.730Z,1736368056.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:36.732Z,1736368056.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:36.733Z,1736368056.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759098 2025-01-08T20:27:36.749Z,1736368056.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:36.756Z,1736368056.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.084244 m, bearing: 13.492652 deg, approach rate: 0.130690 m/s, LOS rate: -0.160769 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.692567 deg. 2025-01-08T20:27:36.757Z,1736368056.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054123 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:36.984Z,1736368056.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:36.984Z,1736368056.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010867 2025-01-08T20:27:37.150Z,1736368057.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:37.160Z,1736368057.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:37.163Z,1736368057.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.134354 m, bearing: 13.419621 deg, approach rate: 0.121837 m/s, LOS rate: -0.177522 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.675520 deg. 2025-01-08T20:27:37.181Z,1736368057.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053825 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:37.236Z,1736368057.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:37.238Z,1736368057.238 [DAT](INFO): DAT read: Rx Time:20:27:35.9057 2025-01-08T20:27:37.239Z,1736368057.239 [DAT](INFO): Rx dataTimestamp_ set to:1736368057.238422 2025-01-08T20:27:37.240Z,1736368057.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266118 2025-01-08T20:27:37.488Z,1736368057.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:37.488Z,1736368057.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514857 2025-01-08T20:27:37.578Z,1736368057.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:37.631Z,1736368057.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:37.639Z,1736368057.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.184509 m, bearing: 13.346592 deg, approach rate: 0.106552 m/s, LOS rate: -0.155107 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.675523 deg. 2025-01-08T20:27:37.644Z,1736368057.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053825 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:37.740Z,1736368057.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:37.750Z,1736368057.750 [DAT](INFO): DAT read: 20:27:35.9057 LVL= 25536, 22881, 12562, 30643, AGC= 60, IDX= 130,-0.24, 1.024, 0.486, 2.507, 1.540, PHS=-0.428,-1.007, 0.964, RAW= 193.4, 5.4, CAL= 193.6, -3.0, ROT= 316.4, 3.0 2025-01-08T20:27:37.755Z,1736368057.755 [DAT](INFO): got valid direction response: 20:27:35.9057 LVL= 25536, 22881, 12562, 30643, AGC= 60, IDX= 130,-0.24, 1.024, 0.486, 2.507, 1.540, PHS=-0.428,-1.007, 0.964, RAW= 193.4, 5.4, CAL= 193.6, -3.0, ROT= 316.4, 3.0 2025-01-08T20:27:37.757Z,1736368057.757 [DAT](INFO): DAT read: Bearing 316.4, 3.0 (Local) 2025-01-08T20:27:37.757Z,1736368057.757 [DAT](INFO): Local bearing/azimuth received: Bearing 316.4, 3.0 (Local) 2025-01-08T20:27:37.759Z,1736368057.759 [DAT](INFO): DAT read: Range 10 to 50 : 196.1 m (Round-trip 261.5 ms) speed 0.4 m/s 2025-01-08T20:27:37.792Z,1736368057.792 [DAT](INFO): DAT read: user:1341> 2025-01-08T20:27:37.793Z,1736368057.793 [DAT](INFO): DAT read: Tx time:20:27:36.9901 2025-01-08T20:27:37.793Z,1736368057.793 [DAT](INFO): Ping request sent. 2025-01-08T20:27:37.793Z,1736368057.793 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:37.794Z,1736368057.794 [DAT](INFO): DAT read: TxSync time:20:27:36.9893 2025-01-08T20:27:37.795Z,1736368057.795 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:27:37.805Z,1736368057.805 [DAT](INFO): direction in FSK: [-0.165840,-0.967678,-0.189992] 2025-01-08T20:27:37.805Z,1736368057.805 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:37.805Z,1736368057.805 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:37.818Z,1736368057.818 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:37.829Z,1736368057.829 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:37.992Z,1736368057.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:38.024Z,1736368058.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:38.049Z,1736368058.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 196.100006 m, deltaT: 3.780635 s, deltaX: -22.299988 m, approachRate: -5.898477 m/s, rangeRepo size: 4 2025-01-08T20:27:38.050Z,1736368058.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:38.061Z,1736368058.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.228378 m, bearing: 13.266563 deg, approach rate: 0.104947 m/s, LOS rate: -0.191412 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.654521 deg. 2025-01-08T20:27:38.062Z,1736368058.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053459 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:38.244Z,1736368058.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:38.348Z,1736368058.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:38.357Z,1736368058.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:38.360Z,1736368058.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.260956 m, bearing: 13.208504 deg, approach rate: 0.105615 m/s, LOS rate: -0.188193 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.720410 deg. 2025-01-08T20:27:38.361Z,1736368058.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054609 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:38.496Z,1736368058.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:38.748Z,1736368058.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:38.753Z,1736368058.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:38.780Z,1736368058.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:38.782Z,1736368058.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:38.785Z,1736368058.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.302887 m, bearing: 13.136155 deg, approach rate: 0.098778 m/s, LOS rate: -0.170399 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.677556 deg. 2025-01-08T20:27:38.786Z,1736368058.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053861 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:39.000Z,1736368059.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:39.001Z,1736368059.001 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:39.001Z,1736368059.001 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:39.002Z,1736368059.002 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:39.218Z,1736368059.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:39.244Z,1736368059.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:39.253Z,1736368059.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:39.256Z,1736368059.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.461643 2025-01-08T20:27:39.259Z,1736368059.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.348465 m, bearing: 13.048336 deg, approach rate: 0.098509 m/s, LOS rate: -0.189763 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.631160 deg. 2025-01-08T20:27:39.261Z,1736368059.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053051 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:39.504Z,1736368059.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:39.504Z,1736368059.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711003 2025-01-08T20:27:39.583Z,1736368059.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:39.591Z,1736368059.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:39.594Z,1736368059.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.385391 m, bearing: 12.979698 deg, approach rate: 0.106495 m/s, LOS rate: -0.197915 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.688680 deg. 2025-01-08T20:27:39.604Z,1736368059.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054055 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:39.756Z,1736368059.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:39.757Z,1736368059.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963226 2025-01-08T20:27:39.989Z,1736368059.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:39.998Z,1736368059.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:40.001Z,1736368060.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.424667 m, bearing: 12.897201 deg, approach rate: 0.096492 m/s, LOS rate: -0.202636 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.647114 deg. 2025-01-08T20:27:40.002Z,1736368060.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053329 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:40.008Z,1736368060.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:40.009Z,1736368060.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215034 2025-01-08T20:27:40.260Z,1736368060.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:40.261Z,1736368060.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467022 2025-01-08T20:27:40.372Z,1736368060.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:40.382Z,1736368060.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:40.385Z,1736368060.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.462250 m, bearing: 12.819454 deg, approach rate: 0.097892 m/s, LOS rate: -0.202471 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.661362 deg. 2025-01-08T20:27:40.386Z,1736368060.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053578 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:40.513Z,1736368060.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:40.515Z,1736368060.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720992 2025-01-08T20:27:40.764Z,1736368060.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:40.764Z,1736368060.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970989 2025-01-08T20:27:40.773Z,1736368060.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:40.780Z,1736368060.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:40.782Z,1736368060.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:40.785Z,1736368060.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.502457 m, bearing: 12.738008 deg, approach rate: 0.100513 m/s, LOS rate: -0.203567 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.650267 deg. 2025-01-08T20:27:40.787Z,1736368060.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053385 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:41.016Z,1736368061.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:41.018Z,1736368061.018 [DAT](INFO): DAT read: Rx Time:20:27:39.6529 2025-01-08T20:27:41.018Z,1736368061.018 [DAT](INFO): Rx dataTimestamp_ set to:1736368061.017726 2025-01-08T20:27:41.019Z,1736368061.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225444 2025-01-08T20:27:41.205Z,1736368061.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:41.214Z,1736368061.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m. 2025-01-08T20:27:41.217Z,1736368061.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.399994 m, nav range: 204.547531 m, bearing: 12.646457 deg, approach rate: 0.104427 m/s, LOS rate: -0.212057 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.619965 deg. 2025-01-08T20:27:41.218Z,1736368061.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052856 target range: 218.399994 and range: 218.40 m. 2025-01-08T20:27:41.268Z,1736368061.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:41.268Z,1736368061.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475009 2025-01-08T20:27:41.520Z,1736368061.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:41.533Z,1736368061.533 [DAT](INFO): DAT read: 20:27:39.6529 LVL= 24048, 27121, 14834, 27571, AGC= 63, IDX= 405,-0.40, 1.008, 0.525, 2.524, 1.593, PHS=-0.496,-1.021, 0.928, RAW= 194.9, 6.8, CAL= 195.4, -1.7, ROT= 314.6, 1.7 2025-01-08T20:27:41.534Z,1736368061.534 [DAT](INFO): got valid direction response: 20:27:39.6529 LVL= 24048, 27121, 14834, 27571, AGC= 63, IDX= 405,-0.40, 1.008, 0.525, 2.524, 1.593, PHS=-0.496,-1.021, 0.928, RAW= 194.9, 6.8, CAL= 195.4, -1.7, ROT= 314.6, 1.7 2025-01-08T20:27:41.535Z,1736368061.535 [DAT](INFO): DAT read: Bearing 314.6, 1.7 (Local) 2025-01-08T20:27:41.536Z,1736368061.536 [DAT](INFO): Local bearing/azimuth received: Bearing 314.6, 1.7 (Local) 2025-01-08T20:27:41.541Z,1736368061.541 [DAT](INFO): DAT read: Range 10 to 50 : 193.9 m (Round-trip 258.6 ms) speed 0.5 m/s 2025-01-08T20:27:41.544Z,1736368061.544 [DAT](INFO): DAT read: user:1342> 2025-01-08T20:27:41.544Z,1736368061.544 [DAT](INFO): DAT read: Tx time:20:27:40.7401 2025-01-08T20:27:41.545Z,1736368061.545 [DAT](INFO): Ping request sent. 2025-01-08T20:27:41.545Z,1736368061.545 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:41.545Z,1736368061.545 [DAT](INFO): DAT read: TxSync time:20:27:40.7393 2025-01-08T20:27:41.546Z,1736368061.546 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:27:41.547Z,1736368061.547 [DAT](INFO): direction in FSK: [-0.188295,-0.958088,-0.215900] 2025-01-08T20:27:41.547Z,1736368061.547 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:41.548Z,1736368061.548 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:41.551Z,1736368061.551 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:41.551Z,1736368061.551 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:41.590Z,1736368061.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:41.647Z,1736368061.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 193.899994 m, deltaT: 7.559916 s, deltaX: -24.500000 m, approachRate: -3.240777 m/s, rangeRepo size: 4 2025-01-08T20:27:41.658Z,1736368061.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 193.899994 m, bearing: 16.283371 deg, lat: 36.905684 deg, lon: -122.120510 deg, deltaT: 7.559916 s, deltaX: -24.500000 m, approachRate: -3.240777 m/s, posRepo size: 4 2025-01-08T20:27:41.668Z,1736368061.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:41.681Z,1736368061.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.026917 m, bearing: 15.196945 deg, approach rate: 0.000000 m/s, LOS rate: -0.212057 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.619788 deg. 2025-01-08T20:27:41.688Z,1736368061.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052853 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:41.777Z,1736368061.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:42.029Z,1736368062.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:42.092Z,1736368062.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:42.109Z,1736368062.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:42.115Z,1736368062.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.064758 m, bearing: 15.079351 deg, approach rate: 0.081739 m/s, LOS rate: -0.253957 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.541847 deg. 2025-01-08T20:27:42.124Z,1736368062.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051492 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:42.280Z,1736368062.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:42.418Z,1736368062.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:42.428Z,1736368062.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:42.430Z,1736368062.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.090988 m, bearing: 15.002959 deg, approach rate: 0.082363 m/s, LOS rate: -0.239843 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.665412 deg. 2025-01-08T20:27:42.432Z,1736368062.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053649 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:42.532Z,1736368062.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:42.784Z,1736368062.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:42.813Z,1736368062.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:42.840Z,1736368062.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:42.842Z,1736368062.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:42.849Z,1736368062.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.124496 m, bearing: 14.910461 deg, approach rate: 0.080767 m/s, LOS rate: -0.222918 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.617110 deg. 2025-01-08T20:27:42.850Z,1736368062.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052806 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:42.955Z,1736368062.955 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:27:43.036Z,1736368063.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:43.036Z,1736368063.036 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:43.036Z,1736368063.036 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:43.036Z,1736368063.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:43.263Z,1736368063.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:43.273Z,1736368063.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:43.276Z,1736368063.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.167328 m, bearing: 14.806965 deg, approach rate: 0.099438 m/s, LOS rate: -0.240223 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.584141 deg. 2025-01-08T20:27:43.277Z,1736368063.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052230 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:43.289Z,1736368063.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:43.289Z,1736368063.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744455 2025-01-08T20:27:43.540Z,1736368063.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:43.540Z,1736368063.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995515 2025-01-08T20:27:43.635Z,1736368063.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:43.645Z,1736368063.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:43.650Z,1736368063.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.206436 m, bearing: 14.714633 deg, approach rate: 0.105059 m/s, LOS rate: -0.247987 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.617617 deg. 2025-01-08T20:27:43.652Z,1736368063.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052815 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:43.792Z,1736368063.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:43.792Z,1736368063.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247577 2025-01-08T20:27:43.957Z,1736368063.957 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:27:44.044Z,1736368064.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:44.044Z,1736368064.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499624 2025-01-08T20:27:44.058Z,1736368064.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:44.066Z,1736368064.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:44.069Z,1736368064.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.253143 m, bearing: 14.613763 deg, approach rate: 0.110911 m/s, LOS rate: -0.239471 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.592021 deg. 2025-01-08T20:27:44.070Z,1736368064.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052368 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:44.297Z,1736368064.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:44.298Z,1736368064.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753125 2025-01-08T20:27:44.428Z,1736368064.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:44.453Z,1736368064.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:44.460Z,1736368064.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.294937 m, bearing: 14.525487 deg, approach rate: 0.108111 m/s, LOS rate: -0.228303 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.629786 deg. 2025-01-08T20:27:44.461Z,1736368064.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053027 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:44.549Z,1736368064.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:44.550Z,1736368064.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004753 2025-01-08T20:27:44.800Z,1736368064.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:44.800Z,1736368064.800 [DAT](INFO): DAT read: Rx Time:20:27:43.4549 2025-01-08T20:27:44.801Z,1736368064.801 [DAT](INFO): Rx dataTimestamp_ set to:1736368064.800667 2025-01-08T20:27:44.801Z,1736368064.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256625 2025-01-08T20:27:44.860Z,1736368064.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:44.882Z,1736368064.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:44.886Z,1736368064.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:44.894Z,1736368064.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.344147 m, bearing: 14.422839 deg, approach rate: 0.113528 m/s, LOS rate: -0.236753 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.586693 deg. 2025-01-08T20:27:44.900Z,1736368064.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052275 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:45.053Z,1736368065.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:45.054Z,1736368065.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508635 2025-01-08T20:27:45.282Z,1736368065.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:45.292Z,1736368065.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:45.295Z,1736368065.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.391846 m, bearing: 14.324271 deg, approach rate: 0.117511 m/s, LOS rate: -0.242772 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.598929 deg. 2025-01-08T20:27:45.297Z,1736368065.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052489 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:45.304Z,1736368065.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:45.313Z,1736368065.313 [DAT](INFO): DAT read: 20:27:43.4549 LVL= 21248, 21873, 11410, 22227, AGC= 58, IDX= 458,-0.42, 2.411, 2.345,-2.652, 2.455, PHS= 0.045,-0.063, 1.174, RAW= 205.5, -19.0, CAL= 202.0, -24.9, ROT= 308.0, 24.9g 308.0, 24.9 (Local) 2025-01-08T20:27:45.313Z,1736368065.313 [DAT](INFO): Local bearing/azimuth received: 20:27:43.4549 LVL= 21248, 21873, 11410, 22227, AGC= 58, IDX= 458,-0.42, 2.411, 2.345,-2.652, 2.455, PHS= 0.045,-0.063, 1.174, RAW= 205.5, -19.0, CAL= 202.0, -24.9, ROT= 308.0, 24.9g 308.0, 24.9 (Local) 2025-01-08T20:27:45.315Z,1736368065.315 [DAT](INFO): DAT read: Range 10 to 50 : 233.0 m (Round-trip 310.7 ms) speed 0.7 m/s 2025-01-08T20:27:45.332Z,1736368065.332 [DAT](INFO): DAT read: user:1343> 2025-01-08T20:27:45.333Z,1736368065.333 [DAT](INFO): DAT read: Tx time:20:27:44.5401 2025-01-08T20:27:45.333Z,1736368065.333 [DAT](INFO): Ping request sent. 2025-01-08T20:27:45.333Z,1736368065.333 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:45.333Z,1736368065.333 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:27:45.334Z,1736368065.334 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:45.334Z,1736368065.334 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:45.558Z,1736368065.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:45.558Z,1736368065.558 [DAT](INFO): DAT read: TxSync time:20:27:44.5393 2025-01-08T20:27:45.677Z,1736368065.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:45.691Z,1736368065.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 233.000000 m, deltaT: 3.785158 s, deltaX: 39.100006 m, approachRate: 10.329822 m/s, rangeRepo size: 4 2025-01-08T20:27:45.692Z,1736368065.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:45.695Z,1736368065.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.437378 m, bearing: 14.232335 deg, approach rate: 0.114272 m/s, LOS rate: -0.230678 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.618814 deg. 2025-01-08T20:27:45.696Z,1736368065.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052835 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:45.808Z,1736368065.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:46.060Z,1736368066.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:46.094Z,1736368066.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:46.103Z,1736368066.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:46.107Z,1736368066.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.488205 m, bearing: 14.139093 deg, approach rate: 0.123270 m/s, LOS rate: -0.226081 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.614904 deg. 2025-01-08T20:27:46.108Z,1736368066.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052767 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:46.312Z,1736368066.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:46.480Z,1736368066.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:46.489Z,1736368066.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:46.492Z,1736368066.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.536591 m, bearing: 14.053038 deg, approach rate: 0.125237 m/s, LOS rate: -0.222683 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.636456 deg. 2025-01-08T20:27:46.493Z,1736368066.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053144 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:46.565Z,1736368066.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:46.816Z,1736368066.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:46.895Z,1736368066.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:46.906Z,1736368066.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:46.913Z,1736368066.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:46.920Z,1736368066.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.588150 m, bearing: 13.961372 deg, approach rate: 0.121551 m/s, LOS rate: -0.216045 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.619633 deg. 2025-01-08T20:27:46.922Z,1736368066.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052850 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:47.069Z,1736368067.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:47.070Z,1736368067.070 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:47.070Z,1736368067.070 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:47.070Z,1736368067.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:47.319Z,1736368067.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:47.320Z,1736368067.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:47.320Z,1736368067.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987249 2025-01-08T20:27:47.329Z,1736368067.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:47.332Z,1736368067.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.650070 m, bearing: 13.870388 deg, approach rate: 0.148796 m/s, LOS rate: -0.218569 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.621692 deg. 2025-01-08T20:27:47.333Z,1736368067.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052886 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:47.572Z,1736368067.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:47.573Z,1736368067.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239863 2025-01-08T20:27:47.725Z,1736368067.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:47.738Z,1736368067.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:47.745Z,1736368067.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.708023 m, bearing: 13.783926 deg, approach rate: 0.142003 m/s, LOS rate: -0.211797 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.635249 deg. 2025-01-08T20:27:47.746Z,1736368067.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053123 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:47.824Z,1736368067.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:47.825Z,1736368067.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492293 2025-01-08T20:27:48.076Z,1736368068.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:48.076Z,1736368068.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743171 2025-01-08T20:27:48.150Z,1736368068.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:48.159Z,1736368068.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:48.162Z,1736368068.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.772324 m, bearing: 13.698835 deg, approach rate: 0.152686 m/s, LOS rate: -0.201990 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.639368 deg. 2025-01-08T20:27:48.163Z,1736368068.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053194 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:48.330Z,1736368068.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:48.334Z,1736368068.334 [DAT](INFO): DAT read: Rx Time:20:27:47.1965 2025-01-08T20:27:48.334Z,1736368068.334 [DAT](INFO): Rx dataTimestamp_ set to:1736368068.334017 2025-01-08T20:27:48.335Z,1736368068.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001653 2025-01-08T20:27:48.504Z,1736368068.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:48.513Z,1736368068.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:48.516Z,1736368068.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.825562 m, bearing: 13.627880 deg, approach rate: 0.150319 m/s, LOS rate: -0.200288 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.681751 deg. 2025-01-08T20:27:48.517Z,1736368068.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053934 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:48.583Z,1736368068.583 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:48.583Z,1736368068.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250247 2025-01-08T20:27:48.836Z,1736368068.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:48.836Z,1736368068.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503153 2025-01-08T20:27:48.940Z,1736368068.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:48.955Z,1736368068.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:48.958Z,1736368068.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.90 m. 2025-01-08T20:27:48.961Z,1736368068.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.899994 m, nav range: 197.890823 m, bearing: 13.540511 deg, approach rate: 0.146706 m/s, LOS rate: -0.196339 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.632536 deg. 2025-01-08T20:27:48.962Z,1736368068.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053075 target range: 193.899994 and range: 193.90 m. 2025-01-08T20:27:49.090Z,1736368069.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:49.101Z,1736368069.101 [DAT](INFO): DAT read: 20:27:47.1965 LVL= 29872, 32753, 15026, 31779, AGC= 58, IDX= 355,-0.03,-2.811, 3.075,-1.345,-2.276, PHS=-0.448,-0.886, 0.928, RAW= 196.6, 5.0, CAL= 197.0, -3.1, ROT= 313.0, 3.1 2025-01-08T20:27:49.103Z,1736368069.103 [DAT](INFO): got valid direction response: 20:27:47.1965 LVL= 29872, 32753, 15026, 31779, AGC= 58, IDX= 355,-0.03,-2.811, 3.075,-1.345,-2.276, PHS=-0.448,-0.886, 0.928, RAW= 196.6, 5.0, CAL= 197.0, -3.1, ROT= 313.0, 3.1 2025-01-08T20:27:49.105Z,1736368069.105 [DAT](INFO): DAT read: Bearing 313.0, 3.1 (Local) 2025-01-08T20:27:49.105Z,1736368069.105 [DAT](INFO): Local bearing/azimuth received: Bearing 313.0, 3.1 (Local) 2025-01-08T20:27:49.107Z,1736368069.107 [DAT](INFO): DAT read: Range 10 to 50 : 189.1 m (Round-trip 252.2 ms) speed 0.3 m/s 2025-01-08T20:27:49.130Z,1736368069.130 [DAT](INFO): DAT read: user:1344> 2025-01-08T20:27:49.137Z,1736368069.137 [DAT](INFO): DAT read: Tx time:20:27:48.2902 2025-01-08T20:27:49.137Z,1736368069.137 [DAT](INFO): Ping request sent. 2025-01-08T20:27:49.137Z,1736368069.137 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:49.138Z,1736368069.138 [DAT](INFO): DAT read: TxSync time:20:27:48.2894 2025-01-08T20:27:49.139Z,1736368069.139 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:27:49.144Z,1736368069.144 [DAT](INFO): direction in FSK: [-0.151948,-0.958170,-0.242534] 2025-01-08T20:27:49.144Z,1736368069.144 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:49.145Z,1736368069.145 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:49.152Z,1736368069.152 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:49.152Z,1736368069.152 [DAT](INFO): publishing direction and range info 2025-01-08T20:27:49.340Z,1736368069.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:49.357Z,1736368069.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:49.392Z,1736368069.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 189.100006 m, deltaT: 7.570290 s, deltaX: -4.799988 m, approachRate: -0.634056 m/s, rangeRepo size: 4 2025-01-08T20:27:49.394Z,1736368069.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 189.100006 m, bearing: 19.180316 deg, lat: 36.905586 deg, lon: -122.120412 deg, deltaT: 7.570290 s, deltaX: -4.799988 m, approachRate: -0.634056 m/s, posRepo size: 4 2025-01-08T20:27:49.399Z,1736368069.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:49.402Z,1736368069.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 189.616653 m, bearing: 16.776580 deg, approach rate: 0.000000 m/s, LOS rate: -0.196339 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.641687 deg. 2025-01-08T20:27:49.403Z,1736368069.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053235 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:49.592Z,1736368069.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:49.720Z,1736368069.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:49.733Z,1736368069.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:49.736Z,1736368069.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 189.654022 m, bearing: 16.703404 deg, approach rate: 0.108102 m/s, LOS rate: -0.211645 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.675073 deg. 2025-01-08T20:27:49.737Z,1736368069.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053818 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:49.844Z,1736368069.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:50.096Z,1736368070.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:50.169Z,1736368070.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:50.178Z,1736368070.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:50.181Z,1736368070.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 189.696198 m, bearing: 16.617534 deg, approach rate: 0.094718 m/s, LOS rate: -0.192804 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.637006 deg. 2025-01-08T20:27:50.182Z,1736368070.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053153 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:50.348Z,1736368070.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:50.517Z,1736368070.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:50.526Z,1736368070.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:50.529Z,1736368070.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 189.728867 m, bearing: 16.550956 deg, approach rate: 0.093769 m/s, LOS rate: -0.191063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.694858 deg. 2025-01-08T20:27:50.530Z,1736368070.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054163 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:50.600Z,1736368070.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:50.852Z,1736368070.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:50.946Z,1736368070.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:50.956Z,1736368070.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:50.958Z,1736368070.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 189.769485 m, bearing: 16.468945 deg, approach rate: 0.094570 m/s, LOS rate: -0.190900 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.648577 deg. 2025-01-08T20:27:50.960Z,1736368070.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053355 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:51.104Z,1736368071.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:51.356Z,1736368071.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:51.366Z,1736368071.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:51.374Z,1736368071.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:51.376Z,1736368071.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:51.380Z,1736368071.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 189.809769 m, bearing: 16.389676 deg, approach rate: 0.095796 m/s, LOS rate: -0.188467 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.656801 deg. 2025-01-08T20:27:51.381Z,1736368071.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053499 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:51.608Z,1736368071.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:51.609Z,1736368071.609 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:27:51.609Z,1736368071.609 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:27:51.610Z,1736368071.610 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:51.740Z,1736368071.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:51.748Z,1736368071.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:51.750Z,1736368071.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 189.845352 m, bearing: 16.319178 deg, approach rate: 0.095910 m/s, LOS rate: -0.189981 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.683104 deg. 2025-01-08T20:27:51.752Z,1736368071.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053958 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:51.860Z,1736368071.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:51.860Z,1736368071.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723481 2025-01-08T20:27:52.113Z,1736368072.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:52.115Z,1736368072.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978458 2025-01-08T20:27:52.196Z,1736368072.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:52.220Z,1736368072.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:52.227Z,1736368072.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 189.886917 m, bearing: 16.234538 deg, approach rate: 0.088850 m/s, LOS rate: -0.180888 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.640694 deg. 2025-01-08T20:27:52.228Z,1736368072.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053217 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:52.364Z,1736368072.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:52.365Z,1736368072.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227963 2025-01-08T20:27:52.536Z,1736368072.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:52.565Z,1736368072.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:52.573Z,1736368072.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 189.918549 m, bearing: 16.169869 deg, approach rate: 0.090385 m/s, LOS rate: -0.184759 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.700581 deg. 2025-01-08T20:27:52.574Z,1736368072.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054263 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:52.616Z,1736368072.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:52.616Z,1736368072.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479417 2025-01-08T20:27:52.868Z,1736368072.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:52.869Z,1736368072.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731601 2025-01-08T20:27:52.952Z,1736368072.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:52.961Z,1736368072.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:52.963Z,1736368072.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 189.956482 m, bearing: 16.092094 deg, approach rate: 0.095941 m/s, LOS rate: -0.196670 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.661279 deg. 2025-01-08T20:27:52.965Z,1736368072.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053577 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:53.120Z,1736368073.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:53.121Z,1736368073.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.983527 2025-01-08T20:27:53.372Z,1736368073.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:53.373Z,1736368073.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.235888 2025-01-08T20:27:53.384Z,1736368073.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:53.394Z,1736368073.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:53.396Z,1736368073.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:53.398Z,1736368073.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 189.994217 m, bearing: 16.011200 deg, approach rate: 0.086694 m/s, LOS rate: -0.185813 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.651924 deg. 2025-01-08T20:27:53.400Z,1736368073.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053413 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:53.624Z,1736368073.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:53.625Z,1736368073.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.487804 2025-01-08T20:27:53.776Z,1736368073.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:53.801Z,1736368073.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:53.807Z,1736368073.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.028717 m, bearing: 15.937965 deg, approach rate: 0.085246 m/s, LOS rate: -0.180920 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.674895 deg. 2025-01-08T20:27:53.809Z,1736368073.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053814 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:53.876Z,1736368073.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:53.878Z,1736368073.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.740526 2025-01-08T20:27:54.129Z,1736368074.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:54.132Z,1736368074.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.994363 2025-01-08T20:27:54.197Z,1736368074.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:54.206Z,1736368074.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:54.210Z,1736368074.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.063522 m, bearing: 15.856205 deg, approach rate: 0.085778 m/s, LOS rate: -0.201463 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.649322 deg. 2025-01-08T20:27:54.232Z,1736368074.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053368 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:54.380Z,1736368074.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:54.380Z,1736368074.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.243307 2025-01-08T20:27:54.561Z,1736368074.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:54.569Z,1736368074.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:54.573Z,1736368074.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.093613 m, bearing: 15.785560 deg, approach rate: 0.082878 m/s, LOS rate: -0.194546 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.682657 deg. 2025-01-08T20:27:54.574Z,1736368074.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053950 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:54.632Z,1736368074.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:54.634Z,1736368074.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.496568 2025-01-08T20:27:54.884Z,1736368074.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:54.884Z,1736368074.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.747403 2025-01-08T20:27:54.967Z,1736368074.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:54.995Z,1736368074.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:54.998Z,1736368074.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.127426 m, bearing: 15.706748 deg, approach rate: 0.079426 m/s, LOS rate: -0.185093 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.658164 deg. 2025-01-08T20:27:54.000Z,1736368075.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053522 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:55.138Z,1736368075.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:55.141Z,1736368075.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.003238 2025-01-08T20:27:55.372Z,1736368075.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:55.382Z,1736368075.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:55.384Z,1736368075.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.161850 m, bearing: 15.628090 deg, approach rate: 0.089084 m/s, LOS rate: -0.203518 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.658627 deg. 2025-01-08T20:27:55.385Z,1736368075.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053530 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:55.389Z,1736368075.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:55.390Z,1736368075.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.253048 2025-01-08T20:27:55.642Z,1736368075.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:55.642Z,1736368075.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.505421 2025-01-08T20:27:55.781Z,1736368075.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:55.791Z,1736368075.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:55.795Z,1736368075.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:55.818Z,1736368075.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.196838 m, bearing: 15.548973 deg, approach rate: 0.084678 m/s, LOS rate: -0.191443 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.657249 deg. 2025-01-08T20:27:55.819Z,1736368075.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053506 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:55.897Z,1736368075.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:55.898Z,1736368075.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.760868 2025-01-08T20:27:56.149Z,1736368076.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:56.152Z,1736368076.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.014012 2025-01-08T20:27:56.234Z,1736368076.234 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -52, +1E +681, +10,A 2025-01-08T20:27:56.242Z,1736368076.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:27:56.242Z,1736368076.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:56.251Z,1736368076.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:56.254Z,1736368076.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.237289 m, bearing: 15.459497 deg, approach rate: 0.088698 m/s, LOS rate: -0.196152 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.626190 deg. 2025-01-08T20:27:56.256Z,1736368076.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052964 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:56.400Z,1736368076.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:56.400Z,1736368076.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.263311 2025-01-08T20:27:56.584Z,1736368076.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:27:56.584Z,1736368076.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:56.593Z,1736368076.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:56.596Z,1736368076.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.267731 m, bearing: 15.393352 deg, approach rate: 0.088857 m/s, LOS rate: -0.193045 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.696154 deg. 2025-01-08T20:27:56.597Z,1736368076.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054185 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:56.652Z,1736368076.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:56.654Z,1736368076.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.516465 2025-01-08T20:27:56.905Z,1736368076.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:56.907Z,1736368076.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.769289 2025-01-08T20:27:56.984Z,1736368076.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:27:56.984Z,1736368076.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:57.020Z,1736368077.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:57.028Z,1736368077.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.304169 m, bearing: 15.315795 deg, approach rate: 0.086356 m/s, LOS rate: -0.183772 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.661931 deg. 2025-01-08T20:27:57.029Z,1736368077.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053588 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:57.158Z,1736368077.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:57.161Z,1736368077.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.023530 2025-01-08T20:27:57.409Z,1736368077.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:57.410Z,1736368077.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.272931 2025-01-08T20:27:57.429Z,1736368077.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:57.458Z,1736368077.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:57.465Z,1736368077.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.344284 m, bearing: 15.215223 deg, approach rate: 0.090627 m/s, LOS rate: -0.227159 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.592907 deg. 2025-01-08T20:27:57.468Z,1736368077.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052383 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:57.660Z,1736368077.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:57.661Z,1736368077.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.524185 2025-01-08T20:27:57.795Z,1736368077.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:57.827Z,1736368077.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:27:57.835Z,1736368077.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:57.845Z,1736368077.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.378616 m, bearing: 15.132693 deg, approach rate: 0.092032 m/s, LOS rate: -0.221192 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.647011 deg. 2025-01-08T20:27:57.846Z,1736368077.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053328 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:57.913Z,1736368077.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:57.914Z,1736368077.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.776251 2025-01-08T20:27:58.165Z,1736368078.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:58.167Z,1736368078.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.029704 2025-01-08T20:27:58.274Z,1736368078.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:58.282Z,1736368078.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:58.291Z,1736368078.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.424347 m, bearing: 15.019123 deg, approach rate: 0.101292 m/s, LOS rate: -0.251493 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.553934 deg. 2025-01-08T20:27:58.292Z,1736368078.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051703 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:58.416Z,1736368078.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:58.416Z,1736368078.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.279408 2025-01-08T20:27:58.629Z,1736368078.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:58.637Z,1736368078.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:58.641Z,1736368078.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.458694 m, bearing: 14.935021 deg, approach rate: 0.096940 m/s, LOS rate: -0.237321 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.642298 deg. 2025-01-08T20:27:58.643Z,1736368078.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053246 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:58.670Z,1736368078.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:58.683Z,1736368078.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.546421 2025-01-08T20:27:58.920Z,1736368078.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:58.921Z,1736368078.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.783596 2025-01-08T20:27:59.020Z,1736368079.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:59.029Z,1736368079.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:59.032Z,1736368079.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.498734 m, bearing: 14.842333 deg, approach rate: 0.102081 m/s, LOS rate: -0.236262 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.616553 deg. 2025-01-08T20:27:59.033Z,1736368079.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052796 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:59.173Z,1736368079.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:59.175Z,1736368079.175 [DAT](INFO): Reached modem response timeout 2025-01-08T20:27:59.176Z,1736368079.176 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:27:59.177Z,1736368079.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:59.424Z,1736368079.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:59.424Z,1736368079.424 [DAT](INFO): Reached modem response timeout 2025-01-08T20:27:59.424Z,1736368079.424 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:27:59.425Z,1736368079.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:59.440Z,1736368079.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:59.449Z,1736368079.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:59.452Z,1736368079.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.545425 m, bearing: 14.740480 deg, approach rate: 0.111309 m/s, LOS rate: -0.242748 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.589075 deg. 2025-01-08T20:27:59.453Z,1736368079.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052316 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:59.676Z,1736368079.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:59.677Z,1736368079.677 [DAT](INFO): Reached modem response timeout 2025-01-08T20:27:59.677Z,1736368079.677 [DAT](DEBUG): Acoustic response timeout 2025-01-08T20:27:59.678Z,1736368079.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:27:59.813Z,1736368079.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:27:59.821Z,1736368079.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:27:59.824Z,1736368079.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.587967 m, bearing: 14.650296 deg, approach rate: 0.114282 m/s, LOS rate: -0.242214 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.624066 deg. 2025-01-08T20:27:59.825Z,1736368079.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052927 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:27:59.928Z,1736368079.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:27:59.930Z,1736368079.930 [DAT](INFO): DAT read: RX DATA OVERRUNResponse Not Received 2025-01-08T20:27:59.930Z,1736368079.930 [DAT](INFO): response not received 2025-01-08T20:27:59.931Z,1736368079.931 [DAT](INFO): DAT read: user:1345> 2025-01-08T20:27:59.932Z,1736368079.932 [DAT](INFO): DAT read: Tx time:20:27:59.2403 2025-01-08T20:27:59.933Z,1736368079.933 [DAT](INFO): Ping request sent. 2025-01-08T20:27:59.933Z,1736368079.933 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:27:59.933Z,1736368079.933 [DAT](INFO): publishing transmit ping time 2025-01-08T20:27:59.934Z,1736368079.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001091 2025-01-08T20:28:00.181Z,1736368080.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:00.184Z,1736368080.184 [DAT](INFO): DAT read: TxSync time:20:27:59.2395 2025-01-08T20:28:00.187Z,1736368080.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253575 2025-01-08T20:28:00.324Z,1736368080.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:00.331Z,1736368080.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:00.333Z,1736368080.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:28:00.336Z,1736368080.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.654114 m, bearing: 14.524838 deg, approach rate: 0.129195 m/s, LOS rate: -0.244953 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.518320 deg. 2025-01-08T20:28:00.337Z,1736368080.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051082 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:28:00.432Z,1736368080.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:00.432Z,1736368080.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499628 2025-01-08T20:28:00.625Z,1736368080.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:00.633Z,1736368080.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:28:00.636Z,1736368080.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.694565 m, bearing: 14.450842 deg, approach rate: 0.134732 m/s, LOS rate: -0.246411 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.672616 deg. 2025-01-08T20:28:00.638Z,1736368080.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053775 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:28:00.684Z,1736368080.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:00.685Z,1736368080.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751995 2025-01-08T20:28:00.936Z,1736368080.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:00.937Z,1736368080.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004218 2025-01-08T20:28:01.032Z,1736368081.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:01.041Z,1736368081.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:28:01.044Z,1736368081.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.750809 m, bearing: 14.351026 deg, approach rate: 0.137916 m/s, LOS rate: -0.244686 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.595202 deg. 2025-01-08T20:28:01.045Z,1736368081.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052423 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:28:01.189Z,1736368081.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:01.192Z,1736368081.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258195 2025-01-08T20:28:01.440Z,1736368081.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:01.441Z,1736368081.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507850 2025-01-08T20:28:01.464Z,1736368081.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:01.473Z,1736368081.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:28:01.476Z,1736368081.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.810165 m, bearing: 14.247890 deg, approach rate: 0.137305 m/s, LOS rate: -0.238502 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.585248 deg. 2025-01-08T20:28:01.478Z,1736368081.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052250 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:28:01.694Z,1736368081.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:01.695Z,1736368081.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762291 2025-01-08T20:28:01.837Z,1736368081.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:01.845Z,1736368081.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:28:01.848Z,1736368081.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.861511 m, bearing: 14.158623 deg, approach rate: 0.138171 m/s, LOS rate: -0.240153 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.626829 deg. 2025-01-08T20:28:01.849Z,1736368081.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052975 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:28:01.944Z,1736368081.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:01.944Z,1736368081.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011616 2025-01-08T20:28:02.197Z,1736368082.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:02.199Z,1736368082.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265867 2025-01-08T20:28:02.317Z,1736368082.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:02.332Z,1736368082.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:02.352Z,1736368082.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:28:02.357Z,1736368082.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.931259 m, bearing: 14.048650 deg, approach rate: 0.142642 m/s, LOS rate: -0.224825 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.564762 deg. 2025-01-08T20:28:02.358Z,1736368082.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051892 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:28:02.448Z,1736368082.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:02.449Z,1736368082.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516558 2025-01-08T20:28:02.649Z,1736368082.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:02.688Z,1736368082.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:28:02.695Z,1736368082.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 190.979721 m, bearing: 13.972757 deg, approach rate: 0.138772 m/s, LOS rate: -0.217267 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.666936 deg. 2025-01-08T20:28:02.696Z,1736368082.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053675 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:28:02.700Z,1736368082.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:02.701Z,1736368082.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767826 2025-01-08T20:28:02.952Z,1736368082.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:02.952Z,1736368082.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019584 2025-01-08T20:28:03.056Z,1736368083.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:03.064Z,1736368083.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:28:03.067Z,1736368083.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 191.039200 m, bearing: 13.879787 deg, approach rate: 0.156054 m/s, LOS rate: -0.243849 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.615736 deg. 2025-01-08T20:28:03.084Z,1736368083.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052782 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:28:03.205Z,1736368083.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:03.208Z,1736368083.208 [DAT](INFO): DAT read: Rx Time:20:28:01.8866 2025-01-08T20:28:03.210Z,1736368083.210 [DAT](INFO): Rx dataTimestamp_ set to:1736368083.208483 2025-01-08T20:28:03.212Z,1736368083.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278549 2025-01-08T20:28:03.457Z,1736368083.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:03.460Z,1736368083.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526502 2025-01-08T20:28:03.516Z,1736368083.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:03.526Z,1736368083.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.10 m. 2025-01-08T20:28:03.541Z,1736368083.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.100006 m, nav range: 191.106750 m, bearing: 13.780469 deg, approach rate: 0.146379 m/s, LOS rate: -0.215141 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.596710 deg. 2025-01-08T20:28:03.549Z,1736368083.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052450 target range: 189.100006 and range: 189.10 m. 2025-01-08T20:28:03.708Z,1736368083.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:03.714Z,1736368083.714 [DAT](INFO): DAT read: 20:28:01.8866 LVL= 31952, 31409, 17506, 27363, AGC= 60, IDX= 300,-0.18,-0.660,-0.898, 1.016,-0.018, PHS=-0.554,-0.833, 1.031, RAW= 202.0, 4.1, CAL= 202.6, -3.5, ROT= 307.4, 3.5 2025-01-08T20:28:03.716Z,1736368083.716 [DAT](INFO): got valid direction response: 20:28:01.8866 LVL= 31952, 31409, 17506, 27363, AGC= 60, IDX= 300,-0.18,-0.660,-0.898, 1.016,-0.018, PHS=-0.554,-0.833, 1.031, RAW= 202.0, 4.1, CAL= 202.6, -3.5, ROT= 307.4, 3.5 2025-01-08T20:28:03.717Z,1736368083.717 [DAT](INFO): DAT read: Bearing 307.4, 3.5 (Local) 2025-01-08T20:28:03.717Z,1736368083.717 [DAT](INFO): Local bearing/azimuth received: Bearing 307.4, 3.5 (Local) 2025-01-08T20:28:03.719Z,1736368083.719 [DAT](INFO): DAT read: Range 10 to 50 : 181.5 m (Round-trip 242.1 ms) speed 0.1 m/s 2025-01-08T20:28:03.722Z,1736368083.722 [DAT](INFO): DAT read: user:1346> 2025-01-08T20:28:03.741Z,1736368083.741 [DAT](INFO): DAT read: Tx time:20:28:02.9903 2025-01-08T20:28:03.741Z,1736368083.741 [DAT](INFO): Ping request sent. 2025-01-08T20:28:03.741Z,1736368083.741 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:03.741Z,1736368083.741 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:03.742Z,1736368083.742 [DAT](INFO): direction in FSK: [-0.125284,-0.936215,-0.328337] 2025-01-08T20:28:03.743Z,1736368083.743 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:03.743Z,1736368083.743 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:03.746Z,1736368083.746 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:03.746Z,1736368083.746 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:03.872Z,1736368083.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:03.897Z,1736368083.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 181.500000 m, deltaT: 14.617740 s, deltaX: -7.600006 m, approachRate: -0.519917 m/s, rangeRepo size: 4 2025-01-08T20:28:03.901Z,1736368083.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 181.500000 m, bearing: 20.861764 deg, lat: 36.905543 deg, lon: -122.120412 deg, deltaT: 14.617740 s, deltaX: -7.600006 m, approachRate: -0.519917 m/s, posRepo size: 4 2025-01-08T20:28:03.902Z,1736368083.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.50 m. 2025-01-08T20:28:03.917Z,1736368083.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.500000 m, nav range: 186.557220 m, bearing: 14.058634 deg, approach rate: 0.000000 m/s, LOS rate: -0.215141 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.654949 deg. 2025-01-08T20:28:03.918Z,1736368083.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053466 target range: 181.500000 and range: 181.50 m. 2025-01-08T20:28:03.960Z,1736368083.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:03.963Z,1736368083.963 [DAT](INFO): DAT read: TxSync time:20:28:02.9895 2025-01-08T20:28:04.213Z,1736368084.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:04.371Z,1736368084.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:04.378Z,1736368084.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:04.381Z,1736368084.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.50 m. 2025-01-08T20:28:04.384Z,1736368084.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.500000 m, nav range: 186.626907 m, bearing: 13.954568 deg, approach rate: 0.144000 m/s, LOS rate: -0.214962 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.582476 deg. 2025-01-08T20:28:04.385Z,1736368084.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052201 target range: 181.500000 and range: 181.50 m. 2025-01-08T20:28:04.466Z,1736368084.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:04.466Z,1736368084.466 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:04.467Z,1736368084.467 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:04.467Z,1736368084.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:04.680Z,1736368084.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:04.690Z,1736368084.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.50 m. 2025-01-08T20:28:04.694Z,1736368084.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.500000 m, nav range: 186.670013 m, bearing: 13.890022 deg, approach rate: 0.139165 m/s, LOS rate: -0.208331 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.700966 deg. 2025-01-08T20:28:04.695Z,1736368084.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054269 target range: 181.500000 and range: 181.50 m. 2025-01-08T20:28:04.720Z,1736368084.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:04.720Z,1736368084.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979319 2025-01-08T20:28:04.972Z,1736368084.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:04.973Z,1736368084.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231500 2025-01-08T20:28:05.075Z,1736368085.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:05.083Z,1736368085.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.50 m. 2025-01-08T20:28:05.086Z,1736368085.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.500000 m, nav range: 186.725235 m, bearing: 13.807758 deg, approach rate: 0.140607 m/s, LOS rate: -0.209402 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.647838 deg. 2025-01-08T20:28:05.103Z,1736368085.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053342 target range: 181.500000 and range: 181.50 m. 2025-01-08T20:28:05.225Z,1736368085.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:05.226Z,1736368085.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485067 2025-01-08T20:28:05.476Z,1736368085.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:05.476Z,1736368085.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735363 2025-01-08T20:28:05.495Z,1736368085.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:05.503Z,1736368085.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.50 m. 2025-01-08T20:28:05.507Z,1736368085.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.500000 m, nav range: 186.781418 m, bearing: 13.724915 deg, approach rate: 0.133761 m/s, LOS rate: -0.197173 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.646106 deg. 2025-01-08T20:28:05.529Z,1736368085.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053312 target range: 181.500000 and range: 181.50 m. 2025-01-08T20:28:05.730Z,1736368085.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:05.730Z,1736368085.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989070 2025-01-08T20:28:05.887Z,1736368085.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:05.899Z,1736368085.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.50 m. 2025-01-08T20:28:05.903Z,1736368085.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.500000 m, nav range: 186.833359 m, bearing: 13.647497 deg, approach rate: 0.131292 m/s, LOS rate: -0.195638 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.662366 deg. 2025-01-08T20:28:05.905Z,1736368085.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053596 target range: 181.500000 and range: 181.50 m. 2025-01-08T20:28:05.980Z,1736368085.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:05.981Z,1736368085.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240005 2025-01-08T20:28:06.232Z,1736368086.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:06.232Z,1736368086.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491214 2025-01-08T20:28:06.392Z,1736368086.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:06.398Z,1736368086.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:06.402Z,1736368086.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.50 m. 2025-01-08T20:28:06.406Z,1736368086.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.500000 m, nav range: 186.895584 m, bearing: 13.552014 deg, approach rate: 0.123583 m/s, LOS rate: -0.189572 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.608206 deg. 2025-01-08T20:28:06.407Z,1736368086.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052650 target range: 181.500000 and range: 181.50 m. 2025-01-08T20:28:06.488Z,1736368086.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:06.489Z,1736368086.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748064 2025-01-08T20:28:06.697Z,1736368086.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:06.706Z,1736368086.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.50 m. 2025-01-08T20:28:06.709Z,1736368086.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.500000 m, nav range: 186.931747 m, bearing: 13.494297 deg, approach rate: 0.119228 m/s, LOS rate: -0.190251 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.721441 deg. 2025-01-08T20:28:06.710Z,1736368086.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054627 target range: 181.500000 and range: 181.50 m. 2025-01-08T20:28:06.741Z,1736368086.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:06.742Z,1736368086.742 [DAT](INFO): DAT read: Rx Time:20:28:05.6345 2025-01-08T20:28:06.743Z,1736368086.743 [DAT](INFO): Rx dataTimestamp_ set to:1736368086.742600 2025-01-08T20:28:06.744Z,1736368086.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002542 2025-01-08T20:28:06.992Z,1736368086.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:06.994Z,1736368086.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252665 2025-01-08T20:28:07.099Z,1736368087.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:07.108Z,1736368087.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.50 m. 2025-01-08T20:28:07.111Z,1736368087.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.500000 m, nav range: 186.979156 m, bearing: 13.418150 deg, approach rate: 0.117809 m/s, LOS rate: -0.189175 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.666173 deg. 2025-01-08T20:28:07.112Z,1736368087.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053662 target range: 181.500000 and range: 181.50 m. 2025-01-08T20:28:07.244Z,1736368087.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:07.244Z,1736368087.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503358 2025-01-08T20:28:07.496Z,1736368087.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:07.502Z,1736368087.502 [DAT](INFO): DAT read: 20:28:05.6345 LVL= 30000, 30433, 13442, 32755, AGC= 56, IDX= 423,-0.07,-1.730,-2.091,-0.125,-1.094, PHS=-0.548,-0.950, 0.966, RAW= 198.5, 6.1, CAL= 199.2, -2.1, ROT= 310.8, 2.1 2025-01-08T20:28:07.503Z,1736368087.503 [DAT](INFO): got valid direction response: 20:28:05.6345 LVL= 30000, 30433, 13442, 32755, AGC= 56, IDX= 423,-0.07,-1.730,-2.091,-0.125,-1.094, PHS=-0.548,-0.950, 0.966, RAW= 198.5, 6.1, CAL= 199.2, -2.1, ROT= 310.8, 2.1 2025-01-08T20:28:07.505Z,1736368087.505 [DAT](INFO): DAT read: Bearing 310.8, 2.1 (Local) 2025-01-08T20:28:07.505Z,1736368087.505 [DAT](INFO): Local bearing/azimuth received: Bearing 310.8, 2.1 (Local) 2025-01-08T20:28:07.507Z,1736368087.507 [DAT](INFO): DAT read: Range 10 to 50 : 180.0 m (Round-trip 240.1 ms) speed 0.4 m/s 2025-01-08T20:28:07.508Z,1736368087.508 [DAT](INFO): DAT read: user:1347> 2025-01-08T20:28:07.508Z,1736368087.508 [DAT](INFO): DAT read: Tx time:20:28:06.7403 2025-01-08T20:28:07.509Z,1736368087.509 [DAT](INFO): Ping request sent. 2025-01-08T20:28:07.509Z,1736368087.509 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:07.509Z,1736368087.509 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:07.510Z,1736368087.510 [DAT](INFO): direction in FSK: [-0.169085,-0.946761,-0.273959] 2025-01-08T20:28:07.510Z,1736368087.510 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:07.511Z,1736368087.511 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:07.519Z,1736368087.519 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:07.519Z,1736368087.519 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:07.632Z,1736368087.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:07.677Z,1736368087.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 180.000000 m, deltaT: 3.787856 s, deltaX: -1.500000 m, approachRate: -0.396002 m/s, rangeRepo size: 4 2025-01-08T20:28:07.684Z,1736368087.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 180.000000 m, bearing: 17.210009 deg, lat: 36.905455 deg, lon: -122.120374 deg, deltaT: 3.787856 s, deltaX: -1.500000 m, approachRate: -0.396002 m/s, posRepo size: 4 2025-01-08T20:28:07.685Z,1736368087.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.00 m. 2025-01-08T20:28:07.692Z,1736368087.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.000000 m, nav range: 178.403061 m, bearing: 15.088213 deg, approach rate: 0.000000 m/s, LOS rate: -0.189175 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.578344 deg. 2025-01-08T20:28:07.693Z,1736368087.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052129 target range: 180.000000 and range: 180.00 m. 2025-01-08T20:28:07.748Z,1736368087.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:07.750Z,1736368087.750 [DAT](INFO): DAT read: TxSync time:20:28:06.7395 2025-01-08T20:28:08.000Z,1736368088.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:08.003Z,1736368088.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:08.021Z,1736368088.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.00 m. 2025-01-08T20:28:08.032Z,1736368088.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.000000 m, nav range: 178.434738 m, bearing: 15.015612 deg, approach rate: 0.089077 m/s, LOS rate: -0.204118 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.676794 deg. 2025-01-08T20:28:08.033Z,1736368088.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053848 target range: 180.000000 and range: 180.00 m. 2025-01-08T20:28:08.252Z,1736368088.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:08.416Z,1736368088.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:08.424Z,1736368088.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:08.426Z,1736368088.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.00 m. 2025-01-08T20:28:08.429Z,1736368088.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.000000 m, nav range: 178.465439 m, bearing: 14.934294 deg, approach rate: 0.075786 m/s, LOS rate: -0.200702 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.650646 deg. 2025-01-08T20:28:08.430Z,1736368088.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053391 target range: 180.000000 and range: 180.00 m. 2025-01-08T20:28:08.505Z,1736368088.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:08.506Z,1736368088.506 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:08.506Z,1736368088.506 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:08.506Z,1736368088.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:08.756Z,1736368088.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:08.757Z,1736368088.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247677 2025-01-08T20:28:08.777Z,1736368088.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:08.785Z,1736368088.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.00 m. 2025-01-08T20:28:08.789Z,1736368088.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.000000 m, nav range: 178.493011 m, bearing: 14.863472 deg, approach rate: 0.076804 m/s, LOS rate: -0.197246 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.682124 deg. 2025-01-08T20:28:08.790Z,1736368088.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053941 target range: 180.000000 and range: 180.00 m. 2025-01-08T20:28:09.009Z,1736368089.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:09.011Z,1736368089.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501340 2025-01-08T20:28:09.216Z,1736368089.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:09.260Z,1736368089.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:09.260Z,1736368089.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751545 2025-01-08T20:28:09.357Z,1736368089.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.00 m. 2025-01-08T20:28:09.360Z,1736368089.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.000000 m, nav range: 178.527466 m, bearing: 14.777125 deg, approach rate: 0.060194 m/s, LOS rate: -0.150824 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.635568 deg. 2025-01-08T20:28:09.361Z,1736368089.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053128 target range: 180.000000 and range: 180.00 m. 2025-01-08T20:28:09.512Z,1736368089.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:09.513Z,1736368089.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003713 2025-01-08T20:28:09.661Z,1736368089.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:09.693Z,1736368089.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.00 m. 2025-01-08T20:28:09.700Z,1736368089.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.000000 m, nav range: 178.562698 m, bearing: 14.686226 deg, approach rate: 0.105101 m/s, LOS rate: -0.271103 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.621915 deg. 2025-01-08T20:28:09.701Z,1736368089.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052890 target range: 180.000000 and range: 180.00 m. 2025-01-08T20:28:09.764Z,1736368089.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:09.765Z,1736368089.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256470 2025-01-08T20:28:10.016Z,1736368090.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:10.016Z,1736368090.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507322 2025-01-08T20:28:10.046Z,1736368090.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:10.063Z,1736368090.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.00 m. 2025-01-08T20:28:10.070Z,1736368090.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.000000 m, nav range: 178.593460 m, bearing: 14.607439 deg, approach rate: 0.083084 m/s, LOS rate: -0.212760 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.658237 deg. 2025-01-08T20:28:10.071Z,1736368090.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053524 target range: 180.000000 and range: 180.00 m. 2025-01-08T20:28:10.268Z,1736368090.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:10.268Z,1736368090.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759474 2025-01-08T20:28:10.460Z,1736368090.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:10.466Z,1736368090.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:10.468Z,1736368090.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.00 m. 2025-01-08T20:28:10.472Z,1736368090.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.000000 m, nav range: 178.626709 m, bearing: 14.519091 deg, approach rate: 0.081983 m/s, LOS rate: -0.217804 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.629563 deg. 2025-01-08T20:28:10.473Z,1736368090.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053023 target range: 180.000000 and range: 180.00 m. 2025-01-08T20:28:10.520Z,1736368090.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:10.522Z,1736368090.522 [DAT](INFO): DAT read: Rx Time:20:28:09.3822 2025-01-08T20:28:10.523Z,1736368090.523 [DAT](INFO): Rx dataTimestamp_ set to:1736368090.522247 2025-01-08T20:28:10.524Z,1736368090.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015119 2025-01-08T20:28:10.772Z,1736368090.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:10.773Z,1736368090.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263997 2025-01-08T20:28:10.847Z,1736368090.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:10.856Z,1736368090.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.00 m. 2025-01-08T20:28:10.859Z,1736368090.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.000000 m, nav range: 178.658218 m, bearing: 14.436347 deg, approach rate: 0.081478 m/s, LOS rate: -0.213923 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.646372 deg. 2025-01-08T20:28:10.860Z,1736368090.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053317 target range: 180.000000 and range: 180.00 m. 2025-01-08T20:28:11.024Z,1736368091.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:11.024Z,1736368091.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515468 2025-01-08T20:28:11.240Z,1736368091.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:11.248Z,1736368091.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.00 m. 2025-01-08T20:28:11.250Z,1736368091.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.000000 m, nav range: 178.690552 m, bearing: 14.352427 deg, approach rate: 0.082334 m/s, LOS rate: -0.213657 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.642842 deg. 2025-01-08T20:28:11.252Z,1736368091.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053255 target range: 180.000000 and range: 180.00 m. 2025-01-08T20:28:11.276Z,1736368091.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:11.286Z,1736368091.286 [DAT](INFO): DAT read: 20:28:09.3823 LVL= 24704, 26097, 11442, 26051, AGC= 60, IDX= 415,-0.23,-1.475,-1.783, 0.130,-0.843, PHS=-0.544,-0.893, 0.970, RAW= 199.9, 5.5, CAL= 200.5, -2.5, ROT= 309.5, 2.5 2025-01-08T20:28:11.288Z,1736368091.288 [DAT](INFO): got valid direction response: 20:28:09.3823 LVL= 24704, 26097, 11442, 26051, AGC= 60, IDX= 415,-0.23,-1.475,-1.783, 0.130,-0.843, PHS=-0.544,-0.893, 0.970, RAW= 199.9, 5.5, CAL= 200.5, -2.5, ROT= 309.5, 2.5 2025-01-08T20:28:11.289Z,1736368091.289 [DAT](INFO): DAT read: Bearing 309.5, 2.5 (Local) 2025-01-08T20:28:11.289Z,1736368091.289 [DAT](INFO): Local bearing/azimuth received: Bearing 309.5, 2.5 (Local) 2025-01-08T20:28:11.300Z,1736368091.300 [DAT](INFO): DAT read: Range 10 to 50 : 178.2 m (Round-trip 237.7 ms) speed 0.4 m/s 2025-01-08T20:28:11.303Z,1736368091.303 [DAT](INFO): DAT read: user:1348> 2025-01-08T20:28:11.330Z,1736368091.330 [DAT](INFO): DAT read: Tx time:20:28:10.4904 2025-01-08T20:28:11.344Z,1736368091.344 [DAT](INFO): Ping request sent. 2025-01-08T20:28:11.344Z,1736368091.344 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:11.346Z,1736368091.346 [DAT](INFO): DAT read: TxSync time:20:28:10.4896 2025-01-08T20:28:11.388Z,1736368091.388 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:11.389Z,1736368091.389 [DAT](INFO): direction in FSK: [-0.154764,-0.942946,-0.294790] 2025-01-08T20:28:11.389Z,1736368091.389 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:11.390Z,1736368091.390 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:11.417Z,1736368091.417 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:11.417Z,1736368091.417 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:11.528Z,1736368091.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:11.702Z,1736368091.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:11.716Z,1736368091.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 178.199997 m, deltaT: 3.780271 s, deltaX: -1.800003 m, approachRate: -0.476157 m/s, rangeRepo size: 4 2025-01-08T20:28:11.719Z,1736368091.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 178.199997 m, bearing: 18.046515 deg, lat: 36.905333 deg, lon: -122.120344 deg, deltaT: 3.780271 s, deltaX: -1.800003 m, approachRate: -0.476157 m/s, posRepo size: 4 2025-01-08T20:28:11.720Z,1736368091.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m. 2025-01-08T20:28:11.723Z,1736368091.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.199997 m, nav range: 166.258148 m, bearing: 16.303229 deg, approach rate: 0.000000 m/s, LOS rate: -0.213657 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.594860 deg. 2025-01-08T20:28:11.724Z,1736368091.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052418 target range: 178.199997 and range: 178.20 m. 2025-01-08T20:28:11.780Z,1736368091.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:12.032Z,1736368092.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:12.057Z,1736368092.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:12.096Z,1736368092.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m. 2025-01-08T20:28:12.098Z,1736368092.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.199997 m, nav range: 166.284622 m, bearing: 16.216903 deg, approach rate: 0.074369 m/s, LOS rate: -0.242462 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.635621 deg. 2025-01-08T20:28:12.100Z,1736368092.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053129 target range: 178.199997 and range: 178.20 m. 2025-01-08T20:28:12.284Z,1736368092.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:12.510Z,1736368092.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:12.517Z,1736368092.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:12.536Z,1736368092.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:12.536Z,1736368092.536 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:12.536Z,1736368092.536 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:12.537Z,1736368092.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:12.540Z,1736368092.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m. 2025-01-08T20:28:12.542Z,1736368092.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.199997 m, nav range: 166.322372 m, bearing: 16.099089 deg, approach rate: 0.084287 m/s, LOS rate: -0.262989 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.541199 deg. 2025-01-08T20:28:12.548Z,1736368092.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051481 target range: 178.199997 and range: 178.20 m. 2025-01-08T20:28:12.788Z,1736368092.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:12.789Z,1736368092.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.445316 2025-01-08T20:28:12.868Z,1736368092.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:12.877Z,1736368092.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m. 2025-01-08T20:28:12.880Z,1736368092.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.199997 m, nav range: 166.353119 m, bearing: 16.006422 deg, approach rate: 0.085941 m/s, LOS rate: -0.258967 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.616611 deg. 2025-01-08T20:28:12.881Z,1736368092.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052797 target range: 178.199997 and range: 178.20 m. 2025-01-08T20:28:13.040Z,1736368093.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:13.040Z,1736368093.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.696439 2025-01-08T20:28:13.265Z,1736368093.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:13.273Z,1736368093.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m. 2025-01-08T20:28:13.276Z,1736368093.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.199997 m, nav range: 166.387589 m, bearing: 15.903567 deg, approach rate: 0.086976 m/s, LOS rate: -0.259478 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.586057 deg. 2025-01-08T20:28:13.277Z,1736368093.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052264 target range: 178.199997 and range: 178.20 m. 2025-01-08T20:28:13.292Z,1736368093.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:13.292Z,1736368093.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948590 2025-01-08T20:28:13.544Z,1736368093.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:13.545Z,1736368093.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200626 2025-01-08T20:28:13.706Z,1736368093.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:13.715Z,1736368093.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m. 2025-01-08T20:28:13.718Z,1736368093.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.199997 m, nav range: 166.422150 m, bearing: 15.785430 deg, approach rate: 0.078320 m/s, LOS rate: -0.267657 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.540224 deg. 2025-01-08T20:28:13.719Z,1736368093.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051464 target range: 178.199997 and range: 178.20 m. 2025-01-08T20:28:13.796Z,1736368093.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:13.796Z,1736368093.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452576 2025-01-08T20:28:14.048Z,1736368094.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:14.048Z,1736368094.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704398 2025-01-08T20:28:14.071Z,1736368094.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:14.080Z,1736368094.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:28:14.100Z,1736368094.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m. 2025-01-08T20:28:14.102Z,1736368094.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.199997 m, nav range: 166.451385 m, bearing: 15.687867 deg, approach rate: 0.080193 m/s, LOS rate: -0.267565 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.601922 deg. 2025-01-08T20:28:14.109Z,1736368094.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052541 target range: 178.199997 and range: 178.20 m. 2025-01-08T20:28:14.300Z,1736368094.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:14.300Z,1736368094.300 [DAT](INFO): DAT read: Rx Time:20:28:13.1293 2025-01-08T20:28:14.301Z,1736368094.301 [DAT](INFO): Rx dataTimestamp_ set to:1736368094.300604 2025-01-08T20:28:14.301Z,1736368094.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957516 2025-01-08T20:28:14.501Z,1736368094.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:14.510Z,1736368094.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m. 2025-01-08T20:28:14.514Z,1736368094.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.199997 m, nav range: 166.498169 m, bearing: 15.570895 deg, approach rate: 0.108514 m/s, LOS rate: -0.271240 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.543744 deg. 2025-01-08T20:28:14.515Z,1736368094.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051525 target range: 178.199997 and range: 178.20 m. 2025-01-08T20:28:14.554Z,1736368094.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:14.555Z,1736368094.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.210692 2025-01-08T20:28:14.805Z,1736368094.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:14.808Z,1736368094.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463040 2025-01-08T20:28:14.899Z,1736368094.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:14.907Z,1736368094.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:14.909Z,1736368094.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m. 2025-01-08T20:28:14.928Z,1736368094.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.199997 m, nav range: 166.542068 m, bearing: 15.462714 deg, approach rate: 0.110126 m/s, LOS rate: -0.271308 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.570104 deg. 2025-01-08T20:28:14.930Z,1736368094.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051986 target range: 178.199997 and range: 178.20 m. 2025-01-08T20:28:15.056Z,1736368095.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:15.065Z,1736368095.065 [DAT](INFO): DAT read: 20:28:13.1293 LVL= 25936, 31441, 13554, 26035, AGC= 64, IDX= 417,-0.09, 2.423, 2.228,-2.143, 3.124, PHS=-0.613,-0.849, 1.013, RAW= 203.3, 5.2, CAL= 204.3, -2.4, ROT= 305.7, 2.4 2025-01-08T20:28:15.066Z,1736368095.066 [DAT](INFO): got valid direction response: 20:28:13.1293 LVL= 25936, 31441, 13554, 26035, AGC= 64, IDX= 417,-0.09, 2.423, 2.228,-2.143, 3.124, PHS=-0.613,-0.849, 1.013, RAW= 203.3, 5.2, CAL= 204.3, -2.4, ROT= 305.7, 2.4 2025-01-08T20:28:15.067Z,1736368095.067 [DAT](INFO): DAT read: Bearing 305.7, 2.4 (Local) 2025-01-08T20:28:15.068Z,1736368095.068 [DAT](INFO): Local bearing/azimuth received: Bearing 305.7, 2.4 (Local) 2025-01-08T20:28:15.069Z,1736368095.069 [DAT](INFO): DAT read: Range 10 to 50 : 176.1 m (Round-trip 234.8 ms) speed 0.2 m/s 2025-01-08T20:28:15.070Z,1736368095.070 [DAT](INFO): DAT read: user:1349> 2025-01-08T20:28:15.071Z,1736368095.071 [DAT](INFO): DAT read: Tx time:20:28:14.2419 2025-01-08T20:28:15.071Z,1736368095.071 [DAT](INFO): Ping request sent. 2025-01-08T20:28:15.071Z,1736368095.071 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:15.072Z,1736368095.072 [DAT](INFO): DAT read: TxSync time:20:28:14.2412 2025-01-08T20:28:15.072Z,1736368095.072 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:15.073Z,1736368095.073 [DAT](INFO): direction in FSK: [-0.141760,-0.926287,-0.349136] 2025-01-08T20:28:15.074Z,1736368095.074 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:15.074Z,1736368095.074 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:15.077Z,1736368095.077 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:15.077Z,1736368095.077 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:15.084Z,1736368095.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:28:15.287Z,1736368095.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:15.308Z,1736368095.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:15.327Z,1736368095.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 176.100006 m, deltaT: 3.780410 s, deltaX: -2.099991 m, approachRate: -0.555493 m/s, rangeRepo size: 4 2025-01-08T20:28:15.330Z,1736368095.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 176.100006 m, bearing: 19.429251 deg, lat: 36.905284 deg, lon: -122.120305 deg, deltaT: 3.780410 s, deltaX: -2.099991 m, approachRate: -0.555493 m/s, posRepo size: 4 2025-01-08T20:28:15.330Z,1736368095.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:15.337Z,1736368095.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.362671 m, bearing: 17.056255 deg, approach rate: 0.000000 m/s, LOS rate: -0.271308 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.557928 deg. 2025-01-08T20:28:15.344Z,1736368095.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051773 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:15.562Z,1736368095.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:15.714Z,1736368095.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:15.740Z,1736368095.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:15.743Z,1736368095.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.411041 m, bearing: 16.935023 deg, approach rate: 0.115839 m/s, LOS rate: -0.290245 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.530972 deg. 2025-01-08T20:28:15.744Z,1736368095.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051302 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:15.812Z,1736368095.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:16.064Z,1736368096.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:16.099Z,1736368096.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:16.107Z,1736368096.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:16.110Z,1736368096.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.455032 m, bearing: 16.827156 deg, approach rate: 0.119997 m/s, LOS rate: -0.294155 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.571047 deg. 2025-01-08T20:28:16.111Z,1736368096.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052002 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:16.316Z,1736368096.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:16.529Z,1736368096.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:16.539Z,1736368096.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:16.542Z,1736368096.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.502686 m, bearing: 16.708279 deg, approach rate: 0.110541 m/s, LOS rate: -0.275677 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.538037 deg. 2025-01-08T20:28:16.544Z,1736368096.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051426 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:16.568Z,1736368096.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:16.820Z,1736368096.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:16.917Z,1736368096.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:16.925Z,1736368096.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:16.929Z,1736368096.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:16.932Z,1736368096.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.546158 m, bearing: 16.601366 deg, approach rate: 0.111692 m/s, LOS rate: -0.274614 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.573907 deg. 2025-01-08T20:28:16.933Z,1736368096.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052052 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:17.073Z,1736368097.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:17.073Z,1736368097.073 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:17.073Z,1736368097.073 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:17.074Z,1736368097.074 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:17.303Z,1736368097.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:17.312Z,1736368097.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:17.315Z,1736368097.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.589096 m, bearing: 16.494800 deg, approach rate: 0.111403 m/s, LOS rate: -0.276413 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.574944 deg. 2025-01-08T20:28:17.316Z,1736368097.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052070 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:17.324Z,1736368097.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:17.325Z,1736368097.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253489 2025-01-08T20:28:17.576Z,1736368097.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:17.576Z,1736368097.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505322 2025-01-08T20:28:17.729Z,1736368097.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:17.739Z,1736368097.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:17.742Z,1736368097.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.632278 m, bearing: 16.379774 deg, approach rate: 0.101544 m/s, LOS rate: -0.270411 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.549576 deg. 2025-01-08T20:28:17.743Z,1736368097.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051627 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:17.828Z,1736368097.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:17.829Z,1736368097.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757557 2025-01-08T20:28:18.080Z,1736368098.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:18.081Z,1736368098.081 [DAT](INFO): DAT read: Rx Time:20:28:16.9084 2025-01-08T20:28:18.081Z,1736368098.081 [DAT](INFO): Rx dataTimestamp_ set to:1736368098.080695 2025-01-08T20:28:18.081Z,1736368098.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010422 2025-01-08T20:28:18.153Z,1736368098.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:18.181Z,1736368098.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:18.188Z,1736368098.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.675919 m, bearing: 16.265342 deg, approach rate: 0.098430 m/s, LOS rate: -0.258032 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.551357 deg. 2025-01-08T20:28:18.189Z,1736368098.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051658 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:18.332Z,1736368098.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:18.332Z,1736368098.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261293 2025-01-08T20:28:18.587Z,1736368098.587 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:18.591Z,1736368098.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519477 2025-01-08T20:28:18.621Z,1736368098.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:18.639Z,1736368098.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:18.653Z,1736368098.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.724045 m, bearing: 16.145890 deg, approach rate: 0.105328 m/s, LOS rate: -0.261352 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.536311 deg. 2025-01-08T20:28:18.660Z,1736368098.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051396 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:18.836Z,1736368098.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:18.843Z,1736368098.843 [DAT](INFO): DAT read: 20:28:16.9084 LVL= 26256, 27185, 13634, 19955, AGC= 58, IDX= 218, 0.19, 2.998, 3.130,-2.055, 2.879, PHS= 0.207, 0.298, 1.346, RAW= 214.1, -30.8, CAL= 211.7, -39.0, ROT= 298.3, 39.0 2025-01-08T20:28:18.844Z,1736368098.844 [DAT](INFO): got valid direction response: 20:28:16.9084 LVL= 26256, 27185, 13634, 19955, AGC= 58, IDX= 218, 0.19, 2.998, 3.130,-2.055, 2.879, PHS= 0.207, 0.298, 1.346, RAW= 214.1, -30.8, CAL= 211.7, -39.0, ROT= 298.3, 39.0 2025-01-08T20:28:18.845Z,1736368098.845 [DAT](INFO): DAT read: Bearing 298.3, 39.0 (Local) 2025-01-08T20:28:18.846Z,1736368098.846 [DAT](INFO): Local bearing/azimuth received: Bearing 298.3, 39.0 (Local) 2025-01-08T20:28:18.848Z,1736368098.848 [DAT](INFO): DAT read: Range 10 to 50 : 196.8 m (Round-trip 262.4 ms) speed 0.4 m/s 2025-01-08T20:28:18.848Z,1736368098.848 [DAT](INFO): DAT read: user:1350> 2025-01-08T20:28:18.849Z,1736368098.849 [DAT](INFO): DAT read: Tx time:20:28:17.9904 2025-01-08T20:28:18.849Z,1736368098.849 [DAT](INFO): Ping request sent. 2025-01-08T20:28:18.849Z,1736368098.849 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:18.850Z,1736368098.850 [DAT](INFO): DAT read: TxSync time:20:28:17.9896 2025-01-08T20:28:18.851Z,1736368098.851 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:18.881Z,1736368098.881 [DAT](INFO): direction in FSK: [0.518460,-0.759406,-0.393068] 2025-01-08T20:28:18.881Z,1736368098.881 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:18.881Z,1736368098.881 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:18.885Z,1736368098.885 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:18.885Z,1736368098.885 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:18.981Z,1736368098.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:19.017Z,1736368099.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 196.800003 m, deltaT: 3.779406 s, deltaX: 20.699997 m, approachRate: 5.477050 m/s, rangeRepo size: 4 2025-01-08T20:28:19.017Z,1736368099.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:19.025Z,1736368099.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.761658 m, bearing: 16.054074 deg, approach rate: 0.099449 m/s, LOS rate: -0.242707 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.619175 deg. 2025-01-08T20:28:19.026Z,1736368099.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052842 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:19.089Z,1736368099.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:19.340Z,1736368099.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:19.366Z,1736368099.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:19.373Z,1736368099.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:19.377Z,1736368099.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:19.401Z,1736368099.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.802994 m, bearing: 15.955812 deg, approach rate: 0.115084 m/s, LOS rate: -0.273503 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.599848 deg. 2025-01-08T20:28:19.402Z,1736368099.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052505 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:19.592Z,1736368099.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:19.592Z,1736368099.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:19.592Z,1736368099.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:19.593Z,1736368099.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:19.781Z,1736368099.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:19.791Z,1736368099.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:19.793Z,1736368099.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.848816 m, bearing: 15.853271 deg, approach rate: 0.110367 m/s, LOS rate: -0.246909 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.587024 deg. 2025-01-08T20:28:19.795Z,1736368099.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052281 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:19.844Z,1736368099.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:19.846Z,1736368099.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995761 2025-01-08T20:28:20.096Z,1736368100.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:20.096Z,1736368100.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246872 2025-01-08T20:28:20.187Z,1736368100.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:20.203Z,1736368100.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:20.223Z,1736368100.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.894333 m, bearing: 15.752976 deg, approach rate: 0.110474 m/s, LOS rate: -0.243359 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.593756 deg. 2025-01-08T20:28:20.225Z,1736368100.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052398 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:20.348Z,1736368100.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:20.348Z,1736368100.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498969 2025-01-08T20:28:20.584Z,1736368100.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:20.593Z,1736368100.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:20.596Z,1736368100.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.931702 m, bearing: 15.660025 deg, approach rate: 0.095630 m/s, LOS rate: -0.237813 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.615771 deg. 2025-01-08T20:28:20.597Z,1736368100.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052783 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:20.604Z,1736368100.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:20.605Z,1736368100.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754755 2025-01-08T20:28:20.856Z,1736368100.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:20.857Z,1736368100.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007089 2025-01-08T20:28:20.979Z,1736368100.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:20.989Z,1736368100.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:20.996Z,1736368100.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 162.967407 m, bearing: 15.570347 deg, approach rate: 0.090421 m/s, LOS rate: -0.227051 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.625583 deg. 2025-01-08T20:28:20.997Z,1736368100.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052954 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:21.108Z,1736368101.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:21.109Z,1736368101.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259861 2025-01-08T20:28:21.360Z,1736368101.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:21.360Z,1736368101.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510814 2025-01-08T20:28:21.390Z,1736368101.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:21.396Z,1736368101.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:21.398Z,1736368101.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:21.401Z,1736368101.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 163.006607 m, bearing: 15.471511 deg, approach rate: 0.095576 m/s, LOS rate: -0.240923 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.598122 deg. 2025-01-08T20:28:21.402Z,1736368101.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052474 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:21.612Z,1736368101.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:21.613Z,1736368101.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763941 2025-01-08T20:28:21.826Z,1736368101.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:21.834Z,1736368101.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:21.837Z,1736368101.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 163.041336 m, bearing: 15.372975 deg, approach rate: 0.079671 m/s, LOS rate: -0.226001 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.599015 deg. 2025-01-08T20:28:21.839Z,1736368101.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052490 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:21.884Z,1736368101.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:21.886Z,1736368101.886 [DAT](INFO): DAT read: Rx Time:20:28:20.6248 2025-01-08T20:28:21.886Z,1736368101.886 [DAT](INFO): Rx dataTimestamp_ set to:1736368101.886087 2025-01-08T20:28:21.887Z,1736368101.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037948 2025-01-08T20:28:22.136Z,1736368102.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:22.137Z,1736368102.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287093 2025-01-08T20:28:22.186Z,1736368102.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:22.194Z,1736368102.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m. 2025-01-08T20:28:22.197Z,1736368102.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.100006 m, nav range: 163.069946 m, bearing: 15.291547 deg, approach rate: 0.079448 m/s, LOS rate: -0.226079 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.650317 deg. 2025-01-08T20:28:22.198Z,1736368102.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053385 target range: 176.100006 and range: 176.10 m. 2025-01-08T20:28:22.388Z,1736368102.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:22.395Z,1736368102.395 [DAT](INFO): DAT read: 20:28:20.6249 LVL= 22304, 22801, 11378, 30099, AGC= 61, IDX= 114,-0.49, 1.567, 1.333,-3.032, 2.258, PHS=-0.603,-0.878, 0.990, RAW= 202.2, 5.7, CAL= 203.1, -2.1, ROT= 306.9, 2.1 2025-01-08T20:28:22.396Z,1736368102.396 [DAT](INFO): got valid direction response: 20:28:20.6249 LVL= 22304, 22801, 11378, 30099, AGC= 61, IDX= 114,-0.49, 1.567, 1.333,-3.032, 2.258, PHS=-0.603,-0.878, 0.990, RAW= 202.2, 5.7, CAL= 203.1, -2.1, ROT= 306.9, 2.1 2025-01-08T20:28:22.397Z,1736368102.397 [DAT](INFO): DAT read: Bearing 306.9, 2.1 (Local) 2025-01-08T20:28:22.398Z,1736368102.398 [DAT](INFO): Local bearing/azimuth received: Bearing 306.9, 2.1 (Local) 2025-01-08T20:28:22.399Z,1736368102.399 [DAT](INFO): DAT read: Range 10 to 50 : 172.6 m (Round-trip 230.2 ms) speed 0.4 m/s 2025-01-08T20:28:22.400Z,1736368102.400 [DAT](INFO): DAT read: user:1351> 2025-01-08T20:28:22.401Z,1736368102.401 [DAT](INFO): DAT read: Tx time:20:28:21.7405 2025-01-08T20:28:22.401Z,1736368102.401 [DAT](INFO): Ping request sent. 2025-01-08T20:28:22.401Z,1736368102.401 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:22.401Z,1736368102.401 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:22.402Z,1736368102.402 [DAT](INFO): direction in FSK: [-0.153442,-0.930929,-0.331403] 2025-01-08T20:28:22.402Z,1736368102.402 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:22.403Z,1736368102.403 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:22.446Z,1736368102.446 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:22.446Z,1736368102.446 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:22.641Z,1736368102.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:22.642Z,1736368102.642 [DAT](INFO): DAT read: TxSync time:20:28:21.7397 2025-01-08T20:28:22.698Z,1736368102.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:22.729Z,1736368102.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.600006 m, deltaT: 7.332182 s, deltaX: -3.500000 m, approachRate: -0.477348 m/s, rangeRepo size: 4 2025-01-08T20:28:22.736Z,1736368102.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 172.600006 m, bearing: 18.012864 deg, lat: 36.905210 deg, lon: -122.120257 deg, deltaT: 7.332182 s, deltaX: -3.500000 m, approachRate: -0.477348 m/s, posRepo size: 4 2025-01-08T20:28:22.737Z,1736368102.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.60 m. 2025-01-08T20:28:22.748Z,1736368102.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.600006 m, nav range: 156.389954 m, bearing: 17.461589 deg, approach rate: 0.000000 m/s, LOS rate: -0.226079 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.532101 deg. 2025-01-08T20:28:22.749Z,1736368102.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051322 target range: 172.600006 and range: 172.60 m. 2025-01-08T20:28:22.892Z,1736368102.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:23.032Z,1736368103.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:23.057Z,1736368103.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.60 m. 2025-01-08T20:28:23.068Z,1736368103.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.600006 m, nav range: 156.407181 m, bearing: 17.383753 deg, approach rate: 0.052412 m/s, LOS rate: -0.236780 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.661076 deg. 2025-01-08T20:28:23.069Z,1736368103.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053573 target range: 172.600006 and range: 172.60 m. 2025-01-08T20:28:23.144Z,1736368103.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:23.396Z,1736368103.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:23.443Z,1736368103.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:23.449Z,1736368103.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:23.452Z,1736368103.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.60 m. 2025-01-08T20:28:23.456Z,1736368103.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.600006 m, nav range: 156.429245 m, bearing: 17.288295 deg, approach rate: 0.056020 m/s, LOS rate: -0.242331 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.608226 deg. 2025-01-08T20:28:23.460Z,1736368103.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052651 target range: 172.600006 and range: 172.60 m. 2025-01-08T20:28:23.649Z,1736368103.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:23.649Z,1736368103.649 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:23.650Z,1736368103.650 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:23.650Z,1736368103.650 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:23.865Z,1736368103.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:23.900Z,1736368103.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:23.901Z,1736368103.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499523 2025-01-08T20:28:23.904Z,1736368103.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.60 m. 2025-01-08T20:28:23.911Z,1736368103.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.600006 m, nav range: 156.452805 m, bearing: 17.190514 deg, approach rate: 0.052597 m/s, LOS rate: -0.218262 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.601260 deg. 2025-01-08T20:28:23.912Z,1736368103.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052529 target range: 172.600006 and range: 172.60 m. 2025-01-08T20:28:24.152Z,1736368104.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:24.153Z,1736368104.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752153 2025-01-08T20:28:24.270Z,1736368104.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:24.292Z,1736368104.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.60 m. 2025-01-08T20:28:24.294Z,1736368104.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.600006 m, nav range: 156.476013 m, bearing: 17.096773 deg, approach rate: 0.059820 m/s, LOS rate: -0.241583 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.613377 deg. 2025-01-08T20:28:24.301Z,1736368104.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052741 target range: 172.600006 and range: 172.60 m. 2025-01-08T20:28:24.404Z,1736368104.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:24.405Z,1736368104.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004331 2025-01-08T20:28:24.656Z,1736368104.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:24.657Z,1736368104.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256349 2025-01-08T20:28:24.706Z,1736368104.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:24.715Z,1736368104.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.60 m. 2025-01-08T20:28:24.717Z,1736368104.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.600006 m, nav range: 156.503754 m, bearing: 16.994966 deg, approach rate: 0.064912 m/s, LOS rate: -0.238184 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.589192 deg. 2025-01-08T20:28:24.719Z,1736368104.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052319 target range: 172.600006 and range: 172.60 m. 2025-01-08T20:28:24.908Z,1736368104.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:24.910Z,1736368104.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508637 2025-01-08T20:28:25.078Z,1736368105.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:25.086Z,1736368105.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.60 m. 2025-01-08T20:28:25.090Z,1736368105.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.600006 m, nav range: 156.527466 m, bearing: 16.906895 deg, approach rate: 0.063836 m/s, LOS rate: -0.237062 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.630387 deg. 2025-01-08T20:28:25.092Z,1736368105.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053038 target range: 172.600006 and range: 172.60 m. 2025-01-08T20:28:25.161Z,1736368105.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:25.162Z,1736368105.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761119 2025-01-08T20:28:25.412Z,1736368105.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:25.412Z,1736368105.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011381 2025-01-08T20:28:25.477Z,1736368105.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:25.492Z,1736368105.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:25.494Z,1736368105.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.60 m. 2025-01-08T20:28:25.501Z,1736368105.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.600006 m, nav range: 156.552902 m, bearing: 16.813061 deg, approach rate: 0.062291 m/s, LOS rate: -0.229751 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.613103 deg. 2025-01-08T20:28:25.502Z,1736368105.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052736 target range: 172.600006 and range: 172.60 m. 2025-01-08T20:28:25.665Z,1736368105.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:25.666Z,1736368105.666 [DAT](INFO): DAT read: Rx Time:20:28:24.3725 2025-01-08T20:28:25.667Z,1736368105.667 [DAT](INFO): Rx dataTimestamp_ set to:1736368105.666382 2025-01-08T20:28:25.668Z,1736368105.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266877 2025-01-08T20:28:25.892Z,1736368105.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:25.900Z,1736368105.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.60 m. 2025-01-08T20:28:25.902Z,1736368105.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.600006 m, nav range: 156.581055 m, bearing: 16.712451 deg, approach rate: 0.069484 m/s, LOS rate: -0.248276 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.592784 deg. 2025-01-08T20:28:25.904Z,1736368105.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052381 target range: 172.600006 and range: 172.60 m. 2025-01-08T20:28:25.916Z,1736368105.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:25.916Z,1736368105.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515386 2025-01-08T20:28:26.168Z,1736368106.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:26.175Z,1736368106.175 [DAT](INFO): DAT read: 20:28:24.3725 LVL= 26720, 27633, 15602, 29299, AGC= 59, IDX= 410, 0.06,-0.704,-0.897, 1.037, 0.000, PHS=-0.616,-0.850, 1.034, RAW= 203.4, 4.9, CAL= 204.3, -2.6, ROT= 305.7, 2.6 2025-01-08T20:28:26.176Z,1736368106.176 [DAT](INFO): got valid direction response: 20:28:24.3725 LVL= 26720, 27633, 15602, 29299, AGC= 59, IDX= 410, 0.06,-0.704,-0.897, 1.037, 0.000, PHS=-0.616,-0.850, 1.034, RAW= 203.4, 4.9, CAL= 204.3, -2.6, ROT= 305.7, 2.6 2025-01-08T20:28:26.177Z,1736368106.177 [DAT](INFO): DAT read: Bearing 305.7, 2.6 (Local) 2025-01-08T20:28:26.178Z,1736368106.178 [DAT](INFO): Local bearing/azimuth received: Bearing 305.7, 2.6 (Local) 2025-01-08T20:28:26.182Z,1736368106.182 [DAT](INFO): DAT read: Range 10 to 50 : 170.9 m (Round-trip 227.9 ms) speed 0.4 m/s 2025-01-08T20:28:26.183Z,1736368106.183 [DAT](INFO): DAT read: user:1352> 2025-01-08T20:28:26.184Z,1736368106.184 [DAT](INFO): DAT read: Tx time:20:28:25.4905 2025-01-08T20:28:26.184Z,1736368106.184 [DAT](INFO): Ping request sent. 2025-01-08T20:28:26.184Z,1736368106.184 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:26.184Z,1736368106.184 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:26.185Z,1736368106.185 [DAT](INFO): direction in FSK: [-0.136728,-0.926261,-0.351207] 2025-01-08T20:28:26.186Z,1736368106.186 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:26.186Z,1736368106.186 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:26.213Z,1736368106.213 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:26.214Z,1736368106.214 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:26.280Z,1736368106.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:26.330Z,1736368106.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.899994 m, deltaT: 3.779203 s, deltaX: -1.700012 m, approachRate: -0.449834 m/s, rangeRepo size: 4 2025-01-08T20:28:26.336Z,1736368106.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 170.899994 m, bearing: 18.721401 deg, lat: 36.905191 deg, lon: -122.120247 deg, deltaT: 3.779203 s, deltaX: -1.700012 m, approachRate: -0.449834 m/s, posRepo size: 4 2025-01-08T20:28:26.337Z,1736368106.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.90 m. 2025-01-08T20:28:26.346Z,1736368106.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.899994 m, nav range: 154.900757 m, bearing: 17.160199 deg, approach rate: 0.000000 m/s, LOS rate: -0.248276 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.574641 deg. 2025-01-08T20:28:26.360Z,1736368106.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052065 target range: 170.899994 and range: 170.90 m. 2025-01-08T20:28:26.420Z,1736368106.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:26.422Z,1736368106.422 [DAT](INFO): DAT read: TxSync time:20:28:25.4897 2025-01-08T20:28:26.672Z,1736368106.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:26.734Z,1736368106.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:26.751Z,1736368106.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.90 m. 2025-01-08T20:28:26.754Z,1736368106.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.899994 m, nav range: 154.935959 m, bearing: 17.039195 deg, approach rate: 0.083370 m/s, LOS rate: -0.286512 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.531632 deg. 2025-01-08T20:28:26.764Z,1736368106.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051314 target range: 170.899994 and range: 170.90 m. 2025-01-08T20:28:26.924Z,1736368106.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:27.074Z,1736368107.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:27.082Z,1736368107.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.90 m. 2025-01-08T20:28:27.085Z,1736368107.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.899994 m, nav range: 154.962891 m, bearing: 16.949701 deg, approach rate: 0.081352 m/s, LOS rate: -0.270285 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.626123 deg. 2025-01-08T20:28:27.086Z,1736368107.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052963 target range: 170.899994 and range: 170.90 m. 2025-01-08T20:28:27.178Z,1736368107.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:27.429Z,1736368107.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:27.485Z,1736368107.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:27.493Z,1736368107.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:27.495Z,1736368107.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.90 m. 2025-01-08T20:28:27.498Z,1736368107.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.899994 m, nav range: 154.996338 m, bearing: 16.841295 deg, approach rate: 0.081032 m/s, LOS rate: -0.262577 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.569411 deg. 2025-01-08T20:28:27.499Z,1736368107.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051973 target range: 170.899994 and range: 170.90 m. 2025-01-08T20:28:27.680Z,1736368107.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:27.681Z,1736368107.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:27.681Z,1736368107.681 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:27.682Z,1736368107.682 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:27.905Z,1736368107.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:27.914Z,1736368107.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.90 m. 2025-01-08T20:28:27.917Z,1736368107.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.899994 m, nav range: 155.029083 m, bearing: 16.729022 deg, approach rate: 0.078262 m/s, LOS rate: -0.268276 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.557814 deg. 2025-01-08T20:28:27.918Z,1736368107.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051771 target range: 170.899994 and range: 170.90 m. 2025-01-08T20:28:27.932Z,1736368107.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:27.932Z,1736368107.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748218 2025-01-08T20:28:28.184Z,1736368108.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:28.185Z,1736368108.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001110 2025-01-08T20:28:28.309Z,1736368108.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:28.317Z,1736368108.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.90 m. 2025-01-08T20:28:28.320Z,1736368108.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.899994 m, nav range: 155.060654 m, bearing: 16.620481 deg, approach rate: 0.078175 m/s, LOS rate: -0.268715 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.569003 deg. 2025-01-08T20:28:28.322Z,1736368108.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051966 target range: 170.899994 and range: 170.90 m. 2025-01-08T20:28:28.443Z,1736368108.443 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:28.445Z,1736368108.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260486 2025-01-08T20:28:28.692Z,1736368108.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:28.692Z,1736368108.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508349 2025-01-08T20:28:28.730Z,1736368108.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:28.740Z,1736368108.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.90 m. 2025-01-08T20:28:28.742Z,1736368108.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.899994 m, nav range: 155.096786 m, bearing: 16.502370 deg, approach rate: 0.085604 m/s, LOS rate: -0.279755 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.540313 deg. 2025-01-08T20:28:28.746Z,1736368108.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051466 target range: 170.899994 and range: 170.90 m. 2025-01-08T20:28:28.944Z,1736368108.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:28.944Z,1736368108.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760189 2025-01-08T20:28:29.087Z,1736368109.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:29.097Z,1736368109.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.90 m. 2025-01-08T20:28:29.100Z,1736368109.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.899994 m, nav range: 155.128281 m, bearing: 16.402403 deg, approach rate: 0.088191 m/s, LOS rate: -0.279876 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.594719 deg. 2025-01-08T20:28:29.101Z,1736368109.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052415 target range: 170.899994 and range: 170.90 m. 2025-01-08T20:28:29.196Z,1736368109.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:29.197Z,1736368109.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013171 2025-01-08T20:28:29.448Z,1736368109.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:29.450Z,1736368109.450 [DAT](INFO): DAT read: Rx Time:20:28:28.1199 2025-01-08T20:28:29.451Z,1736368109.451 [DAT](INFO): Rx dataTimestamp_ set to:1736368109.450060 2025-01-08T20:28:29.453Z,1736368109.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268126 2025-01-08T20:28:29.518Z,1736368109.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:29.533Z,1736368109.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:29.534Z,1736368109.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.90 m. 2025-01-08T20:28:29.564Z,1736368109.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.899994 m, nav range: 155.167694 m, bearing: 16.281646 deg, approach rate: 0.089996 m/s, LOS rate: -0.275666 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.532380 deg. 2025-01-08T20:28:29.565Z,1736368109.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051327 target range: 170.899994 and range: 170.90 m. 2025-01-08T20:28:29.700Z,1736368109.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:29.701Z,1736368109.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517231 2025-01-08T20:28:29.937Z,1736368109.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:29.949Z,1736368109.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.90 m. 2025-01-08T20:28:29.952Z,1736368109.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:29.962Z,1736368109.962 [DAT](INFO): DAT read: 20:28:28.1199 LVL= 28432, 32753, 15074, 30771, AGC= 62, IDX= 414, 0.19, 1.238, 1.106, 3.040, 1.944, PHS=-0.618,-0.791, 1.093, RAW= 205.2, 3.5, CAL= 205.9, -3.7, ROT= 304.1, 3.7 2025-01-08T20:28:29.963Z,1736368109.963 [DAT](INFO): got valid direction response: 20:28:28.1199 LVL= 28432, 32753, 15074, 30771, AGC= 62, IDX= 414, 0.19, 1.238, 1.106, 3.040, 1.944, PHS=-0.618,-0.791, 1.093, RAW= 205.2, 3.5, CAL= 205.9, -3.7, ROT= 304.1, 3.7 2025-01-08T20:28:29.964Z,1736368109.964 [DAT](INFO): DAT read: Bearing 304.1, 3.7 (Local) 2025-01-08T20:28:29.965Z,1736368109.965 [DAT](INFO): Local bearing/azimuth received: Bearing 304.1, 3.7 (Local) 2025-01-08T20:28:29.966Z,1736368109.966 [DAT](INFO): DAT read: Range 10 to 50 : 168.9 m (Round-trip 225.2 ms) speed 0.2 m/s 2025-01-08T20:28:29.967Z,1736368109.967 [DAT](INFO): DAT read: user:1353> 2025-01-08T20:28:29.968Z,1736368109.968 [DAT](INFO): DAT read: Tx time:20:28:29.2405 2025-01-08T20:28:29.968Z,1736368109.968 [DAT](INFO): Ping request sent. 2025-01-08T20:28:29.968Z,1736368109.968 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:29.968Z,1736368109.968 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:29.969Z,1736368109.969 [DAT](INFO): direction in FSK: [-0.107957,-0.919538,-0.377883] 2025-01-08T20:28:29.970Z,1736368109.970 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:29.970Z,1736368109.970 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:29.975Z,1736368109.975 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:29.976Z,1736368109.976 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:29.000Z,1736368110.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.899994 m, nav range: 155.205765 m, bearing: 16.160106 deg, approach rate: 0.091752 m/s, LOS rate: -0.292843 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.530032 deg. 2025-01-08T20:28:30.001Z,1736368110.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051286 target range: 170.899994 and range: 170.90 m. 2025-01-08T20:28:30.204Z,1736368110.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:30.206Z,1736368110.206 [DAT](INFO): DAT read: TxSync time:20:28:29.2397 2025-01-08T20:28:30.310Z,1736368110.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:30.340Z,1736368110.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 168.899994 m, deltaT: 3.784190 s, deltaX: -2.000000 m, approachRate: -0.528515 m/s, rangeRepo size: 4 2025-01-08T20:28:30.342Z,1736368110.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 168.899994 m, bearing: 21.184045 deg, lat: 36.905146 deg, lon: -122.120216 deg, deltaT: 3.784190 s, deltaX: -2.000000 m, approachRate: -0.528515 m/s, posRepo size: 4 2025-01-08T20:28:30.353Z,1736368110.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.90 m. 2025-01-08T20:28:30.370Z,1736368110.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.899994 m, nav range: 151.277328 m, bearing: 17.581141 deg, approach rate: 0.000000 m/s, LOS rate: -0.292843 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.555407 deg. 2025-01-08T20:28:30.380Z,1736368110.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051729 target range: 168.899994 and range: 168.90 m. 2025-01-08T20:28:30.457Z,1736368110.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:30.708Z,1736368110.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:30.740Z,1736368110.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:30.749Z,1736368110.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.90 m. 2025-01-08T20:28:30.779Z,1736368110.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.899994 m, nav range: 151.309799 m, bearing: 17.450502 deg, approach rate: 0.078616 m/s, LOS rate: -0.316228 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.502728 deg. 2025-01-08T20:28:30.781Z,1736368110.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050809 target range: 168.899994 and range: 168.90 m. 2025-01-08T20:28:30.960Z,1736368110.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:31.129Z,1736368111.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:31.137Z,1736368111.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.90 m. 2025-01-08T20:28:31.141Z,1736368111.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.899994 m, nav range: 151.339844 m, bearing: 17.332403 deg, approach rate: 0.077287 m/s, LOS rate: -0.303738 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.540336 deg. 2025-01-08T20:28:31.142Z,1736368111.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051466 target range: 168.899994 and range: 168.90 m. 2025-01-08T20:28:31.213Z,1736368111.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:31.464Z,1736368111.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:31.530Z,1736368111.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:31.537Z,1736368111.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:31.540Z,1736368111.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.90 m. 2025-01-08T20:28:31.543Z,1736368111.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.899994 m, nav range: 151.373505 m, bearing: 17.210373 deg, approach rate: 0.083544 m/s, LOS rate: -0.302800 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.528555 deg. 2025-01-08T20:28:31.545Z,1736368111.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051260 target range: 168.899994 and range: 168.90 m. 2025-01-08T20:28:31.716Z,1736368111.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:31.716Z,1736368111.716 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:31.716Z,1736368111.716 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:31.717Z,1736368111.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:31.936Z,1736368111.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:31.968Z,1736368111.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:31.968Z,1736368111.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000255 2025-01-08T20:28:31.969Z,1736368111.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.90 m. 2025-01-08T20:28:31.976Z,1736368111.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.899994 m, nav range: 151.402130 m, bearing: 17.087200 deg, approach rate: 0.070322 m/s, LOS rate: -0.302535 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.525110 deg. 2025-01-08T20:28:31.977Z,1736368111.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051200 target range: 168.899994 and range: 168.90 m. 2025-01-08T20:28:32.222Z,1736368112.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:32.223Z,1736368112.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254543 2025-01-08T20:28:32.319Z,1736368112.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:32.347Z,1736368112.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.90 m. 2025-01-08T20:28:32.350Z,1736368112.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.899994 m, nav range: 151.430115 m, bearing: 16.971112 deg, approach rate: 0.070066 m/s, LOS rate: -0.290600 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.546362 deg. 2025-01-08T20:28:32.351Z,1736368112.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051571 target range: 168.899994 and range: 168.90 m. 2025-01-08T20:28:32.477Z,1736368112.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:32.478Z,1736368112.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509905 2025-01-08T20:28:32.728Z,1736368112.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:32.728Z,1736368112.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760250 2025-01-08T20:28:32.773Z,1736368112.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:32.816Z,1736368112.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.90 m. 2025-01-08T20:28:32.818Z,1736368112.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.899994 m, nav range: 151.461151 m, bearing: 16.836083 deg, approach rate: 0.066817 m/s, LOS rate: -0.290639 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.489560 deg. 2025-01-08T20:28:32.824Z,1736368112.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050580 target range: 168.899994 and range: 168.90 m. 2025-01-08T20:28:32.980Z,1736368112.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:32.982Z,1736368112.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013554 2025-01-08T20:28:33.132Z,1736368113.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:33.141Z,1736368113.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.90 m. 2025-01-08T20:28:33.144Z,1736368113.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.899994 m, nav range: 151.486862 m, bearing: 16.729453 deg, approach rate: 0.077997 m/s, LOS rate: -0.323416 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.574724 deg. 2025-01-08T20:28:33.145Z,1736368113.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052066 target range: 168.899994 and range: 168.90 m. 2025-01-08T20:28:33.233Z,1736368113.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:33.233Z,1736368113.233 [DAT](INFO): DAT read: Rx Time:20:28:31.8674 2025-01-08T20:28:33.234Z,1736368113.234 [DAT](INFO): Rx dataTimestamp_ set to:1736368113.233584 2025-01-08T20:28:33.234Z,1736368113.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266181 2025-01-08T20:28:33.485Z,1736368113.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:33.486Z,1736368113.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517901 2025-01-08T20:28:33.578Z,1736368113.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:33.591Z,1736368113.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:33.593Z,1736368113.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.90 m. 2025-01-08T20:28:33.596Z,1736368113.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.899994 m, nav range: 151.520126 m, bearing: 16.596536 deg, approach rate: 0.073565 m/s, LOS rate: -0.293885 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.495901 deg. 2025-01-08T20:28:33.597Z,1736368113.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050690 target range: 168.899994 and range: 168.90 m. 2025-01-08T20:28:33.736Z,1736368113.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:33.743Z,1736368113.743 [DAT](INFO): DAT read: 20:28:31.8674 LVL= 28400, 31537, 14978, 27027, AGC= 56, IDX= 421,-0.01, 0.125, 0.043, 1.906, 0.861, PHS=-0.648,-0.771, 1.042, RAW= 206.5, 4.3, CAL= 207.6, -2.8, ROT= 302.4, 2.8 2025-01-08T20:28:33.744Z,1736368113.744 [DAT](INFO): got valid direction response: 20:28:31.8674 LVL= 28400, 31537, 14978, 27027, AGC= 56, IDX= 421,-0.01, 0.125, 0.043, 1.906, 0.861, PHS=-0.648,-0.771, 1.042, RAW= 206.5, 4.3, CAL= 207.6, -2.8, ROT= 302.4, 2.8 2025-01-08T20:28:33.745Z,1736368113.745 [DAT](INFO): DAT read: Bearing 302.4, 2.8 (Local) 2025-01-08T20:28:33.746Z,1736368113.746 [DAT](INFO): Local bearing/azimuth received: Bearing 302.4, 2.8 (Local) 2025-01-08T20:28:33.748Z,1736368113.748 [DAT](INFO): DAT read: Range 10 to 50 : 167.0 m (Round-trip 222.7 ms) speed 0.4 m/s 2025-01-08T20:28:33.748Z,1736368113.748 [DAT](INFO): DAT read: user:1354> 2025-01-08T20:28:33.749Z,1736368113.749 [DAT](INFO): DAT read: Tx time:20:28:32.9906 2025-01-08T20:28:33.749Z,1736368113.749 [DAT](INFO): Ping request sent. 2025-01-08T20:28:33.749Z,1736368113.749 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:33.750Z,1736368113.750 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:33.751Z,1736368113.751 [DAT](INFO): direction in FSK: [-0.120155,-0.909492,-0.397979] 2025-01-08T20:28:33.751Z,1736368113.751 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:33.754Z,1736368113.754 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:33.758Z,1736368113.758 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:33.758Z,1736368113.758 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:33.989Z,1736368113.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:33.989Z,1736368113.989 [DAT](INFO): DAT read: TxSync time:20:28:32.9898 2025-01-08T20:28:33.994Z,1736368113.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:34.028Z,1736368114.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 167.000000 m, deltaT: 3.784013 s, deltaX: -1.899994 m, approachRate: -0.502111 m/s, rangeRepo size: 4 2025-01-08T20:28:34.030Z,1736368114.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 167.000000 m, bearing: 21.251156 deg, lat: 36.905081 deg, lon: -122.120133 deg, deltaT: 3.784013 s, deltaX: -1.899994 m, approachRate: -0.502111 m/s, posRepo size: 4 2025-01-08T20:28:34.031Z,1736368114.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.00 m. 2025-01-08T20:28:34.039Z,1736368114.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.000000 m, nav range: 146.920517 m, bearing: 20.040020 deg, approach rate: 0.000000 m/s, LOS rate: -0.293885 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.511786 deg. 2025-01-08T20:28:34.040Z,1736368114.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050968 target range: 167.000000 and range: 167.00 m. 2025-01-08T20:28:34.240Z,1736368114.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:34.342Z,1736368114.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:34.351Z,1736368114.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.00 m. 2025-01-08T20:28:34.354Z,1736368114.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.000000 m, nav range: 146.931168 m, bearing: 19.935668 deg, approach rate: 0.032915 m/s, LOS rate: -0.322466 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.581527 deg. 2025-01-08T20:28:34.356Z,1736368114.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052185 target range: 167.000000 and range: 167.00 m. 2025-01-08T20:28:34.492Z,1736368114.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:34.746Z,1736368114.746 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:34.797Z,1736368114.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:34.807Z,1736368114.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.00 m. 2025-01-08T20:28:34.810Z,1736368114.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.000000 m, nav range: 146.952988 m, bearing: 19.804223 deg, approach rate: 0.047859 m/s, LOS rate: -0.288262 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.500287 deg. 2025-01-08T20:28:34.812Z,1736368114.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050767 target range: 167.000000 and range: 167.00 m. 2025-01-08T20:28:34.996Z,1736368114.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:35.157Z,1736368115.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:35.208Z,1736368115.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.00 m. 2025-01-08T20:28:35.210Z,1736368115.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.000000 m, nav range: 146.971542 m, bearing: 19.701158 deg, approach rate: 0.046468 m/s, LOS rate: -0.258083 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.585401 deg. 2025-01-08T20:28:35.212Z,1736368115.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052252 target range: 167.000000 and range: 167.00 m. 2025-01-08T20:28:35.248Z,1736368115.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:35.500Z,1736368115.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:35.564Z,1736368115.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:35.573Z,1736368115.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.00 m. 2025-01-08T20:28:35.577Z,1736368115.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.000000 m, nav range: 146.992630 m, bearing: 19.582651 deg, approach rate: 0.057470 m/s, LOS rate: -0.322920 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.539094 deg. 2025-01-08T20:28:35.578Z,1736368115.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051444 target range: 167.000000 and range: 167.00 m. 2025-01-08T20:28:35.752Z,1736368115.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:35.994Z,1736368115.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:36.001Z,1736368116.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:36.004Z,1736368116.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:36.005Z,1736368116.005 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:36.005Z,1736368116.005 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:36.006Z,1736368116.006 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:36.008Z,1736368116.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.00 m. 2025-01-08T20:28:36.012Z,1736368116.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.000000 m, nav range: 147.019455 m, bearing: 19.466585 deg, approach rate: 0.062321 m/s, LOS rate: -0.269602 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.546427 deg. 2025-01-08T20:28:36.013Z,1736368116.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051572 target range: 167.000000 and range: 167.00 m. 2025-01-08T20:28:36.257Z,1736368116.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:36.258Z,1736368116.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508514 2025-01-08T20:28:36.364Z,1736368116.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:36.373Z,1736368116.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.00 m. 2025-01-08T20:28:36.376Z,1736368116.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.000000 m, nav range: 147.042007 m, bearing: 19.366698 deg, approach rate: 0.060979 m/s, LOS rate: -0.270041 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.594944 deg. 2025-01-08T20:28:36.377Z,1736368116.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052419 target range: 167.000000 and range: 167.00 m. 2025-01-08T20:28:36.508Z,1736368116.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:36.510Z,1736368116.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760332 2025-01-08T20:28:36.761Z,1736368116.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:36.763Z,1736368116.763 [DAT](INFO): DAT read: Rx Time:20:28:35.6154 2025-01-08T20:28:36.765Z,1736368116.765 [DAT](INFO): Rx dataTimestamp_ set to:1736368116.764071 2025-01-08T20:28:36.767Z,1736368116.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016685 2025-01-08T20:28:36.837Z,1736368116.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:36.849Z,1736368116.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.00 m. 2025-01-08T20:28:36.864Z,1736368116.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.000000 m, nav range: 147.076920 m, bearing: 19.245328 deg, approach rate: 0.073304 m/s, LOS rate: -0.254777 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.530539 deg. 2025-01-08T20:28:36.865Z,1736368116.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051295 target range: 167.000000 and range: 167.00 m. 2025-01-08T20:28:37.012Z,1736368117.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:37.012Z,1736368117.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262916 2025-01-08T20:28:37.169Z,1736368117.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:37.178Z,1736368117.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.00 m. 2025-01-08T20:28:37.181Z,1736368117.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.000000 m, nav range: 147.101227 m, bearing: 19.160148 deg, approach rate: 0.073898 m/s, LOS rate: -0.258922 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.639059 deg. 2025-01-08T20:28:37.182Z,1736368117.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053189 target range: 167.000000 and range: 167.00 m. 2025-01-08T20:28:37.265Z,1736368117.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:37.268Z,1736368117.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517553 2025-01-08T20:28:37.516Z,1736368117.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:37.522Z,1736368117.522 [DAT](INFO): DAT read: 20:28:35.6154 LVL= 31088, 32753, 17906, 32723, AGC= 59, IDX= 416, 0.13,-0.206,-0.327, 1.620, 0.543, PHS=-0.661,-0.823, 1.073, RAW= 205.6, 4.6, CAL= 206.7, -2.7, ROT= 303.3, 2.7 2025-01-08T20:28:37.524Z,1736368117.524 [DAT](INFO): got valid direction response: 20:28:35.6154 LVL= 31088, 32753, 17906, 32723, AGC= 59, IDX= 416, 0.13,-0.206,-0.327, 1.620, 0.543, PHS=-0.661,-0.823, 1.073, RAW= 205.6, 4.6, CAL= 206.7, -2.7, ROT= 303.3, 2.7 2025-01-08T20:28:37.526Z,1736368117.526 [DAT](INFO): DAT read: Bearing 303.3, 2.7 (Local) 2025-01-08T20:28:37.528Z,1736368117.528 [DAT](INFO): Local bearing/azimuth received: Bearing 303.3, 2.7 (Local) 2025-01-08T20:28:37.536Z,1736368117.536 [DAT](INFO): DAT read: Range 10 to 50 : 165.5 m (Round-trip 220.7 ms) speed 0.3 m/s 2025-01-08T20:28:37.537Z,1736368117.537 [DAT](INFO): DAT read: user:1355> 2025-01-08T20:28:37.538Z,1736368117.538 [DAT](INFO): DAT read: Tx time:20:28:36.7406 2025-01-08T20:28:37.538Z,1736368117.538 [DAT](INFO): Ping request sent. 2025-01-08T20:28:37.538Z,1736368117.538 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:37.538Z,1736368117.538 [DAT](INFO): DAT read: TxSync time:20:28:36.7398 2025-01-08T20:28:37.539Z,1736368117.539 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:37.540Z,1736368117.540 [DAT](INFO): direction in FSK: [-0.126113,-0.914779,-0.383764] 2025-01-08T20:28:37.540Z,1736368117.540 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:37.540Z,1736368117.540 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:37.564Z,1736368117.564 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:37.564Z,1736368117.564 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:37.629Z,1736368117.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:37.693Z,1736368117.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 165.500000 m, deltaT: 3.779863 s, deltaX: -1.500000 m, approachRate: -0.396840 m/s, rangeRepo size: 4 2025-01-08T20:28:37.721Z,1736368117.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 165.500000 m, bearing: 20.582210 deg, lat: 36.905081 deg, lon: -122.120133 deg, deltaT: 3.779863 s, deltaX: -1.500000 m, approachRate: -0.396840 m/s, posRepo size: 4 2025-01-08T20:28:37.728Z,1736368117.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.50 m. 2025-01-08T20:28:37.750Z,1736368117.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.500000 m, nav range: 147.135468 m, bearing: 19.042160 deg, approach rate: 0.000000 m/s, LOS rate: -0.258922 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.500168 deg. 2025-01-08T20:28:37.765Z,1736368117.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050765 target range: 165.500000 and range: 165.50 m. 2025-01-08T20:28:37.770Z,1736368117.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:38.020Z,1736368118.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:38.090Z,1736368118.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:38.116Z,1736368118.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:38.118Z,1736368118.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.50 m. 2025-01-08T20:28:38.121Z,1736368118.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.500000 m, nav range: 147.176788 m, bearing: 18.928061 deg, approach rate: 0.095730 m/s, LOS rate: -0.264265 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.552360 deg. 2025-01-08T20:28:38.123Z,1736368118.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051676 target range: 165.500000 and range: 165.50 m. 2025-01-08T20:28:38.272Z,1736368118.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:38.273Z,1736368118.273 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:38.273Z,1736368118.273 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:38.273Z,1736368118.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:38.486Z,1736368118.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:38.503Z,1736368118.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.50 m. 2025-01-08T20:28:38.510Z,1736368118.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.500000 m, nav range: 147.212036 m, bearing: 18.830045 deg, approach rate: 0.091439 m/s, LOS rate: -0.254210 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.600581 deg. 2025-01-08T20:28:38.511Z,1736368118.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052517 target range: 165.500000 and range: 165.50 m. 2025-01-08T20:28:38.524Z,1736368118.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:38.525Z,1736368118.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986582 2025-01-08T20:28:38.778Z,1736368118.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:38.780Z,1736368118.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241585 2025-01-08T20:28:38.889Z,1736368118.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:38.898Z,1736368118.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.50 m. 2025-01-08T20:28:38.921Z,1736368118.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.500000 m, nav range: 147.246933 m, bearing: 18.734288 deg, approach rate: 0.088467 m/s, LOS rate: -0.242696 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.607356 deg. 2025-01-08T20:28:38.923Z,1736368118.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052636 target range: 165.500000 and range: 165.50 m. 2025-01-08T20:28:39.028Z,1736368119.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:39.029Z,1736368119.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490643 2025-01-08T20:28:39.280Z,1736368119.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:39.281Z,1736368119.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742632 2025-01-08T20:28:39.282Z,1736368119.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:39.291Z,1736368119.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.50 m. 2025-01-08T20:28:39.294Z,1736368119.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.500000 m, nav range: 147.281387 m, bearing: 18.640841 deg, approach rate: 0.087559 m/s, LOS rate: -0.237421 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.614283 deg. 2025-01-08T20:28:39.336Z,1736368119.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052757 target range: 165.500000 and range: 165.50 m. 2025-01-08T20:28:39.532Z,1736368119.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:39.533Z,1736368119.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994589 2025-01-08T20:28:39.693Z,1736368119.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:39.701Z,1736368119.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.50 m. 2025-01-08T20:28:39.706Z,1736368119.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.500000 m, nav range: 147.315018 m, bearing: 18.543045 deg, approach rate: 0.082004 m/s, LOS rate: -0.238411 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.601238 deg. 2025-01-08T20:28:39.707Z,1736368119.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052529 target range: 165.500000 and range: 165.50 m. 2025-01-08T20:28:39.786Z,1736368119.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:39.789Z,1736368119.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249965 2025-01-08T20:28:40.038Z,1736368120.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:40.039Z,1736368120.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501163 2025-01-08T20:28:40.116Z,1736368120.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:40.123Z,1736368120.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:40.125Z,1736368120.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.50 m. 2025-01-08T20:28:40.141Z,1736368120.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.500000 m, nav range: 147.348740 m, bearing: 18.442976 deg, approach rate: 0.079503 m/s, LOS rate: -0.235868 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.594421 deg. 2025-01-08T20:28:40.142Z,1736368120.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052410 target range: 165.500000 and range: 165.50 m. 2025-01-08T20:28:40.288Z,1736368120.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:40.289Z,1736368120.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751263 2025-01-08T20:28:40.488Z,1736368120.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:40.496Z,1736368120.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.50 m. 2025-01-08T20:28:40.498Z,1736368120.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.500000 m, nav range: 147.378525 m, bearing: 18.354888 deg, approach rate: 0.080415 m/s, LOS rate: -0.237774 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.630349 deg. 2025-01-08T20:28:40.500Z,1736368120.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053037 target range: 165.500000 and range: 165.50 m. 2025-01-08T20:28:40.541Z,1736368120.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:40.543Z,1736368120.543 [DAT](INFO): DAT read: Rx Time:20:28:39.3633 2025-01-08T20:28:40.544Z,1736368120.544 [DAT](INFO): Rx dataTimestamp_ set to:1736368120.544110 2025-01-08T20:28:40.545Z,1736368120.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007417 2025-01-08T20:28:40.793Z,1736368120.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:40.796Z,1736368120.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257205 2025-01-08T20:28:40.914Z,1736368120.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:40.924Z,1736368120.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.50 m. 2025-01-08T20:28:40.926Z,1736368120.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.500000 m, nav range: 147.411713 m, bearing: 18.251930 deg, approach rate: 0.077680 m/s, LOS rate: -0.240932 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.585755 deg. 2025-01-08T20:28:40.928Z,1736368120.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052258 target range: 165.500000 and range: 165.50 m. 2025-01-08T20:28:41.045Z,1736368121.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:41.070Z,1736368121.070 [DAT](INFO): DAT read: 20:28:39.3633 LVL= 22672, 29873, 13522, 27987, AGC= 56, IDX= 427,-0.08,-0.192,-0.311, 1.615, 0.548, PHS=-0.652,-0.812, 1.064, RAW= 205.6, 4.5, CAL= 206.6, -2.8, ROT= 303.4, 2.8 2025-01-08T20:28:41.080Z,1736368121.080 [DAT](INFO): got valid direction response: 20:28:39.3633 LVL= 22672, 29873, 13522, 27987, AGC= 56, IDX= 427,-0.08,-0.192,-0.311, 1.615, 0.548, PHS=-0.652,-0.812, 1.064, RAW= 205.6, 4.5, CAL= 206.6, -2.8, ROT= 303.4, 2.8 2025-01-08T20:28:41.081Z,1736368121.081 [DAT](INFO): DAT read: Bearing 303.4, 2.8 (Local) 2025-01-08T20:28:41.081Z,1736368121.081 [DAT](INFO): Local bearing/azimuth received: Bearing 303.4, 2.8 (Local) 2025-01-08T20:28:41.082Z,1736368121.082 [DAT](INFO): DAT read: Range 10 to 50 : 163.9 m (Round-trip 218.6 ms) speed 0.2 m/s 2025-01-08T20:28:41.087Z,1736368121.087 [DAT](INFO): DAT read: user:1356> 2025-01-08T20:28:41.089Z,1736368121.089 [DAT](INFO): DAT read: Tx time:20:28:40.4406 2025-01-08T20:28:41.089Z,1736368121.089 [DAT](INFO): Ping request sent. 2025-01-08T20:28:41.089Z,1736368121.089 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:41.090Z,1736368121.090 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:41.091Z,1736368121.091 [DAT](INFO): direction in FSK: [-0.124715,-0.914933,-0.383853] 2025-01-08T20:28:41.091Z,1736368121.091 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:41.092Z,1736368121.092 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:41.095Z,1736368121.095 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:41.104Z,1736368121.104 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:41.296Z,1736368121.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:41.297Z,1736368121.297 [DAT](INFO): DAT read: TxSync time:20:28:40.4398 2025-01-08T20:28:41.299Z,1736368121.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:41.328Z,1736368121.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 163.899994 m, deltaT: 3.530140 s, deltaX: -1.600006 m, approachRate: -0.453242 m/s, rangeRepo size: 4 2025-01-08T20:28:41.330Z,1736368121.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 163.899994 m, bearing: 19.030772 deg, lat: 36.905045 deg, lon: -122.120127 deg, deltaT: 3.530140 s, deltaX: -1.600006 m, approachRate: -0.453242 m/s, posRepo size: 4 2025-01-08T20:28:41.331Z,1736368121.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.90 m. 2025-01-08T20:28:41.339Z,1736368121.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.899994 m, nav range: 143.854279 m, bearing: 18.872788 deg, approach rate: 0.000000 m/s, LOS rate: -0.240932 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.605646 deg. 2025-01-08T20:28:41.344Z,1736368121.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052606 target range: 163.899994 and range: 163.90 m. 2025-01-08T20:28:41.549Z,1736368121.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:41.712Z,1736368121.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:41.721Z,1736368121.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.90 m. 2025-01-08T20:28:41.725Z,1736368121.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.899994 m, nav range: 143.883835 m, bearing: 18.769465 deg, approach rate: 0.074249 m/s, LOS rate: -0.259506 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.584654 deg. 2025-01-08T20:28:41.726Z,1736368121.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052239 target range: 163.899994 and range: 163.90 m. 2025-01-08T20:28:41.807Z,1736368121.807 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:42.056Z,1736368122.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:42.142Z,1736368122.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:42.149Z,1736368122.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:42.151Z,1736368122.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.90 m. 2025-01-08T20:28:42.170Z,1736368122.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.899994 m, nav range: 143.906982 m, bearing: 18.656458 deg, approach rate: 0.053823 m/s, LOS rate: -0.262721 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.555595 deg. 2025-01-08T20:28:42.175Z,1736368122.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051732 target range: 163.899994 and range: 163.90 m. 2025-01-08T20:28:42.308Z,1736368122.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:42.308Z,1736368122.308 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:42.308Z,1736368122.308 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:42.309Z,1736368122.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:42.499Z,1736368122.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:42.509Z,1736368122.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.90 m. 2025-01-08T20:28:42.511Z,1736368122.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.899994 m, nav range: 143.927689 m, bearing: 18.562787 deg, approach rate: 0.057886 m/s, LOS rate: -0.261829 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.613585 deg. 2025-01-08T20:28:42.513Z,1736368122.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052744 target range: 163.899994 and range: 163.90 m. 2025-01-08T20:28:42.561Z,1736368122.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:42.563Z,1736368122.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472957 2025-01-08T20:28:42.813Z,1736368122.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:42.816Z,1736368122.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725529 2025-01-08T20:28:42.946Z,1736368122.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:42.976Z,1736368122.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.90 m. 2025-01-08T20:28:42.978Z,1736368122.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.899994 m, nav range: 143.947952 m, bearing: 18.439402 deg, approach rate: 0.043829 m/s, LOS rate: -0.266837 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.524460 deg. 2025-01-08T20:28:42.984Z,1736368122.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051189 target range: 163.899994 and range: 163.90 m. 2025-01-08T20:28:43.065Z,1736368123.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:43.066Z,1736368123.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976652 2025-01-08T20:28:43.303Z,1736368123.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:43.316Z,1736368123.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:43.316Z,1736368123.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227050 2025-01-08T20:28:43.348Z,1736368123.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.90 m. 2025-01-08T20:28:43.350Z,1736368123.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.899994 m, nav range: 143.964676 m, bearing: 18.340709 deg, approach rate: 0.044439 m/s, LOS rate: -0.262221 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.598515 deg. 2025-01-08T20:28:43.352Z,1736368123.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052481 target range: 163.899994 and range: 163.90 m. 2025-01-08T20:28:43.568Z,1736368123.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:43.568Z,1736368123.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478915 2025-01-08T20:28:43.727Z,1736368123.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:43.747Z,1736368123.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.90 m. 2025-01-08T20:28:43.750Z,1736368123.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.899994 m, nav range: 143.985107 m, bearing: 18.223928 deg, approach rate: 0.051111 m/s, LOS rate: -0.292097 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.544267 deg. 2025-01-08T20:28:43.751Z,1736368123.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051534 target range: 163.899994 and range: 163.90 m. 2025-01-08T20:28:43.821Z,1736368123.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:43.824Z,1736368123.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734313 2025-01-08T20:28:44.073Z,1736368124.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:44.074Z,1736368124.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984332 2025-01-08T20:28:44.163Z,1736368124.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:44.189Z,1736368124.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:44.191Z,1736368124.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.90 m. 2025-01-08T20:28:44.198Z,1736368124.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.899994 m, nav range: 144.003494 m, bearing: 18.097823 deg, approach rate: 0.041425 m/s, LOS rate: -0.284075 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.516296 deg. 2025-01-08T20:28:44.204Z,1736368124.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051046 target range: 163.899994 and range: 163.90 m. 2025-01-08T20:28:44.324Z,1736368124.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:44.325Z,1736368124.325 [DAT](INFO): DAT read: Rx Time:20:28:43.0611 2025-01-08T20:28:44.326Z,1736368124.326 [DAT](INFO): Rx dataTimestamp_ set to:1736368124.325274 2025-01-08T20:28:44.326Z,1736368124.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236718 2025-01-08T20:28:44.515Z,1736368124.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:44.542Z,1736368124.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.90 m. 2025-01-08T20:28:44.545Z,1736368124.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.899994 m, nav range: 144.019287 m, bearing: 17.994102 deg, approach rate: 0.044962 m/s, LOS rate: -0.295261 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.583430 deg. 2025-01-08T20:28:44.546Z,1736368124.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052218 target range: 163.899994 and range: 163.90 m. 2025-01-08T20:28:44.576Z,1736368124.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:44.577Z,1736368124.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487813 2025-01-08T20:28:44.829Z,1736368124.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:44.863Z,1736368124.863 [DAT](INFO): DAT read: 20:28:43.0611 LVL= 25072, 32753, 15922, 28435, AGC= 60, IDX= 419,-0.18,-1.303,-1.349, 0.599,-0.504, PHS=-0.711,-0.798, 1.101, RAW= 207.7, 4.4, CAL= 209.0, -2.6, ROT= 301.0, 2.6 2025-01-08T20:28:44.875Z,1736368124.875 [DAT](INFO): got valid direction response: 20:28:43.0611 LVL= 25072, 32753, 15922, 28435, AGC= 60, IDX= 419,-0.18,-1.303,-1.349, 0.599,-0.504, PHS=-0.711,-0.798, 1.101, RAW= 207.7, 4.4, CAL= 209.0, -2.6, ROT= 301.0, 2.6 2025-01-08T20:28:44.878Z,1736368124.878 [DAT](INFO): DAT read: Bearing 301.0, 2.6 (Local) 2025-01-08T20:28:44.879Z,1736368124.879 [DAT](INFO): Local bearing/azimuth received: Bearing 301.0, 2.6 (Local) 2025-01-08T20:28:44.893Z,1736368124.893 [DAT](INFO): DAT read: Range 10 to 50 : 162.2 m (Round-trip 216.3 ms) speed 0.4 m/s 2025-01-08T20:28:44.932Z,1736368124.932 [DAT](INFO): DAT read: user:1357> 2025-01-08T20:28:44.935Z,1736368124.935 [DAT](INFO): DAT read: Tx time:20:28:44.1407 2025-01-08T20:28:44.949Z,1736368124.949 [DAT](INFO): Ping request sent. 2025-01-08T20:28:44.949Z,1736368124.949 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:44.950Z,1736368124.950 [DAT](INFO): DAT read: TxSync time:20:28:44.1399 2025-01-08T20:28:44.951Z,1736368124.951 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:44.964Z,1736368124.964 [DAT](INFO): direction in FSK: [-0.119623,-0.901698,-0.415489] 2025-01-08T20:28:44.964Z,1736368124.964 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:44.964Z,1736368124.964 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:44.984Z,1736368124.984 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:44.984Z,1736368124.984 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:45.032Z,1736368125.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:45.063Z,1736368125.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 162.199997 m, deltaT: 3.783722 s, deltaX: -1.699997 m, approachRate: -0.449292 m/s, rangeRepo size: 4 2025-01-08T20:28:45.066Z,1736368125.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 162.199997 m, bearing: 19.831620 deg, lat: 36.905044 deg, lon: -122.120113 deg, deltaT: 3.783722 s, deltaX: -1.699997 m, approachRate: -0.449292 m/s, posRepo size: 4 2025-01-08T20:28:45.066Z,1736368125.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:45.077Z,1736368125.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.321243 m, bearing: 18.288914 deg, approach rate: 0.000000 m/s, LOS rate: -0.295261 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.437248 deg. 2025-01-08T20:28:45.078Z,1736368125.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049667 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:45.080Z,1736368125.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:45.204Z,1736368125.204 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:28:45.332Z,1736368125.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:45.508Z,1736368125.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:45.517Z,1736368125.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:45.520Z,1736368125.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.331177 m, bearing: 18.142773 deg, approach rate: 0.021671 m/s, LOS rate: -0.318799 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.456174 deg. 2025-01-08T20:28:45.521Z,1736368125.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049997 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:45.585Z,1736368125.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:45.837Z,1736368125.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:45.941Z,1736368125.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:45.960Z,1736368125.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:45.962Z,1736368125.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.343857 m, bearing: 18.003621 deg, approach rate: 0.029192 m/s, LOS rate: -0.320333 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.477144 deg. 2025-01-08T20:28:45.964Z,1736368125.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050363 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:46.088Z,1736368126.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:46.208Z,1736368126.208 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:28:46.344Z,1736368126.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:46.383Z,1736368126.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:46.390Z,1736368126.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:46.408Z,1736368126.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:46.415Z,1736368126.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.359879 m, bearing: 17.861807 deg, approach rate: 0.035036 m/s, LOS rate: -0.310078 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.469172 deg. 2025-01-08T20:28:46.416Z,1736368126.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050224 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:46.596Z,1736368126.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:46.596Z,1736368126.596 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:46.596Z,1736368126.596 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:46.596Z,1736368126.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:46.793Z,1736368126.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:46.801Z,1736368126.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:46.804Z,1736368126.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.375214 m, bearing: 17.729876 deg, approach rate: 0.039035 m/s, LOS rate: -0.335795 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.498810 deg. 2025-01-08T20:28:46.806Z,1736368126.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050741 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:46.848Z,1736368126.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:46.850Z,1736368126.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.900205 2025-01-08T20:28:47.100Z,1736368127.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:47.100Z,1736368127.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.150942 2025-01-08T20:28:47.208Z,1736368127.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:47.237Z,1736368127.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:47.245Z,1736368127.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.393692 m, bearing: 17.595076 deg, approach rate: 0.042429 m/s, LOS rate: -0.309478 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.490215 deg. 2025-01-08T20:28:47.246Z,1736368127.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050591 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:47.352Z,1736368127.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:47.352Z,1736368127.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.403120 2025-01-08T20:28:47.594Z,1736368127.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:47.602Z,1736368127.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:47.604Z,1736368127.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:47.605Z,1736368127.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.655186 2025-01-08T20:28:47.606Z,1736368127.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.411423 m, bearing: 17.469741 deg, approach rate: 0.048563 m/s, LOS rate: -0.343235 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.518605 deg. 2025-01-08T20:28:47.608Z,1736368127.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051087 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:47.858Z,1736368127.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:47.860Z,1736368127.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.910337 2025-01-08T20:28:48.024Z,1736368128.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:48.033Z,1736368128.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:48.036Z,1736368128.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.435181 m, bearing: 17.331204 deg, approach rate: 0.055143 m/s, LOS rate: -0.321498 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.479022 deg. 2025-01-08T20:28:48.037Z,1736368128.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050396 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:48.108Z,1736368128.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:48.109Z,1736368128.109 [DAT](INFO): DAT read: Rx Time:20:28:46.7909 2025-01-08T20:28:48.110Z,1736368128.110 [DAT](INFO): Rx dataTimestamp_ set to:1736368128.109657 2025-01-08T20:28:48.111Z,1736368128.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.161492 2025-01-08T20:28:48.360Z,1736368128.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:48.360Z,1736368128.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.411062 2025-01-08T20:28:48.415Z,1736368128.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:48.423Z,1736368128.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:48.425Z,1736368128.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:48.428Z,1736368128.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.457550 m, bearing: 17.205475 deg, approach rate: 0.057039 m/s, LOS rate: -0.320541 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.517434 deg. 2025-01-08T20:28:48.429Z,1736368128.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051066 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:48.612Z,1736368128.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:48.613Z,1736368128.613 [DAT](INFO): DAT read: Range 10 to 50 : 184.5 m (Round-trip 246.0 ms) speed 0.3 m/s 2025-01-08T20:28:48.614Z,1736368128.614 [DAT](INFO): DAT read: user:1358> 2025-01-08T20:28:48.615Z,1736368128.615 [DAT](INFO): DAT read: Tx time:20:28:47.8907 2025-01-08T20:28:48.615Z,1736368128.615 [DAT](INFO): Ping request sent. 2025-01-08T20:28:48.615Z,1736368128.615 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:48.616Z,1736368128.616 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:28:48.616Z,1736368128.616 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:48.617Z,1736368128.617 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:48.813Z,1736368128.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:48.822Z,1736368128.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 184.500000 m, deltaT: 3.782208 s, deltaX: 22.300003 m, approachRate: 5.896028 m/s, rangeRepo size: 4 2025-01-08T20:28:48.823Z,1736368128.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:48.826Z,1736368128.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.480942 m, bearing: 17.077630 deg, approach rate: 0.059087 m/s, LOS rate: -0.322884 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.511089 deg. 2025-01-08T20:28:48.827Z,1736368128.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050955 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:48.864Z,1736368128.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:48.866Z,1736368128.866 [DAT](INFO): DAT read: TxSync time:20:28:47.8899 2025-01-08T20:28:49.116Z,1736368129.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:49.244Z,1736368129.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:49.252Z,1736368129.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:49.256Z,1736368129.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.511597 m, bearing: 16.942423 deg, approach rate: 0.071064 m/s, LOS rate: -0.313371 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.489028 deg. 2025-01-08T20:28:49.257Z,1736368129.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050570 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:49.368Z,1736368129.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:49.620Z,1736368129.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:49.622Z,1736368129.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:49.631Z,1736368129.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:49.634Z,1736368129.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.539337 m, bearing: 16.823922 deg, approach rate: 0.073281 m/s, LOS rate: -0.312979 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.539127 deg. 2025-01-08T20:28:49.635Z,1736368129.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051445 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:49.873Z,1736368129.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:50.052Z,1736368130.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:50.062Z,1736368130.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:50.065Z,1736368130.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.578583 m, bearing: 16.693576 deg, approach rate: 0.091021 m/s, LOS rate: -0.302223 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.503632 deg. 2025-01-08T20:28:50.066Z,1736368130.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050825 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:50.125Z,1736368130.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:50.376Z,1736368130.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:50.420Z,1736368130.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:50.428Z,1736368130.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:50.430Z,1736368130.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:50.433Z,1736368130.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.612473 m, bearing: 16.582119 deg, approach rate: 0.092108 m/s, LOS rate: -0.302855 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.560267 deg. 2025-01-08T20:28:50.434Z,1736368130.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051814 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:50.628Z,1736368130.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:50.628Z,1736368130.628 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:50.628Z,1736368130.628 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:50.629Z,1736368130.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:50.858Z,1736368130.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:50.875Z,1736368130.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:50.880Z,1736368130.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:50.880Z,1736368130.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264952 2025-01-08T20:28:50.888Z,1736368130.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.652573 m, bearing: 16.449588 deg, approach rate: 0.090104 m/s, LOS rate: -0.297711 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.497081 deg. 2025-01-08T20:28:50.890Z,1736368130.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050711 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:51.132Z,1736368131.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:51.133Z,1736368131.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517105 2025-01-08T20:28:51.279Z,1736368131.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:51.292Z,1736368131.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:51.295Z,1736368131.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.691269 m, bearing: 16.335933 deg, approach rate: 0.093776 m/s, LOS rate: -0.275355 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.553687 deg. 2025-01-08T20:28:51.300Z,1736368131.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051699 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:51.384Z,1736368131.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:51.385Z,1736368131.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769074 2025-01-08T20:28:51.636Z,1736368131.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:51.637Z,1736368131.637 [DAT](INFO): DAT read: Rx Time:20:28:50.5066 2025-01-08T20:28:51.637Z,1736368131.637 [DAT](INFO): Rx dataTimestamp_ set to:1736368131.636973 2025-01-08T20:28:51.638Z,1736368131.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022483 2025-01-08T20:28:51.678Z,1736368131.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:51.704Z,1736368131.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:51.719Z,1736368131.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.731003 m, bearing: 16.219682 deg, approach rate: 0.096439 m/s, LOS rate: -0.282077 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.545903 deg. 2025-01-08T20:28:51.728Z,1736368131.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051563 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:51.888Z,1736368131.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:51.889Z,1736368131.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273523 2025-01-08T20:28:52.075Z,1736368132.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:52.083Z,1736368132.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T20:28:52.086Z,1736368132.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 144.763153 m, bearing: 16.115094 deg, approach rate: 0.083872 m/s, LOS rate: -0.272781 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.580866 deg. 2025-01-08T20:28:52.087Z,1736368132.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052173 target range: 162.199997 and range: 162.20 m. 2025-01-08T20:28:52.140Z,1736368132.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:52.141Z,1736368132.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525206 2025-01-08T20:28:52.392Z,1736368132.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:52.399Z,1736368132.399 [DAT](INFO): DAT read: 20:28:50.5066 LVL= 27376, 27681, 13778, 32755, AGC= 59, IDX= 85,-0.41, 2.787, 2.811,-1.573,-2.673, PHS=-0.735,-0.752, 1.097, RAW= 209.5, 4.3, CAL= 210.9, -2.4, ROT= 299.1, 2.4 2025-01-08T20:28:52.400Z,1736368132.400 [DAT](INFO): got valid direction response: 20:28:50.5066 LVL= 27376, 27681, 13778, 32755, AGC= 59, IDX= 85,-0.41, 2.787, 2.811,-1.573,-2.673, PHS=-0.735,-0.752, 1.097, RAW= 209.5, 4.3, CAL= 210.9, -2.4, ROT= 299.1, 2.4 2025-01-08T20:28:52.401Z,1736368132.401 [DAT](INFO): DAT read: Bearing 299.1, 2.4 (Local) 2025-01-08T20:28:52.401Z,1736368132.401 [DAT](INFO): Local bearing/azimuth received: Bearing 299.1, 2.4 (Local) 2025-01-08T20:28:52.403Z,1736368132.403 [DAT](INFO): DAT read: Range 10 to 50 : 158.8 m (Round-trip 211.8 ms) speed 0.4 m/s 2025-01-08T20:28:52.405Z,1736368132.405 [DAT](INFO): DAT read: user:1359> 2025-01-08T20:28:52.406Z,1736368132.406 [DAT](INFO): DAT read: Tx time:20:28:51.5907 2025-01-08T20:28:52.406Z,1736368132.406 [DAT](INFO): Ping request sent. 2025-01-08T20:28:52.406Z,1736368132.406 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:52.407Z,1736368132.407 [DAT](INFO): DAT read: TxSync time:20:28:51.5899 2025-01-08T20:28:52.408Z,1736368132.408 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:52.409Z,1736368132.409 [DAT](INFO): direction in FSK: [-0.112922,-0.889243,-0.443277] 2025-01-08T20:28:52.409Z,1736368132.409 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:52.409Z,1736368132.409 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:52.412Z,1736368132.412 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:52.412Z,1736368132.412 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:52.496Z,1736368132.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:52.538Z,1736368132.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 158.800003 m, deltaT: 7.562170 s, deltaX: -3.399994 m, approachRate: -0.449606 m/s, rangeRepo size: 4 2025-01-08T20:28:52.545Z,1736368132.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 158.800003 m, bearing: 20.099817 deg, lat: 36.905034 deg, lon: -122.120103 deg, deltaT: 7.562170 s, deltaX: -3.399994 m, approachRate: -0.449606 m/s, posRepo size: 4 2025-01-08T20:28:52.546Z,1736368132.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.80 m. 2025-01-08T20:28:52.553Z,1736368132.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.800003 m, nav range: 143.980850 m, bearing: 16.502024 deg, approach rate: 0.000000 m/s, LOS rate: -0.272781 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.522944 deg. 2025-01-08T20:28:52.554Z,1736368132.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051162 target range: 158.800003 and range: 158.80 m. 2025-01-08T20:28:52.644Z,1736368132.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:52.869Z,1736368132.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:52.877Z,1736368132.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:52.878Z,1736368132.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.80 m. 2025-01-08T20:28:52.881Z,1736368132.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.800003 m, nav range: 144.010178 m, bearing: 16.403092 deg, approach rate: 0.085863 m/s, LOS rate: -0.289589 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.597823 deg. 2025-01-08T20:28:52.882Z,1736368132.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052469 target range: 158.800003 and range: 158.80 m. 2025-01-08T20:28:52.896Z,1736368132.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:52.896Z,1736368132.896 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:52.896Z,1736368132.896 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:52.897Z,1736368132.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:53.148Z,1736368133.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:53.148Z,1736368133.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742133 2025-01-08T20:28:53.293Z,1736368133.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:53.322Z,1736368133.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.80 m. 2025-01-08T20:28:53.329Z,1736368133.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.800003 m, nav range: 144.049545 m, bearing: 16.297882 deg, approach rate: 0.088898 m/s, LOS rate: -0.237513 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.579017 deg. 2025-01-08T20:28:53.330Z,1736368133.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052141 target range: 158.800003 and range: 158.80 m. 2025-01-08T20:28:53.401Z,1736368133.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:53.402Z,1736368133.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995369 2025-01-08T20:28:53.652Z,1736368133.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:53.653Z,1736368133.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247097 2025-01-08T20:28:53.675Z,1736368133.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:53.689Z,1736368133.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.80 m. 2025-01-08T20:28:53.692Z,1736368133.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.800003 m, nav range: 144.085739 m, bearing: 16.203282 deg, approach rate: 0.098381 m/s, LOS rate: -0.257074 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.610830 deg. 2025-01-08T20:28:53.693Z,1736368133.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052696 target range: 158.800003 and range: 158.80 m. 2025-01-08T20:28:53.904Z,1736368133.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:53.905Z,1736368133.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498210 2025-01-08T20:28:54.098Z,1736368134.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:54.108Z,1736368134.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.80 m. 2025-01-08T20:28:54.111Z,1736368134.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.800003 m, nav range: 144.129517 m, bearing: 16.103058 deg, approach rate: 0.104443 m/s, LOS rate: -0.239039 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.593980 deg. 2025-01-08T20:28:54.112Z,1736368134.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052402 target range: 158.800003 and range: 158.80 m. 2025-01-08T20:28:54.156Z,1736368134.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:54.157Z,1736368134.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750746 2025-01-08T20:28:54.408Z,1736368134.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:54.408Z,1736368134.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002270 2025-01-08T20:28:54.474Z,1736368134.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:54.482Z,1736368134.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.80 m. 2025-01-08T20:28:54.485Z,1736368134.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.800003 m, nav range: 144.167511 m, bearing: 16.014338 deg, approach rate: 0.101660 m/s, LOS rate: -0.237323 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.628467 deg. 2025-01-08T20:28:54.486Z,1736368134.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053004 target range: 158.800003 and range: 158.80 m. 2025-01-08T20:28:54.660Z,1736368134.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:54.661Z,1736368134.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255156 2025-01-08T20:28:54.879Z,1736368134.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:54.885Z,1736368134.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:54.887Z,1736368134.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.80 m. 2025-01-08T20:28:54.891Z,1736368134.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.800003 m, nav range: 144.208084 m, bearing: 15.918617 deg, approach rate: 0.100145 m/s, LOS rate: -0.236198 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.607477 deg. 2025-01-08T20:28:54.908Z,1736368134.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052638 target range: 158.800003 and range: 158.80 m. 2025-01-08T20:28:54.912Z,1736368134.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:54.913Z,1736368134.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506512 2025-01-08T20:28:55.164Z,1736368135.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:55.164Z,1736368135.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758187 2025-01-08T20:28:55.315Z,1736368135.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:55.325Z,1736368135.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.80 m. 2025-01-08T20:28:55.344Z,1736368135.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.800003 m, nav range: 144.245789 m, bearing: 15.816893 deg, approach rate: 0.086207 m/s, LOS rate: -0.232519 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.589468 deg. 2025-01-08T20:28:55.346Z,1736368135.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052323 target range: 158.800003 and range: 158.80 m. 2025-01-08T20:28:55.417Z,1736368135.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:55.418Z,1736368135.418 [DAT](INFO): DAT read: Rx Time:20:28:54.2048 2025-01-08T20:28:55.419Z,1736368135.419 [DAT](INFO): Rx dataTimestamp_ set to:1736368135.418036 2025-01-08T20:28:55.420Z,1736368135.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013590 2025-01-08T20:28:55.669Z,1736368135.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:55.670Z,1736368135.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263155 2025-01-08T20:28:55.693Z,1736368135.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:55.701Z,1736368135.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.80 m. 2025-01-08T20:28:55.704Z,1736368135.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.800003 m, nav range: 144.277847 m, bearing: 15.728852 deg, approach rate: 0.085136 m/s, LOS rate: -0.233751 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.630495 deg. 2025-01-08T20:28:55.706Z,1736368135.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053040 target range: 158.800003 and range: 158.80 m. 2025-01-08T20:28:55.920Z,1736368135.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:55.929Z,1736368135.929 [DAT](INFO): DAT read: 20:28:54.2048 LVL= 30704, 32753, 15378, 32755, AGC= 64, IDX= 419,-0.05, 0.542, 0.589, 2.530, 1.444, PHS=-0.814,-0.808, 1.084, RAW= 210.1, 5.7, CAL= 212.1, -0.8, ROT= 297.9, 0.8 2025-01-08T20:28:55.930Z,1736368135.930 [DAT](INFO): got valid direction response: 20:28:54.2048 LVL= 30704, 32753, 15378, 32755, AGC= 64, IDX= 419,-0.05, 0.542, 0.589, 2.530, 1.444, PHS=-0.814,-0.808, 1.084, RAW= 210.1, 5.7, CAL= 212.1, -0.8, ROT= 297.9, 0.8 2025-01-08T20:28:55.931Z,1736368135.931 [DAT](INFO): DAT read: Bearing 297.9, 0.8 (Local) 2025-01-08T20:28:55.932Z,1736368135.932 [DAT](INFO): Local bearing/azimuth received: Bearing 297.9, 0.8 (Local) 2025-01-08T20:28:55.933Z,1736368135.933 [DAT](INFO): DAT read: Range 10 to 50 : 157.5 m (Round-trip 210.0 ms) speed 0.6 m/s 2025-01-08T20:28:55.934Z,1736368135.934 [DAT](INFO): DAT read: user:1360> 2025-01-08T20:28:55.935Z,1736368135.935 [DAT](INFO): DAT read: Tx time:20:28:55.2907 2025-01-08T20:28:55.935Z,1736368135.935 [DAT](INFO): Ping request sent. 2025-01-08T20:28:55.935Z,1736368135.935 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:55.938Z,1736368135.938 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:55.941Z,1736368135.941 [DAT](INFO): direction in FSK: [-0.138323,-0.880791,-0.452850] 2025-01-08T20:28:55.942Z,1736368135.942 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:55.942Z,1736368135.942 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:55.945Z,1736368135.945 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:55.946Z,1736368135.946 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:56.170Z,1736368136.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:56.172Z,1736368136.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:56.173Z,1736368136.173 [DAT](INFO): DAT read: TxSync time:20:28:55.2899 2025-01-08T20:28:56.210Z,1736368136.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 157.500000 m, deltaT: 3.528030 s, deltaX: -1.300003 m, approachRate: -0.368478 m/s, rangeRepo size: 4 2025-01-08T20:28:56.232Z,1736368136.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 157.500000 m, bearing: 17.209663 deg, lat: 36.904974 deg, lon: -122.120103 deg, deltaT: 3.528030 s, deltaX: -1.300003 m, approachRate: -0.368478 m/s, posRepo size: 4 2025-01-08T20:28:56.233Z,1736368136.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m. 2025-01-08T20:28:56.240Z,1736368136.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.500000 m, nav range: 137.874313 m, bearing: 16.365087 deg, approach rate: 0.000000 m/s, LOS rate: -0.233751 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.538040 deg. 2025-01-08T20:28:56.241Z,1736368136.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051426 target range: 157.500000 and range: 157.50 m. 2025-01-08T20:28:56.424Z,1736368136.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:56.531Z,1736368136.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:56.541Z,1736368136.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m. 2025-01-08T20:28:56.544Z,1736368136.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.500000 m, nav range: 137.901917 m, bearing: 16.274965 deg, approach rate: 0.083364 m/s, LOS rate: -0.272121 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.624247 deg. 2025-01-08T20:28:56.545Z,1736368136.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052930 target range: 157.500000 and range: 157.50 m. 2025-01-08T20:28:56.677Z,1736368136.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:56.928Z,1736368136.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:56.936Z,1736368136.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:56.956Z,1736368136.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:56.958Z,1736368136.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m. 2025-01-08T20:28:56.965Z,1736368136.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.500000 m, nav range: 137.934311 m, bearing: 16.173966 deg, approach rate: 0.077562 m/s, LOS rate: -0.241765 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.591635 deg. 2025-01-08T20:28:56.966Z,1736368136.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052361 target range: 157.500000 and range: 157.50 m. 2025-01-08T20:28:57.180Z,1736368137.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:57.180Z,1736368137.180 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:28:57.180Z,1736368137.180 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:28:57.180Z,1736368137.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:28:57.369Z,1736368137.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:57.390Z,1736368137.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m. 2025-01-08T20:28:57.396Z,1736368137.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.500000 m, nav range: 137.965485 m, bearing: 16.058289 deg, approach rate: 0.072318 m/s, LOS rate: -0.268294 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.547606 deg. 2025-01-08T20:28:57.397Z,1736368137.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051593 target range: 157.500000 and range: 157.50 m. 2025-01-08T20:28:57.432Z,1736368137.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:57.432Z,1736368137.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497555 2025-01-08T20:28:57.684Z,1736368137.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:57.684Z,1736368137.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749389 2025-01-08T20:28:57.746Z,1736368137.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:57.755Z,1736368137.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m. 2025-01-08T20:28:57.759Z,1736368137.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.500000 m, nav range: 137.992035 m, bearing: 15.960540 deg, approach rate: 0.072770 m/s, LOS rate: -0.267861 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.601369 deg. 2025-01-08T20:28:57.761Z,1736368137.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052531 target range: 157.500000 and range: 157.50 m. 2025-01-08T20:28:57.937Z,1736368137.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:57.938Z,1736368137.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003148 2025-01-08T20:28:58.170Z,1736368138.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:58.189Z,1736368138.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:58.192Z,1736368138.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256600 2025-01-08T20:28:58.224Z,1736368138.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m. 2025-01-08T20:28:58.226Z,1736368138.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.500000 m, nav range: 138.019943 m, bearing: 15.836275 deg, approach rate: 0.060520 m/s, LOS rate: -0.269416 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.521843 deg. 2025-01-08T20:28:58.232Z,1736368138.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051143 target range: 157.500000 and range: 157.50 m. 2025-01-08T20:28:58.440Z,1736368138.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:58.440Z,1736368138.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505371 2025-01-08T20:28:58.558Z,1736368138.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:58.567Z,1736368138.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m. 2025-01-08T20:28:58.570Z,1736368138.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.500000 m, nav range: 138.045471 m, bearing: 15.725106 deg, approach rate: 0.072649 m/s, LOS rate: -0.316310 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.561117 deg. 2025-01-08T20:28:58.571Z,1736368138.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051829 target range: 157.500000 and range: 157.50 m. 2025-01-08T20:28:58.692Z,1736368138.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:58.693Z,1736368138.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757594 2025-01-08T20:28:58.944Z,1736368138.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:58.944Z,1736368138.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009509 2025-01-08T20:28:58.967Z,1736368138.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:58.974Z,1736368138.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:28:58.977Z,1736368138.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m. 2025-01-08T20:28:58.985Z,1736368138.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.500000 m, nav range: 138.072861 m, bearing: 15.608336 deg, approach rate: 0.066831 m/s, LOS rate: -0.284865 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.544320 deg. 2025-01-08T20:28:58.986Z,1736368138.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051535 target range: 157.500000 and range: 157.50 m. 2025-01-08T20:28:59.196Z,1736368139.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:59.196Z,1736368139.196 [DAT](INFO): DAT read: Rx Time:20:28:57.9027 2025-01-08T20:28:59.197Z,1736368139.197 [DAT](INFO): Rx dataTimestamp_ set to:1736368139.196626 2025-01-08T20:28:59.197Z,1736368139.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262508 2025-01-08T20:28:59.390Z,1736368139.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:59.398Z,1736368139.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.50 m. 2025-01-08T20:28:59.401Z,1736368139.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.500000 m, nav range: 138.103638 m, bearing: 15.475078 deg, approach rate: 0.072974 m/s, LOS rate: -0.315894 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.494876 deg. 2025-01-08T20:28:59.402Z,1736368139.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050673 target range: 157.500000 and range: 157.50 m. 2025-01-08T20:28:59.448Z,1736368139.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:59.449Z,1736368139.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514538 2025-01-08T20:28:59.700Z,1736368139.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:59.707Z,1736368139.707 [DAT](INFO): DAT read: 20:28:57.9027 LVL= 25264, 28577, 14946, 31827, AGC= 57, IDX= 412, 0.11, 2.988, 3.096,-1.276,-2.374, PHS=-0.833,-0.767, 1.095, RAW= 211.7, 5.4, CAL= 213.7, -0.8, ROT= 296.3, 0.8 2025-01-08T20:28:59.709Z,1736368139.709 [DAT](INFO): got valid direction response: 20:28:57.9027 LVL= 25264, 28577, 14946, 31827, AGC= 57, IDX= 412, 0.11, 2.988, 3.096,-1.276,-2.374, PHS=-0.833,-0.767, 1.095, RAW= 211.7, 5.4, CAL= 213.7, -0.8, ROT= 296.3, 0.8 2025-01-08T20:28:59.710Z,1736368139.710 [DAT](INFO): DAT read: Bearing 296.3, 0.8 (Local) 2025-01-08T20:28:59.710Z,1736368139.710 [DAT](INFO): Local bearing/azimuth received: Bearing 296.3, 0.8 (Local) 2025-01-08T20:28:59.712Z,1736368139.712 [DAT](INFO): DAT read: Range 10 to 50 : 155.8 m (Round-trip 207.8 ms) speed 0.5 m/s 2025-01-08T20:28:59.713Z,1736368139.713 [DAT](INFO): DAT read: user:1361> 2025-01-08T20:28:59.713Z,1736368139.713 [DAT](INFO): DAT read: Tx time:20:28:58.9908 2025-01-08T20:28:59.714Z,1736368139.714 [DAT](INFO): Ping request sent. 2025-01-08T20:28:59.714Z,1736368139.714 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:28:59.714Z,1736368139.714 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:28:59.737Z,1736368139.737 [DAT](INFO): direction in FSK: [-0.128641,-0.870165,-0.475673] 2025-01-08T20:28:59.737Z,1736368139.737 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:59.738Z,1736368139.738 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:59.746Z,1736368139.746 [DAT](INFO): publishing transmit ping time 2025-01-08T20:28:59.746Z,1736368139.746 [DAT](INFO): publishing direction and range info 2025-01-08T20:28:59.836Z,1736368139.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:28:59.894Z,1736368139.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 155.800003 m, deltaT: 3.779952 s, deltaX: -1.699997 m, approachRate: -0.449740 m/s, rangeRepo size: 4 2025-01-08T20:28:59.910Z,1736368139.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.800003 m, bearing: 17.547326 deg, lat: 36.904914 deg, lon: -122.120099 deg, deltaT: 3.779952 s, deltaX: -1.699997 m, approachRate: -0.449740 m/s, posRepo size: 4 2025-01-08T20:28:59.913Z,1736368139.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.80 m. 2025-01-08T20:28:59.920Z,1736368139.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.800003 m, nav range: 131.832535 m, bearing: 16.235232 deg, approach rate: 0.000000 m/s, LOS rate: -0.315894 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.431328 deg. 2025-01-08T20:28:59.921Z,1736368139.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049563 target range: 155.800003 and range: 155.80 m. 2025-01-08T20:28:59.952Z,1736368139.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:28:59.953Z,1736368139.953 [DAT](INFO): DAT read: TxSync time:20:28:58.9900 2025-01-08T20:29:00.204Z,1736368140.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:00.291Z,1736368140.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:00.320Z,1736368140.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.80 m. 2025-01-08T20:29:00.328Z,1736368140.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.800003 m, nav range: 131.865555 m, bearing: 16.079052 deg, approach rate: 0.077099 m/s, LOS rate: -0.364575 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.426145 deg. 2025-01-08T20:29:00.329Z,1736368140.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049473 target range: 155.800003 and range: 155.80 m. 2025-01-08T20:29:00.456Z,1736368140.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:00.608Z,1736368140.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:00.617Z,1736368140.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.80 m. 2025-01-08T20:29:00.620Z,1736368140.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.800003 m, nav range: 131.890930 m, bearing: 15.967808 deg, approach rate: 0.084271 m/s, LOS rate: -0.369368 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.560891 deg. 2025-01-08T20:29:00.622Z,1736368140.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051825 target range: 155.800003 and range: 155.80 m. 2025-01-08T20:29:00.708Z,1736368140.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:00.960Z,1736368140.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:01.021Z,1736368141.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:01.044Z,1736368141.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:01.046Z,1736368141.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.80 m. 2025-01-08T20:29:01.053Z,1736368141.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.800003 m, nav range: 131.925629 m, bearing: 15.825220 deg, approach rate: 0.080846 m/s, LOS rate: -0.332135 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.466915 deg. 2025-01-08T20:29:01.054Z,1736368141.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050184 target range: 155.800003 and range: 155.80 m. 2025-01-08T20:29:01.212Z,1736368141.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:01.212Z,1736368141.212 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:01.212Z,1736368141.212 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:01.213Z,1736368141.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:01.425Z,1736368141.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:01.434Z,1736368141.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.80 m. 2025-01-08T20:29:01.437Z,1736368141.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.800003 m, nav range: 131.967224 m, bearing: 15.680879 deg, approach rate: 0.107247 m/s, LOS rate: -0.372043 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.461678 deg. 2025-01-08T20:29:01.438Z,1736368141.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050093 target range: 155.800003 and range: 155.80 m. 2025-01-08T20:29:01.464Z,1736368141.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:01.465Z,1736368141.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750729 2025-01-08T20:29:01.716Z,1736368141.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:01.716Z,1736368141.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002617 2025-01-08T20:29:01.816Z,1736368141.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:01.828Z,1736368141.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.80 m. 2025-01-08T20:29:01.831Z,1736368141.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.800003 m, nav range: 132.009094 m, bearing: 15.541480 deg, approach rate: 0.106129 m/s, LOS rate: -0.353225 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.476500 deg. 2025-01-08T20:29:01.832Z,1736368141.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050352 target range: 155.800003 and range: 155.80 m. 2025-01-08T20:29:01.968Z,1736368141.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:01.970Z,1736368141.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255785 2025-01-08T20:29:02.220Z,1736368142.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:02.220Z,1736368142.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506642 2025-01-08T20:29:02.250Z,1736368142.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:02.259Z,1736368142.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.80 m. 2025-01-08T20:29:02.262Z,1736368142.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.800003 m, nav range: 132.059311 m, bearing: 15.387108 deg, approach rate: 0.116597 m/s, LOS rate: -0.358295 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.431628 deg. 2025-01-08T20:29:02.263Z,1736368142.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049569 target range: 155.800003 and range: 155.80 m. 2025-01-08T20:29:02.472Z,1736368142.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:02.473Z,1736368142.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759349 2025-01-08T20:29:02.620Z,1736368142.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:02.629Z,1736368142.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.80 m. 2025-01-08T20:29:02.632Z,1736368142.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.800003 m, nav range: 132.103592 m, bearing: 15.255688 deg, approach rate: 0.119537 m/s, LOS rate: -0.354649 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.500436 deg. 2025-01-08T20:29:02.633Z,1736368142.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050770 target range: 155.800003 and range: 155.80 m. 2025-01-08T20:29:02.724Z,1736368142.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:02.725Z,1736368142.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010764 2025-01-08T20:29:02.976Z,1736368142.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:02.976Z,1736368142.976 [DAT](INFO): DAT read: Rx Time:20:29:01.6004 2025-01-08T20:29:02.977Z,1736368142.977 [DAT](INFO): Rx dataTimestamp_ set to:1736368142.976549 2025-01-08T20:29:02.977Z,1736368142.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263593 2025-01-08T20:29:03.060Z,1736368143.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:03.066Z,1736368143.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:03.069Z,1736368143.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.80 m. 2025-01-08T20:29:03.072Z,1736368143.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.800003 m, nav range: 132.156891 m, bearing: 15.101035 deg, approach rate: 0.121315 m/s, LOS rate: -0.351867 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.430793 deg. 2025-01-08T20:29:03.073Z,1736368143.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049554 target range: 155.800003 and range: 155.80 m. 2025-01-08T20:29:03.228Z,1736368143.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:03.229Z,1736368143.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514733 2025-01-08T20:29:03.451Z,1736368143.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:03.461Z,1736368143.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.80 m. 2025-01-08T20:29:03.463Z,1736368143.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.800003 m, nav range: 132.209915 m, bearing: 14.963422 deg, approach rate: 0.135327 m/s, LOS rate: -0.351070 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.481892 deg. 2025-01-08T20:29:03.464Z,1736368143.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050446 target range: 155.800003 and range: 155.80 m. 2025-01-08T20:29:03.483Z,1736368143.483 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:03.516Z,1736368143.516 [DAT](INFO): DAT read: 20:29:01.6004 LVL= 31824, 32753, 17602, 32755, AGC= 56, IDX= 421, 0.08, 0.087, 0.267, 2.162, 1.058, PHS=-0.883,-0.744, 1.101, RAW= 213.6, 5.5, CAL= 215.8, -0.1, ROT= 294.2, 0.1 2025-01-08T20:29:03.517Z,1736368143.517 [DAT](INFO): got valid direction response: 20:29:01.6004 LVL= 31824, 32753, 17602, 32755, AGC= 56, IDX= 421, 0.08, 0.087, 0.267, 2.162, 1.058, PHS=-0.883,-0.744, 1.101, RAW= 213.6, 5.5, CAL= 215.8, -0.1, ROT= 294.2, 0.1 2025-01-08T20:29:03.524Z,1736368143.524 [DAT](INFO): DAT read: Bearing 294.2, 0.1 (Local) 2025-01-08T20:29:03.524Z,1736368143.524 [DAT](INFO): Local bearing/azimuth received: Bearing 294.2, 0.1 (Local) 2025-01-08T20:29:03.526Z,1736368143.526 [DAT](INFO): DAT read: Range 10 to 50 : 154.1 m (Round-trip 205.5 ms) speed -0.2 m/s 2025-01-08T20:29:03.526Z,1736368143.526 [DAT](INFO): DAT read: user:1362> 2025-01-08T20:29:03.533Z,1736368143.533 [DAT](INFO): DAT read: Tx time:20:29:02.6908 2025-01-08T20:29:03.533Z,1736368143.533 [DAT](INFO): Ping request sent. 2025-01-08T20:29:03.533Z,1736368143.533 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:03.534Z,1736368143.534 [DAT](INFO): DAT read: TxSync time:20:29:02.6900 2025-01-08T20:29:03.534Z,1736368143.534 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:03.540Z,1736368143.540 [DAT](INFO): direction in FSK: [-0.127694,-0.855075,-0.502535] 2025-01-08T20:29:03.540Z,1736368143.540 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:03.540Z,1736368143.540 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:03.549Z,1736368143.549 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:03.549Z,1736368143.549 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:03.732Z,1736368143.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:03.836Z,1736368143.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:03.852Z,1736368143.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.100006 m, deltaT: 3.785356 s, deltaX: -1.699997 m, approachRate: -0.449098 m/s, rangeRepo size: 4 2025-01-08T20:29:03.854Z,1736368143.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 154.100006 m, bearing: 19.181923 deg, lat: 36.904908 deg, lon: -122.120084 deg, deltaT: 3.785356 s, deltaX: -1.699997 m, approachRate: -0.449098 m/s, posRepo size: 4 2025-01-08T20:29:03.855Z,1736368143.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m. 2025-01-08T20:29:03.858Z,1736368143.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.100006 m, nav range: 131.924133 m, bearing: 15.464724 deg, approach rate: 0.000000 m/s, LOS rate: -0.351070 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.483813 deg. 2025-01-08T20:29:03.859Z,1736368143.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050479 target range: 154.100006 and range: 154.10 m. 2025-01-08T20:29:03.984Z,1736368143.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:04.236Z,1736368144.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:04.258Z,1736368144.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:04.266Z,1736368144.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m. 2025-01-08T20:29:04.273Z,1736368144.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.100006 m, nav range: 131.977310 m, bearing: 15.328143 deg, approach rate: 0.127873 m/s, LOS rate: -0.328299 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.484986 deg. 2025-01-08T20:29:04.274Z,1736368144.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050500 target range: 154.100006 and range: 154.10 m. 2025-01-08T20:29:04.488Z,1736368144.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:04.645Z,1736368144.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:04.658Z,1736368144.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m. 2025-01-08T20:29:04.664Z,1736368144.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.100006 m, nav range: 132.027374 m, bearing: 15.203023 deg, approach rate: 0.127805 m/s, LOS rate: -0.319288 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.519346 deg. 2025-01-08T20:29:04.666Z,1736368144.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051100 target range: 154.100006 and range: 154.10 m. 2025-01-08T20:29:04.740Z,1736368144.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:04.993Z,1736368144.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:05.047Z,1736368145.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:05.075Z,1736368145.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:05.077Z,1736368145.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m. 2025-01-08T20:29:05.084Z,1736368145.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.100006 m, nav range: 132.079514 m, bearing: 15.073061 deg, approach rate: 0.124357 m/s, LOS rate: -0.309849 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.504831 deg. 2025-01-08T20:29:05.085Z,1736368145.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050846 target range: 154.100006 and range: 154.10 m. 2025-01-08T20:29:05.244Z,1736368145.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:05.245Z,1736368145.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:05.245Z,1736368145.245 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:05.246Z,1736368145.246 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:05.461Z,1736368145.461 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -31.82353.79, -3.78, 7.90 2025-01-08T20:29:05.469Z,1736368145.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:29:05.469Z,1736368145.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:05.478Z,1736368145.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m. 2025-01-08T20:29:05.481Z,1736368145.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.100006 m, nav range: 132.133652 m, bearing: 14.936846 deg, approach rate: 0.135194 m/s, LOS rate: -0.340017 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.486085 deg. 2025-01-08T20:29:05.482Z,1736368145.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050519 target range: 154.100006 and range: 154.10 m. 2025-01-08T20:29:05.497Z,1736368145.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:05.498Z,1736368145.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964516 2025-01-08T20:29:05.748Z,1736368145.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:05.749Z,1736368145.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215623 2025-01-08T20:29:05.856Z,1736368145.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:29:05.856Z,1736368145.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:05.881Z,1736368145.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m. 2025-01-08T20:29:05.889Z,1736368145.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.100006 m, nav range: 132.182571 m, bearing: 14.812166 deg, approach rate: 0.121291 m/s, LOS rate: -0.309015 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.520661 deg. 2025-01-08T20:29:05.890Z,1736368145.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051122 target range: 154.100006 and range: 154.10 m. 2025-01-08T20:29:05.000Z,1736368146.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:06.000Z,1736368146.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467320 2025-01-08T20:29:06.252Z,1736368146.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:06.252Z,1736368146.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719274 2025-01-08T20:29:06.277Z,1736368146.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:06.285Z,1736368146.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m. 2025-01-08T20:29:06.289Z,1736368146.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.100006 m, nav range: 132.233353 m, bearing: 14.696898 deg, approach rate: 0.125753 m/s, LOS rate: -0.285338 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.548888 deg. 2025-01-08T20:29:06.290Z,1736368146.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051615 target range: 154.100006 and range: 154.10 m. 2025-01-08T20:29:06.504Z,1736368146.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:06.505Z,1736368146.505 [DAT](INFO): DAT read: Rx Time:20:29:05.2988 2025-01-08T20:29:06.506Z,1736368146.506 [DAT](INFO): Rx dataTimestamp_ set to:1736368146.505341 2025-01-08T20:29:06.506Z,1736368146.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973027 2025-01-08T20:29:06.676Z,1736368146.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:06.687Z,1736368146.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.10 m. 2025-01-08T20:29:06.691Z,1736368146.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.100006 m, nav range: 132.280838 m, bearing: 14.587885 deg, approach rate: 0.118090 m/s, LOS rate: -0.271002 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.567640 deg. 2025-01-08T20:29:06.692Z,1736368146.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051942 target range: 154.100006 and range: 154.10 m. 2025-01-08T20:29:06.756Z,1736368146.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:06.757Z,1736368146.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223910 2025-01-08T20:29:07.009Z,1736368147.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:07.020Z,1736368147.020 [DAT](INFO): DAT read: 20:29:05.2988 LVL= 32752, 32753, 21138, 32755, AGC= 60, IDX= 405,-0.42, 0.690, 0.891, 2.772, 1.627, PHS=-0.849,-0.689, 1.142, RAW= 214.2, 4.2, CAL= 215.8, -1.5, ROT= 294.2, 1.5 2025-01-08T20:29:07.021Z,1736368147.021 [DAT](INFO): got valid direction response: 20:29:05.2988 LVL= 32752, 32753, 21138, 32755, AGC= 60, IDX= 405,-0.42, 0.690, 0.891, 2.772, 1.627, PHS=-0.849,-0.689, 1.142, RAW= 214.2, 4.2, CAL= 215.8, -1.5, ROT= 294.2, 1.5 2025-01-08T20:29:07.022Z,1736368147.022 [DAT](INFO): DAT read: Bearing 294.2, 1.5 (Local) 2025-01-08T20:29:07.022Z,1736368147.022 [DAT](INFO): Local bearing/azimuth received: Bearing 294.2, 1.5 (Local) 2025-01-08T20:29:07.027Z,1736368147.027 [DAT](INFO): DAT read: Range 10 to 50 : 152.9 m (Round-trip 203.9 ms) speed 0.1 m/s 2025-01-08T20:29:07.029Z,1736368147.029 [DAT](INFO): DAT read: user:1363> 2025-01-08T20:29:07.030Z,1736368147.030 [DAT](INFO): DAT read: Tx time:20:29:06.3908 2025-01-08T20:29:07.030Z,1736368147.030 [DAT](INFO): Ping request sent. 2025-01-08T20:29:07.031Z,1736368147.031 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:07.031Z,1736368147.031 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:07.032Z,1736368147.032 [DAT](INFO): direction in FSK: [-0.101550,-0.854190,-0.509948] 2025-01-08T20:29:07.032Z,1736368147.032 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:07.033Z,1736368147.033 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:07.080Z,1736368147.080 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:07.080Z,1736368147.080 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:07.108Z,1736368147.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:07.149Z,1736368147.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.899994 m, deltaT: 3.524444 s, deltaX: -1.200012 m, approachRate: -0.340483 m/s, rangeRepo size: 4 2025-01-08T20:29:07.164Z,1736368147.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 152.899994 m, bearing: 19.949813 deg, lat: 36.904862 deg, lon: -122.120049 deg, deltaT: 3.524444 s, deltaX: -1.200012 m, approachRate: -0.340483 m/s, posRepo size: 4 2025-01-08T20:29:07.171Z,1736368147.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T20:29:07.210Z,1736368147.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 128.222290 m, bearing: 16.375805 deg, approach rate: 0.000000 m/s, LOS rate: -0.271002 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.519626 deg. 2025-01-08T20:29:07.223Z,1736368147.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051104 target range: 152.899994 and range: 152.90 m. 2025-01-08T20:29:07.260Z,1736368147.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:07.261Z,1736368147.261 [DAT](INFO): DAT read: TxSync time:20:29:06.3900 2025-01-08T20:29:07.513Z,1736368147.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:07.565Z,1736368147.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:07.572Z,1736368147.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:07.574Z,1736368147.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T20:29:07.577Z,1736368147.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 128.263947 m, bearing: 16.257070 deg, approach rate: 0.097790 m/s, LOS rate: -0.278645 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.538471 deg. 2025-01-08T20:29:07.578Z,1736368147.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051433 target range: 152.899994 and range: 152.90 m. 2025-01-08T20:29:07.764Z,1736368147.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:07.765Z,1736368147.765 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:07.765Z,1736368147.765 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:07.766Z,1736368147.766 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:07.920Z,1736368147.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:07.950Z,1736368147.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T20:29:07.977Z,1736368147.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 128.297440 m, bearing: 16.164738 deg, approach rate: 0.089169 m/s, LOS rate: -0.245752 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.617635 deg. 2025-01-08T20:29:07.978Z,1736368147.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052815 target range: 152.899994 and range: 152.90 m. 2025-01-08T20:29:08.016Z,1736368148.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:08.017Z,1736368148.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985997 2025-01-08T20:29:08.268Z,1736368148.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:08.268Z,1736368148.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237757 2025-01-08T20:29:08.372Z,1736368148.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:08.381Z,1736368148.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T20:29:08.384Z,1736368148.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 128.337357 m, bearing: 16.052136 deg, approach rate: 0.092585 m/s, LOS rate: -0.261092 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.556859 deg. 2025-01-08T20:29:08.385Z,1736368148.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051754 target range: 152.899994 and range: 152.90 m. 2025-01-08T20:29:08.520Z,1736368148.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:08.520Z,1736368148.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489846 2025-01-08T20:29:08.728Z,1736368148.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:08.757Z,1736368148.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T20:29:08.760Z,1736368148.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 128.369019 m, bearing: 15.962936 deg, approach rate: 0.084134 m/s, LOS rate: -0.236968 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.627027 deg. 2025-01-08T20:29:08.761Z,1736368148.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052979 target range: 152.899994 and range: 152.90 m. 2025-01-08T20:29:08.772Z,1736368148.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:08.773Z,1736368148.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742699 2025-01-08T20:29:09.024Z,1736368149.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:09.026Z,1736368149.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995234 2025-01-08T20:29:09.138Z,1736368149.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:09.261Z,1736368149.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T20:29:09.272Z,1736368149.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 128.404694 m, bearing: 15.860687 deg, approach rate: 0.070779 m/s, LOS rate: -0.202805 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.587897 deg. 2025-01-08T20:29:09.274Z,1736368149.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052296 target range: 152.899994 and range: 152.90 m. 2025-01-08T20:29:09.276Z,1736368149.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:09.277Z,1736368149.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245930 2025-01-08T20:29:09.528Z,1736368149.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:09.528Z,1736368149.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497649 2025-01-08T20:29:09.598Z,1736368149.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:09.606Z,1736368149.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:09.608Z,1736368149.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T20:29:09.611Z,1736368149.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 128.444504 m, bearing: 15.743414 deg, approach rate: 0.114736 m/s, LOS rate: -0.337884 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.542851 deg. 2025-01-08T20:29:09.612Z,1736368149.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051510 target range: 152.899994 and range: 152.90 m. 2025-01-08T20:29:09.780Z,1736368149.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:09.781Z,1736368149.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750030 2025-01-08T20:29:09.955Z,1736368149.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:09.966Z,1736368149.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T20:29:09.969Z,1736368149.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 128.473984 m, bearing: 15.652812 deg, approach rate: 0.082444 m/s, LOS rate: -0.253322 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.622814 deg. 2025-01-08T20:29:09.970Z,1736368149.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052905 target range: 152.899994 and range: 152.90 m. 2025-01-08T20:29:10.035Z,1736368150.035 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:10.036Z,1736368150.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005127 2025-01-08T20:29:10.284Z,1736368150.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:10.284Z,1736368150.284 [DAT](INFO): DAT read: Rx Time:20:29:08.9973 2025-01-08T20:29:10.285Z,1736368150.285 [DAT](INFO): Rx dataTimestamp_ set to:1736368150.284629 2025-01-08T20:29:10.285Z,1736368150.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254835 2025-01-08T20:29:10.374Z,1736368150.374 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3278,-32768,V 2025-01-08T20:29:10.387Z,1736368150.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:29:10.387Z,1736368150.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:10.396Z,1736368150.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T20:29:10.399Z,1736368150.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 128.510208 m, bearing: 15.542852 deg, approach rate: 0.084122 m/s, LOS rate: -0.255282 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.564775 deg. 2025-01-08T20:29:10.400Z,1736368150.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051893 target range: 152.899994 and range: 152.90 m. 2025-01-08T20:29:10.536Z,1736368150.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:10.537Z,1736368150.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506808 2025-01-08T20:29:10.761Z,1736368150.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:29:10.761Z,1736368150.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:10.770Z,1736368150.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T20:29:10.773Z,1736368150.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 128.540894 m, bearing: 15.447632 deg, approach rate: 0.082243 m/s, LOS rate: -0.255147 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.608968 deg. 2025-01-08T20:29:10.774Z,1736368150.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052664 target range: 152.899994 and range: 152.90 m. 2025-01-08T20:29:10.789Z,1736368150.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:10.795Z,1736368150.795 [DAT](INFO): DAT read: 20:29:08.9973 LVL= 26240, 31089, 15602, 30499, AGC= 64, IDX= 420, 0.12, 0.013, 0.177, 2.077, 0.968, PHS=-0.867,-0.744, 1.105, RAW= 213.2, 5.3, CAL= 215.2, -0.4, ROT= 294.8, 0.4 2025-01-08T20:29:10.796Z,1736368150.796 [DAT](INFO): got valid direction response: 20:29:08.9973 LVL= 26240, 31089, 15602, 30499, AGC= 64, IDX= 420, 0.12, 0.013, 0.177, 2.077, 0.968, PHS=-0.867,-0.744, 1.105, RAW= 213.2, 5.3, CAL= 215.2, -0.4, ROT= 294.8, 0.4 2025-01-08T20:29:10.797Z,1736368150.797 [DAT](INFO): DAT read: Bearing 294.8, 0.4 (Local) 2025-01-08T20:29:10.798Z,1736368150.798 [DAT](INFO): Local bearing/azimuth received: Bearing 294.8, 0.4 (Local) 2025-01-08T20:29:10.800Z,1736368150.800 [DAT](INFO): DAT read: Range 10 to 50 : 151.7 m (Round-trip 202.3 ms) speed 0.4 m/s 2025-01-08T20:29:10.800Z,1736368150.800 [DAT](INFO): DAT read: user:1364> 2025-01-08T20:29:10.801Z,1736368150.801 [DAT](INFO): DAT read: Tx time:20:29:10.0909 2025-01-08T20:29:10.801Z,1736368150.801 [DAT](INFO): Ping request sent. 2025-01-08T20:29:10.801Z,1736368150.801 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:10.802Z,1736368150.802 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:10.803Z,1736368150.803 [DAT](INFO): direction in FSK: [-0.124926,-0.858880,-0.496707] 2025-01-08T20:29:10.803Z,1736368150.803 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:10.807Z,1736368150.807 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:10.810Z,1736368150.810 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:10.811Z,1736368150.811 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:11.042Z,1736368151.042 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:11.043Z,1736368151.043 [DAT](INFO): DAT read: TxSync time:20:29:10.0901 2025-01-08T20:29:11.184Z,1736368151.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:29:11.184Z,1736368151.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:11.210Z,1736368151.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 151.699997 m, deltaT: 3.779027 s, deltaX: -1.199997 m, approachRate: -0.317541 m/s, rangeRepo size: 4 2025-01-08T20:29:11.240Z,1736368151.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 151.699997 m, bearing: 16.633859 deg, lat: 36.904811 deg, lon: -122.120038 deg, deltaT: 3.779027 s, deltaX: -1.199997 m, approachRate: -0.317541 m/s, posRepo size: 4 2025-01-08T20:29:11.247Z,1736368151.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T20:29:11.270Z,1736368151.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 123.379578 m, bearing: 16.485627 deg, approach rate: 0.000000 m/s, LOS rate: -0.255147 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.557951 deg. 2025-01-08T20:29:11.279Z,1736368151.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051773 target range: 151.699997 and range: 151.70 m. 2025-01-08T20:29:11.292Z,1736368151.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:11.544Z,1736368151.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:11.609Z,1736368151.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:11.622Z,1736368151.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:11.625Z,1736368151.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T20:29:11.630Z,1736368151.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 123.403244 m, bearing: 16.356578 deg, approach rate: 0.057001 m/s, LOS rate: -0.310758 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.507489 deg. 2025-01-08T20:29:11.631Z,1736368151.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050893 target range: 151.699997 and range: 151.70 m. 2025-01-08T20:29:11.796Z,1736368151.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:11.796Z,1736368151.796 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:11.796Z,1736368151.796 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:11.796Z,1736368151.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:11.969Z,1736368151.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:11.978Z,1736368151.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T20:29:11.982Z,1736368151.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 123.424484 m, bearing: 16.247198 deg, approach rate: 0.060016 m/s, LOS rate: -0.309007 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.566476 deg. 2025-01-08T20:29:11.983Z,1736368151.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051922 target range: 151.699997 and range: 151.70 m. 2025-01-08T20:29:12.048Z,1736368152.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:12.049Z,1736368152.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247233 2025-01-08T20:29:12.300Z,1736368152.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:12.300Z,1736368152.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498961 2025-01-08T20:29:12.428Z,1736368152.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:12.439Z,1736368152.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T20:29:12.442Z,1736368152.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 123.450829 m, bearing: 16.093941 deg, approach rate: 0.057328 m/s, LOS rate: -0.333435 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.434893 deg. 2025-01-08T20:29:12.443Z,1736368152.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049626 target range: 151.699997 and range: 151.70 m. 2025-01-08T20:29:12.552Z,1736368152.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:12.552Z,1736368152.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751048 2025-01-08T20:29:12.780Z,1736368152.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:12.789Z,1736368152.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T20:29:12.793Z,1736368152.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 123.471611 m, bearing: 15.976510 deg, approach rate: 0.059346 m/s, LOS rate: -0.335276 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.542329 deg. 2025-01-08T20:29:12.804Z,1736368152.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:12.805Z,1736368152.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002980 2025-01-08T20:29:12.816Z,1736368152.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051501 target range: 151.699997 and range: 151.70 m. 2025-01-08T20:29:13.056Z,1736368153.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:13.056Z,1736368153.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254998 2025-01-08T20:29:13.180Z,1736368153.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:13.226Z,1736368153.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T20:29:13.234Z,1736368153.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 123.495857 m, bearing: 15.843056 deg, approach rate: 0.055769 m/s, LOS rate: -0.306901 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.494279 deg. 2025-01-08T20:29:13.235Z,1736368153.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050662 target range: 151.699997 and range: 151.70 m. 2025-01-08T20:29:13.310Z,1736368153.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:13.313Z,1736368153.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511480 2025-01-08T20:29:13.560Z,1736368153.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:13.560Z,1736368153.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759039 2025-01-08T20:29:13.626Z,1736368153.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:13.632Z,1736368153.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:13.635Z,1736368153.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T20:29:13.658Z,1736368153.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 123.521919 m, bearing: 15.679838 deg, approach rate: 0.063332 m/s, LOS rate: -0.396543 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.405019 deg. 2025-01-08T20:29:13.665Z,1736368153.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049104 target range: 151.699997 and range: 151.70 m. 2025-01-08T20:29:13.812Z,1736368153.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:13.812Z,1736368153.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010908 2025-01-08T20:29:13.994Z,1736368153.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:14.002Z,1736368154.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T20:29:14.025Z,1736368154.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 123.543854 m, bearing: 15.544877 deg, approach rate: 0.059608 m/s, LOS rate: -0.366695 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.489754 deg. 2025-01-08T20:29:14.026Z,1736368154.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050583 target range: 151.699997 and range: 151.70 m. 2025-01-08T20:29:14.064Z,1736368154.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:14.065Z,1736368154.065 [DAT](INFO): DAT read: Rx Time:20:29:12.6950 2025-01-08T20:29:14.065Z,1736368154.065 [DAT](INFO): Rx dataTimestamp_ set to:1736368154.064856 2025-01-08T20:29:14.066Z,1736368154.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264282 2025-01-08T20:29:14.316Z,1736368154.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:14.317Z,1736368154.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515238 2025-01-08T20:29:14.469Z,1736368154.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:14.478Z,1736368154.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T20:29:14.481Z,1736368154.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 123.575462 m, bearing: 15.362237 deg, approach rate: 0.066410 m/s, LOS rate: -0.383632 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.346794 deg. 2025-01-08T20:29:14.482Z,1736368154.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048088 target range: 151.699997 and range: 151.70 m. 2025-01-08T20:29:14.568Z,1736368154.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:14.577Z,1736368154.577 [DAT](INFO): DAT read: 20:29:12.6950 LVL= 30960, 29617, 15410, 32755, AGC= 61, IDX= 412, 0.16, 1.530, 1.744,-2.615, 2.567, PHS=-0.949,-0.775, 1.099, RAW= 214.4, 6.4, CAL= 217.0, 1.9, ROT= 293.0, -1.9 2025-01-08T20:29:14.578Z,1736368154.578 [DAT](INFO): got valid direction response: 20:29:12.6950 LVL= 30960, 29617, 15410, 32755, AGC= 61, IDX= 412, 0.16, 1.530, 1.744,-2.615, 2.567, PHS=-0.949,-0.775, 1.099, RAW= 214.4, 6.4, CAL= 217.0, 1.9, ROT= 293.0, -1.9 2025-01-08T20:29:14.579Z,1736368154.579 [DAT](INFO): DAT read: Bearing 293.0, -1.9 (Local) 2025-01-08T20:29:14.579Z,1736368154.579 [DAT](INFO): Local bearing/azimuth received: Bearing 293.0, -1.9 (Local) 2025-01-08T20:29:14.581Z,1736368154.581 [DAT](INFO): DAT read: Range 10 to 50 : 150.0 m (Round-trip 200.0 ms) speed 0.1 m/s 2025-01-08T20:29:14.582Z,1736368154.582 [DAT](INFO): DAT read: user:1365> 2025-01-08T20:29:14.605Z,1736368154.605 [DAT](INFO): DAT read: Tx time:20:29:13.7909 2025-01-08T20:29:14.606Z,1736368154.606 [DAT](INFO): Ping request sent. 2025-01-08T20:29:14.606Z,1736368154.606 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:14.607Z,1736368154.607 [DAT](INFO): DAT read: TxSync time:20:29:13.7901 2025-01-08T20:29:14.612Z,1736368154.612 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:14.613Z,1736368154.613 [DAT](INFO): direction in FSK: [-0.142082,-0.846023,-0.513866] 2025-01-08T20:29:14.613Z,1736368154.613 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:14.613Z,1736368154.613 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:14.621Z,1736368154.621 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:14.621Z,1736368154.621 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:14.813Z,1736368154.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:14.820Z,1736368154.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:14.847Z,1736368154.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 150.000000 m, deltaT: 3.779776 s, deltaX: -1.699997 m, approachRate: -0.449761 m/s, rangeRepo size: 4 2025-01-08T20:29:14.850Z,1736368154.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 150.000000 m, bearing: 15.738747 deg, lat: 36.904801 deg, lon: -122.120038 deg, deltaT: 3.779776 s, deltaX: -1.699997 m, approachRate: -0.449761 m/s, posRepo size: 4 2025-01-08T20:29:14.850Z,1736368154.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.00 m. 2025-01-08T20:29:14.858Z,1736368154.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.000000 m, nav range: 122.526619 m, bearing: 15.367016 deg, approach rate: 0.000000 m/s, LOS rate: -0.383632 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.475490 deg. 2025-01-08T20:29:14.859Z,1736368154.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050334 target range: 150.000000 and range: 150.00 m. 2025-01-08T20:29:15.072Z,1736368155.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:15.247Z,1736368155.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:15.256Z,1736368155.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.00 m. 2025-01-08T20:29:15.266Z,1736368155.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.000000 m, nav range: 122.559998 m, bearing: 15.198753 deg, approach rate: 0.080944 m/s, LOS rate: -0.407927 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.389920 deg. 2025-01-08T20:29:15.267Z,1736368155.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048841 target range: 150.000000 and range: 150.00 m. 2025-01-08T20:29:15.325Z,1736368155.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:15.576Z,1736368155.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:15.653Z,1736368155.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:15.696Z,1736368155.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:15.698Z,1736368155.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.00 m. 2025-01-08T20:29:15.706Z,1736368155.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.000000 m, nav range: 122.593468 m, bearing: 15.040753 deg, approach rate: 0.075562 m/s, LOS rate: -0.356602 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.420697 deg. 2025-01-08T20:29:15.707Z,1736368155.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049378 target range: 150.000000 and range: 150.00 m. 2025-01-08T20:29:15.828Z,1736368155.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:15.828Z,1736368155.828 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:15.828Z,1736368155.828 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:15.829Z,1736368155.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:16.012Z,1736368156.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:16.021Z,1736368156.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.00 m. 2025-01-08T20:29:16.041Z,1736368156.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.000000 m, nav range: 122.626350 m, bearing: 14.900969 deg, approach rate: 0.101827 m/s, LOS rate: -0.432749 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.475324 deg. 2025-01-08T20:29:16.042Z,1736368156.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050331 target range: 150.000000 and range: 150.00 m. 2025-01-08T20:29:16.080Z,1736368156.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:16.080Z,1736368156.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474303 2025-01-08T20:29:16.333Z,1736368156.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:16.335Z,1736368156.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728464 2025-01-08T20:29:16.337Z,1736368156.337 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:29:16.445Z,1736368156.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:16.453Z,1736368156.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.00 m. 2025-01-08T20:29:16.457Z,1736368156.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.000000 m, nav range: 122.674118 m, bearing: 14.731176 deg, approach rate: 0.110400 m/s, LOS rate: -0.392272 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.385389 deg. 2025-01-08T20:29:16.458Z,1736368156.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048762 target range: 150.000000 and range: 150.00 m. 2025-01-08T20:29:16.589Z,1736368156.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:16.590Z,1736368156.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983692 2025-01-08T20:29:16.829Z,1736368156.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:16.837Z,1736368156.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.00 m. 2025-01-08T20:29:16.840Z,1736368156.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:16.841Z,1736368156.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234595 2025-01-08T20:29:16.843Z,1736368156.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.000000 m, nav range: 122.717613 m, bearing: 14.580616 deg, approach rate: 0.113277 m/s, LOS rate: -0.391974 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.443046 deg. 2025-01-08T20:29:16.844Z,1736368156.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049768 target range: 150.000000 and range: 150.00 m. 2025-01-08T20:29:17.092Z,1736368157.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:17.092Z,1736368157.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486506 2025-01-08T20:29:17.233Z,1736368157.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:17.241Z,1736368157.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.00 m. 2025-01-08T20:29:17.244Z,1736368157.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.000000 m, nav range: 122.764671 m, bearing: 14.422545 deg, approach rate: 0.116471 m/s, LOS rate: -0.391082 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.420537 deg. 2025-01-08T20:29:17.245Z,1736368157.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049375 target range: 150.000000 and range: 150.00 m. 2025-01-08T20:29:17.341Z,1736368157.341 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:29:17.346Z,1736368157.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:17.348Z,1736368157.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741484 2025-01-08T20:29:17.596Z,1736368157.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:17.596Z,1736368157.596 [DAT](INFO): DAT read: Rx Time:20:29:16.3930 2025-01-08T20:29:17.597Z,1736368157.597 [DAT](INFO): Rx dataTimestamp_ set to:1736368157.596606 2025-01-08T20:29:17.597Z,1736368157.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991493 2025-01-08T20:29:17.684Z,1736368157.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:17.696Z,1736368157.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.00 m. 2025-01-08T20:29:17.699Z,1736368157.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.000000 m, nav range: 122.822098 m, bearing: 14.254036 deg, approach rate: 0.126238 m/s, LOS rate: -0.370250 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.389281 deg. 2025-01-08T20:29:17.700Z,1736368157.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048830 target range: 150.000000 and range: 150.00 m. 2025-01-08T20:29:17.848Z,1736368157.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:17.848Z,1736368157.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242466 2025-01-08T20:29:18.033Z,1736368158.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:18.043Z,1736368158.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:18.051Z,1736368158.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.00 m. 2025-01-08T20:29:18.091Z,1736368158.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.000000 m, nav range: 122.867615 m, bearing: 14.124176 deg, approach rate: 0.129035 m/s, LOS rate: -0.367998 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.505129 deg. 2025-01-08T20:29:18.101Z,1736368158.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:18.111Z,1736368158.111 [DAT](INFO): DAT read: 20:29:16.3930 LVL= 25328, 32689, 13298, 32755, AGC= 60, IDX= 424, 0.35,-2.613,-2.321,-0.334,-1.508, PHS=-1.017,-0.766, 1.170, RAW= 216.0, 6.0, CAL= 218.7, 1.8, ROT= 291.3, -1.8 2025-01-08T20:29:18.112Z,1736368158.112 [DAT](INFO): got valid direction response: 20:29:16.3930 LVL= 25328, 32689, 13298, 32755, AGC= 60, IDX= 424, 0.35,-2.613,-2.321,-0.334,-1.508, PHS=-1.017,-0.766, 1.170, RAW= 216.0, 6.0, CAL= 218.7, 1.8, ROT= 291.3, -1.8 2025-01-08T20:29:18.113Z,1736368158.113 [DAT](INFO): DAT read: Bearing 291.3, -1.8 (Local) 2025-01-08T20:29:18.113Z,1736368158.113 [DAT](INFO): Local bearing/azimuth received: Bearing 291.3, -1.8 (Local) 2025-01-08T20:29:18.115Z,1736368158.115 [DAT](INFO): DAT read: Range 10 to 50 : 148.5 m (Round-trip 198.0 ms) speed -0.1 m/s 2025-01-08T20:29:18.116Z,1736368158.116 [DAT](INFO): DAT read: user:1366> 2025-01-08T20:29:18.116Z,1736368158.116 [DAT](INFO): DAT read: Tx time:20:29:17.4909 2025-01-08T20:29:18.117Z,1736368158.117 [DAT](INFO): Ping request sent. 2025-01-08T20:29:18.117Z,1736368158.117 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:18.117Z,1736368158.117 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:18.118Z,1736368158.118 [DAT](INFO): direction in FSK: [-0.130636,-0.833698,-0.536547] 2025-01-08T20:29:18.118Z,1736368158.118 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:18.118Z,1736368158.118 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:18.126Z,1736368158.126 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:18.126Z,1736368158.126 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:18.131Z,1736368158.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050851 target range: 150.000000 and range: 150.00 m. 2025-01-08T20:29:18.356Z,1736368158.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:18.358Z,1736368158.358 [DAT](INFO): DAT read: TxSync time:20:29:17.4901 2025-01-08T20:29:18.487Z,1736368158.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:18.519Z,1736368158.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 148.500000 m, deltaT: 3.533301 s, deltaX: -1.500000 m, approachRate: -0.424532 m/s, rangeRepo size: 4 2025-01-08T20:29:18.527Z,1736368158.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 148.500000 m, bearing: 17.709382 deg, lat: 36.904792 deg, lon: -122.120024 deg, deltaT: 3.533301 s, deltaX: -1.500000 m, approachRate: -0.424532 m/s, posRepo size: 4 2025-01-08T20:29:18.548Z,1736368158.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.50 m. 2025-01-08T20:29:18.550Z,1736368158.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.500000 m, nav range: 122.341644 m, bearing: 14.621862 deg, approach rate: 0.000000 m/s, LOS rate: -0.367998 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.376863 deg. 2025-01-08T20:29:18.556Z,1736368158.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048613 target range: 148.500000 and range: 148.50 m. 2025-01-08T20:29:18.609Z,1736368158.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:18.836Z,1736368158.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:18.845Z,1736368158.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.50 m. 2025-01-08T20:29:18.848Z,1736368158.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.500000 m, nav range: 122.384819 m, bearing: 14.499329 deg, approach rate: 0.131915 m/s, LOS rate: -0.374249 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.527095 deg. 2025-01-08T20:29:18.850Z,1736368158.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051235 target range: 148.500000 and range: 148.50 m. 2025-01-08T20:29:18.860Z,1736368158.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:19.114Z,1736368159.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:19.248Z,1736368159.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:19.256Z,1736368159.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.50 m. 2025-01-08T20:29:19.262Z,1736368159.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.500000 m, nav range: 122.435944 m, bearing: 14.355313 deg, approach rate: 0.124549 m/s, LOS rate: -0.350703 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.462697 deg. 2025-01-08T20:29:19.280Z,1736368159.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050111 target range: 148.500000 and range: 148.50 m. 2025-01-08T20:29:19.366Z,1736368159.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:19.616Z,1736368159.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:19.694Z,1736368159.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:19.702Z,1736368159.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.50 m. 2025-01-08T20:29:19.706Z,1736368159.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.500000 m, nav range: 122.498192 m, bearing: 14.213041 deg, approach rate: 0.139531 m/s, LOS rate: -0.318743 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.467966 deg. 2025-01-08T20:29:19.707Z,1736368159.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050203 target range: 148.500000 and range: 148.50 m. 2025-01-08T20:29:19.868Z,1736368159.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:20.057Z,1736368160.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:20.064Z,1736368160.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:20.066Z,1736368160.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.50 m. 2025-01-08T20:29:20.069Z,1736368160.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.500000 m, nav range: 122.548431 m, bearing: 14.097227 deg, approach rate: 0.138137 m/s, LOS rate: -0.318307 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.547261 deg. 2025-01-08T20:29:20.070Z,1736368160.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051587 target range: 148.500000 and range: 148.50 m. 2025-01-08T20:29:20.120Z,1736368160.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:20.121Z,1736368160.121 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:20.122Z,1736368160.122 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:20.122Z,1736368160.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:20.374Z,1736368160.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:20.376Z,1736368160.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259058 2025-01-08T20:29:20.515Z,1736368160.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:20.533Z,1736368160.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.50 m. 2025-01-08T20:29:20.552Z,1736368160.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.500000 m, nav range: 122.606194 m, bearing: 13.962849 deg, approach rate: 0.123650 m/s, LOS rate: -0.287525 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.491620 deg. 2025-01-08T20:29:20.553Z,1736368160.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050616 target range: 148.500000 and range: 148.50 m. 2025-01-08T20:29:20.624Z,1736368160.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:20.625Z,1736368160.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507670 2025-01-08T20:29:20.876Z,1736368160.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:20.877Z,1736368160.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759660 2025-01-08T20:29:20.889Z,1736368160.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:20.897Z,1736368160.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.50 m. 2025-01-08T20:29:20.900Z,1736368160.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.500000 m, nav range: 122.653481 m, bearing: 13.853426 deg, approach rate: 0.129735 m/s, LOS rate: -0.300094 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.566417 deg. 2025-01-08T20:29:20.901Z,1736368160.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051921 target range: 148.500000 and range: 148.50 m. 2025-01-08T20:29:21.128Z,1736368161.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:21.128Z,1736368161.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011551 2025-01-08T20:29:21.313Z,1736368161.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:21.344Z,1736368161.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.50 m. 2025-01-08T20:29:21.346Z,1736368161.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.500000 m, nav range: 122.707237 m, bearing: 13.728961 deg, approach rate: 0.121247 m/s, LOS rate: -0.280604 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.521331 deg. 2025-01-08T20:29:21.349Z,1736368161.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051134 target range: 148.500000 and range: 148.50 m. 2025-01-08T20:29:21.382Z,1736368161.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:21.384Z,1736368161.384 [DAT](INFO): DAT read: Rx Time:20:29:20.0916 2025-01-08T20:29:21.386Z,1736368161.386 [DAT](INFO): Rx dataTimestamp_ set to:1736368161.384850 2025-01-08T20:29:21.389Z,1736368161.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270901 2025-01-08T20:29:21.632Z,1736368161.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:21.632Z,1736368161.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515573 2025-01-08T20:29:21.730Z,1736368161.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:21.740Z,1736368161.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.50 m. 2025-01-08T20:29:21.770Z,1736368161.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.500000 m, nav range: 122.760445 m, bearing: 13.611490 deg, approach rate: 0.133479 m/s, LOS rate: -0.294565 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.542303 deg. 2025-01-08T20:29:21.776Z,1736368161.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051500 target range: 148.500000 and range: 148.50 m. 2025-01-08T20:29:21.884Z,1736368161.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:21.893Z,1736368161.893 [DAT](INFO): DAT read: 20:29:20.0916 LVL= 27936, 28401, 15714, 32755, AGC= 63, IDX= 409, 0.05,-2.692,-2.408,-0.490,-1.670, PHS=-0.934,-0.692, 1.177, RAW= 216.0, 4.5, CAL= 218.0, -0.6, ROT= 292.0, 0.6 2025-01-08T20:29:21.894Z,1736368161.894 [DAT](INFO): got valid direction response: 20:29:20.0916 LVL= 27936, 28401, 15714, 32755, AGC= 63, IDX= 409, 0.05,-2.692,-2.408,-0.490,-1.670, PHS=-0.934,-0.692, 1.177, RAW= 216.0, 4.5, CAL= 218.0, -0.6, ROT= 292.0, 0.6 2025-01-08T20:29:21.896Z,1736368161.896 [DAT](INFO): DAT read: Bearing 292.0, 0.6 (Local) 2025-01-08T20:29:21.896Z,1736368161.896 [DAT](INFO): Local bearing/azimuth received: Bearing 292.0, 0.6 (Local) 2025-01-08T20:29:21.899Z,1736368161.899 [DAT](INFO): DAT read: Range 10 to 50 : 147.3 m (Round-trip 196.5 ms) speed 0.3 m/s 2025-01-08T20:29:21.904Z,1736368161.904 [DAT](INFO): DAT read: user:1367> 2025-01-08T20:29:21.906Z,1736368161.906 [DAT](INFO): DAT read: Tx time:20:29:21.1910 2025-01-08T20:29:21.906Z,1736368161.906 [DAT](INFO): Ping request sent. 2025-01-08T20:29:21.906Z,1736368161.906 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:21.906Z,1736368161.906 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:21.912Z,1736368161.912 [DAT](INFO): direction in FSK: [-0.104289,-0.837616,-0.536212] 2025-01-08T20:29:21.912Z,1736368161.912 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:21.913Z,1736368161.913 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:21.920Z,1736368161.920 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:21.920Z,1736368161.920 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:22.108Z,1736368162.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:22.136Z,1736368162.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:22.136Z,1736368162.136 [DAT](INFO): DAT read: TxSync time:20:29:21.1902 2025-01-08T20:29:22.148Z,1736368162.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 147.300003 m, deltaT: 3.782414 s, deltaX: -1.199997 m, approachRate: -0.317257 m/s, rangeRepo size: 4 2025-01-08T20:29:22.150Z,1736368162.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 147.300003 m, bearing: 18.848191 deg, lat: 36.904759 deg, lon: -122.119985 deg, deltaT: 3.782414 s, deltaX: -1.199997 m, approachRate: -0.317257 m/s, posRepo size: 4 2025-01-08T20:29:22.152Z,1736368162.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m. 2025-01-08T20:29:22.164Z,1736368162.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.300003 m, nav range: 120.146866 m, bearing: 15.530286 deg, approach rate: 0.000000 m/s, LOS rate: -0.294565 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.537583 deg. 2025-01-08T20:29:22.165Z,1736368162.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051418 target range: 147.300003 and range: 147.30 m. 2025-01-08T20:29:22.389Z,1736368162.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:22.542Z,1736368162.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:22.557Z,1736368162.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:22.563Z,1736368162.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m. 2025-01-08T20:29:22.566Z,1736368162.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.300003 m, nav range: 120.189316 m, bearing: 15.408628 deg, approach rate: 0.102064 m/s, LOS rate: -0.292405 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.529715 deg. 2025-01-08T20:29:22.572Z,1736368162.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051280 target range: 147.300003 and range: 147.30 m. 2025-01-08T20:29:22.640Z,1736368162.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:22.641Z,1736368162.641 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:22.641Z,1736368162.641 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:22.642Z,1736368162.642 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:22.892Z,1736368162.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:22.893Z,1736368162.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986448 2025-01-08T20:29:22.924Z,1736368162.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:22.932Z,1736368162.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m. 2025-01-08T20:29:22.934Z,1736368162.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.300003 m, nav range: 120.226814 m, bearing: 15.301763 deg, approach rate: 0.100705 m/s, LOS rate: -0.286904 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.574065 deg. 2025-01-08T20:29:22.936Z,1736368162.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052055 target range: 147.300003 and range: 147.30 m. 2025-01-08T20:29:23.144Z,1736368163.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:23.144Z,1736368163.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238311 2025-01-08T20:29:23.315Z,1736368163.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:23.323Z,1736368163.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m. 2025-01-08T20:29:23.330Z,1736368163.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.300003 m, nav range: 120.265831 m, bearing: 15.192020 deg, approach rate: 0.099700 m/s, LOS rate: -0.280336 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.565439 deg. 2025-01-08T20:29:23.331Z,1736368163.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051904 target range: 147.300003 and range: 147.30 m. 2025-01-08T20:29:23.399Z,1736368163.399 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:23.403Z,1736368163.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496338 2025-01-08T20:29:23.648Z,1736368163.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:23.649Z,1736368163.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742996 2025-01-08T20:29:23.765Z,1736368163.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:23.803Z,1736368163.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m. 2025-01-08T20:29:23.810Z,1736368163.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.300003 m, nav range: 120.306374 m, bearing: 15.064329 deg, approach rate: 0.084489 m/s, LOS rate: -0.266010 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.511620 deg. 2025-01-08T20:29:23.816Z,1736368163.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050965 target range: 147.300003 and range: 147.30 m. 2025-01-08T20:29:23.901Z,1736368163.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:23.902Z,1736368163.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995553 2025-01-08T20:29:24.116Z,1736368164.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:24.125Z,1736368164.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m. 2025-01-08T20:29:24.128Z,1736368164.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.300003 m, nav range: 120.337029 m, bearing: 14.964980 deg, approach rate: 0.095015 m/s, LOS rate: -0.307855 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.596587 deg. 2025-01-08T20:29:24.129Z,1736368164.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052448 target range: 147.300003 and range: 147.30 m. 2025-01-08T20:29:24.152Z,1736368164.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:24.152Z,1736368164.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246180 2025-01-08T20:29:24.406Z,1736368164.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:24.409Z,1736368164.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502456 2025-01-08T20:29:24.538Z,1736368164.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:24.547Z,1736368164.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m. 2025-01-08T20:29:24.549Z,1736368164.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.300003 m, nav range: 120.371346 m, bearing: 14.842248 deg, approach rate: 0.081463 m/s, LOS rate: -0.291264 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.526470 deg. 2025-01-08T20:29:24.551Z,1736368164.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051224 target range: 147.300003 and range: 147.30 m. 2025-01-08T20:29:24.657Z,1736368164.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:24.658Z,1736368164.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751447 2025-01-08T20:29:24.908Z,1736368164.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:24.908Z,1736368164.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002141 2025-01-08T20:29:24.939Z,1736368164.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:24.950Z,1736368164.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:24.957Z,1736368164.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m. 2025-01-08T20:29:24.964Z,1736368164.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.300003 m, nav range: 120.404137 m, bearing: 14.725528 deg, approach rate: 0.079986 m/s, LOS rate: -0.284632 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.544496 deg. 2025-01-08T20:29:24.965Z,1736368164.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051538 target range: 147.300003 and range: 147.30 m. 2025-01-08T20:29:25.160Z,1736368165.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:25.160Z,1736368165.160 [DAT](INFO): DAT read: Rx Time:20:29:23.7900 2025-01-08T20:29:25.161Z,1736368165.161 [DAT](INFO): Rx dataTimestamp_ set to:1736368165.160668 2025-01-08T20:29:25.161Z,1736368165.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255319 2025-01-08T20:29:25.339Z,1736368165.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:25.347Z,1736368165.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.30 m. 2025-01-08T20:29:25.350Z,1736368165.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.300003 m, nav range: 120.437531 m, bearing: 14.608949 deg, approach rate: 0.085485 m/s, LOS rate: -0.298348 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.544922 deg. 2025-01-08T20:29:25.351Z,1736368165.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051546 target range: 147.300003 and range: 147.30 m. 2025-01-08T20:29:25.413Z,1736368165.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:25.414Z,1736368165.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507840 2025-01-08T20:29:25.498Z,1736368165.498 [DockingStepper](ERROR): getADC uart error serial timeout 2025-01-08T20:29:25.499Z,1736368165.499 [DockingStepper](FAULT): uart error - getPosition..serial timeout 2025-01-08T20:29:25.499Z,1736368165.499 [DockingStepper] Communications Fault, FailCount= 1 2025-01-08T20:29:25.499Z,1736368165.499 [DockingStepper](ERROR): Communications Fault 2025-01-08T20:29:25.664Z,1736368165.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:25.674Z,1736368165.674 [DAT](INFO): DAT read: 20:29:23.7900 LVL= 29904, 31281, 18162, 32755, AGC= 63, IDX= 424, 0.21,-1.748,-1.408, 0.497,-0.703, PHS=-0.957,-0.658, 1.197, RAW= 217.3, 4.2, CAL= 219.3, -0.6, ROT= 290.7, 0.6 2025-01-08T20:29:25.680Z,1736368165.680 [DAT](INFO): got valid direction response: 20:29:23.7900 LVL= 29904, 31281, 18162, 32755, AGC= 63, IDX= 424, 0.21,-1.748,-1.408, 0.497,-0.703, PHS=-0.957,-0.658, 1.197, RAW= 217.3, 4.2, CAL= 219.3, -0.6, ROT= 290.7, 0.6 2025-01-08T20:29:25.681Z,1736368165.681 [DAT](INFO): DAT read: Bearing 290.7, 0.6 (Local) 2025-01-08T20:29:25.681Z,1736368165.681 [DAT](INFO): Local bearing/azimuth received: Bearing 290.7, 0.6 (Local) 2025-01-08T20:29:25.686Z,1736368165.686 [DAT](INFO): DAT read: Range 10 to 50 : 146.1 m (Round-trip 194.9 ms) speed 0.4 m/s 2025-01-08T20:29:25.700Z,1736368165.700 [DAT](INFO): DAT read: user:1368> 2025-01-08T20:29:25.701Z,1736368165.701 [DAT](INFO): DAT read: Tx time:20:29:24.8910 2025-01-08T20:29:25.701Z,1736368165.701 [DAT](INFO): Ping request sent. 2025-01-08T20:29:25.701Z,1736368165.701 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:25.702Z,1736368165.702 [DAT](INFO): DAT read: TxSync time:20:29:24.8902 2025-01-08T20:29:25.702Z,1736368165.702 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:25.703Z,1736368165.703 [DAT](INFO): direction in FSK: [-0.094977,-0.826626,-0.554679] 2025-01-08T20:29:25.704Z,1736368165.704 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:25.704Z,1736368165.704 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:25.713Z,1736368165.713 [CBIT](ERROR): Communications Fault in component: DockingStepper 2025-01-08T20:29:25.740Z,1736368165.740 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:25.740Z,1736368165.740 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:25.874Z,1736368165.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:25.913Z,1736368165.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 146.100006 m, deltaT: 3.780367 s, deltaX: -1.199997 m, approachRate: -0.317429 m/s, rangeRepo size: 4 2025-01-08T20:29:25.916Z,1736368165.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:25.919Z,1736368165.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 146.100006 m, bearing: 18.876941 deg, lat: 36.904711 deg, lon: -122.119979 deg, deltaT: 3.780367 s, deltaX: -1.199997 m, approachRate: -0.317429 m/s, posRepo size: 4 2025-01-08T20:29:25.920Z,1736368165.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T20:29:25.928Z,1736368165.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 115.354271 m, bearing: 15.369747 deg, approach rate: 0.000000 m/s, LOS rate: -0.298348 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.388793 deg. 2025-01-08T20:29:25.929Z,1736368165.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048821 target range: 146.100006 and range: 146.10 m. 2025-01-08T20:29:25.961Z,1736368165.961 [DockingStepper](INFO): Stop 2025-01-08T20:29:25.961Z,1736368165.961 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-01-08T20:29:25.961Z,1736368165.961 [DockingStepper](INFO): Powering down 2025-01-08T20:29:26.158Z,1736368166.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:26.166Z,1736368166.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T20:29:26.168Z,1736368166.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:26.170Z,1736368166.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 115.375671 m, bearing: 15.278210 deg, approach rate: 0.084337 m/s, LOS rate: -0.360673 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.619999 deg. 2025-01-08T20:29:26.172Z,1736368166.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052856 target range: 146.100006 and range: 146.10 m. 2025-01-08T20:29:26.187Z,1736368166.187 [DockingStepper](INFO): Stopping 2025-01-08T20:29:26.420Z,1736368166.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:26.584Z,1736368166.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:26.595Z,1736368166.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T20:29:26.597Z,1736368166.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 115.407196 m, bearing: 15.134609 deg, approach rate: 0.073555 m/s, LOS rate: -0.334966 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.463880 deg. 2025-01-08T20:29:26.599Z,1736368166.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050132 target range: 146.100006 and range: 146.10 m. 2025-01-08T20:29:26.640Z,1736368166.640 [DockingStepper](INFO): Stopping 2025-01-08T20:29:26.673Z,1736368166.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:26.924Z,1736368166.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:26.978Z,1736368166.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:26.985Z,1736368166.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:26.987Z,1736368166.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T20:29:26.991Z,1736368166.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 115.437675 m, bearing: 15.001939 deg, approach rate: 0.077634 m/s, LOS rate: -0.337835 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.496656 deg. 2025-01-08T20:29:26.994Z,1736368166.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050704 target range: 146.100006 and range: 146.10 m. 2025-01-08T20:29:27.012Z,1736368167.012 [DockingStepper](INFO): Stopping 2025-01-08T20:29:27.176Z,1736368167.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:27.177Z,1736368167.177 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:27.177Z,1736368167.177 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:27.178Z,1736368167.178 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:27.372Z,1736368167.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:27.381Z,1736368167.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T20:29:27.384Z,1736368167.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 115.469139 m, bearing: 14.869406 deg, approach rate: 0.079890 m/s, LOS rate: -0.336424 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.497074 deg. 2025-01-08T20:29:27.385Z,1736368167.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050711 target range: 146.100006 and range: 146.10 m. 2025-01-08T20:29:27.425Z,1736368167.425 [DockingStepper](INFO): Stopping 2025-01-08T20:29:27.430Z,1736368167.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:27.431Z,1736368167.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729300 2025-01-08T20:29:27.680Z,1736368167.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:27.681Z,1736368167.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979808 2025-01-08T20:29:27.811Z,1736368167.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:27.829Z,1736368167.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T20:29:27.836Z,1736368167.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 115.504410 m, bearing: 14.707585 deg, approach rate: 0.078798 m/s, LOS rate: -0.361412 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.409253 deg. 2025-01-08T20:29:27.837Z,1736368167.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049178 target range: 146.100006 and range: 146.10 m. 2025-01-08T20:29:27.887Z,1736368167.887 [DockingStepper](INFO): Stopping 2025-01-08T20:29:27.932Z,1736368167.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:27.932Z,1736368167.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231086 2025-01-08T20:29:28.175Z,1736368168.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:28.184Z,1736368168.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:28.185Z,1736368168.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483489 2025-01-08T20:29:28.183Z,1736368168.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T20:29:28.193Z,1736368168.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 115.534630 m, bearing: 14.573345 deg, approach rate: 0.085292 m/s, LOS rate: -0.378775 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.491951 deg. 2025-01-08T20:29:28.194Z,1736368168.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050621 target range: 146.100006 and range: 146.10 m. 2025-01-08T20:29:28.210Z,1736368168.210 [DockingStepper](INFO): Stopping 2025-01-08T20:29:28.436Z,1736368168.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:28.436Z,1736368168.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735061 2025-01-08T20:29:28.614Z,1736368168.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:28.624Z,1736368168.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T20:29:28.626Z,1736368168.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 115.573616 m, bearing: 14.407846 deg, approach rate: 0.088505 m/s, LOS rate: -0.375584 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.398237 deg. 2025-01-08T20:29:28.628Z,1736368168.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048986 target range: 146.100006 and range: 146.10 m. 2025-01-08T20:29:28.644Z,1736368168.644 [DockingStepper](INFO): Stopping 2025-01-08T20:29:28.688Z,1736368168.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:28.689Z,1736368168.689 [DAT](INFO): DAT read: Rx Time:20:29:27.4879 2025-01-08T20:29:28.690Z,1736368168.690 [DAT](INFO): Rx dataTimestamp_ set to:1736368168.689621 2025-01-08T20:29:28.690Z,1736368168.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989164 2025-01-08T20:29:28.940Z,1736368168.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:28.940Z,1736368168.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239150 2025-01-08T20:29:29.003Z,1736368169.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:29.021Z,1736368169.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:29.028Z,1736368169.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T20:29:29.030Z,1736368169.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 115.609230 m, bearing: 14.262731 deg, approach rate: 0.088055 m/s, LOS rate: -0.358680 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.459357 deg. 2025-01-08T20:29:29.048Z,1736368169.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050052 target range: 146.100006 and range: 146.10 m. 2025-01-08T20:29:29.090Z,1736368169.090 [DockingStepper](INFO): Stopping 2025-01-08T20:29:29.198Z,1736368169.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:29.211Z,1736368169.211 [DAT](INFO): DAT read: 20:29:27.4879 LVL= 27152, 29169, 14114, 32755, AGC= 65, IDX= 420,-0.46, 0.459, 0.877, 2.817, 1.576, PHS=-1.029,-0.653, 1.238, RAW= 218.9, 4.3, CAL= 221.0, 0.0, ROT= 289.0, -0.0 2025-01-08T20:29:29.213Z,1736368169.213 [DAT](INFO): got valid direction response: 20:29:27.4879 LVL= 27152, 29169, 14114, 32755, AGC= 65, IDX= 420,-0.46, 0.459, 0.877, 2.817, 1.576, PHS=-1.029,-0.653, 1.238, RAW= 218.9, 4.3, CAL= 221.0, 0.0, ROT= 289.0, -0.0 2025-01-08T20:29:29.214Z,1736368169.214 [DAT](INFO): DAT read: Bearing 289.0, -0.0 (Local) 2025-01-08T20:29:29.215Z,1736368169.215 [DAT](INFO): Local bearing/azimuth received: Bearing 289.0, -0.0 (Local) 2025-01-08T20:29:29.217Z,1736368169.217 [DAT](INFO): DAT read: Range 10 to 50 : 144.6 m (Round-trip 192.8 ms) speed 0.0 m/s 2025-01-08T20:29:29.217Z,1736368169.217 [DAT](INFO): DAT read: user:1369> 2025-01-08T20:29:29.218Z,1736368169.218 [DAT](INFO): DAT read: Tx time:20:29:28.5910 2025-01-08T20:29:29.218Z,1736368169.218 [DAT](INFO): Ping request sent. 2025-01-08T20:29:29.218Z,1736368169.218 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:29.219Z,1736368169.219 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:29.225Z,1736368169.225 [DAT](INFO): direction in FSK: [-0.093349,-0.812392,-0.575591] 2025-01-08T20:29:29.225Z,1736368169.225 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:29.225Z,1736368169.225 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:29.229Z,1736368169.229 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:29.229Z,1736368169.229 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:29.420Z,1736368169.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:29.448Z,1736368169.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:29.449Z,1736368169.449 [DAT](INFO): DAT read: TxSync time:20:29:28.5902 2025-01-08T20:29:29.449Z,1736368169.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 144.600006 m, deltaT: 3.534690 s, deltaX: -1.500000 m, approachRate: -0.424365 m/s, rangeRepo size: 4 2025-01-08T20:29:29.456Z,1736368169.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 144.600006 m, bearing: 19.632940 deg, lat: 36.904692 deg, lon: -122.119931 deg, deltaT: 3.534690 s, deltaX: -1.500000 m, approachRate: -0.424365 m/s, posRepo size: 4 2025-01-08T20:29:29.457Z,1736368169.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.60 m. 2025-01-08T20:29:29.463Z,1736368169.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.600006 m, nav range: 114.736877 m, bearing: 16.418479 deg, approach rate: 0.000000 m/s, LOS rate: -0.358680 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.450807 deg. 2025-01-08T20:29:29.466Z,1736368169.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049903 target range: 144.600006 and range: 144.60 m. 2025-01-08T20:29:29.519Z,1736368169.519 [DockingStepper](INFO): Stopping 2025-01-08T20:29:29.700Z,1736368169.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:29.814Z,1736368169.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:29.825Z,1736368169.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.60 m. 2025-01-08T20:29:29.828Z,1736368169.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.600006 m, nav range: 114.766579 m, bearing: 16.266450 deg, approach rate: 0.077193 m/s, LOS rate: -0.395019 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.438597 deg. 2025-01-08T20:29:29.829Z,1736368169.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049690 target range: 144.600006 and range: 144.60 m. 2025-01-08T20:29:29.871Z,1736368169.871 [DockingStepper](INFO): Stopping 2025-01-08T20:29:29.952Z,1736368169.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:30.202Z,1736368170.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:30.206Z,1736368170.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:30.250Z,1736368170.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.60 m. 2025-01-08T20:29:30.257Z,1736368170.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.600006 m, nav range: 114.797043 m, bearing: 16.117962 deg, approach rate: 0.071772 m/s, LOS rate: -0.349734 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.449221 deg. 2025-01-08T20:29:30.258Z,1736368170.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049876 target range: 144.600006 and range: 144.60 m. 2025-01-08T20:29:30.289Z,1736368170.289 [DockingStepper](INFO): Stopping 2025-01-08T20:29:30.456Z,1736368170.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:30.621Z,1736368170.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:30.632Z,1736368170.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.60 m. 2025-01-08T20:29:30.635Z,1736368170.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.600006 m, nav range: 114.828255 m, bearing: 15.952977 deg, approach rate: 0.081542 m/s, LOS rate: -0.430916 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.399747 deg. 2025-01-08T20:29:30.636Z,1736368170.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049012 target range: 144.600006 and range: 144.60 m. 2025-01-08T20:29:30.670Z,1736368170.670 [DockingStepper](INFO): Stopping 2025-01-08T20:29:30.708Z,1736368170.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:30.960Z,1736368170.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:31.012Z,1736368171.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:31.021Z,1736368171.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.60 m. 2025-01-08T20:29:31.024Z,1736368171.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.600006 m, nav range: 114.858337 m, bearing: 15.800057 deg, approach rate: 0.077469 m/s, LOS rate: -0.393698 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.435927 deg. 2025-01-08T20:29:31.025Z,1736368171.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049644 target range: 144.600006 and range: 144.60 m. 2025-01-08T20:29:31.058Z,1736368171.058 [DockingStepper](INFO): Stopping 2025-01-08T20:29:31.212Z,1736368171.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:31.411Z,1736368171.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:31.417Z,1736368171.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:31.419Z,1736368171.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.60 m. 2025-01-08T20:29:31.424Z,1736368171.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.600006 m, nav range: 114.890083 m, bearing: 15.644456 deg, approach rate: 0.079631 m/s, LOS rate: -0.390196 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.427894 deg. 2025-01-08T20:29:31.428Z,1736368171.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049503 target range: 144.600006 and range: 144.60 m. 2025-01-08T20:29:31.464Z,1736368171.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:31.464Z,1736368171.464 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:31.464Z,1736368171.464 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:31.465Z,1736368171.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:31.494Z,1736368171.494 [DockingStepper](INFO): Stopping 2025-01-08T20:29:31.716Z,1736368171.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:31.716Z,1736368171.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497782 2025-01-08T20:29:31.853Z,1736368171.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:31.863Z,1736368171.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.60 m. 2025-01-08T20:29:31.866Z,1736368171.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.600006 m, nav range: 114.929253 m, bearing: 15.471505 deg, approach rate: 0.088350 m/s, LOS rate: -0.389975 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.375895 deg. 2025-01-08T20:29:31.867Z,1736368171.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048596 target range: 144.600006 and range: 144.60 m. 2025-01-08T20:29:31.921Z,1736368171.921 [DockingStepper](INFO): Stopping 2025-01-08T20:29:31.968Z,1736368171.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:31.969Z,1736368171.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750168 2025-01-08T20:29:32.214Z,1736368172.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:32.220Z,1736368172.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:32.221Z,1736368172.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002028 2025-01-08T20:29:32.225Z,1736368172.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.60 m. 2025-01-08T20:29:32.228Z,1736368172.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.600006 m, nav range: 114.961884 m, bearing: 15.330610 deg, approach rate: 0.090090 m/s, LOS rate: -0.388884 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.472000 deg. 2025-01-08T20:29:32.229Z,1736368172.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050273 target range: 144.600006 and range: 144.60 m. 2025-01-08T20:29:32.242Z,1736368172.242 [DockingStepper](INFO): Stopping 2025-01-08T20:29:32.472Z,1736368172.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:32.472Z,1736368172.472 [DAT](INFO): DAT read: Rx Time:20:29:31.1866 2025-01-08T20:29:32.473Z,1736368172.473 [DAT](INFO): Rx dataTimestamp_ set to:1736368172.472621 2025-01-08T20:29:32.473Z,1736368172.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254907 2025-01-08T20:29:32.673Z,1736368172.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:32.701Z,1736368172.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.60 m. 2025-01-08T20:29:32.708Z,1736368172.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.600006 m, nav range: 115.007118 m, bearing: 15.156483 deg, approach rate: 0.094921 m/s, LOS rate: -0.365245 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.372396 deg. 2025-01-08T20:29:32.709Z,1736368172.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048535 target range: 144.600006 and range: 144.60 m. 2025-01-08T20:29:32.724Z,1736368172.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:32.725Z,1736368172.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506035 2025-01-08T20:29:32.737Z,1736368172.737 [DockingStepper](INFO): Stopping 2025-01-08T20:29:32.976Z,1736368172.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:32.982Z,1736368172.982 [DAT](INFO): DAT read: 20:29:31.1866 LVL= 31312, 31217, 16082, 32755, AGC= 62, IDX= 420, 0.23, 1.334, 1.776,-2.566, 2.450, PHS=-1.028,-0.628, 1.264, RAW= 219.4, 3.7, CAL= 221.3, -0.5, ROT= 288.7, 0.5 2025-01-08T20:29:32.983Z,1736368172.983 [DAT](INFO): got valid direction response: 20:29:31.1866 LVL= 31312, 31217, 16082, 32755, AGC= 62, IDX= 420, 0.23, 1.334, 1.776,-2.566, 2.450, PHS=-1.028,-0.628, 1.264, RAW= 219.4, 3.7, CAL= 221.3, -0.5, ROT= 288.7, 0.5 2025-01-08T20:29:32.984Z,1736368172.984 [DAT](INFO): DAT read: Bearing 288.7, 0.5 (Local) 2025-01-08T20:29:32.985Z,1736368172.985 [DAT](INFO): Local bearing/azimuth received: Bearing 288.7, 0.5 (Local) 2025-01-08T20:29:32.986Z,1736368172.986 [DAT](INFO): DAT read: Range 10 to 50 : 143.5 m (Round-trip 191.4 ms) speed 0.3 m/s 2025-01-08T20:29:32.987Z,1736368172.987 [DAT](INFO): DAT read: user:1370> 2025-01-08T20:29:32.988Z,1736368172.988 [DAT](INFO): DAT read: Tx time:20:29:32.2911 2025-01-08T20:29:32.988Z,1736368172.988 [DAT](INFO): Ping request sent. 2025-01-08T20:29:32.989Z,1736368172.989 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:32.989Z,1736368172.989 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:32.990Z,1736368172.990 [DAT](INFO): direction in FSK: [-0.082588,-0.808905,-0.582110] 2025-01-08T20:29:32.990Z,1736368172.990 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:32.991Z,1736368172.991 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:32.994Z,1736368172.994 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:32.994Z,1736368172.994 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:33.066Z,1736368173.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:33.112Z,1736368173.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 143.500000 m, deltaT: 3.776532 s, deltaX: -1.100006 m, approachRate: -0.291274 m/s, rangeRepo size: 4 2025-01-08T20:29:33.114Z,1736368173.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 143.500000 m, bearing: 21.677213 deg, lat: 36.904655 deg, lon: -122.119919 deg, deltaT: 3.776532 s, deltaX: -1.100006 m, approachRate: -0.291274 m/s, posRepo size: 4 2025-01-08T20:29:33.120Z,1736368173.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m. 2025-01-08T20:29:33.123Z,1736368173.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.500000 m, nav range: 111.432999 m, bearing: 16.095115 deg, approach rate: 0.000000 m/s, LOS rate: -0.365245 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.454151 deg. 2025-01-08T20:29:33.125Z,1736368173.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049962 target range: 143.500000 and range: 143.50 m. 2025-01-08T20:29:33.154Z,1736368173.154 [DockingStepper](INFO): Stopping 2025-01-08T20:29:33.228Z,1736368173.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:33.229Z,1736368173.229 [DAT](INFO): DAT read: TxSync time:20:29:32.2903 2025-01-08T20:29:33.431Z,1736368173.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:33.438Z,1736368173.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:33.440Z,1736368173.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m. 2025-01-08T20:29:33.442Z,1736368173.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.500000 m, nav range: 111.464867 m, bearing: 15.951865 deg, approach rate: 0.094672 m/s, LOS rate: -0.425441 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.464936 deg. 2025-01-08T20:29:33.444Z,1736368173.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050150 target range: 143.500000 and range: 143.50 m. 2025-01-08T20:29:33.480Z,1736368173.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:33.480Z,1736368173.480 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:33.480Z,1736368173.480 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:33.481Z,1736368173.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:33.488Z,1736368173.488 [DockingStepper](INFO): Stopping 2025-01-08T20:29:33.732Z,1736368173.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:33.732Z,1736368173.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744194 2025-01-08T20:29:33.856Z,1736368173.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:33.866Z,1736368173.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m. 2025-01-08T20:29:33.869Z,1736368173.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.500000 m, nav range: 111.503899 m, bearing: 15.789275 deg, approach rate: 0.091713 m/s, LOS rate: -0.381901 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.406970 deg. 2025-01-08T20:29:33.870Z,1736368173.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049138 target range: 143.500000 and range: 143.50 m. 2025-01-08T20:29:33.904Z,1736368173.904 [DockingStepper](INFO): Stopping 2025-01-08T20:29:33.984Z,1736368173.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:33.984Z,1736368173.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996221 2025-01-08T20:29:34.236Z,1736368174.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:34.237Z,1736368174.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248367 2025-01-08T20:29:34.237Z,1736368174.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:34.246Z,1736368174.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m. 2025-01-08T20:29:34.249Z,1736368174.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.500000 m, nav range: 111.540771 m, bearing: 15.642560 deg, approach rate: 0.096786 m/s, LOS rate: -0.384980 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.454566 deg. 2025-01-08T20:29:34.250Z,1736368174.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049969 target range: 143.500000 and range: 143.50 m. 2025-01-08T20:29:34.301Z,1736368174.301 [DockingStepper](INFO): Stopping 2025-01-08T20:29:34.488Z,1736368174.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:34.488Z,1736368174.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500238 2025-01-08T20:29:34.696Z,1736368174.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:34.704Z,1736368174.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m. 2025-01-08T20:29:34.708Z,1736368174.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.500000 m, nav range: 111.583000 m, bearing: 15.475310 deg, approach rate: 0.092229 m/s, LOS rate: -0.365141 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.393010 deg. 2025-01-08T20:29:34.709Z,1736368174.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048895 target range: 143.500000 and range: 143.50 m. 2025-01-08T20:29:34.722Z,1736368174.722 [DockingStepper](INFO): Stopping 2025-01-08T20:29:34.740Z,1736368174.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:34.741Z,1736368174.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752478 2025-01-08T20:29:34.992Z,1736368174.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:34.992Z,1736368174.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004250 2025-01-08T20:29:35.054Z,1736368175.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:35.065Z,1736368175.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m. 2025-01-08T20:29:35.068Z,1736368175.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.500000 m, nav range: 111.616188 m, bearing: 15.344640 deg, approach rate: 0.092514 m/s, LOS rate: -0.364144 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.502669 deg. 2025-01-08T20:29:35.069Z,1736368175.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050808 target range: 143.500000 and range: 143.50 m. 2025-01-08T20:29:35.099Z,1736368175.099 [DockingStepper](INFO): Stopping 2025-01-08T20:29:35.246Z,1736368175.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:35.246Z,1736368175.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258110 2025-01-08T20:29:35.447Z,1736368175.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:35.453Z,1736368175.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:35.471Z,1736368175.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m. 2025-01-08T20:29:35.474Z,1736368175.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.500000 m, nav range: 111.652802 m, bearing: 15.201418 deg, approach rate: 0.093357 m/s, LOS rate: -0.365068 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.465041 deg. 2025-01-08T20:29:35.496Z,1736368175.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:35.498Z,1736368175.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509688 2025-01-08T20:29:35.500Z,1736368175.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050152 target range: 143.500000 and range: 143.50 m. 2025-01-08T20:29:35.528Z,1736368175.528 [DockingStepper](INFO): Stopping 2025-01-08T20:29:35.748Z,1736368175.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:35.749Z,1736368175.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760418 2025-01-08T20:29:35.876Z,1736368175.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:35.917Z,1736368175.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m. 2025-01-08T20:29:35.924Z,1736368175.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.500000 m, nav range: 111.694618 m, bearing: 15.044160 deg, approach rate: 0.090657 m/s, LOS rate: -0.340800 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.422970 deg. 2025-01-08T20:29:35.925Z,1736368175.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049417 target range: 143.500000 and range: 143.50 m. 2025-01-08T20:29:35.980Z,1736368175.980 [DockingStepper](INFO): Stopping 2025-01-08T20:29:36.001Z,1736368176.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:36.002Z,1736368176.002 [DAT](INFO): DAT read: Rx Time:20:29:34.8851 2025-01-08T20:29:36.002Z,1736368176.002 [DAT](INFO): Rx dataTimestamp_ set to:1736368176.001905 2025-01-08T20:29:36.003Z,1736368176.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014948 2025-01-08T20:29:36.252Z,1736368176.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:36.253Z,1736368176.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264469 2025-01-08T20:29:36.253Z,1736368176.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:36.296Z,1736368176.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m. 2025-01-08T20:29:36.299Z,1736368176.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.500000 m, nav range: 111.731613 m, bearing: 14.907091 deg, approach rate: 0.100821 m/s, LOS rate: -0.373425 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.483496 deg. 2025-01-08T20:29:36.304Z,1736368176.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050474 target range: 143.500000 and range: 143.50 m. 2025-01-08T20:29:36.344Z,1736368176.344 [DockingStepper](INFO): Stopping 2025-01-08T20:29:36.504Z,1736368176.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:36.506Z,1736368176.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517050 2025-01-08T20:29:36.708Z,1736368176.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:36.716Z,1736368176.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m. 2025-01-08T20:29:36.719Z,1736368176.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.500000 m, nav range: 111.775520 m, bearing: 14.746138 deg, approach rate: 0.101530 m/s, LOS rate: -0.372036 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.411899 deg. 2025-01-08T20:29:36.720Z,1736368176.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049224 target range: 143.500000 and range: 143.50 m. 2025-01-08T20:29:36.733Z,1736368176.733 [DockingStepper](INFO): Stopping 2025-01-08T20:29:36.756Z,1736368176.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:36.764Z,1736368176.764 [DAT](INFO): DAT read: 20:29:34.8851 LVL= 26160, 30945, 16690, 32755, AGC= 61, IDX= 421, 0.42,-1.659,-1.253, 0.687,-0.556, PHS=-1.015,-0.649, 1.240, RAW= 218.7, 4.1, CAL= 220.7, -0.3, ROT= 289.3, 0.3 2025-01-08T20:29:36.765Z,1736368176.765 [DAT](INFO): got valid direction response: 20:29:34.8851 LVL= 26160, 30945, 16690, 32755, AGC= 61, IDX= 421, 0.42,-1.659,-1.253, 0.687,-0.556, PHS=-1.015,-0.649, 1.240, RAW= 218.7, 4.1, CAL= 220.7, -0.3, ROT= 289.3, 0.3 2025-01-08T20:29:36.766Z,1736368176.766 [DAT](INFO): DAT read: Bearing 289.3, 0.3 (Local) 2025-01-08T20:29:36.766Z,1736368176.766 [DAT](INFO): Local bearing/azimuth received: Bearing 289.3, 0.3 (Local) 2025-01-08T20:29:36.768Z,1736368176.768 [DAT](INFO): DAT read: Range 10 to 50 : 142.4 m (Round-trip 189.9 ms) speed 0.3 m/s 2025-01-08T20:29:36.768Z,1736368176.768 [DAT](INFO): DAT read: user:1371> 2025-01-08T20:29:36.769Z,1736368176.769 [DAT](INFO): DAT read: Tx time:20:29:35.9911 2025-01-08T20:29:36.769Z,1736368176.769 [DAT](INFO): Ping request sent. 2025-01-08T20:29:36.769Z,1736368176.769 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:36.770Z,1736368176.770 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:36.771Z,1736368176.771 [DAT](INFO): direction in FSK: [-0.090531,-0.814689,-0.572788] 2025-01-08T20:29:36.771Z,1736368176.771 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:36.776Z,1736368176.776 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:36.778Z,1736368176.778 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:36.779Z,1736368176.779 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:37.008Z,1736368177.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:37.009Z,1736368177.009 [DAT](INFO): DAT read: TxSync time:20:29:35.9903 2025-01-08T20:29:37.120Z,1736368177.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:37.151Z,1736368177.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 142.399994 m, deltaT: 3.780955 s, deltaX: -1.100006 m, approachRate: -0.290933 m/s, rangeRepo size: 4 2025-01-08T20:29:37.161Z,1736368177.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 142.399994 m, bearing: 20.840146 deg, lat: 36.904605 deg, lon: -122.119893 deg, deltaT: 3.780955 s, deltaX: -1.100006 m, approachRate: -0.290933 m/s, posRepo size: 4 2025-01-08T20:29:37.162Z,1736368177.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m. 2025-01-08T20:29:37.177Z,1736368177.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.399994 m, nav range: 107.106491 m, bearing: 16.541594 deg, approach rate: 0.000000 m/s, LOS rate: -0.372036 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.414078 deg. 2025-01-08T20:29:37.178Z,1736368177.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049262 target range: 142.399994 and range: 142.40 m. 2025-01-08T20:29:37.260Z,1736368177.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:37.368Z,1736368177.368 [DockingStepper](INFO): Stopping 2025-01-08T20:29:37.512Z,1736368177.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:37.569Z,1736368177.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:37.594Z,1736368177.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:37.601Z,1736368177.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m. 2025-01-08T20:29:37.626Z,1736368177.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.399994 m, nav range: 107.140877 m, bearing: 16.375818 deg, approach rate: 0.075735 m/s, LOS rate: -0.365009 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.397399 deg. 2025-01-08T20:29:37.641Z,1736368177.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048971 target range: 142.399994 and range: 142.40 m. 2025-01-08T20:29:37.736Z,1736368177.736 [DockingStepper](INFO): Stopping 2025-01-08T20:29:37.764Z,1736368177.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:37.764Z,1736368177.764 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:37.764Z,1736368177.764 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:37.765Z,1736368177.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:38.002Z,1736368178.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:38.016Z,1736368178.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:38.017Z,1736368178.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247054 2025-01-08T20:29:38.044Z,1736368178.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m. 2025-01-08T20:29:38.046Z,1736368178.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.399994 m, nav range: 107.179611 m, bearing: 16.217250 deg, approach rate: 0.088258 m/s, LOS rate: -0.361170 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.419039 deg. 2025-01-08T20:29:38.048Z,1736368178.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049349 target range: 142.399994 and range: 142.40 m. 2025-01-08T20:29:38.214Z,1736368178.214 [DockingStepper](INFO): Stopping 2025-01-08T20:29:38.268Z,1736368178.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:38.269Z,1736368178.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499267 2025-01-08T20:29:38.417Z,1736368178.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:38.442Z,1736368178.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m. 2025-01-08T20:29:38.456Z,1736368178.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.399994 m, nav range: 107.217865 m, bearing: 16.065543 deg, approach rate: 0.095054 m/s, LOS rate: -0.376833 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.439607 deg. 2025-01-08T20:29:38.457Z,1736368178.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049708 target range: 142.399994 and range: 142.40 m. 2025-01-08T20:29:38.520Z,1736368178.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:38.520Z,1736368178.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750945 2025-01-08T20:29:38.618Z,1736368178.618 [DockingStepper](INFO): Stopping 2025-01-08T20:29:38.773Z,1736368178.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:38.774Z,1736368178.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004375 2025-01-08T20:29:38.872Z,1736368178.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:38.881Z,1736368178.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m. 2025-01-08T20:29:38.887Z,1736368178.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.399994 m, nav range: 107.259827 m, bearing: 15.902745 deg, approach rate: 0.095493 m/s, LOS rate: -0.370337 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.406366 deg. 2025-01-08T20:29:38.889Z,1736368178.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049128 target range: 142.399994 and range: 142.40 m. 2025-01-08T20:29:38.902Z,1736368178.902 [DockingStepper](INFO): Stopping 2025-01-08T20:29:39.024Z,1736368179.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:39.025Z,1736368179.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255089 2025-01-08T20:29:39.236Z,1736368179.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:39.250Z,1736368179.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m. 2025-01-08T20:29:39.253Z,1736368179.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.399994 m, nav range: 107.293755 m, bearing: 15.771918 deg, approach rate: 0.092013 m/s, LOS rate: -0.354693 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.502205 deg. 2025-01-08T20:29:39.254Z,1736368179.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050800 target range: 142.399994 and range: 142.40 m. 2025-01-08T20:29:39.268Z,1736368179.268 [DockingStepper](INFO): Stopping 2025-01-08T20:29:39.293Z,1736368179.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:39.293Z,1736368179.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523871 2025-01-08T20:29:39.544Z,1736368179.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:39.544Z,1736368179.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774977 2025-01-08T20:29:39.714Z,1736368179.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:39.729Z,1736368179.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:39.731Z,1736368179.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m. 2025-01-08T20:29:39.738Z,1736368179.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.399994 m, nav range: 107.338470 m, bearing: 15.600951 deg, approach rate: 0.093005 m/s, LOS rate: -0.355450 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.381882 deg. 2025-01-08T20:29:39.748Z,1736368179.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048700 target range: 142.399994 and range: 142.40 m. 2025-01-08T20:29:39.777Z,1736368179.777 [DockingStepper](INFO): Stopping 2025-01-08T20:29:39.796Z,1736368179.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:39.798Z,1736368179.798 [DAT](INFO): DAT read: Rx Time:20:29:38.5834 2025-01-08T20:29:39.798Z,1736368179.798 [DAT](INFO): Rx dataTimestamp_ set to:1736368179.797787 2025-01-08T20:29:39.800Z,1736368179.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029574 2025-01-08T20:29:40.048Z,1736368180.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:40.048Z,1736368180.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278978 2025-01-08T20:29:40.084Z,1736368180.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:40.094Z,1736368180.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m. 2025-01-08T20:29:40.097Z,1736368180.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.399994 m, nav range: 107.372246 m, bearing: 15.472093 deg, approach rate: 0.092974 m/s, LOS rate: -0.354599 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.508111 deg. 2025-01-08T20:29:40.098Z,1736368180.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050903 target range: 142.399994 and range: 142.40 m. 2025-01-08T20:29:40.129Z,1736368180.129 [DockingStepper](INFO): Stopping 2025-01-08T20:29:40.300Z,1736368180.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:40.307Z,1736368180.307 [DAT](INFO): DAT read: 20:29:38.5834 LVL= 18512, 24113, 11890, 24867, AGC= 61, IDX= 420, 0.04, 0.595, 1.010, 2.928, 1.663, PHS=-0.981,-0.606, 1.262, RAW= 219.0, 3.2, CAL= 220.5, -1.4, ROT= 289.5, 1.4 2025-01-08T20:29:40.312Z,1736368180.312 [DAT](INFO): got valid direction response: 20:29:38.5834 LVL= 18512, 24113, 11890, 24867, AGC= 61, IDX= 420, 0.04, 0.595, 1.010, 2.928, 1.663, PHS=-0.981,-0.606, 1.262, RAW= 219.0, 3.2, CAL= 220.5, -1.4, ROT= 289.5, 1.4 2025-01-08T20:29:40.313Z,1736368180.313 [DAT](INFO): DAT read: Bearing 289.5, 1.4 (Local) 2025-01-08T20:29:40.314Z,1736368180.314 [DAT](INFO): Local bearing/azimuth received: Bearing 289.5, 1.4 (Local) 2025-01-08T20:29:40.315Z,1736368180.315 [DAT](INFO): DAT read: Range 10 to 50 : 141.1 m (Round-trip 188.2 ms) speed 0.3 m/s 2025-01-08T20:29:40.316Z,1736368180.316 [DAT](INFO): DAT read: user:1372> 2025-01-08T20:29:40.317Z,1736368180.317 [DAT](INFO): DAT read: Tx time:20:29:39.6911 2025-01-08T20:29:40.317Z,1736368180.317 [DAT](INFO): Ping request sent. 2025-01-08T20:29:40.317Z,1736368180.317 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:40.317Z,1736368180.317 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:40.318Z,1736368180.318 [DAT](INFO): direction in FSK: [-0.072759,-0.814089,-0.576165] 2025-01-08T20:29:40.319Z,1736368180.319 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:40.319Z,1736368180.319 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:40.325Z,1736368180.325 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:40.325Z,1736368180.325 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:40.489Z,1736368180.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:40.529Z,1736368180.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 141.100006 m, deltaT: 3.543185 s, deltaX: -1.299988 m, approachRate: -0.366898 m/s, rangeRepo size: 4 2025-01-08T20:29:40.531Z,1736368180.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 141.100006 m, bearing: 22.071890 deg, lat: 36.904580 deg, lon: -122.119827 deg, deltaT: 3.543185 s, deltaX: -1.299988 m, approachRate: -0.366898 m/s, posRepo size: 4 2025-01-08T20:29:40.536Z,1736368180.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.10 m. 2025-01-08T20:29:40.538Z,1736368180.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.100006 m, nav range: 106.408707 m, bearing: 18.805618 deg, approach rate: 0.000000 m/s, LOS rate: -0.354599 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.432982 deg. 2025-01-08T20:29:40.543Z,1736368180.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049592 target range: 141.100006 and range: 141.10 m. 2025-01-08T20:29:40.552Z,1736368180.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:40.553Z,1736368180.553 [DAT](INFO): DAT read: TxSync time:20:29:39.6903 2025-01-08T20:29:40.588Z,1736368180.588 [DockingStepper](INFO): Stopping 2025-01-08T20:29:40.804Z,1736368180.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:40.874Z,1736368180.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:40.882Z,1736368180.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.10 m. 2025-01-08T20:29:40.885Z,1736368180.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.100006 m, nav range: 106.433632 m, bearing: 18.673470 deg, approach rate: 0.070311 m/s, LOS rate: -0.372684 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.498213 deg. 2025-01-08T20:29:40.886Z,1736368180.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050731 target range: 141.100006 and range: 141.10 m. 2025-01-08T20:29:40.914Z,1736368180.914 [DockingStepper](INFO): Stopping 2025-01-08T20:29:41.056Z,1736368181.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:41.248Z,1736368181.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:41.258Z,1736368181.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.10 m. 2025-01-08T20:29:41.261Z,1736368181.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.100006 m, nav range: 106.457993 m, bearing: 18.544941 deg, approach rate: 0.064917 m/s, LOS rate: -0.342427 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.509065 deg. 2025-01-08T20:29:41.262Z,1736368181.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050920 target range: 141.100006 and range: 141.10 m. 2025-01-08T20:29:41.275Z,1736368181.275 [DockingStepper](INFO): Stopping 2025-01-08T20:29:41.308Z,1736368181.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:41.560Z,1736368181.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:41.724Z,1736368181.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:41.748Z,1736368181.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:41.750Z,1736368181.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.10 m. 2025-01-08T20:29:41.757Z,1736368181.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.100006 m, nav range: 106.489525 m, bearing: 18.383536 deg, approach rate: 0.064106 m/s, LOS rate: -0.328041 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.410497 deg. 2025-01-08T20:29:41.758Z,1736368181.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049200 target range: 141.100006 and range: 141.10 m. 2025-01-08T20:29:41.779Z,1736368181.779 [DockingStepper](INFO): Stopping 2025-01-08T20:29:41.812Z,1736368181.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:41.812Z,1736368181.812 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:41.812Z,1736368181.812 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:41.813Z,1736368181.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:42.064Z,1736368182.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:42.065Z,1736368182.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747346 2025-01-08T20:29:42.104Z,1736368182.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:42.113Z,1736368182.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.10 m. 2025-01-08T20:29:42.117Z,1736368182.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.100006 m, nav range: 106.512756 m, bearing: 18.251353 deg, approach rate: 0.063881 m/s, LOS rate: -0.363392 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.498099 deg. 2025-01-08T20:29:42.119Z,1736368182.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050729 target range: 141.100006 and range: 141.10 m. 2025-01-08T20:29:42.149Z,1736368182.149 [DockingStepper](INFO): Stopping 2025-01-08T20:29:42.316Z,1736368182.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:42.317Z,1736368182.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999436 2025-01-08T20:29:42.481Z,1736368182.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:42.491Z,1736368182.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.10 m. 2025-01-08T20:29:42.494Z,1736368182.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.100006 m, nav range: 106.536011 m, bearing: 18.122194 deg, approach rate: 0.061611 m/s, LOS rate: -0.342121 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.507171 deg. 2025-01-08T20:29:42.495Z,1736368182.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050887 target range: 141.100006 and range: 141.10 m. 2025-01-08T20:29:42.556Z,1736368182.556 [DockingStepper](INFO): Stopping 2025-01-08T20:29:42.569Z,1736368182.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:42.570Z,1736368182.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252914 2025-01-08T20:29:42.820Z,1736368182.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:42.820Z,1736368182.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503128 2025-01-08T20:29:42.904Z,1736368182.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:42.913Z,1736368182.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.10 m. 2025-01-08T20:29:42.916Z,1736368182.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.100006 m, nav range: 106.562004 m, bearing: 17.978576 deg, approach rate: 0.061522 m/s, LOS rate: -0.339839 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.463816 deg. 2025-01-08T20:29:42.917Z,1736368182.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050130 target range: 141.100006 and range: 141.10 m. 2025-01-08T20:29:42.932Z,1736368182.932 [DockingStepper](INFO): Stopping 2025-01-08T20:29:43.073Z,1736368183.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:43.073Z,1736368183.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756193 2025-01-08T20:29:43.276Z,1736368183.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:43.284Z,1736368183.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.10 m. 2025-01-08T20:29:43.287Z,1736368183.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.100006 m, nav range: 106.585197 m, bearing: 17.852171 deg, approach rate: 0.062476 m/s, LOS rate: -0.340425 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.515429 deg. 2025-01-08T20:29:43.289Z,1736368183.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051031 target range: 141.100006 and range: 141.10 m. 2025-01-08T20:29:43.302Z,1736368183.302 [DockingStepper](INFO): Stopping 2025-01-08T20:29:43.325Z,1736368183.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:43.326Z,1736368183.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008439 2025-01-08T20:29:43.576Z,1736368183.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:43.576Z,1736368183.576 [DAT](INFO): DAT read: Rx Time:20:29:42.2819 2025-01-08T20:29:43.577Z,1736368183.577 [DAT](INFO): Rx dataTimestamp_ set to:1736368183.576587 2025-01-08T20:29:43.577Z,1736368183.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260199 2025-01-08T20:29:43.690Z,1736368183.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:43.743Z,1736368183.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.10 m. 2025-01-08T20:29:43.765Z,1736368183.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.100006 m, nav range: 106.611046 m, bearing: 17.711549 deg, approach rate: 0.056649 m/s, LOS rate: -0.308109 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.472801 deg. 2025-01-08T20:29:43.767Z,1736368183.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050287 target range: 141.100006 and range: 141.10 m. 2025-01-08T20:29:43.813Z,1736368183.813 [DockingStepper](INFO): Stopping 2025-01-08T20:29:43.829Z,1736368183.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:43.830Z,1736368183.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512461 2025-01-08T20:29:44.080Z,1736368184.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:44.086Z,1736368184.086 [DAT](INFO): DAT read: 20:29:42.2819 LVL= 22576, 26673, 11458, 28387, AGC= 59, IDX= 419,-0.18,-0.511,-0.075, 1.874, 0.602, PHS=-1.025,-0.630, 1.269, RAW= 219.3, 3.7, CAL= 221.1, -0.6, ROT= 288.9, 0.6 2025-01-08T20:29:44.087Z,1736368184.087 [DAT](INFO): got valid direction response: 20:29:42.2819 LVL= 22576, 26673, 11458, 28387, AGC= 59, IDX= 419,-0.18,-0.511,-0.075, 1.874, 0.602, PHS=-1.025,-0.630, 1.269, RAW= 219.3, 3.7, CAL= 221.1, -0.6, ROT= 288.9, 0.6 2025-01-08T20:29:44.089Z,1736368184.089 [DAT](INFO): DAT read: Bearing 288.9, 0.6 (Local) 2025-01-08T20:29:44.089Z,1736368184.089 [DAT](INFO): Local bearing/azimuth received: Bearing 288.9, 0.6 (Local) 2025-01-08T20:29:44.091Z,1736368184.091 [DAT](INFO): DAT read: Range 10 to 50 : 139.9 m (Round-trip 186.6 ms) speed 0.3 m/s 2025-01-08T20:29:44.092Z,1736368184.092 [DAT](INFO): DAT read: user:1373> 2025-01-08T20:29:44.092Z,1736368184.092 [DAT](INFO): DAT read: Tx time:20:29:43.3912 2025-01-08T20:29:44.093Z,1736368184.093 [DAT](INFO): Ping request sent. 2025-01-08T20:29:44.093Z,1736368184.093 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:44.093Z,1736368184.093 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:44.094Z,1736368184.094 [DAT](INFO): direction in FSK: [-0.081693,-0.810310,-0.580279] 2025-01-08T20:29:44.094Z,1736368184.094 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:44.094Z,1736368184.094 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:44.097Z,1736368184.097 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:44.098Z,1736368184.098 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:44.202Z,1736368184.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:44.244Z,1736368184.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 139.899994 m, deltaT: 3.779807 s, deltaX: -1.200012 m, approachRate: -0.317480 m/s, rangeRepo size: 4 2025-01-08T20:29:44.247Z,1736368184.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 139.899994 m, bearing: 21.067010 deg, lat: 36.904577 deg, lon: -122.119809 deg, deltaT: 3.779807 s, deltaX: -1.200012 m, approachRate: -0.317480 m/s, posRepo size: 4 2025-01-08T20:29:44.248Z,1736368184.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.90 m. 2025-01-08T20:29:44.250Z,1736368184.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.899994 m, nav range: 106.854973 m, bearing: 18.400665 deg, approach rate: 0.000000 m/s, LOS rate: -0.308109 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.437507 deg. 2025-01-08T20:29:44.260Z,1736368184.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049671 target range: 139.899994 and range: 139.90 m. 2025-01-08T20:29:44.285Z,1736368184.285 [DockingStepper](INFO): Stopping 2025-01-08T20:29:44.332Z,1736368184.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:44.333Z,1736368184.333 [DAT](INFO): DAT read: TxSync time:20:29:43.3904 2025-01-08T20:29:44.488Z,1736368184.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:44.503Z,1736368184.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:44.509Z,1736368184.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.90 m. 2025-01-08T20:29:44.516Z,1736368184.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.899994 m, nav range: 106.871330 m, bearing: 18.302293 deg, approach rate: 0.059655 m/s, LOS rate: -0.358702 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.599488 deg. 2025-01-08T20:29:44.517Z,1736368184.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052498 target range: 139.899994 and range: 139.90 m. 2025-01-08T20:29:44.548Z,1736368184.548 [DockingStepper](INFO): Stopping 2025-01-08T20:29:44.584Z,1736368184.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:44.584Z,1736368184.584 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:44.584Z,1736368184.584 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:44.585Z,1736368184.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:44.836Z,1736368184.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:44.836Z,1736368184.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743568 2025-01-08T20:29:44.916Z,1736368184.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:44.925Z,1736368184.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.90 m. 2025-01-08T20:29:44.928Z,1736368184.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.899994 m, nav range: 106.890945 m, bearing: 18.152159 deg, approach rate: 0.047196 m/s, LOS rate: -0.361172 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.444246 deg. 2025-01-08T20:29:44.929Z,1736368184.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049789 target range: 139.899994 and range: 139.90 m. 2025-01-08T20:29:44.958Z,1736368184.958 [DockingStepper](INFO): Stopping 2025-01-08T20:29:45.089Z,1736368185.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:45.089Z,1736368185.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996663 2025-01-08T20:29:45.292Z,1736368185.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:45.320Z,1736368185.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.90 m. 2025-01-08T20:29:45.323Z,1736368185.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.899994 m, nav range: 106.908882 m, bearing: 18.020260 deg, approach rate: 0.045483 m/s, LOS rate: -0.334402 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.498935 deg. 2025-01-08T20:29:45.325Z,1736368185.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050743 target range: 139.899994 and range: 139.90 m. 2025-01-08T20:29:45.340Z,1736368185.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:45.341Z,1736368185.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247960 2025-01-08T20:29:45.344Z,1736368185.344 [DockingStepper](INFO): Stopping 2025-01-08T20:29:45.592Z,1736368185.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:45.593Z,1736368185.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499694 2025-01-08T20:29:45.714Z,1736368185.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:45.722Z,1736368185.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.90 m. 2025-01-08T20:29:45.726Z,1736368185.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.899994 m, nav range: 106.929367 m, bearing: 17.872489 deg, approach rate: 0.050829 m/s, LOS rate: -0.366595 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.451337 deg. 2025-01-08T20:29:45.730Z,1736368185.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049912 target range: 139.899994 and range: 139.90 m. 2025-01-08T20:29:45.811Z,1736368185.811 [DockingStepper](INFO): Stopping 2025-01-08T20:29:45.844Z,1736368185.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:45.845Z,1736368185.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751749 2025-01-08T20:29:46.097Z,1736368186.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:46.099Z,1736368186.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005495 2025-01-08T20:29:46.154Z,1736368186.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:46.163Z,1736368186.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.90 m. 2025-01-08T20:29:46.166Z,1736368186.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.899994 m, nav range: 106.945602 m, bearing: 17.712023 deg, approach rate: 0.036855 m/s, LOS rate: -0.364215 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.413242 deg. 2025-01-08T20:29:46.176Z,1736368186.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049248 target range: 139.899994 and range: 139.90 m. 2025-01-08T20:29:46.202Z,1736368186.202 [DockingStepper](INFO): Stopping 2025-01-08T20:29:46.349Z,1736368186.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:46.349Z,1736368186.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256633 2025-01-08T20:29:46.509Z,1736368186.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:46.516Z,1736368186.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:46.518Z,1736368186.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.90 m. 2025-01-08T20:29:46.521Z,1736368186.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.899994 m, nav range: 106.958405 m, bearing: 17.582425 deg, approach rate: 0.036070 m/s, LOS rate: -0.365095 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.505815 deg. 2025-01-08T20:29:46.523Z,1736368186.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050863 target range: 139.899994 and range: 139.90 m. 2025-01-08T20:29:46.570Z,1736368186.570 [DockingStepper](INFO): Stopped 2025-01-08T20:29:46.601Z,1736368186.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:46.601Z,1736368186.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508467 2025-01-08T20:29:46.607Z,1736368186.607 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-01-08T20:29:46.607Z,1736368186.607 [DockingStepper] No Fault, FailCount= 1 2025-01-08T20:29:46.852Z,1736368186.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:46.852Z,1736368186.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759547 2025-01-08T20:29:46.943Z,1736368186.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:46.952Z,1736368186.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.90 m. 2025-01-08T20:29:46.954Z,1736368186.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.899994 m, nav range: 106.968216 m, bearing: 17.415266 deg, approach rate: 0.022633 m/s, LOS rate: -0.385559 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.393139 deg. 2025-01-08T20:29:46.956Z,1736368186.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048897 target range: 139.899994 and range: 139.90 m. 2025-01-08T20:29:46.969Z,1736368186.969 [DockingStepper](INFO): Start 2025-01-08T20:29:46.969Z,1736368186.969 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-01-08T20:29:47.091Z,1736368187.091 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-01-08T20:29:47.104Z,1736368187.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:47.105Z,1736368187.105 [DAT](INFO): DAT read: Rx Time:20:29:45.9806 2025-01-08T20:29:47.106Z,1736368187.106 [DAT](INFO): Rx dataTimestamp_ set to:1736368187.105535 2025-01-08T20:29:47.106Z,1736368187.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013703 2025-01-08T20:29:47.312Z,1736368187.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:47.321Z,1736368187.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.90 m. 2025-01-08T20:29:47.324Z,1736368187.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.899994 m, nav range: 106.977295 m, bearing: 17.273123 deg, approach rate: 0.024585 m/s, LOS rate: -0.384874 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.468173 deg. 2025-01-08T20:29:47.325Z,1736368187.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050206 target range: 139.899994 and range: 139.90 m. 2025-01-08T20:29:47.345Z,1736368187.345 [DockingStepper](INFO): Starting 2025-01-08T20:29:47.356Z,1736368187.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:47.357Z,1736368187.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263825 2025-01-08T20:29:47.472Z,1736368187.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:29:47.608Z,1736368187.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:47.608Z,1736368187.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515445 2025-01-08T20:29:47.734Z,1736368187.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:47.750Z,1736368187.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.90 m. 2025-01-08T20:29:47.753Z,1736368187.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.899994 m, nav range: 106.988434 m, bearing: 17.110914 deg, approach rate: 0.025957 m/s, LOS rate: -0.377962 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.407990 deg. 2025-01-08T20:29:47.754Z,1736368187.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049156 target range: 139.899994 and range: 139.90 m. 2025-01-08T20:29:47.830Z,1736368187.830 [DockingStepper](INFO): Starting 2025-01-08T20:29:47.861Z,1736368187.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:47.869Z,1736368187.869 [DAT](INFO): DAT read: 20:29:45.9806 LVL= 32752, 32753, 19442, 32755, AGC= 66, IDX= 422,-0.03, 1.604, 2.105,-2.247, 2.706, PHS=-1.014,-0.554, 1.327, RAW= 220.7, 2.3, CAL= 221.9, -2.1, ROT= 288.1, 2.1 2025-01-08T20:29:47.870Z,1736368187.870 [DAT](INFO): got valid direction response: 20:29:45.9806 LVL= 32752, 32753, 19442, 32755, AGC= 66, IDX= 422,-0.03, 1.604, 2.105,-2.247, 2.706, PHS=-1.014,-0.554, 1.327, RAW= 220.7, 2.3, CAL= 221.9, -2.1, ROT= 288.1, 2.1 2025-01-08T20:29:47.872Z,1736368187.872 [DAT](INFO): DAT read: Bearing 288.1, 2.1 (Local) 2025-01-08T20:29:47.873Z,1736368187.873 [DAT](INFO): Local bearing/azimuth received: Bearing 288.1, 2.1 (Local) 2025-01-08T20:29:47.875Z,1736368187.875 [DAT](INFO): DAT read: Range 10 to 50 : 138.9 m (Round-trip 185.3 ms) speed 0.0 m/s 2025-01-08T20:29:47.890Z,1736368187.890 [DAT](INFO): DAT read: user:1374> 2025-01-08T20:29:47.891Z,1736368187.891 [DAT](INFO): DAT read: Tx time:20:29:47.0912 2025-01-08T20:29:47.895Z,1736368187.895 [DAT](INFO): Ping request sent. 2025-01-08T20:29:47.895Z,1736368187.895 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:47.896Z,1736368187.896 [DAT](INFO): DAT read: TxSync time:20:29:47.0904 2025-01-08T20:29:47.897Z,1736368187.897 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:47.897Z,1736368187.897 [DAT](INFO): direction in FSK: [-0.052764,-0.799499,-0.598346] 2025-01-08T20:29:47.898Z,1736368187.898 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:47.898Z,1736368187.898 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:47.914Z,1736368187.914 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:47.914Z,1736368187.914 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:48.112Z,1736368188.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:48.136Z,1736368188.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:48.178Z,1736368188.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 138.899994 m, deltaT: 3.781950 s, deltaX: -1.000000 m, approachRate: -0.264414 m/s, rangeRepo size: 4 2025-01-08T20:29:48.185Z,1736368188.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 138.899994 m, bearing: 23.494033 deg, lat: 36.904550 deg, lon: -122.119771 deg, deltaT: 3.781950 s, deltaX: -1.000000 m, approachRate: -0.264414 m/s, posRepo size: 4 2025-01-08T20:29:48.186Z,1736368188.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T20:29:48.192Z,1736368188.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 105.176781 m, bearing: 19.173348 deg, approach rate: 0.000000 m/s, LOS rate: -0.377962 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.409452 deg. 2025-01-08T20:29:48.194Z,1736368188.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049181 target range: 138.899994 and range: 138.90 m. 2025-01-08T20:29:48.227Z,1736368188.227 [DockingStepper](INFO): Starting 2025-01-08T20:29:48.276Z,1736368188.276 [DockingStepper](INFO): Init string: /1z16354aE13561N3m50 2025-01-08T20:29:48.365Z,1736368188.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:48.478Z,1736368188.478 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:29:48.540Z,1736368188.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:48.547Z,1736368188.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:48.549Z,1736368188.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T20:29:48.552Z,1736368188.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 105.177498 m, bearing: 19.002506 deg, approach rate: 0.001931 m/s, LOS rate: -0.460062 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.382051 deg. 2025-01-08T20:29:48.553Z,1736368188.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048703 target range: 138.899994 and range: 138.90 m. 2025-01-08T20:29:48.566Z,1736368188.566 [DockingStepper](INFO): Starting 2025-01-08T20:29:48.616Z,1736368188.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:48.616Z,1736368188.616 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:48.616Z,1736368188.616 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:48.617Z,1736368188.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:48.868Z,1736368188.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:48.868Z,1736368188.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977242 2025-01-08T20:29:48.968Z,1736368188.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:48.976Z,1736368188.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T20:29:48.979Z,1736368188.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 105.175606 m, bearing: 18.816002 deg, approach rate: -0.004426 m/s, LOS rate: -0.436291 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.335052 deg. 2025-01-08T20:29:48.980Z,1736368188.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047883 target range: 138.899994 and range: 138.90 m. 2025-01-08T20:29:48.994Z,1736368188.994 [DockingStepper](INFO): Starting 2025-01-08T20:29:49.120Z,1736368189.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:49.120Z,1736368189.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229336 2025-01-08T20:29:49.337Z,1736368189.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:49.350Z,1736368189.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T20:29:49.353Z,1736368189.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 105.175682 m, bearing: 18.654792 deg, approach rate: 0.000204 m/s, LOS rate: -0.431250 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.410939 deg. 2025-01-08T20:29:49.354Z,1736368189.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049207 target range: 138.899994 and range: 138.90 m. 2025-01-08T20:29:49.368Z,1736368189.368 [DockingStepper](INFO): Starting 2025-01-08T20:29:49.389Z,1736368189.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:49.390Z,1736368189.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498862 2025-01-08T20:29:49.640Z,1736368189.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:49.640Z,1736368189.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749339 2025-01-08T20:29:49.757Z,1736368189.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:49.780Z,1736368189.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T20:29:49.783Z,1736368189.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 105.177032 m, bearing: 18.471577 deg, approach rate: 0.003175 m/s, LOS rate: -0.430810 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.344938 deg. 2025-01-08T20:29:49.791Z,1736368189.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048055 target range: 138.899994 and range: 138.90 m. 2025-01-08T20:29:49.866Z,1736368189.866 [DockingStepper](INFO): Starting 2025-01-08T20:29:49.892Z,1736368189.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:49.893Z,1736368189.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001568 2025-01-08T20:29:49.898Z,1736368189.898 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2025-01-08T20:29:50.144Z,1736368190.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:50.144Z,1736368190.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253396 2025-01-08T20:29:50.160Z,1736368190.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:50.169Z,1736368190.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T20:29:50.193Z,1736368190.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 105.175453 m, bearing: 18.291318 deg, approach rate: -0.004010 m/s, LOS rate: -0.457688 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.353788 deg. 2025-01-08T20:29:50.194Z,1736368190.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048210 target range: 138.899994 and range: 138.90 m. 2025-01-08T20:29:50.245Z,1736368190.245 [DockingStepper](INFO): Starting 2025-01-08T20:29:50.396Z,1736368190.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:50.397Z,1736368190.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505990 2025-01-08T20:29:50.544Z,1736368190.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:50.566Z,1736368190.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:50.570Z,1736368190.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T20:29:50.574Z,1736368190.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 105.175240 m, bearing: 18.120038 deg, approach rate: -0.000533 m/s, LOS rate: -0.427268 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.380730 deg. 2025-01-08T20:29:50.583Z,1736368190.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048680 target range: 138.899994 and range: 138.90 m. 2025-01-08T20:29:50.604Z,1736368190.604 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T20:29:50.605Z,1736368190.605 [DockingStepper](INFO): Standby mode. 2025-01-08T20:29:50.649Z,1736368190.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:50.650Z,1736368190.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758795 2025-01-08T20:29:50.900Z,1736368190.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:50.900Z,1736368190.900 [DAT](INFO): DAT read: Rx Time:20:29:49.6790 2025-01-08T20:29:50.901Z,1736368190.901 [DAT](INFO): Rx dataTimestamp_ set to:1736368190.900663 2025-01-08T20:29:50.901Z,1736368190.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010399 2025-01-08T20:29:50.978Z,1736368190.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:50.986Z,1736368190.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T20:29:50.990Z,1736368190.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 105.178307 m, bearing: 17.922452 deg, approach rate: 0.007379 m/s, LOS rate: -0.475344 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.301839 deg. 2025-01-08T20:29:50.991Z,1736368190.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047303 target range: 138.899994 and range: 138.90 m. 2025-01-08T20:29:51.152Z,1736368191.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:51.152Z,1736368191.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261259 2025-01-08T20:29:51.404Z,1736368191.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:51.411Z,1736368191.411 [DAT](INFO): DAT read: 20:29:49.6790 LVL= 23984, 29297, 13714, 27955, AGC= 60, IDX= 421, 0.22,-0.277, 0.253, 2.219, 0.864, PHS=-1.052,-0.563, 1.353, RAW= 221.1, 2.4, CAL= 222.4, -1.8, ROT= 287.6, 1.8 2025-01-08T20:29:51.424Z,1736368191.424 [DAT](INFO): got valid direction response: 20:29:49.6790 LVL= 23984, 29297, 13714, 27955, AGC= 60, IDX= 421, 0.22,-0.277, 0.253, 2.219, 0.864, PHS=-1.052,-0.563, 1.353, RAW= 221.1, 2.4, CAL= 222.4, -1.8, ROT= 287.6, 1.8 2025-01-08T20:29:51.425Z,1736368191.425 [DAT](INFO): DAT read: Bearing 287.6, 1.8 (Local) 2025-01-08T20:29:51.426Z,1736368191.426 [DAT](INFO): Local bearing/azimuth received: Bearing 287.6, 1.8 (Local) 2025-01-08T20:29:51.427Z,1736368191.427 [DAT](INFO): DAT read: Range 10 to 50 : 137.7 m (Round-trip 183.6 ms) speed 0.3 m/s 2025-01-08T20:29:51.428Z,1736368191.428 [DAT](INFO): DAT read: user:1375> 2025-01-08T20:29:51.429Z,1736368191.429 [DAT](INFO): DAT read: Tx time:20:29:50.7927 2025-01-08T20:29:51.429Z,1736368191.429 [DAT](INFO): Ping request sent. 2025-01-08T20:29:51.429Z,1736368191.429 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:51.429Z,1736368191.429 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:51.430Z,1736368191.430 [DAT](INFO): direction in FSK: [-0.054484,-0.795322,-0.603734] 2025-01-08T20:29:51.431Z,1736368191.431 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:51.442Z,1736368191.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:51.431Z,1736368191.431 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:51.454Z,1736368191.454 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:51.454Z,1736368191.454 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:51.504Z,1736368191.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.699997 m, deltaT: 3.542281 s, deltaX: -1.199997 m, approachRate: -0.338764 m/s, rangeRepo size: 4 2025-01-08T20:29:51.507Z,1736368191.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.699997 m, bearing: 24.753802 deg, lat: 36.904531 deg, lon: -122.119768 deg, deltaT: 3.542281 s, deltaX: -1.199997 m, approachRate: -0.338764 m/s, posRepo size: 4 2025-01-08T20:29:51.512Z,1736368191.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m. 2025-01-08T20:29:51.514Z,1736368191.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.699997 m, nav range: 103.264740 m, bearing: 18.192961 deg, approach rate: 0.000000 m/s, LOS rate: -0.475344 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.174687 deg. 2025-01-08T20:29:51.528Z,1736368191.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.045084 target range: 137.699997 and range: 137.70 m. 2025-01-08T20:29:51.656Z,1736368191.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:51.658Z,1736368191.658 [DAT](INFO): DAT read: TxSync time:20:29:50.7919 2025-01-08T20:29:51.887Z,1736368191.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:51.908Z,1736368191.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:51.913Z,1736368191.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m. 2025-01-08T20:29:51.924Z,1736368191.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.699997 m, nav range: 103.269035 m, bearing: 17.986396 deg, approach rate: 0.010177 m/s, LOS rate: -0.489372 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.274914 deg. 2025-01-08T20:29:51.925Z,1736368191.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046833 target range: 137.699997 and range: 137.70 m. 2025-01-08T20:29:52.161Z,1736368192.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:52.254Z,1736368192.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:52.265Z,1736368192.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m. 2025-01-08T20:29:52.271Z,1736368192.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.699997 m, nav range: 103.274574 m, bearing: 17.821813 deg, approach rate: 0.015816 m/s, LOS rate: -0.469935 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.400845 deg. 2025-01-08T20:29:52.273Z,1736368192.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049031 target range: 137.699997 and range: 137.70 m. 2025-01-08T20:29:52.412Z,1736368192.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:52.640Z,1736368192.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:52.647Z,1736368192.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:52.650Z,1736368192.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m. 2025-01-08T20:29:52.656Z,1736368192.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.699997 m, nav range: 103.281334 m, bearing: 17.648505 deg, approach rate: 0.017457 m/s, LOS rate: -0.447547 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.374680 deg. 2025-01-08T20:29:52.662Z,1736368192.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048575 target range: 137.699997 and range: 137.70 m. 2025-01-08T20:29:52.665Z,1736368192.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:52.666Z,1736368192.666 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:52.666Z,1736368192.666 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:52.666Z,1736368192.666 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:52.916Z,1736368192.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:52.917Z,1736368192.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487861 2025-01-08T20:29:53.036Z,1736368193.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:53.044Z,1736368193.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m. 2025-01-08T20:29:53.047Z,1736368193.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.699997 m, nav range: 103.297829 m, bearing: 17.478053 deg, approach rate: 0.041843 m/s, LOS rate: -0.432322 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.383299 deg. 2025-01-08T20:29:53.048Z,1736368193.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048725 target range: 137.699997 and range: 137.70 m. 2025-01-08T20:29:53.168Z,1736368193.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:53.169Z,1736368193.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739875 2025-01-08T20:29:53.420Z,1736368193.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:53.420Z,1736368193.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991166 2025-01-08T20:29:53.435Z,1736368193.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:53.445Z,1736368193.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m. 2025-01-08T20:29:53.449Z,1736368193.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.699997 m, nav range: 103.315407 m, bearing: 17.306037 deg, approach rate: 0.043925 m/s, LOS rate: -0.429767 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.378609 deg. 2025-01-08T20:29:53.454Z,1736368193.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048643 target range: 137.699997 and range: 137.70 m. 2025-01-08T20:29:53.672Z,1736368193.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:53.674Z,1736368193.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243945 2025-01-08T20:29:53.829Z,1736368193.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:53.840Z,1736368193.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m. 2025-01-08T20:29:53.870Z,1736368193.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.699997 m, nav range: 103.333473 m, bearing: 17.136977 deg, approach rate: 0.045747 m/s, LOS rate: -0.428006 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.387481 deg. 2025-01-08T20:29:53.879Z,1736368193.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048798 target range: 137.699997 and range: 137.70 m. 2025-01-08T20:29:53.924Z,1736368193.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:53.925Z,1736368193.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495361 2025-01-08T20:29:54.176Z,1736368194.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:54.176Z,1736368194.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747191 2025-01-08T20:29:54.268Z,1736368194.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:54.277Z,1736368194.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m. 2025-01-08T20:29:54.280Z,1736368194.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.699997 m, nav range: 103.359184 m, bearing: 16.964087 deg, approach rate: 0.058724 m/s, LOS rate: -0.394780 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.376028 deg. 2025-01-08T20:29:54.281Z,1736368194.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048598 target range: 137.699997 and range: 137.70 m. 2025-01-08T20:29:54.428Z,1736368194.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:54.428Z,1736368194.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999158 2025-01-08T20:29:54.642Z,1736368194.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:54.652Z,1736368194.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:54.656Z,1736368194.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m. 2025-01-08T20:29:54.660Z,1736368194.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.699997 m, nav range: 103.381241 m, bearing: 16.817273 deg, approach rate: 0.058420 m/s, LOS rate: -0.388772 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.454219 deg. 2025-01-08T20:29:54.662Z,1736368194.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049963 target range: 137.699997 and range: 137.70 m. 2025-01-08T20:29:54.680Z,1736368194.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:54.681Z,1736368194.681 [DAT](INFO): DAT read: Rx Time:20:29:53.3791 2025-01-08T20:29:54.682Z,1736368194.682 [DAT](INFO): Rx dataTimestamp_ set to:1736368194.681385 2025-01-08T20:29:54.683Z,1736368194.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253374 2025-01-08T20:29:54.934Z,1736368194.934 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:54.935Z,1736368194.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505336 2025-01-08T20:29:55.108Z,1736368195.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:55.118Z,1736368195.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m. 2025-01-08T20:29:55.125Z,1736368195.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.699997 m, nav range: 103.420853 m, bearing: 16.648172 deg, approach rate: 0.085780 m/s, LOS rate: -0.366048 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.387462 deg. 2025-01-08T20:29:55.127Z,1736368195.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048798 target range: 137.699997 and range: 137.70 m. 2025-01-08T20:29:55.189Z,1736368195.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:55.200Z,1736368195.200 [DAT](INFO): DAT read: 20:29:53.3791 LVL= 19936, 23873, 13874, 26771, AGC= 61, IDX= 420, 0.44, 3.018,-2.680,-0.709,-2.131, PHS=-1.045,-0.502, 1.419, RAW= 222.1, 1.2, CAL= 222.8, -3.3, ROT= 287.2, 3.3 2025-01-08T20:29:55.201Z,1736368195.201 [DAT](INFO): got valid direction response: 20:29:53.3791 LVL= 19936, 23873, 13874, 26771, AGC= 61, IDX= 420, 0.44, 3.018,-2.680,-0.709,-2.131, PHS=-1.045,-0.502, 1.419, RAW= 222.1, 1.2, CAL= 222.8, -3.3, ROT= 287.2, 3.3 2025-01-08T20:29:55.203Z,1736368195.203 [DAT](INFO): DAT read: Bearing 287.2, 3.3 (Local) 2025-01-08T20:29:55.204Z,1736368195.204 [DAT](INFO): Local bearing/azimuth received: Bearing 287.2, 3.3 (Local) 2025-01-08T20:29:55.206Z,1736368195.206 [DAT](INFO): DAT read: Range 10 to 50 : 136.5 m (Round-trip 182.1 ms) speed 0.0 m/s 2025-01-08T20:29:55.212Z,1736368195.212 [DAT](INFO): DAT read: user:1376> 2025-01-08T20:29:55.213Z,1736368195.213 [DAT](INFO): DAT read: Tx time:20:29:54.4928 2025-01-08T20:29:55.213Z,1736368195.213 [DAT](INFO): Ping request sent. 2025-01-08T20:29:55.213Z,1736368195.213 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:55.213Z,1736368195.213 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:29:55.214Z,1736368195.214 [DAT](INFO): direction in FSK: [-0.029151,-0.787242,-0.615955] 2025-01-08T20:29:55.215Z,1736368195.215 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:55.215Z,1736368195.215 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:55.293Z,1736368195.293 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:55.293Z,1736368195.293 [DAT](INFO): publishing direction and range info 2025-01-08T20:29:55.440Z,1736368195.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:55.440Z,1736368195.440 [DAT](INFO): DAT read: TxSync time:20:29:54.4920 2025-01-08T20:29:55.507Z,1736368195.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:55.551Z,1736368195.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.500000 m, deltaT: 3.785146 s, deltaX: -1.199997 m, approachRate: -0.317028 m/s, rangeRepo size: 4 2025-01-08T20:29:55.558Z,1736368195.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.500000 m, bearing: 27.541272 deg, lat: 36.904444 deg, lon: -122.119672 deg, deltaT: 3.785146 s, deltaX: -1.199997 m, approachRate: -0.317028 m/s, posRepo size: 4 2025-01-08T20:29:55.558Z,1736368195.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:29:55.565Z,1736368195.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.261475 m, bearing: 22.958911 deg, approach rate: 0.000000 m/s, LOS rate: -0.366048 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.418663 deg. 2025-01-08T20:29:55.566Z,1736368195.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049342 target range: 136.500000 and range: 136.50 m. 2025-01-08T20:29:55.692Z,1736368195.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:55.872Z,1736368195.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:55.936Z,1736368195.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:29:55.946Z,1736368195.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:55.952Z,1736368195.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.265739 m, bearing: 22.816877 deg, approach rate: 0.011222 m/s, LOS rate: -0.373705 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.468482 deg. 2025-01-08T20:29:55.953Z,1736368195.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050212 target range: 136.500000 and range: 136.50 m. 2025-01-08T20:29:56.196Z,1736368196.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:56.317Z,1736368196.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:56.326Z,1736368196.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:29:56.329Z,1736368196.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.280128 m, bearing: 22.658508 deg, approach rate: 0.036310 m/s, LOS rate: -0.399573 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.419530 deg. 2025-01-08T20:29:56.330Z,1736368196.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049357 target range: 136.500000 and range: 136.50 m. 2025-01-08T20:29:56.448Z,1736368196.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:56.686Z,1736368196.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:56.693Z,1736368196.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:56.695Z,1736368196.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:29:56.698Z,1736368196.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.292686 m, bearing: 22.527359 deg, approach rate: 0.034043 m/s, LOS rate: -0.355479 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.501167 deg. 2025-01-08T20:29:56.700Z,1736368196.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:56.700Z,1736368196.700 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:29:56.700Z,1736368196.700 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:29:56.701Z,1736368196.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:29:56.703Z,1736368196.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050782 target range: 136.500000 and range: 136.50 m. 2025-01-08T20:29:56.952Z,1736368196.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:56.954Z,1736368196.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740356 2025-01-08T20:29:57.102Z,1736368197.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:57.112Z,1736368197.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:29:57.115Z,1736368197.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.316109 m, bearing: 22.388880 deg, approach rate: 0.056226 m/s, LOS rate: -0.332344 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.479226 deg. 2025-01-08T20:29:57.117Z,1736368197.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050399 target range: 136.500000 and range: 136.50 m. 2025-01-08T20:29:57.204Z,1736368197.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:57.205Z,1736368197.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991864 2025-01-08T20:29:57.456Z,1736368197.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:57.457Z,1736368197.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243504 2025-01-08T20:29:57.492Z,1736368197.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:57.501Z,1736368197.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:29:57.504Z,1736368197.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.338036 m, bearing: 22.259364 deg, approach rate: 0.056378 m/s, LOS rate: -0.332933 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.506104 deg. 2025-01-08T20:29:57.506Z,1736368197.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050869 target range: 136.500000 and range: 136.50 m. 2025-01-08T20:29:57.708Z,1736368197.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:57.709Z,1736368197.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495621 2025-01-08T20:29:57.895Z,1736368197.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:57.904Z,1736368197.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:29:57.941Z,1736368197.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.360603 m, bearing: 22.125489 deg, approach rate: 0.056065 m/s, LOS rate: -0.332508 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.493032 deg. 2025-01-08T20:29:57.949Z,1736368197.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050640 target range: 136.500000 and range: 136.50 m. 2025-01-08T20:29:57.962Z,1736368197.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:57.964Z,1736368197.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750220 2025-01-08T20:29:58.213Z,1736368198.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:58.214Z,1736368198.214 [DAT](INFO): DAT read: Rx Time:20:29:57.0780 2025-01-08T20:29:58.214Z,1736368198.214 [DAT](INFO): Rx dataTimestamp_ set to:1736368198.213937 2025-01-08T20:29:58.215Z,1736368198.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001551 2025-01-08T20:29:58.325Z,1736368198.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:58.334Z,1736368198.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:29:58.337Z,1736368198.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.389862 m, bearing: 21.986361 deg, approach rate: 0.067897 m/s, LOS rate: -0.322761 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.477304 deg. 2025-01-08T20:29:58.340Z,1736368198.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050366 target range: 136.500000 and range: 136.50 m. 2025-01-08T20:29:58.464Z,1736368198.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:58.464Z,1736368198.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251207 2025-01-08T20:29:58.698Z,1736368198.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:58.706Z,1736368198.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:29:58.708Z,1736368198.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:29:58.711Z,1736368198.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.415344 m, bearing: 21.865813 deg, approach rate: 0.068123 m/s, LOS rate: -0.322181 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.533012 deg. 2025-01-08T20:29:58.712Z,1736368198.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051338 target range: 136.500000 and range: 136.50 m. 2025-01-08T20:29:58.716Z,1736368198.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:58.717Z,1736368198.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503569 2025-01-08T20:29:58.969Z,1736368198.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:58.976Z,1736368198.976 [DAT](INFO): DAT read: Range 10 to 50 : 135.7 m (Round-trip 181.0 ms) speed 0.2 m/s 2025-01-08T20:29:58.997Z,1736368198.997 [DAT](INFO): DAT read: user:1377> 2025-01-08T20:29:58.998Z,1736368198.998 [DAT](INFO): DAT read: Tx time:20:29:58.1913 2025-01-08T20:29:58.998Z,1736368198.998 [DAT](INFO): Ping request sent. 2025-01-08T20:29:58.998Z,1736368198.998 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:29:58.999Z,1736368198.999 [DAT](INFO): DAT read: TxSync time:20:29:58.1905 2025-01-08T20:29:58.999Z,1736368198.999 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:29:58.999Z,1736368198.999 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:59.000Z,1736368199.000 [DAT](INFO): publishing transmit ping time 2025-01-08T20:29:59.126Z,1736368199.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:59.135Z,1736368199.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.699997 m, deltaT: 3.780965 s, deltaX: -0.800003 m, approachRate: -0.211587 m/s, rangeRepo size: 4 2025-01-08T20:29:59.137Z,1736368199.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:29:59.140Z,1736368199.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.435555 m, bearing: 21.722525 deg, approach rate: 0.047466 m/s, LOS rate: -0.336456 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.464792 deg. 2025-01-08T20:29:59.142Z,1736368199.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050147 target range: 136.500000 and range: 135.70 m. 2025-01-08T20:29:59.221Z,1736368199.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:59.472Z,1736368199.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:59.499Z,1736368199.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:59.521Z,1736368199.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:29:59.524Z,1736368199.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.454170 m, bearing: 21.597534 deg, approach rate: 0.048176 m/s, LOS rate: -0.323405 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.519659 deg. 2025-01-08T20:29:59.526Z,1736368199.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051105 target range: 136.500000 and range: 135.70 m. 2025-01-08T20:29:59.724Z,1736368199.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:59.914Z,1736368199.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:29:59.978Z,1736368199.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:29:59.985Z,1736368199.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:00.008Z,1736368200.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.475754 m, bearing: 21.458661 deg, approach rate: 0.047502 m/s, LOS rate: -0.305572 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.478038 deg. 2025-01-08T20:30:00.016Z,1736368200.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050379 target range: 136.500000 and range: 135.70 m. 2025-01-08T20:30:00.228Z,1736368200.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:00.345Z,1736368200.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:00.354Z,1736368200.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:00.357Z,1736368200.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.496536 m, bearing: 21.304263 deg, approach rate: 0.054863 m/s, LOS rate: -0.407506 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.431472 deg. 2025-01-08T20:30:00.358Z,1736368200.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049566 target range: 136.500000 and range: 135.70 m. 2025-01-08T20:30:00.484Z,1736368200.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:00.736Z,1736368200.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:00.742Z,1736368200.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:00.766Z,1736368200.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:00.776Z,1736368200.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:00.796Z,1736368200.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.516312 m, bearing: 21.162087 deg, approach rate: 0.047040 m/s, LOS rate: -0.338129 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.468124 deg. 2025-01-08T20:30:00.797Z,1736368200.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050205 target range: 136.500000 and range: 135.70 m. 2025-01-08T20:30:00.990Z,1736368200.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:00.993Z,1736368200.993 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:00.993Z,1736368200.993 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:00.994Z,1736368200.994 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:01.157Z,1736368201.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:01.165Z,1736368201.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:01.168Z,1736368201.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.521255 m, bearing: 21.001992 deg, approach rate: 0.012652 m/s, LOS rate: -0.409684 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.414309 deg. 2025-01-08T20:30:01.169Z,1736368201.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049266 target range: 136.500000 and range: 135.70 m. 2025-01-08T20:30:01.240Z,1736368201.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:01.242Z,1736368201.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243406 2025-01-08T20:30:01.492Z,1736368201.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:01.492Z,1736368201.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494258 2025-01-08T20:30:01.545Z,1736368201.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:01.553Z,1736368201.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:01.557Z,1736368201.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.526146 m, bearing: 20.852107 deg, approach rate: 0.012588 m/s, LOS rate: -0.385801 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.444932 deg. 2025-01-08T20:30:01.558Z,1736368201.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049801 target range: 136.500000 and range: 135.70 m. 2025-01-08T20:30:01.744Z,1736368201.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:01.744Z,1736368201.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746150 2025-01-08T20:30:01.981Z,1736368201.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:01.998Z,1736368201.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:02.001Z,1736368202.001 [DAT](INFO): DAT read: Rx Time:20:30:00.7752 2025-01-08T20:30:02.003Z,1736368202.003 [DAT](INFO): Rx dataTimestamp_ set to:1736368202.001630 2025-01-08T20:30:02.005Z,1736368202.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006817 2025-01-08T20:30:02.047Z,1736368202.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:02.054Z,1736368202.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.532410 m, bearing: 20.684585 deg, approach rate: 0.012694 m/s, LOS rate: -0.339464 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.392037 deg. 2025-01-08T20:30:02.060Z,1736368202.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048877 target range: 136.500000 and range: 135.70 m. 2025-01-08T20:30:02.248Z,1736368202.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:02.248Z,1736368202.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250274 2025-01-08T20:30:02.368Z,1736368202.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:02.402Z,1736368202.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:02.409Z,1736368202.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.532845 m, bearing: 20.523363 deg, approach rate: 0.001225 m/s, LOS rate: -0.454130 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.410904 deg. 2025-01-08T20:30:02.410Z,1736368202.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049207 target range: 136.500000 and range: 135.70 m. 2025-01-08T20:30:02.501Z,1736368202.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:02.503Z,1736368202.503 [DAT](INFO): DAT read: Range 10 to 50 : 134.8 m (Round-trip 179.8 ms) speed 0.0 m/s 2025-01-08T20:30:02.504Z,1736368202.504 [DAT](INFO): DAT read: user:1378> 2025-01-08T20:30:02.504Z,1736368202.504 [DAT](INFO): DAT read: Tx time:20:30:01.8913 2025-01-08T20:30:02.505Z,1736368202.505 [DAT](INFO): Ping request sent. 2025-01-08T20:30:02.505Z,1736368202.505 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:02.506Z,1736368202.506 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:02.506Z,1736368202.506 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:02.506Z,1736368202.506 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:02.752Z,1736368202.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:02.752Z,1736368202.752 [DAT](INFO): DAT read: TxSync time:20:30:01.8905 2025-01-08T20:30:02.761Z,1736368202.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:02.781Z,1736368202.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:02.788Z,1736368202.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 134.800003 m, deltaT: 3.531156 s, deltaX: -0.899994 m, approachRate: -0.254872 m/s, rangeRepo size: 4 2025-01-08T20:30:02.789Z,1736368202.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:02.800Z,1736368202.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.534088 m, bearing: 20.359681 deg, approach rate: 0.003263 m/s, LOS rate: -0.429433 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.403530 deg. 2025-01-08T20:30:02.801Z,1736368202.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049078 target range: 136.500000 and range: 134.80 m. 2025-01-08T20:30:03.005Z,1736368203.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:03.007Z,1736368203.007 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:03.007Z,1736368203.007 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:03.008Z,1736368203.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:03.172Z,1736368203.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:03.182Z,1736368203.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:03.184Z,1736368203.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.520294 m, bearing: 20.175470 deg, approach rate: -0.034603 m/s, LOS rate: -0.462173 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.341863 deg. 2025-01-08T20:30:03.186Z,1736368203.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048002 target range: 136.500000 and range: 134.80 m. 2025-01-08T20:30:03.256Z,1736368203.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:03.257Z,1736368203.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752219 2025-01-08T20:30:03.508Z,1736368203.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:03.508Z,1736368203.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003201 2025-01-08T20:30:03.554Z,1736368203.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:03.563Z,1736368203.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:03.565Z,1736368203.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.509468 m, bearing: 20.003466 deg, approach rate: -0.028411 m/s, LOS rate: -0.451448 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.378502 deg. 2025-01-08T20:30:03.567Z,1736368203.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048641 target range: 136.500000 and range: 134.80 m. 2025-01-08T20:30:03.760Z,1736368203.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:03.761Z,1736368203.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255636 2025-01-08T20:30:03.950Z,1736368203.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:03.980Z,1736368203.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:03.989Z,1736368203.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.500450 m, bearing: 19.825603 deg, approach rate: -0.022529 m/s, LOS rate: -0.444378 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.360935 deg. 2025-01-08T20:30:03.990Z,1736368203.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048335 target range: 136.500000 and range: 134.80 m. 2025-01-08T20:30:04.014Z,1736368204.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:04.016Z,1736368204.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510850 2025-01-08T20:30:04.264Z,1736368204.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:04.265Z,1736368204.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759712 2025-01-08T20:30:04.383Z,1736368204.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:04.413Z,1736368204.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:04.420Z,1736368204.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.486183 m, bearing: 19.618037 deg, approach rate: -0.031711 m/s, LOS rate: -0.461416 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.271793 deg. 2025-01-08T20:30:04.421Z,1736368204.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046779 target range: 136.500000 and range: 134.80 m. 2025-01-08T20:30:04.516Z,1736368204.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:04.516Z,1736368204.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011359 2025-01-08T20:30:04.768Z,1736368204.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:04.768Z,1736368204.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263350 2025-01-08T20:30:04.769Z,1736368204.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:04.801Z,1736368204.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:04.803Z,1736368204.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:04.810Z,1736368204.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.474335 m, bearing: 19.433122 deg, approach rate: -0.030383 m/s, LOS rate: -0.474241 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.339761 deg. 2025-01-08T20:30:04.811Z,1736368204.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047965 target range: 136.500000 and range: 134.80 m. 2025-01-08T20:30:05.022Z,1736368205.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:05.025Z,1736368205.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519587 2025-01-08T20:30:05.199Z,1736368205.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:05.269Z,1736368205.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:05.273Z,1736368205.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:05.275Z,1736368205.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769307 2025-01-08T20:30:05.287Z,1736368205.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.453438 m, bearing: 19.220963 deg, approach rate: -0.044930 m/s, LOS rate: -0.456250 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.257972 deg. 2025-01-08T20:30:05.304Z,1736368205.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046538 target range: 136.500000 and range: 134.80 m. 2025-01-08T20:30:05.524Z,1736368205.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:05.524Z,1736368205.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019198 2025-01-08T20:30:05.614Z,1736368205.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:05.624Z,1736368205.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:05.626Z,1736368205.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.434982 m, bearing: 19.016016 deg, approach rate: -0.051856 m/s, LOS rate: -0.575961 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.279623 deg. 2025-01-08T20:30:05.628Z,1736368205.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046916 target range: 136.500000 and range: 134.80 m. 2025-01-08T20:30:05.776Z,1736368205.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:05.777Z,1736368205.777 [DAT](INFO): DAT read: Rx Time:20:30:04.4738 2025-01-08T20:30:05.777Z,1736368205.777 [DAT](INFO): Rx dataTimestamp_ set to:1736368205.776685 2025-01-08T20:30:05.777Z,1736368205.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272397 2025-01-08T20:30:06.029Z,1736368206.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:06.032Z,1736368206.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526378 2025-01-08T20:30:06.045Z,1736368206.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:06.116Z,1736368206.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:06.136Z,1736368206.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.417824 m, bearing: 18.803456 deg, approach rate: -0.034852 m/s, LOS rate: -0.431826 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.256793 deg. 2025-01-08T20:30:06.137Z,1736368206.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046517 target range: 136.500000 and range: 134.80 m. 2025-01-08T20:30:06.280Z,1736368206.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:06.283Z,1736368206.283 [DAT](INFO): DAT read: Range 10 to 50 : 133.8 m (Round-trip 178.4 ms) speed -0.2 m/s 2025-01-08T20:30:06.284Z,1736368206.284 [DAT](INFO): DAT read: user:1379> 2025-01-08T20:30:06.285Z,1736368206.285 [DAT](INFO): DAT read: Tx time:20:30:05.5913 2025-01-08T20:30:06.286Z,1736368206.286 [DAT](INFO): Ping request sent. 2025-01-08T20:30:06.286Z,1736368206.286 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:06.286Z,1736368206.286 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:06.286Z,1736368206.286 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:06.287Z,1736368206.287 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:06.532Z,1736368206.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:06.533Z,1736368206.533 [DAT](INFO): DAT read: TxSync time:20:30:05.5905 2025-01-08T20:30:06.599Z,1736368206.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:06.616Z,1736368206.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.800003 m, deltaT: 3.779101 s, deltaX: -1.000000 m, approachRate: -0.264613 m/s, rangeRepo size: 4 2025-01-08T20:30:06.617Z,1736368206.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:06.624Z,1736368206.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.408371 m, bearing: 18.533279 deg, approach rate: -0.019088 m/s, LOS rate: -0.545624 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.084004 deg. 2025-01-08T20:30:06.625Z,1736368206.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.043501 target range: 136.500000 and range: 133.80 m. 2025-01-08T20:30:06.784Z,1736368206.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:06.952Z,1736368206.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:06.959Z,1736368206.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:06.961Z,1736368206.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:06.964Z,1736368206.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.404358 m, bearing: 18.348210 deg, approach rate: -0.011485 m/s, LOS rate: -0.529680 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.339346 deg. 2025-01-08T20:30:06.965Z,1736368206.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047958 target range: 136.500000 and range: 133.80 m. 2025-01-08T20:30:07.038Z,1736368207.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:07.040Z,1736368207.040 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:07.040Z,1736368207.040 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:07.041Z,1736368207.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:07.289Z,1736368207.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:07.290Z,1736368207.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003774 2025-01-08T20:30:07.375Z,1736368207.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:30:07.376Z,1736368207.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:07.384Z,1736368207.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:07.387Z,1736368207.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.401787 m, bearing: 18.144275 deg, approach rate: -0.006070 m/s, LOS rate: -0.481510 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.282758 deg. 2025-01-08T20:30:07.389Z,1736368207.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046970 target range: 136.500000 and range: 133.80 m. 2025-01-08T20:30:07.540Z,1736368207.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:07.541Z,1736368207.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255209 2025-01-08T20:30:07.756Z,1736368207.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:30:07.757Z,1736368207.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:07.765Z,1736368207.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:07.768Z,1736368207.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.402107 m, bearing: 17.945148 deg, approach rate: 0.000841 m/s, LOS rate: -0.522707 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.297202 deg. 2025-01-08T20:30:07.769Z,1736368207.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047222 target range: 136.500000 and range: 133.80 m. 2025-01-08T20:30:07.792Z,1736368207.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:07.792Z,1736368207.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506531 2025-01-08T20:30:08.044Z,1736368208.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:08.045Z,1736368208.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759160 2025-01-08T20:30:08.187Z,1736368208.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:08.209Z,1736368208.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:08.216Z,1736368208.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.415497 m, bearing: 17.742140 deg, approach rate: 0.030555 m/s, LOS rate: -0.463204 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.285639 deg. 2025-01-08T20:30:08.218Z,1736368208.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047021 target range: 136.500000 and range: 133.80 m. 2025-01-08T20:30:08.296Z,1736368208.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:08.297Z,1736368208.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010849 2025-01-08T20:30:08.548Z,1736368208.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:08.548Z,1736368208.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262552 2025-01-08T20:30:08.561Z,1736368208.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:08.570Z,1736368208.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:08.574Z,1736368208.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.428185 m, bearing: 17.565694 deg, approach rate: 0.034631 m/s, LOS rate: -0.481542 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.365303 deg. 2025-01-08T20:30:08.576Z,1736368208.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048411 target range: 136.500000 and range: 133.80 m. 2025-01-08T20:30:08.800Z,1736368208.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:08.800Z,1736368208.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514524 2025-01-08T20:30:08.968Z,1736368208.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:08.977Z,1736368208.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:08.979Z,1736368208.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:08.982Z,1736368208.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.442451 m, bearing: 17.373705 deg, approach rate: 0.034894 m/s, LOS rate: -0.469495 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.318694 deg. 2025-01-08T20:30:08.983Z,1736368208.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047597 target range: 136.500000 and range: 133.80 m. 2025-01-08T20:30:09.052Z,1736368209.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:09.052Z,1736368209.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766508 2025-01-08T20:30:09.304Z,1736368209.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:09.304Z,1736368209.304 [DAT](INFO): DAT read: Rx Time:20:30:08.1727 2025-01-08T20:30:09.306Z,1736368209.306 [DAT](INFO): Rx dataTimestamp_ set to:1736368209.305015 2025-01-08T20:30:09.307Z,1736368209.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020643 2025-01-08T20:30:09.418Z,1736368209.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:09.438Z,1736368209.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:09.442Z,1736368209.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.474670 m, bearing: 17.174890 deg, approach rate: 0.070179 m/s, LOS rate: -0.432915 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.298332 deg. 2025-01-08T20:30:09.444Z,1736368209.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047242 target range: 136.500000 and range: 133.80 m. 2025-01-08T20:30:09.558Z,1736368209.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:09.558Z,1736368209.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272581 2025-01-08T20:30:09.770Z,1736368209.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:09.782Z,1736368209.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:09.790Z,1736368209.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.500107 m, bearing: 17.019466 deg, approach rate: 0.074054 m/s, LOS rate: -0.452376 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.428415 deg. 2025-01-08T20:30:09.793Z,1736368209.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049512 target range: 136.500000 and range: 133.80 m. 2025-01-08T20:30:09.809Z,1736368209.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:09.810Z,1736368209.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524173 2025-01-08T20:30:10.061Z,1736368210.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:10.066Z,1736368210.066 [DAT](INFO): DAT read: Range 10 to 50 : 132.9 m (Round-trip 177.2 ms) speed 0.0 m/s 2025-01-08T20:30:10.069Z,1736368210.069 [DAT](INFO): DAT read: user:1380> 2025-01-08T20:30:10.071Z,1736368210.071 [DAT](INFO): DAT read: Tx time:20:30:09.2914 2025-01-08T20:30:10.072Z,1736368210.072 [DAT](INFO): Ping request sent. 2025-01-08T20:30:10.072Z,1736368210.072 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:10.073Z,1736368210.073 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:10.074Z,1736368210.074 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:10.076Z,1736368210.076 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:10.312Z,1736368210.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:10.313Z,1736368210.313 [DAT](INFO): DAT read: TxSync time:20:30:09.2906 2025-01-08T20:30:10.373Z,1736368210.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:10.409Z,1736368210.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.899994 m, deltaT: 3.781052 s, deltaX: -0.900009 m, approachRate: -0.238031 m/s, rangeRepo size: 4 2025-01-08T20:30:10.410Z,1736368210.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:10.436Z,1736368210.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.565262 m, bearing: 16.774157 deg, approach rate: 0.103835 m/s, LOS rate: -0.390677 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.159165 deg. 2025-01-08T20:30:10.437Z,1736368210.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.044813 target range: 136.500000 and range: 132.90 m. 2025-01-08T20:30:10.564Z,1736368210.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:10.770Z,1736368210.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:10.792Z,1736368210.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:10.794Z,1736368210.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.609306 m, bearing: 16.612196 deg, approach rate: 0.116379 m/s, LOS rate: -0.427757 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.408904 deg. 2025-01-08T20:30:10.800Z,1736368210.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049172 target range: 136.500000 and range: 132.90 m. 2025-01-08T20:30:10.818Z,1736368210.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:11.070Z,1736368211.070 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:11.295Z,1736368211.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:11.320Z,1736368211.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:11.330Z,1736368211.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:11.340Z,1736368211.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:11.342Z,1736368211.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.674850 m, bearing: 16.419544 deg, approach rate: 0.120418 m/s, LOS rate: -0.353701 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.317011 deg. 2025-01-08T20:30:11.376Z,1736368211.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047568 target range: 136.500000 and range: 132.90 m. 2025-01-08T20:30:11.573Z,1736368211.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:11.573Z,1736368211.573 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:11.573Z,1736368211.573 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:11.573Z,1736368211.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:11.722Z,1736368211.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:11.763Z,1736368211.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:11.766Z,1736368211.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.727745 m, bearing: 16.262463 deg, approach rate: 0.123670 m/s, LOS rate: -0.367064 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.423577 deg. 2025-01-08T20:30:11.772Z,1736368211.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049428 target range: 136.500000 and range: 132.90 m. 2025-01-08T20:30:11.824Z,1736368211.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:11.825Z,1736368211.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752468 2025-01-08T20:30:12.076Z,1736368212.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:12.076Z,1736368212.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004296 2025-01-08T20:30:12.251Z,1736368212.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:12.290Z,1736368212.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:12.297Z,1736368212.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.795212 m, bearing: 16.085539 deg, approach rate: 0.127197 m/s, LOS rate: -0.333328 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.364168 deg. 2025-01-08T20:30:12.298Z,1736368212.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048391 target range: 136.500000 and range: 132.90 m. 2025-01-08T20:30:12.328Z,1736368212.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:12.329Z,1736368212.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256452 2025-01-08T20:30:12.580Z,1736368212.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:12.580Z,1736368212.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508363 2025-01-08T20:30:12.657Z,1736368212.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:12.698Z,1736368212.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:12.706Z,1736368212.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.847664 m, bearing: 15.947292 deg, approach rate: 0.128299 m/s, LOS rate: -0.337973 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.480046 deg. 2025-01-08T20:30:12.712Z,1736368212.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050414 target range: 136.500000 and range: 132.90 m. 2025-01-08T20:30:12.832Z,1736368212.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:12.833Z,1736368212.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760801 2025-01-08T20:30:13.037Z,1736368213.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:13.061Z,1736368213.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:13.068Z,1736368213.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.896049 m, bearing: 15.819212 deg, approach rate: 0.133346 m/s, LOS rate: -0.352801 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.510513 deg. 2025-01-08T20:30:13.069Z,1736368213.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050945 target range: 136.500000 and range: 132.90 m. 2025-01-08T20:30:13.084Z,1736368213.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:13.084Z,1736368213.084 [DAT](INFO): DAT read: Rx Time:20:30:11.8719 2025-01-08T20:30:13.085Z,1736368213.085 [DAT](INFO): Rx dataTimestamp_ set to:1736368213.084535 2025-01-08T20:30:13.085Z,1736368213.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013270 2025-01-08T20:30:13.336Z,1736368213.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:13.337Z,1736368213.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264516 2025-01-08T20:30:13.589Z,1736368213.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:13.591Z,1736368213.591 [DAT](INFO): DAT read: Range 10 to 50 : 132.3 m (Round-trip 176.4 ms) speed 0.0 m/s 2025-01-08T20:30:13.592Z,1736368213.592 [DAT](INFO): DAT read: user:1381> 2025-01-08T20:30:13.592Z,1736368213.592 [DAT](INFO): DAT read: Tx time:20:30:12.9914 2025-01-08T20:30:13.593Z,1736368213.593 [DAT](INFO): Ping request sent. 2025-01-08T20:30:13.593Z,1736368213.593 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:13.593Z,1736368213.593 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:13.593Z,1736368213.593 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:13.594Z,1736368213.594 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:13.618Z,1736368213.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:13.699Z,1736368213.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:13.702Z,1736368213.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.300003 m, deltaT: 3.527898 s, deltaX: -0.599991 m, approachRate: -0.170070 m/s, rangeRepo size: 4 2025-01-08T20:30:13.703Z,1736368213.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:13.714Z,1736368213.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 97.974480 m, bearing: 15.628856 deg, approach rate: 0.122505 m/s, LOS rate: -0.297092 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.323964 deg. 2025-01-08T20:30:13.727Z,1736368213.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047689 target range: 136.500000 and range: 132.30 m. 2025-01-08T20:30:13.840Z,1736368213.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:13.841Z,1736368213.841 [DAT](INFO): DAT read: TxSync time:20:30:12.9906 2025-01-08T20:30:13.841Z,1736368213.841 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:13.841Z,1736368213.841 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:13.842Z,1736368213.842 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:14.093Z,1736368214.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:14.094Z,1736368214.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501133 2025-01-08T20:30:14.327Z,1736368214.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:14.344Z,1736368214.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:14.345Z,1736368214.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751773 2025-01-08T20:30:14.362Z,1736368214.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:14.375Z,1736368214.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.057671 m, bearing: 15.401809 deg, approach rate: 0.125981 m/s, LOS rate: -0.343538 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.214027 deg. 2025-01-08T20:30:14.384Z,1736368214.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.045771 target range: 136.500000 and range: 132.30 m. 2025-01-08T20:30:14.597Z,1736368214.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:14.598Z,1736368214.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004937 2025-01-08T20:30:14.821Z,1736368214.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:14.848Z,1736368214.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:14.848Z,1736368214.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255572 2025-01-08T20:30:14.868Z,1736368214.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:14.871Z,1736368214.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.116776 m, bearing: 15.243536 deg, approach rate: 0.116726 m/s, LOS rate: -0.312384 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.420037 deg. 2025-01-08T20:30:14.884Z,1736368214.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049366 target range: 136.500000 and range: 132.30 m. 2025-01-08T20:30:15.100Z,1736368215.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:15.101Z,1736368215.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507704 2025-01-08T20:30:15.352Z,1736368215.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:15.352Z,1736368215.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759599 2025-01-08T20:30:15.392Z,1736368215.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:15.417Z,1736368215.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:15.430Z,1736368215.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.176544 m, bearing: 15.054513 deg, approach rate: 0.108849 m/s, LOS rate: -0.344035 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.327851 deg. 2025-01-08T20:30:15.441Z,1736368215.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047757 target range: 136.500000 and range: 132.30 m. 2025-01-08T20:30:15.604Z,1736368215.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:15.605Z,1736368215.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012297 2025-01-08T20:30:15.775Z,1736368215.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:15.782Z,1736368215.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:15.789Z,1736368215.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:15.796Z,1736368215.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.215927 m, bearing: 14.929024 deg, approach rate: 0.106162 m/s, LOS rate: -0.338136 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.518245 deg. 2025-01-08T20:30:15.797Z,1736368215.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051080 target range: 136.500000 and range: 132.30 m. 2025-01-08T20:30:15.856Z,1736368215.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:15.857Z,1736368215.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264075 2025-01-08T20:30:16.109Z,1736368216.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:16.110Z,1736368216.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517229 2025-01-08T20:30:16.254Z,1736368216.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:16.284Z,1736368216.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:16.287Z,1736368216.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.266357 m, bearing: 14.769214 deg, approach rate: 0.101723 m/s, LOS rate: -0.322185 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.415386 deg. 2025-01-08T20:30:16.302Z,1736368216.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049285 target range: 136.500000 and range: 132.30 m. 2025-01-08T20:30:16.361Z,1736368216.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:16.362Z,1736368216.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769151 2025-01-08T20:30:16.612Z,1736368216.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:16.612Z,1736368216.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019576 2025-01-08T20:30:16.702Z,1736368216.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:16.747Z,1736368216.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:16.750Z,1736368216.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.301384 m, bearing: 14.610729 deg, approach rate: 0.079007 m/s, LOS rate: -0.357354 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.419283 deg. 2025-01-08T20:30:16.764Z,1736368216.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049353 target range: 136.500000 and range: 132.30 m. 2025-01-08T20:30:16.864Z,1736368216.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:16.866Z,1736368216.866 [DAT](INFO): DAT read: Rx Time:20:30:15.5708 2025-01-08T20:30:16.866Z,1736368216.866 [DAT](INFO): Rx dataTimestamp_ set to:1736368216.866083 2025-01-08T20:30:16.868Z,1736368216.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274781 2025-01-08T20:30:17.064Z,1736368217.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:17.082Z,1736368217.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:17.116Z,1736368217.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:17.117Z,1736368217.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523721 2025-01-08T20:30:17.120Z,1736368217.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.330215 m, bearing: 14.482848 deg, approach rate: 0.081360 m/s, LOS rate: -0.360762 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.511032 deg. 2025-01-08T20:30:17.121Z,1736368217.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050954 target range: 136.500000 and range: 132.30 m. 2025-01-08T20:30:17.368Z,1736368217.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:17.370Z,1736368217.370 [DAT](INFO): DAT read: Range 10 to 50 : 131.4 m (Round-trip 175.2 ms) speed 0.0 m/s 2025-01-08T20:30:17.370Z,1736368217.370 [DAT](INFO): DAT read: user:1382> 2025-01-08T20:30:17.372Z,1736368217.372 [DAT](INFO): DAT read: Tx time:20:30:16.6914 2025-01-08T20:30:17.372Z,1736368217.372 [DAT](INFO): Ping request sent. 2025-01-08T20:30:17.373Z,1736368217.373 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:17.373Z,1736368217.373 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:17.373Z,1736368217.373 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:17.374Z,1736368217.374 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:17.620Z,1736368217.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:17.621Z,1736368217.621 [DAT](INFO): DAT read: TxSync time:20:30:16.6906 2025-01-08T20:30:17.626Z,1736368217.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:17.689Z,1736368217.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.399994 m, deltaT: 3.778821 s, deltaX: -0.900009 m, approachRate: -0.238172 m/s, rangeRepo size: 4 2025-01-08T20:30:17.690Z,1736368217.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:17.712Z,1736368217.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.363884 m, bearing: 14.261459 deg, approach rate: 0.056562 m/s, LOS rate: -0.371796 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.230649 deg. 2025-01-08T20:30:17.713Z,1736368217.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046061 target range: 136.500000 and range: 131.40 m. 2025-01-08T20:30:17.872Z,1736368217.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:18.049Z,1736368218.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:18.060Z,1736368218.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:18.062Z,1736368218.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:18.069Z,1736368218.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.391891 m, bearing: 14.095121 deg, approach rate: 0.072764 m/s, LOS rate: -0.432023 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.395697 deg. 2025-01-08T20:30:18.070Z,1736368218.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048941 target range: 136.500000 and range: 131.40 m. 2025-01-08T20:30:18.124Z,1736368218.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:18.124Z,1736368218.124 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:18.124Z,1736368218.124 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:18.125Z,1736368218.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:18.376Z,1736368218.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:18.377Z,1736368218.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004317 2025-01-08T20:30:18.471Z,1736368218.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:18.512Z,1736368218.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:18.515Z,1736368218.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.409676 m, bearing: 13.912923 deg, approach rate: 0.039513 m/s, LOS rate: -0.404732 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.348077 deg. 2025-01-08T20:30:18.524Z,1736368218.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048110 target range: 136.500000 and range: 131.40 m. 2025-01-08T20:30:18.624Z,1736368218.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:30:18.628Z,1736368218.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:18.629Z,1736368218.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256906 2025-01-08T20:30:18.858Z,1736368218.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:18.880Z,1736368218.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:18.881Z,1736368218.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508128 2025-01-08T20:30:18.882Z,1736368218.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:18.890Z,1736368218.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.428291 m, bearing: 13.745760 deg, approach rate: 0.050284 m/s, LOS rate: -0.451450 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.393177 deg. 2025-01-08T20:30:18.896Z,1736368218.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048898 target range: 136.500000 and range: 131.40 m. 2025-01-08T20:30:19.134Z,1736368219.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:19.134Z,1736368219.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761620 2025-01-08T20:30:19.370Z,1736368219.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:19.384Z,1736368219.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:19.385Z,1736368219.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012036 2025-01-08T20:30:19.394Z,1736368219.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:19.401Z,1736368219.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.447548 m, bearing: 13.504593 deg, approach rate: 0.037638 m/s, LOS rate: -0.471277 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.171236 deg. 2025-01-08T20:30:19.402Z,1736368219.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.045024 target range: 136.500000 and range: 131.40 m. 2025-01-08T20:30:19.628Z,1736368219.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:30:19.636Z,1736368219.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:19.637Z,1736368219.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264160 2025-01-08T20:30:19.766Z,1736368219.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:19.785Z,1736368219.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:19.792Z,1736368219.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.464081 m, bearing: 13.318037 deg, approach rate: 0.042315 m/s, LOS rate: -0.477393 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.335002 deg. 2025-01-08T20:30:19.793Z,1736368219.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047882 target range: 136.500000 and range: 131.40 m. 2025-01-08T20:30:19.888Z,1736368219.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:19.889Z,1736368219.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516705 2025-01-08T20:30:20.140Z,1736368220.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:20.140Z,1736368220.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767848 2025-01-08T20:30:20.161Z,1736368220.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:20.200Z,1736368220.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:20.202Z,1736368220.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:20.213Z,1736368220.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.482399 m, bearing: 13.132091 deg, approach rate: 0.043861 m/s, LOS rate: -0.445143 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.336842 deg. 2025-01-08T20:30:20.214Z,1736368220.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047914 target range: 136.500000 and range: 131.40 m. 2025-01-08T20:30:20.393Z,1736368220.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:20.394Z,1736368220.394 [DAT](INFO): DAT read: Rx Time:20:30:19.2696 2025-01-08T20:30:20.394Z,1736368220.394 [DAT](INFO): Rx dataTimestamp_ set to:1736368220.393884 2025-01-08T20:30:20.395Z,1736368220.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022160 2025-01-08T20:30:20.644Z,1736368220.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:20.645Z,1736368220.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272048 2025-01-08T20:30:20.800Z,1736368220.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T20:30:20.800Z,1736368220.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:20.817Z,1736368220.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:20.824Z,1736368220.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.517334 m, bearing: 12.834227 deg, approach rate: 0.056842 m/s, LOS rate: -0.484472 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.001357 deg. 2025-01-08T20:30:20.825Z,1736368220.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.042059 target range: 136.500000 and range: 131.40 m. 2025-01-08T20:30:20.896Z,1736368220.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:20.898Z,1736368220.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524868 2025-01-08T20:30:21.148Z,1736368221.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:21.150Z,1736368221.150 [DAT](INFO): DAT read: Range 10 to 50 : 130.5 m (Round-trip 174.0 ms) speed 0.0 m/s 2025-01-08T20:30:21.150Z,1736368221.150 [DAT](INFO): DAT read: user:1383> 2025-01-08T20:30:21.151Z,1736368221.151 [DAT](INFO): DAT read: Tx time:20:30:20.3915 2025-01-08T20:30:21.151Z,1736368221.151 [DAT](INFO): Ping request sent. 2025-01-08T20:30:21.152Z,1736368221.152 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:21.152Z,1736368221.152 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:21.152Z,1736368221.152 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:21.153Z,1736368221.153 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:21.178Z,1736368221.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T20:30:21.179Z,1736368221.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:21.316Z,1736368221.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 3.779831 s, deltaX: -0.899994 m, approachRate: -0.238104 m/s, rangeRepo size: 4 2025-01-08T20:30:21.317Z,1736368221.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:21.329Z,1736368221.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.540825 m, bearing: 12.654274 deg, approach rate: 0.048091 m/s, LOS rate: -0.368311 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.354845 deg. 2025-01-08T20:30:21.330Z,1736368221.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048229 target range: 136.500000 and range: 130.50 m. 2025-01-08T20:30:21.400Z,1736368221.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:21.401Z,1736368221.401 [DAT](INFO): DAT read: TxSync time:20:30:20.3907 2025-01-08T20:30:21.655Z,1736368221.655 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:21.812Z,1736368221.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:21.833Z,1736368221.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:21.856Z,1736368221.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.588928 m, bearing: 12.338317 deg, approach rate: 0.091223 m/s, LOS rate: -0.598886 deg/s, cmd heading: 117.894557 deg, new cmd heading: 116.947239 deg. 2025-01-08T20:30:21.857Z,1736368221.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.041114 target range: 136.500000 and range: 130.50 m. 2025-01-08T20:30:21.904Z,1736368221.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:22.156Z,1736368222.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:22.183Z,1736368222.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:22.225Z,1736368222.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:22.235Z,1736368222.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:22.238Z,1736368222.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.620056 m, bearing: 12.151765 deg, approach rate: 0.078913 m/s, LOS rate: -0.472780 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.335096 deg. 2025-01-08T20:30:22.248Z,1736368222.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047884 target range: 136.500000 and range: 130.50 m. 2025-01-08T20:30:22.409Z,1736368222.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:22.409Z,1736368222.409 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:22.410Z,1736368222.410 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:22.410Z,1736368222.410 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:22.667Z,1736368222.667 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:22.669Z,1736368222.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516966 2025-01-08T20:30:22.738Z,1736368222.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:22.760Z,1736368222.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:22.763Z,1736368222.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.679291 m, bearing: 11.875137 deg, approach rate: 0.111122 m/s, LOS rate: -0.518632 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.065230 deg. 2025-01-08T20:30:22.804Z,1736368222.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.043174 target range: 136.500000 and range: 130.50 m. 2025-01-08T20:30:22.920Z,1736368222.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:22.921Z,1736368222.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769034 2025-01-08T20:30:23.137Z,1736368223.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:23.159Z,1736368223.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:23.162Z,1736368223.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.725067 m, bearing: 11.677816 deg, approach rate: 0.116025 m/s, LOS rate: -0.499896 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.302892 deg. 2025-01-08T20:30:23.172Z,1736368223.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:23.173Z,1736368223.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021597 2025-01-08T20:30:23.191Z,1736368223.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047322 target range: 136.500000 and range: 130.50 m. 2025-01-08T20:30:23.424Z,1736368223.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:23.425Z,1736368223.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273073 2025-01-08T20:30:23.622Z,1736368223.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:23.645Z,1736368223.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:23.674Z,1736368223.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.787560 m, bearing: 11.452788 deg, approach rate: 0.127419 m/s, LOS rate: -0.458532 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.219932 deg. 2025-01-08T20:30:23.676Z,1736368223.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:23.677Z,1736368223.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525604 2025-01-08T20:30:23.684Z,1736368223.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.045874 target range: 136.500000 and range: 130.50 m. 2025-01-08T20:30:23.928Z,1736368223.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:23.929Z,1736368223.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776951 2025-01-08T20:30:23.969Z,1736368223.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:23.985Z,1736368223.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:23.993Z,1736368223.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.833084 m, bearing: 11.292375 deg, approach rate: 0.133803 m/s, LOS rate: -0.471258 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.413551 deg. 2025-01-08T20:30:23.994Z,1736368223.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049253 target range: 136.500000 and range: 130.50 m. 2025-01-08T20:30:24.180Z,1736368224.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:24.181Z,1736368224.181 [DAT](INFO): DAT read: Rx Time:20:30:22.9690 2025-01-08T20:30:24.181Z,1736368224.181 [DAT](INFO): Rx dataTimestamp_ set to:1736368224.180815 2025-01-08T20:30:24.182Z,1736368224.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030062 2025-01-08T20:30:24.432Z,1736368224.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:24.433Z,1736368224.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281009 2025-01-08T20:30:24.510Z,1736368224.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:24.534Z,1736368224.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:24.544Z,1736368224.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:24.547Z,1736368224.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.914909 m, bearing: 11.062460 deg, approach rate: 0.146428 m/s, LOS rate: -0.411096 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.205417 deg. 2025-01-08T20:30:24.557Z,1736368224.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.045620 target range: 136.500000 and range: 130.50 m. 2025-01-08T20:30:24.684Z,1736368224.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:24.686Z,1736368224.686 [DAT](INFO): DAT read: Range 10 to 50 : 130.0 m (Round-trip 173.4 ms) speed 0.2 m/s 2025-01-08T20:30:24.687Z,1736368224.687 [DAT](INFO): DAT read: user:1384> 2025-01-08T20:30:24.688Z,1736368224.688 [DAT](INFO): DAT read: Tx time:20:30:24.0415 2025-01-08T20:30:24.688Z,1736368224.688 [DAT](INFO): Ping request sent. 2025-01-08T20:30:24.688Z,1736368224.688 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:24.689Z,1736368224.689 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:24.689Z,1736368224.689 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:24.690Z,1736368224.690 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:24.908Z,1736368224.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:24.934Z,1736368224.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.000000 m, deltaT: 3.536467 s, deltaX: -0.500000 m, approachRate: -0.141384 m/s, rangeRepo size: 4 2025-01-08T20:30:24.935Z,1736368224.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:24.936Z,1736368224.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:24.937Z,1736368224.937 [DAT](INFO): DAT read: TxSync time:20:30:24.0407 2025-01-08T20:30:24.946Z,1736368224.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 98.976143 m, bearing: 10.893508 deg, approach rate: 0.157229 m/s, LOS rate: -0.433547 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.388028 deg. 2025-01-08T20:30:24.947Z,1736368224.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048808 target range: 136.500000 and range: 130.00 m. 2025-01-08T20:30:25.190Z,1736368225.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:25.369Z,1736368225.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:25.403Z,1736368225.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:25.406Z,1736368225.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.046951 m, bearing: 10.698083 deg, approach rate: 0.153461 m/s, LOS rate: -0.423235 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.308721 deg. 2025-01-08T20:30:25.416Z,1736368225.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047423 target range: 136.500000 and range: 130.00 m. 2025-01-08T20:30:25.441Z,1736368225.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:25.692Z,1736368225.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:25.843Z,1736368225.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:25.864Z,1736368225.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:25.867Z,1736368225.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.124916 m, bearing: 10.516475 deg, approach rate: 0.167866 m/s, LOS rate: -0.390710 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.350180 deg. 2025-01-08T20:30:25.873Z,1736368225.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048147 target range: 136.500000 and range: 130.00 m. 2025-01-08T20:30:25.944Z,1736368225.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:26.196Z,1736368226.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:26.248Z,1736368226.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:26.265Z,1736368226.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:26.272Z,1736368226.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.192459 m, bearing: 10.361094 deg, approach rate: 0.166386 m/s, LOS rate: -0.382506 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.428741 deg. 2025-01-08T20:30:26.274Z,1736368226.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049518 target range: 136.500000 and range: 130.00 m. 2025-01-08T20:30:26.448Z,1736368226.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:26.700Z,1736368226.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:26.769Z,1736368226.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:26.788Z,1736368226.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:26.791Z,1736368226.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:26.798Z,1736368226.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.278656 m, bearing: 10.182095 deg, approach rate: 0.164054 m/s, LOS rate: -0.340384 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.358041 deg. 2025-01-08T20:30:26.848Z,1736368226.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048284 target range: 136.500000 and range: 130.00 m. 2025-01-08T20:30:26.953Z,1736368226.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:26.953Z,1736368226.953 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:26.954Z,1736368226.954 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:26.954Z,1736368226.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:27.185Z,1736368227.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:27.204Z,1736368227.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:27.204Z,1736368227.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516208 2025-01-08T20:30:27.232Z,1736368227.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:27.235Z,1736368227.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.347046 m, bearing: 10.039025 deg, approach rate: 0.154937 m/s, LOS rate: -0.323899 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.465652 deg. 2025-01-08T20:30:27.244Z,1736368227.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050162 target range: 136.500000 and range: 130.00 m. 2025-01-08T20:30:27.458Z,1736368227.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:27.460Z,1736368227.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771118 2025-01-08T20:30:27.631Z,1736368227.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:27.675Z,1736368227.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:27.704Z,1736368227.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.419739 m, bearing: 9.897807 deg, approach rate: 0.164408 m/s, LOS rate: -0.319157 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.471220 deg. 2025-01-08T20:30:27.706Z,1736368227.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050260 target range: 136.500000 and range: 130.00 m. 2025-01-08T20:30:27.708Z,1736368227.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:27.708Z,1736368227.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020336 2025-01-08T20:30:27.960Z,1736368227.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:27.962Z,1736368227.962 [DAT](INFO): DAT read: Rx Time:20:30:26.6183 2025-01-08T20:30:27.962Z,1736368227.962 [DAT](INFO): Rx dataTimestamp_ set to:1736368227.961769 2025-01-08T20:30:27.963Z,1736368227.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274842 2025-01-08T20:30:28.025Z,1736368228.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:28.036Z,1736368228.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:28.043Z,1736368228.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.483009 m, bearing: 9.772652 deg, approach rate: 0.174950 m/s, LOS rate: -0.345847 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.519336 deg. 2025-01-08T20:30:28.045Z,1736368228.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051099 target range: 136.500000 and range: 130.00 m. 2025-01-08T20:30:28.212Z,1736368228.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:28.212Z,1736368228.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524145 2025-01-08T20:30:28.462Z,1736368228.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:28.473Z,1736368228.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:28.480Z,1736368228.480 [DAT](INFO): DAT read: Range 10 to 50 : 129.5 m (Round-trip 172.7 ms) speed 0.1 m/s 2025-01-08T20:30:28.482Z,1736368228.482 [DAT](INFO): DAT read: user:1385> 2025-01-08T20:30:28.483Z,1736368228.483 [DAT](INFO): DAT read: Tx time:20:30:27.6915 2025-01-08T20:30:28.484Z,1736368228.484 [DAT](INFO): Ping request sent. 2025-01-08T20:30:28.484Z,1736368228.484 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:28.485Z,1736368228.485 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:28.485Z,1736368228.485 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:28.488Z,1736368228.488 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:28.520Z,1736368228.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.500000 m, deltaT: 3.789010 s, deltaX: -0.500000 m, approachRate: -0.131961 m/s, rangeRepo size: 4 2025-01-08T20:30:28.521Z,1736368228.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:28.529Z,1736368228.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.550972 m, bearing: 9.640297 deg, approach rate: 0.141794 m/s, LOS rate: -0.275950 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.497769 deg. 2025-01-08T20:30:28.530Z,1736368228.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050723 target range: 136.500000 and range: 129.50 m. 2025-01-08T20:30:28.724Z,1736368228.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:28.725Z,1736368228.725 [DAT](INFO): DAT read: TxSync time:20:30:27.6907 2025-01-08T20:30:28.819Z,1736368228.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:28.827Z,1736368228.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:28.829Z,1736368228.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:28.852Z,1736368228.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.606613 m, bearing: 9.531974 deg, approach rate: 0.177341 m/s, LOS rate: -0.345057 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.569772 deg. 2025-01-08T20:30:28.853Z,1736368228.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051980 target range: 136.500000 and range: 129.50 m. 2025-01-08T20:30:28.977Z,1736368228.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:28.978Z,1736368228.978 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:28.978Z,1736368228.978 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:28.979Z,1736368228.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:29.219Z,1736368229.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:29.228Z,1736368229.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:29.228Z,1736368229.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744646 2025-01-08T20:30:29.230Z,1736368229.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:29.249Z,1736368229.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.669510 m, bearing: 9.411017 deg, approach rate: 0.156816 m/s, LOS rate: -0.301382 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.531921 deg. 2025-01-08T20:30:29.252Z,1736368229.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051319 target range: 136.500000 and range: 129.50 m. 2025-01-08T20:30:29.480Z,1736368229.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:29.481Z,1736368229.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997166 2025-01-08T20:30:29.676Z,1736368229.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:29.687Z,1736368229.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:29.691Z,1736368229.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.735321 m, bearing: 9.269992 deg, approach rate: 0.144064 m/s, LOS rate: -0.308507 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.471770 deg. 2025-01-08T20:30:29.692Z,1736368229.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050269 target range: 136.500000 and range: 129.50 m. 2025-01-08T20:30:29.733Z,1736368229.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:29.734Z,1736368229.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249806 2025-01-08T20:30:29.984Z,1736368229.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:29.984Z,1736368229.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500508 2025-01-08T20:30:30.028Z,1736368230.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:30.059Z,1736368230.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:30.065Z,1736368230.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.786385 m, bearing: 9.161158 deg, approach rate: 0.137429 m/s, LOS rate: -0.292761 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.568223 deg. 2025-01-08T20:30:30.066Z,1736368230.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051953 target range: 136.500000 and range: 129.50 m. 2025-01-08T20:30:30.236Z,1736368230.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:30.236Z,1736368230.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752541 2025-01-08T20:30:30.488Z,1736368230.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:30.488Z,1736368230.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004601 2025-01-08T20:30:30.493Z,1736368230.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:30.526Z,1736368230.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:30.541Z,1736368230.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.853287 m, bearing: 9.006122 deg, approach rate: 0.143163 m/s, LOS rate: -0.331535 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.429773 deg. 2025-01-08T20:30:30.542Z,1736368230.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049536 target range: 136.500000 and range: 129.50 m. 2025-01-08T20:30:30.740Z,1736368230.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:30.740Z,1736368230.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256514 2025-01-08T20:30:30.830Z,1736368230.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:30.837Z,1736368230.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:30.840Z,1736368230.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:30.842Z,1736368230.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.901688 m, bearing: 8.893455 deg, approach rate: 0.154159 m/s, LOS rate: -0.358675 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.556724 deg. 2025-01-08T20:30:30.860Z,1736368230.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051752 target range: 136.500000 and range: 129.50 m. 2025-01-08T20:30:30.992Z,1736368230.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:30.993Z,1736368230.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508772 2025-01-08T20:30:31.244Z,1736368231.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:31.245Z,1736368231.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760882 2025-01-08T20:30:31.252Z,1736368231.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:31.263Z,1736368231.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:31.266Z,1736368231.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 99.961922 m, bearing: 8.752486 deg, approach rate: 0.142315 m/s, LOS rate: -0.332868 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.471911 deg. 2025-01-08T20:30:31.291Z,1736368231.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050272 target range: 136.500000 and range: 129.50 m. 2025-01-08T20:30:31.496Z,1736368231.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:31.496Z,1736368231.496 [DAT](INFO): DAT read: Rx Time:20:30:30.2674 2025-01-08T20:30:31.497Z,1736368231.497 [DAT](INFO): Rx dataTimestamp_ set to:1736368231.496569 2025-01-08T20:30:31.497Z,1736368231.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013566 2025-01-08T20:30:31.686Z,1736368231.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:31.696Z,1736368231.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:31.698Z,1736368231.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.018845 m, bearing: 8.592201 deg, approach rate: 0.131690 m/s, LOS rate: -0.370604 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.413988 deg. 2025-01-08T20:30:31.699Z,1736368231.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049261 target range: 136.500000 and range: 129.50 m. 2025-01-08T20:30:31.748Z,1736368231.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:31.750Z,1736368231.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265688 2025-01-08T20:30:31.000Z,1736368232.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:32.001Z,1736368232.001 [DAT](INFO): DAT read: Range 10 to 50 : 128.7 m (Round-trip 171.7 ms) speed 0.1 m/s 2025-01-08T20:30:32.002Z,1736368232.002 [DAT](INFO): DAT read: user:1386> 2025-01-08T20:30:32.003Z,1736368232.003 [DAT](INFO): DAT read: Tx time:20:30:31.3416 2025-01-08T20:30:32.003Z,1736368232.003 [DAT](INFO): Ping request sent. 2025-01-08T20:30:32.003Z,1736368232.003 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:32.004Z,1736368232.004 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:32.004Z,1736368232.004 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:32.004Z,1736368232.004 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:32.064Z,1736368232.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:32.095Z,1736368232.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.699997 m, deltaT: 3.526402 s, deltaX: -0.800003 m, approachRate: -0.226861 m/s, rangeRepo size: 4 2025-01-08T20:30:32.100Z,1736368232.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:32.102Z,1736368232.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.068703 m, bearing: 8.452755 deg, approach rate: 0.125063 m/s, LOS rate: -0.349610 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.476434 deg. 2025-01-08T20:30:32.108Z,1736368232.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050351 target range: 136.500000 and range: 128.70 m. 2025-01-08T20:30:32.252Z,1736368232.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:32.253Z,1736368232.253 [DAT](INFO): DAT read: TxSync time:20:30:31.3408 2025-01-08T20:30:32.504Z,1736368232.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:32.549Z,1736368232.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:32.585Z,1736368232.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:32.592Z,1736368232.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.131989 m, bearing: 8.255001 deg, approach rate: 0.128882 m/s, LOS rate: -0.402470 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.301694 deg. 2025-01-08T20:30:32.593Z,1736368232.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047301 target range: 136.500000 and range: 128.70 m. 2025-01-08T20:30:32.756Z,1736368232.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:32.869Z,1736368232.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:32.897Z,1736368232.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:32.899Z,1736368232.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:32.910Z,1736368232.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.175453 m, bearing: 8.124543 deg, approach rate: 0.138492 m/s, LOS rate: -0.415501 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.503357 deg. 2025-01-08T20:30:32.911Z,1736368232.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050820 target range: 136.500000 and range: 128.70 m. 2025-01-08T20:30:33.008Z,1736368233.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:33.008Z,1736368233.008 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:33.008Z,1736368233.008 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:33.009Z,1736368233.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:33.260Z,1736368233.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:33.260Z,1736368233.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257074 2025-01-08T20:30:33.274Z,1736368233.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:33.285Z,1736368233.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:33.308Z,1736368233.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.231750 m, bearing: 7.959913 deg, approach rate: 0.145754 m/s, LOS rate: -0.425987 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.400958 deg. 2025-01-08T20:30:33.309Z,1736368233.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049033 target range: 136.500000 and range: 128.70 m. 2025-01-08T20:30:33.512Z,1736368233.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:33.513Z,1736368233.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509536 2025-01-08T20:30:33.732Z,1736368233.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:33.741Z,1736368233.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:33.744Z,1736368233.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.300568 m, bearing: 7.761602 deg, approach rate: 0.150812 m/s, LOS rate: -0.434298 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.300052 deg. 2025-01-08T20:30:33.745Z,1736368233.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047272 target range: 136.500000 and range: 128.70 m. 2025-01-08T20:30:33.764Z,1736368233.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:33.764Z,1736368233.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761036 2025-01-08T20:30:34.016Z,1736368234.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:34.016Z,1736368234.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013044 2025-01-08T20:30:34.084Z,1736368234.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:34.110Z,1736368234.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:34.119Z,1736368234.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.354424 m, bearing: 7.609892 deg, approach rate: 0.146074 m/s, LOS rate: -0.411265 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.439680 deg. 2025-01-08T20:30:34.124Z,1736368234.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049709 target range: 136.500000 and range: 128.70 m. 2025-01-08T20:30:34.268Z,1736368234.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:34.268Z,1736368234.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264966 2025-01-08T20:30:34.520Z,1736368234.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:34.521Z,1736368234.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517104 2025-01-08T20:30:34.603Z,1736368234.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:34.626Z,1736368234.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:34.630Z,1736368234.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.438492 m, bearing: 7.367632 deg, approach rate: 0.163217 m/s, LOS rate: -0.469949 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.168426 deg. 2025-01-08T20:30:34.635Z,1736368234.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.044975 target range: 136.500000 and range: 128.70 m. 2025-01-08T20:30:34.773Z,1736368234.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:34.774Z,1736368234.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770273 2025-01-08T20:30:34.946Z,1736368234.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:34.953Z,1736368234.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:34.955Z,1736368234.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:34.958Z,1736368234.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.497589 m, bearing: 7.207730 deg, approach rate: 0.179315 m/s, LOS rate: -0.484894 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.415146 deg. 2025-01-08T20:30:34.959Z,1736368234.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049281 target range: 136.500000 and range: 128.70 m. 2025-01-08T20:30:35.024Z,1736368235.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:35.025Z,1736368235.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021262 2025-01-08T20:30:35.276Z,1736368235.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:35.277Z,1736368235.277 [DAT](INFO): DAT read: Rx Time:20:30:33.9166 2025-01-08T20:30:35.277Z,1736368235.277 [DAT](INFO): Rx dataTimestamp_ set to:1736368235.276976 2025-01-08T20:30:35.278Z,1736368235.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274402 2025-01-08T20:30:35.378Z,1736368235.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:35.387Z,1736368235.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:35.390Z,1736368235.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.573036 m, bearing: 7.006875 deg, approach rate: 0.174644 m/s, LOS rate: -0.464585 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.292468 deg. 2025-01-08T20:30:35.392Z,1736368235.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047140 target range: 136.500000 and range: 128.70 m. 2025-01-08T20:30:35.529Z,1736368235.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:35.530Z,1736368235.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527090 2025-01-08T20:30:35.780Z,1736368235.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:35.781Z,1736368235.781 [DAT](INFO): DAT read: Range 10 to 50 : 128.1 m (Round-trip 170.9 ms) speed -0.2 m/s 2025-01-08T20:30:35.782Z,1736368235.782 [DAT](INFO): DAT read: user:1387> 2025-01-08T20:30:35.783Z,1736368235.783 [DAT](INFO): DAT read: Tx time:20:30:34.9916 2025-01-08T20:30:35.783Z,1736368235.783 [DAT](INFO): Ping request sent. 2025-01-08T20:30:35.783Z,1736368235.783 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:35.784Z,1736368235.784 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:35.784Z,1736368235.784 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:35.785Z,1736368235.785 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:35.798Z,1736368235.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:35.844Z,1736368235.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.100006 m, deltaT: 3.780093 s, deltaX: -0.599991 m, approachRate: -0.158724 m/s, rangeRepo size: 4 2025-01-08T20:30:35.845Z,1736368235.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:35.852Z,1736368235.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.652069 m, bearing: 6.807944 deg, approach rate: 0.188105 m/s, LOS rate: -0.473100 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.298254 deg. 2025-01-08T20:30:35.853Z,1736368235.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047241 target range: 136.500000 and range: 128.10 m. 2025-01-08T20:30:36.032Z,1736368236.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:36.032Z,1736368236.032 [DAT](INFO): DAT read: TxSync time:20:30:34.9908 2025-01-08T20:30:36.149Z,1736368236.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:36.175Z,1736368236.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:36.182Z,1736368236.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.720688 m, bearing: 6.641755 deg, approach rate: 0.186604 m/s, LOS rate: -0.451630 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.396342 deg. 2025-01-08T20:30:36.183Z,1736368236.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048953 target range: 136.500000 and range: 128.10 m. 2025-01-08T20:30:36.284Z,1736368236.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:36.548Z,1736368236.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:36.625Z,1736368236.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:36.641Z,1736368236.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:36.645Z,1736368236.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.813950 m, bearing: 6.426629 deg, approach rate: 0.199922 m/s, LOS rate: -0.460731 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.249803 deg. 2025-01-08T20:30:36.647Z,1736368236.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046395 target range: 136.500000 and range: 128.10 m. 2025-01-08T20:30:36.800Z,1736368236.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:36.956Z,1736368236.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:36.963Z,1736368236.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:36.965Z,1736368236.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:36.968Z,1736368236.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.880707 m, bearing: 6.277305 deg, approach rate: 0.206060 m/s, LOS rate: -0.460614 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.446890 deg. 2025-01-08T20:30:36.969Z,1736368236.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049835 target range: 136.500000 and range: 128.10 m. 2025-01-08T20:30:37.052Z,1736368237.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:37.052Z,1736368237.052 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:37.052Z,1736368237.052 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:37.053Z,1736368237.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:37.304Z,1736368237.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:37.304Z,1736368237.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520868 2025-01-08T20:30:37.360Z,1736368237.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:37.369Z,1736368237.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:37.373Z,1736368237.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 100.963066 m, bearing: 6.095258 deg, approach rate: 0.203861 m/s, LOS rate: -0.450243 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.348881 deg. 2025-01-08T20:30:37.374Z,1736368237.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048124 target range: 136.500000 and range: 128.10 m. 2025-01-08T20:30:37.556Z,1736368237.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:37.556Z,1736368237.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772845 2025-01-08T20:30:37.796Z,1736368237.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:37.805Z,1736368237.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:37.808Z,1736368237.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:37.809Z,1736368237.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025131 2025-01-08T20:30:37.810Z,1736368237.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 101.059700 m, bearing: 5.909197 deg, approach rate: 0.221909 m/s, LOS rate: -0.426858 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.336926 deg. 2025-01-08T20:30:37.811Z,1736368237.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047916 target range: 136.500000 and range: 128.10 m. 2025-01-08T20:30:38.060Z,1736368238.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:38.060Z,1736368238.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276959 2025-01-08T20:30:38.168Z,1736368238.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:38.178Z,1736368238.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:38.181Z,1736368238.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 101.142586 m, bearing: 5.750600 deg, approach rate: 0.222143 m/s, LOS rate: -0.424709 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.419167 deg. 2025-01-08T20:30:38.182Z,1736368238.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049351 target range: 136.500000 and range: 128.10 m. 2025-01-08T20:30:38.312Z,1736368238.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:38.313Z,1736368238.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529362 2025-01-08T20:30:38.569Z,1736368238.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:38.572Z,1736368238.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787502 2025-01-08T20:30:38.675Z,1736368238.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:38.707Z,1736368238.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:38.710Z,1736368238.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 101.244583 m, bearing: 5.551395 deg, approach rate: 0.194151 m/s, LOS rate: -0.378802 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.297567 deg. 2025-01-08T20:30:38.714Z,1736368238.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047229 target range: 136.500000 and range: 128.10 m. 2025-01-08T20:30:38.820Z,1736368238.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:38.821Z,1736368238.821 [DAT](INFO): DAT read: Rx Time:20:30:37.5662 2025-01-08T20:30:38.822Z,1736368238.822 [DAT](INFO): Rx dataTimestamp_ set to:1736368238.821626 2025-01-08T20:30:38.823Z,1736368238.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039951 2025-01-08T20:30:39.004Z,1736368239.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:39.012Z,1736368239.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:39.014Z,1736368239.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:39.016Z,1736368239.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 101.311409 m, bearing: 5.421813 deg, approach rate: 0.215197 m/s, LOS rate: -0.417015 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.506071 deg. 2025-01-08T20:30:39.017Z,1736368239.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050868 target range: 136.500000 and range: 128.10 m. 2025-01-08T20:30:39.072Z,1736368239.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:39.072Z,1736368239.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288890 2025-01-08T20:30:39.324Z,1736368239.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:39.326Z,1736368239.326 [DAT](INFO): DAT read: Range 10 to 50 : 127.8 m (Round-trip 170.5 ms) speed 0.2 m/s 2025-01-08T20:30:39.326Z,1736368239.326 [DAT](INFO): DAT read: user:1388> 2025-01-08T20:30:39.327Z,1736368239.327 [DAT](INFO): DAT read: Tx time:20:30:38.6416 2025-01-08T20:30:39.327Z,1736368239.327 [DAT](INFO): Ping request sent. 2025-01-08T20:30:39.328Z,1736368239.328 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:39.328Z,1736368239.328 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:39.328Z,1736368239.328 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:39.329Z,1736368239.329 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:39.437Z,1736368239.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:39.465Z,1736368239.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.800003 m, deltaT: 3.544030 s, deltaX: -0.300003 m, approachRate: -0.084650 m/s, rangeRepo size: 4 2025-01-08T20:30:39.466Z,1736368239.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:39.476Z,1736368239.476 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T20:30:39.479Z,1736368239.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 101.398094 m, bearing: 5.253956 deg, approach rate: 0.192181 m/s, LOS rate: -0.371820 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.391429 deg. 2025-01-08T20:30:39.480Z,1736368239.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048867 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:30:39.577Z,1736368239.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:39.577Z,1736368239.577 [DAT](INFO): DAT read: TxSync time:20:30:38.6408 2025-01-08T20:30:39.828Z,1736368239.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:39.858Z,1736368239.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:39.867Z,1736368239.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:39.870Z,1736368239.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 101.486794 m, bearing: 5.103141 deg, approach rate: 0.220505 m/s, LOS rate: -0.374595 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.442518 deg. 2025-01-08T20:30:39.871Z,1736368239.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049759 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:30:40.080Z,1736368240.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:40.239Z,1736368240.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:40.294Z,1736368240.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:40.301Z,1736368240.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 101.566391 m, bearing: 4.969181 deg, approach rate: 0.186475 m/s, LOS rate: -0.313586 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.492998 deg. 2025-01-08T20:30:40.302Z,1736368240.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050640 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:30:40.332Z,1736368240.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:40.585Z,1736368240.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:40.707Z,1736368240.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:40.736Z,1736368240.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:40.740Z,1736368240.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 101.664207 m, bearing: 4.814581 deg, approach rate: 0.221190 m/s, LOS rate: -0.349255 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.431214 deg. 2025-01-08T20:30:40.741Z,1736368240.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049561 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:30:40.836Z,1736368240.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:41.054Z,1736368241.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:41.062Z,1736368241.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:41.064Z,1736368241.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:41.066Z,1736368241.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 101.736847 m, bearing: 4.699926 deg, approach rate: 0.221789 m/s, LOS rate: -0.349824 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.550841 deg. 2025-01-08T20:30:41.068Z,1736368241.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051649 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:30:41.088Z,1736368241.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:41.089Z,1736368241.089 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:41.089Z,1736368241.089 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:41.089Z,1736368241.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:41.340Z,1736368241.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:41.341Z,1736368241.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012978 2025-01-08T20:30:41.457Z,1736368241.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:41.465Z,1736368241.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:41.484Z,1736368241.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 101.820328 m, bearing: 4.567202 deg, approach rate: 0.207913 m/s, LOS rate: -0.330285 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.496716 deg. 2025-01-08T20:30:41.485Z,1736368241.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050704 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:30:41.595Z,1736368241.595 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:41.598Z,1736368241.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269580 2025-01-08T20:30:41.844Z,1736368241.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:41.844Z,1736368241.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516682 2025-01-08T20:30:41.906Z,1736368241.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:41.917Z,1736368241.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:41.920Z,1736368241.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 101.911659 m, bearing: 4.426776 deg, approach rate: 0.201932 m/s, LOS rate: -0.310200 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.473665 deg. 2025-01-08T20:30:41.921Z,1736368241.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050302 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:30:42.096Z,1736368242.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:42.097Z,1736368242.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769424 2025-01-08T20:30:42.262Z,1736368242.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:42.271Z,1736368242.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:42.274Z,1736368242.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 101.983231 m, bearing: 4.315212 deg, approach rate: 0.202490 m/s, LOS rate: -0.315415 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.560104 deg. 2025-01-08T20:30:42.276Z,1736368242.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051811 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:30:42.348Z,1736368242.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:42.349Z,1736368242.349 [DAT](INFO): DAT read: Rx Time:20:30:41.2159 2025-01-08T20:30:42.349Z,1736368242.349 [DAT](INFO): Rx dataTimestamp_ set to:1736368242.348822 2025-01-08T20:30:42.350Z,1736368242.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022082 2025-01-08T20:30:42.601Z,1736368242.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:42.604Z,1736368242.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276149 2025-01-08T20:30:42.735Z,1736368242.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:42.759Z,1736368242.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:42.762Z,1736368242.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 102.076286 m, bearing: 4.166131 deg, approach rate: 0.192196 m/s, LOS rate: -0.307629 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.447732 deg. 2025-01-08T20:30:42.768Z,1736368242.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049850 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:30:42.852Z,1736368242.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:42.853Z,1736368242.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525686 2025-01-08T20:30:43.069Z,1736368243.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:43.077Z,1736368243.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:43.079Z,1736368243.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:43.082Z,1736368243.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 102.142288 m, bearing: 4.060722 deg, approach rate: 0.203639 m/s, LOS rate: -0.325015 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.578536 deg. 2025-01-08T20:30:43.104Z,1736368243.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:43.107Z,1736368243.107 [DAT](INFO): DAT read: Range 10 to 50 : 127.5 m (Round-trip 170.1 ms) speed 0.1 m/s 2025-01-08T20:30:43.108Z,1736368243.108 [DAT](INFO): DAT read: user:1389> 2025-01-08T20:30:43.108Z,1736368243.108 [DAT](INFO): DAT read: Tx time:20:30:42.2916 2025-01-08T20:30:43.109Z,1736368243.109 [DAT](INFO): Ping request sent. 2025-01-08T20:30:43.109Z,1736368243.109 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:43.109Z,1736368243.109 [DAT](INFO): DAT read: TxSync time:20:30:42.2909 2025-01-08T20:30:43.110Z,1736368243.110 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:43.110Z,1736368243.110 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:43.111Z,1736368243.111 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:43.083Z,1736368243.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052133 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:30:43.356Z,1736368243.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:43.478Z,1736368243.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:43.499Z,1736368243.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.500000 m, deltaT: 3.780063 s, deltaX: -0.300003 m, approachRate: -0.079365 m/s, rangeRepo size: 4 2025-01-08T20:30:43.500Z,1736368243.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:43.503Z,1736368243.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 102.223328 m, bearing: 3.931951 deg, approach rate: 0.195014 m/s, LOS rate: -0.309631 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.508556 deg. 2025-01-08T20:30:43.524Z,1736368243.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050911 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:30:43.614Z,1736368243.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:43.864Z,1736368243.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:43.929Z,1736368243.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:43.937Z,1736368243.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:43.941Z,1736368243.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 102.313515 m, bearing: 3.785319 deg, approach rate: 0.203969 m/s, LOS rate: -0.331334 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.455057 deg. 2025-01-08T20:30:43.942Z,1736368243.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049978 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:30:44.116Z,1736368244.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:44.283Z,1736368244.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:44.293Z,1736368244.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:44.312Z,1736368244.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 102.385750 m, bearing: 3.670185 deg, approach rate: 0.202974 m/s, LOS rate: -0.323287 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.549404 deg. 2025-01-08T20:30:44.313Z,1736368244.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051624 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:30:44.372Z,1736368244.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:44.628Z,1736368244.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:44.727Z,1736368244.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:44.745Z,1736368244.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:44.772Z,1736368244.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 102.482529 m, bearing: 3.515588 deg, approach rate: 0.214727 m/s, LOS rate: -0.342686 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.431214 deg. 2025-01-08T20:30:44.774Z,1736368244.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049561 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:30:44.880Z,1736368244.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:45.087Z,1736368245.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:45.095Z,1736368245.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:45.097Z,1736368245.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:45.100Z,1736368245.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 102.561142 m, bearing: 3.390270 deg, approach rate: 0.222127 m/s, LOS rate: -0.353822 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.518896 deg. 2025-01-08T20:30:45.101Z,1736368245.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051092 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:30:45.132Z,1736368245.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:45.132Z,1736368245.132 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:45.133Z,1736368245.133 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:45.133Z,1736368245.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:45.384Z,1736368245.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:45.384Z,1736368245.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275549 2025-01-08T20:30:45.499Z,1736368245.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:45.509Z,1736368245.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:45.512Z,1736368245.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 102.651550 m, bearing: 3.246977 deg, approach rate: 0.219588 m/s, LOS rate: -0.347730 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.465065 deg. 2025-01-08T20:30:45.513Z,1736368245.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050152 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:30:45.638Z,1736368245.638 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:45.649Z,1736368245.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.539718 2025-01-08T20:30:45.889Z,1736368245.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:45.890Z,1736368245.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781133 2025-01-08T20:30:45.960Z,1736368245.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:45.976Z,1736368245.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:45.979Z,1736368245.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 102.754158 m, bearing: 3.074308 deg, approach rate: 0.219517 m/s, LOS rate: -0.369037 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.377080 deg. 2025-01-08T20:30:45.992Z,1736368245.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048616 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:30:46.140Z,1736368246.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:46.141Z,1736368246.141 [DAT](INFO): DAT read: Rx Time:20:30:44.8652 2025-01-08T20:30:46.141Z,1736368246.141 [DAT](INFO): Rx dataTimestamp_ set to:1736368246.140756 2025-01-08T20:30:46.142Z,1736368246.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032706 2025-01-08T20:30:46.299Z,1736368246.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:46.321Z,1736368246.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:46.328Z,1736368246.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 102.830498 m, bearing: 2.947408 deg, approach rate: 0.221732 m/s, LOS rate: -0.368311 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.514146 deg. 2025-01-08T20:30:46.329Z,1736368246.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051009 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:30:46.392Z,1736368246.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:46.393Z,1736368246.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283723 2025-01-08T20:30:46.654Z,1736368246.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:46.665Z,1736368246.665 [DAT](INFO): DAT read: Range 10 to 50 : 127.0 m (Round-trip 169.4 ms) speed -0.2 m/s 2025-01-08T20:30:46.668Z,1736368246.668 [DAT](INFO): DAT read: user:1390> 2025-01-08T20:30:46.676Z,1736368246.676 [DAT](INFO): DAT read: Tx time:20:30:45.9416 2025-01-08T20:30:46.678Z,1736368246.678 [DAT](INFO): Ping request sent. 2025-01-08T20:30:46.678Z,1736368246.678 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:46.700Z,1736368246.700 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:46.700Z,1736368246.700 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:46.700Z,1736368246.700 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:46.824Z,1736368246.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:46.840Z,1736368246.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.000000 m, deltaT: 3.550344 s, deltaX: -0.500000 m, approachRate: -0.140831 m/s, rangeRepo size: 4 2025-01-08T20:30:46.841Z,1736368246.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:46.848Z,1736368246.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 102.953903 m, bearing: 2.738882 deg, approach rate: 0.239895 m/s, LOS rate: -0.404879 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.269756 deg. 2025-01-08T20:30:46.849Z,1736368246.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046743 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:30:46.900Z,1736368246.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:46.901Z,1736368246.901 [DAT](INFO): DAT read: TxSync time:20:30:45.9409 2025-01-08T20:30:47.152Z,1736368247.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:47.187Z,1736368247.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:47.195Z,1736368247.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:47.197Z,1736368247.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:47.211Z,1736368247.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 103.040245 m, bearing: 2.595386 deg, approach rate: 0.238533 m/s, LOS rate: -0.396100 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.464436 deg. 2025-01-08T20:30:47.216Z,1736368247.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050141 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:30:47.404Z,1736368247.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:47.404Z,1736368247.404 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:47.404Z,1736368247.404 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:47.405Z,1736368247.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:47.551Z,1736368247.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:47.560Z,1736368247.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:47.562Z,1736368247.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 103.127670 m, bearing: 2.451418 deg, approach rate: 0.240919 m/s, LOS rate: -0.396397 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.463029 deg. 2025-01-08T20:30:47.585Z,1736368247.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050117 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:30:47.658Z,1736368247.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:47.660Z,1736368247.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982056 2025-01-08T20:30:47.908Z,1736368247.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:47.908Z,1736368247.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230886 2025-01-08T20:30:47.979Z,1736368247.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:47.987Z,1736368247.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:47.990Z,1736368247.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 103.229958 m, bearing: 2.277738 deg, approach rate: 0.239635 m/s, LOS rate: -0.406489 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.374047 deg. 2025-01-08T20:30:47.992Z,1736368247.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048563 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:30:48.160Z,1736368248.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:48.162Z,1736368248.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483999 2025-01-08T20:30:48.353Z,1736368248.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:48.378Z,1736368248.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:48.382Z,1736368248.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 103.320419 m, bearing: 2.125919 deg, approach rate: 0.230931 m/s, LOS rate: -0.387224 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.439509 deg. 2025-01-08T20:30:48.383Z,1736368248.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049706 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:30:48.412Z,1736368248.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:48.413Z,1736368248.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735714 2025-01-08T20:30:48.666Z,1736368248.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:48.669Z,1736368248.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991192 2025-01-08T20:30:48.782Z,1736368248.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:48.791Z,1736368248.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:48.793Z,1736368248.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 103.428268 m, bearing: 1.950862 deg, approach rate: 0.261665 m/s, LOS rate: -0.424283 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.369948 deg. 2025-01-08T20:30:48.795Z,1736368248.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048492 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:30:48.916Z,1736368248.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:48.917Z,1736368248.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239131 2025-01-08T20:30:49.161Z,1736368249.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:49.172Z,1736368249.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:49.173Z,1736368249.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495612 2025-01-08T20:30:49.196Z,1736368249.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:49.198Z,1736368249.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:49.201Z,1736368249.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 103.525002 m, bearing: 1.796799 deg, approach rate: 0.237550 m/s, LOS rate: -0.377982 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.432812 deg. 2025-01-08T20:30:49.202Z,1736368249.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049589 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:30:49.424Z,1736368249.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:49.424Z,1736368249.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746897 2025-01-08T20:30:49.564Z,1736368249.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:49.575Z,1736368249.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:49.578Z,1736368249.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 103.629074 m, bearing: 1.633426 deg, approach rate: 0.276311 m/s, LOS rate: -0.433316 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.404943 deg. 2025-01-08T20:30:49.579Z,1736368249.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049103 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:30:49.680Z,1736368249.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:49.683Z,1736368249.683 [DAT](INFO): DAT read: Rx Time:20:30:48.5149 2025-01-08T20:30:49.685Z,1736368249.685 [DAT](INFO): Rx dataTimestamp_ set to:1736368249.684071 2025-01-08T20:30:49.688Z,1736368249.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009388 2025-01-08T20:30:49.752Z,1736368249.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:30:49.928Z,1736368249.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:49.928Z,1736368249.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250874 2025-01-08T20:30:49.000Z,1736368250.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:50.009Z,1736368250.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:50.028Z,1736368250.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 103.742851 m, bearing: 1.457978 deg, approach rate: 0.261908 m/s, LOS rate: -0.403427 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.368805 deg. 2025-01-08T20:30:50.029Z,1736368250.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048472 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:30:50.180Z,1736368250.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:50.181Z,1736368250.181 [DAT](INFO): DAT read: Range 10 to 50 : 126.8 m (Round-trip 169.1 ms) speed 0.1 m/s 2025-01-08T20:30:50.182Z,1736368250.182 [DAT](INFO): DAT read: user:1391> 2025-01-08T20:30:50.183Z,1736368250.183 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:50.183Z,1736368250.183 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:50.183Z,1736368250.183 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:50.184Z,1736368250.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:50.373Z,1736368250.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:50.382Z,1736368250.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.800003 m, deltaT: 3.525548 s, deltaX: -0.199997 m, approachRate: -0.056728 m/s, rangeRepo size: 4 2025-01-08T20:30:50.383Z,1736368250.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:50.385Z,1736368250.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 103.841141 m, bearing: 1.307372 deg, approach rate: 0.264033 m/s, LOS rate: -0.404187 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.443176 deg. 2025-01-08T20:30:50.392Z,1736368250.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049770 target range: 136.500000 and range: 126.80 m. 2025-01-08T20:30:50.432Z,1736368250.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:50.433Z,1736368250.433 [DAT](INFO): DAT read: Txtme:20:30:49.5916 2025-01-08T20:30:50.433Z,1736368250.433 [DAT](INFO): unknown deviceResponse_: Txtme:20:30:49.5916 2025-01-08T20:30:50.434Z,1736368250.434 [DAT](INFO): DAT read: TxSync time:20:30:49.5909 2025-01-08T20:30:50.434Z,1736368250.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756812 2025-01-08T20:30:50.686Z,1736368250.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:50.688Z,1736368250.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010151 2025-01-08T20:30:50.757Z,1736368250.757 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:30:50.826Z,1736368250.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:50.842Z,1736368250.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:50.847Z,1736368250.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 103.962708 m, bearing: 1.132407 deg, approach rate: 0.264566 m/s, LOS rate: -0.380332 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.370289 deg. 2025-01-08T20:30:50.849Z,1736368250.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048498 target range: 136.500000 and range: 126.80 m. 2025-01-08T20:30:50.936Z,1736368250.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:50.937Z,1736368250.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.259826 2025-01-08T20:30:51.177Z,1736368251.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:51.186Z,1736368251.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:51.188Z,1736368251.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:51.189Z,1736368251.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.511755 2025-01-08T20:30:51.191Z,1736368251.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 104.057739 m, bearing: 0.997234 deg, approach rate: 0.275506 m/s, LOS rate: -0.391521 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.489415 deg. 2025-01-08T20:30:51.193Z,1736368251.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050577 target range: 136.500000 and range: 126.80 m. 2025-01-08T20:30:51.440Z,1736368251.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:51.441Z,1736368251.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.763183 2025-01-08T20:30:51.580Z,1736368251.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:51.587Z,1736368251.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:51.590Z,1736368251.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:51.593Z,1736368251.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 104.167847 m, bearing: 0.842486 deg, approach rate: 0.272428 m/s, LOS rate: -0.382471 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.430815 deg. 2025-01-08T20:30:51.594Z,1736368251.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049554 target range: 136.500000 and range: 126.80 m. 2025-01-08T20:30:51.694Z,1736368251.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:51.697Z,1736368251.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.018662 2025-01-08T20:30:51.944Z,1736368251.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:51.944Z,1736368251.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.266838 2025-01-08T20:30:52.013Z,1736368252.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:52.021Z,1736368252.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:52.041Z,1736368252.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 104.281036 m, bearing: 0.686088 deg, approach rate: 0.262436 m/s, LOS rate: -0.362224 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.425882 deg. 2025-01-08T20:30:52.042Z,1736368252.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049468 target range: 136.500000 and range: 126.80 m. 2025-01-08T20:30:52.196Z,1736368252.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:52.196Z,1736368252.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.518885 2025-01-08T20:30:52.397Z,1736368252.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:52.406Z,1736368252.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:52.409Z,1736368252.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 104.381096 m, bearing: 0.547503 deg, approach rate: 0.260693 m/s, LOS rate: -0.360720 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.479208 deg. 2025-01-08T20:30:52.410Z,1736368252.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050399 target range: 136.500000 and range: 126.80 m. 2025-01-08T20:30:52.450Z,1736368252.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:52.451Z,1736368252.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.773490 2025-01-08T20:30:52.702Z,1736368252.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:52.704Z,1736368252.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.025959 2025-01-08T20:30:52.853Z,1736368252.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:52.882Z,1736368252.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:52.890Z,1736368252.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 104.499489 m, bearing: 0.389221 deg, approach rate: 0.247938 m/s, LOS rate: -0.331098 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.420259 deg. 2025-01-08T20:30:52.896Z,1736368252.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049370 target range: 136.500000 and range: 126.80 m. 2025-01-08T20:30:52.952Z,1736368252.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:52.953Z,1736368252.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.275914 2025-01-08T20:30:53.199Z,1736368253.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:53.204Z,1736368253.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:53.205Z,1736368253.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.526980 2025-01-08T20:30:53.210Z,1736368253.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:53.213Z,1736368253.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 104.588921 m, bearing: 0.269528 deg, approach rate: 0.273187 m/s, LOS rate: -0.365313 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.535789 deg. 2025-01-08T20:30:53.214Z,1736368253.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051387 target range: 136.500000 and range: 126.80 m. 2025-01-08T20:30:53.456Z,1736368253.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:53.457Z,1736368253.457 [DAT](INFO): DAT read: Rx Time:20:30:52.1648 2025-01-08T20:30:53.458Z,1736368253.458 [DAT](INFO): Rx dataTimestamp_ set to:1736368253.457369 2025-01-08T20:30:53.458Z,1736368253.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.780631 2025-01-08T20:30:53.615Z,1736368253.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:53.627Z,1736368253.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:53.629Z,1736368253.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:53.632Z,1736368253.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 104.697083 m, bearing: 0.125846 deg, approach rate: 0.257851 m/s, LOS rate: -0.342173 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.463967 deg. 2025-01-08T20:30:53.633Z,1736368253.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050133 target range: 136.500000 and range: 126.80 m. 2025-01-08T20:30:53.708Z,1736368253.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:53.710Z,1736368253.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.031929 2025-01-08T20:30:53.960Z,1736368253.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:53.961Z,1736368253.961 [DAT](INFO): DAT read: Range 10 to 50 : 126.7 m (Round-trip 169.0 ms) speed 0.1 m/s 2025-01-08T20:30:53.962Z,1736368253.962 [DAT](INFO): DAT read: user:1392> 2025-01-08T20:30:53.964Z,1736368253.964 [DAT](INFO): DAT read: Tx time:20:30:53.2417 2025-01-08T20:30:53.964Z,1736368253.964 [DAT](INFO): Ping request sent. 2025-01-08T20:30:53.964Z,1736368253.964 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:53.964Z,1736368253.964 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:53.964Z,1736368253.964 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:53.965Z,1736368253.965 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:54.070Z,1736368254.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:54.096Z,1736368254.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.699997 m, deltaT: 3.779999 s, deltaX: -0.100006 m, approachRate: -0.026457 m/s, rangeRepo size: 4 2025-01-08T20:30:54.096Z,1736368254.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:54.099Z,1736368254.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 104.814255 m, bearing: 359.975383 deg, approach rate: 0.251753 m/s, LOS rate: -0.322921 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.443679 deg. 2025-01-08T20:30:54.100Z,1736368254.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049779 target range: 136.500000 and range: 126.70 m. 2025-01-08T20:30:54.212Z,1736368254.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:54.213Z,1736368254.213 [DAT](INFO): DAT read: TxSync time:20:30:53.2410 2025-01-08T20:30:54.409Z,1736368254.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:54.417Z,1736368254.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:54.421Z,1736368254.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 104.900604 m, bearing: 359.863241 deg, approach rate: 0.267505 m/s, LOS rate: -0.347121 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.558412 deg. 2025-01-08T20:30:54.422Z,1736368254.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051781 target range: 136.500000 and range: 126.70 m. 2025-01-08T20:30:54.464Z,1736368254.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:54.716Z,1736368254.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:54.860Z,1736368254.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:54.874Z,1736368254.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:54.877Z,1736368254.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 105.015244 m, bearing: 359.716764 deg, approach rate: 0.251909 m/s, LOS rate: -0.321516 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.455616 deg. 2025-01-08T20:30:54.878Z,1736368254.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049987 target range: 136.500000 and range: 126.70 m. 2025-01-08T20:30:54.968Z,1736368254.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:55.219Z,1736368255.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:55.220Z,1736368255.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:55.230Z,1736368255.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:55.232Z,1736368255.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 105.106552 m, bearing: 359.600229 deg, approach rate: 0.255768 m/s, LOS rate: -0.326147 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.545260 deg. 2025-01-08T20:30:55.234Z,1736368255.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051552 target range: 136.500000 and range: 126.70 m. 2025-01-08T20:30:55.472Z,1736368255.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:55.636Z,1736368255.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:55.643Z,1736368255.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:55.645Z,1736368255.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:55.650Z,1736368255.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 105.212578 m, bearing: 359.465079 deg, approach rate: 0.255160 m/s, LOS rate: -0.324924 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.489521 deg. 2025-01-08T20:30:55.652Z,1736368255.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050579 target range: 136.500000 and range: 126.70 m. 2025-01-08T20:30:55.724Z,1736368255.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:55.725Z,1736368255.725 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:55.725Z,1736368255.725 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:55.726Z,1736368255.726 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:55.976Z,1736368255.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:55.976Z,1736368255.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012382 2025-01-08T20:30:56.077Z,1736368256.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:56.085Z,1736368256.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:56.089Z,1736368256.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 105.322479 m, bearing: 359.319894 deg, approach rate: 0.249741 m/s, LOS rate: -0.329574 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.459467 deg. 2025-01-08T20:30:56.090Z,1736368256.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050054 target range: 136.500000 and range: 126.70 m. 2025-01-08T20:30:56.228Z,1736368256.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:56.229Z,1736368256.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264732 2025-01-08T20:30:56.438Z,1736368256.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:56.448Z,1736368256.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:56.450Z,1736368256.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 105.411659 m, bearing: 359.201217 deg, approach rate: 0.246394 m/s, LOS rate: -0.327614 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.538831 deg. 2025-01-08T20:30:56.452Z,1736368256.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051440 target range: 136.500000 and range: 126.70 m. 2025-01-08T20:30:56.484Z,1736368256.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:56.485Z,1736368256.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521080 2025-01-08T20:30:56.736Z,1736368256.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:56.737Z,1736368256.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772418 2025-01-08T20:30:56.886Z,1736368256.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:56.894Z,1736368256.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:56.897Z,1736368256.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 105.523209 m, bearing: 359.047173 deg, approach rate: 0.249401 m/s, LOS rate: -0.344046 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.432923 deg. 2025-01-08T20:30:56.900Z,1736368256.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049591 target range: 136.500000 and range: 126.70 m. 2025-01-08T20:30:56.988Z,1736368256.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:56.990Z,1736368256.990 [DAT](INFO): DAT read: Rx Time:20:30:55.8144 2025-01-08T20:30:56.990Z,1736368256.990 [DAT](INFO): Rx dataTimestamp_ set to:1736368256.989969 2025-01-08T20:30:56.991Z,1736368256.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027370 2025-01-08T20:30:57.240Z,1736368257.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:57.240Z,1736368257.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276197 2025-01-08T20:30:57.263Z,1736368257.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:57.272Z,1736368257.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:57.275Z,1736368257.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 105.617607 m, bearing: 358.917880 deg, approach rate: 0.250302 m/s, LOS rate: -0.342521 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.507030 deg. 2025-01-08T20:30:57.277Z,1736368257.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050884 target range: 136.500000 and range: 126.70 m. 2025-01-08T20:30:57.492Z,1736368257.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:57.495Z,1736368257.495 [DAT](INFO): DAT read: Range 10 to 50 : 126.3 m (Round-trip 168.5 ms) speed 0.0 m/s 2025-01-08T20:30:57.496Z,1736368257.496 [DAT](INFO): DAT read: user:1393> 2025-01-08T20:30:57.497Z,1736368257.497 [DAT](INFO): DAT read: Tx time:20:30:56.8917 2025-01-08T20:30:57.498Z,1736368257.498 [DAT](INFO): Ping request sent. 2025-01-08T20:30:57.498Z,1736368257.498 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:30:57.498Z,1736368257.498 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:30:57.499Z,1736368257.499 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:57.500Z,1736368257.500 [DAT](INFO): publishing transmit ping time 2025-01-08T20:30:57.671Z,1736368257.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:57.682Z,1736368257.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:57.694Z,1736368257.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.300003 m, deltaT: 3.532428 s, deltaX: -0.399994 m, approachRate: -0.113235 m/s, rangeRepo size: 4 2025-01-08T20:30:57.695Z,1736368257.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:57.702Z,1736368257.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 105.720062 m, bearing: 358.778521 deg, approach rate: 0.242904 m/s, LOS rate: -0.330075 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.476895 deg. 2025-01-08T20:30:57.703Z,1736368257.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050359 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:30:57.744Z,1736368257.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:57.745Z,1736368257.745 [DAT](INFO): DAT read: TxSync time:20:30:56.8910 2025-01-08T20:30:57.745Z,1736368257.745 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:30:57.745Z,1736368257.745 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:30:57.745Z,1736368257.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:30:57.996Z,1736368257.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:57.996Z,1736368257.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498616 2025-01-08T20:30:58.098Z,1736368258.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:58.108Z,1736368258.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:58.111Z,1736368258.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 105.834915 m, bearing: 358.623429 deg, approach rate: 0.276745 m/s, LOS rate: -0.373298 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.429795 deg. 2025-01-08T20:30:58.112Z,1736368258.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049536 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:30:58.248Z,1736368258.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:58.248Z,1736368258.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750712 2025-01-08T20:30:58.450Z,1736368258.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:58.459Z,1736368258.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:58.462Z,1736368258.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 105.931145 m, bearing: 358.496551 deg, approach rate: 0.274691 m/s, LOS rate: -0.361849 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.514275 deg. 2025-01-08T20:30:58.463Z,1736368258.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051011 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:30:58.500Z,1736368258.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:58.501Z,1736368258.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003270 2025-01-08T20:30:58.752Z,1736368258.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:58.752Z,1736368258.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254597 2025-01-08T20:30:58.920Z,1736368258.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:58.933Z,1736368258.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:58.936Z,1736368258.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 106.063835 m, bearing: 358.322767 deg, approach rate: 0.279585 m/s, LOS rate: -0.365712 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.373873 deg. 2025-01-08T20:30:58.937Z,1736368258.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048561 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:30:59.005Z,1736368259.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:59.007Z,1736368259.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508669 2025-01-08T20:30:59.256Z,1736368259.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:59.257Z,1736368259.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758844 2025-01-08T20:30:59.264Z,1736368259.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:59.305Z,1736368259.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:59.313Z,1736368259.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 106.161568 m, bearing: 358.196278 deg, approach rate: 0.262975 m/s, LOS rate: -0.340039 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.515443 deg. 2025-01-08T20:30:59.314Z,1736368259.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051031 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:30:59.508Z,1736368259.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:59.509Z,1736368259.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010799 2025-01-08T20:30:59.681Z,1736368259.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:30:59.690Z,1736368259.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:30:59.708Z,1736368259.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:30:59.710Z,1736368259.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 106.280945 m, bearing: 358.042667 deg, approach rate: 0.296242 m/s, LOS rate: -0.380766 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.434252 deg. 2025-01-08T20:30:59.716Z,1736368259.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049614 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:30:59.766Z,1736368259.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:30:59.767Z,1736368259.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269236 2025-01-08T20:31:00.016Z,1736368260.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:00.016Z,1736368260.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518561 2025-01-08T20:31:00.093Z,1736368260.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:00.101Z,1736368260.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:00.104Z,1736368260.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 106.398560 m, bearing: 357.886144 deg, approach rate: 0.299198 m/s, LOS rate: -0.397735 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.425518 deg. 2025-01-08T20:31:00.105Z,1736368260.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049462 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:31:00.268Z,1736368260.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:00.268Z,1736368260.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770583 2025-01-08T20:31:00.473Z,1736368260.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:00.482Z,1736368260.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:00.484Z,1736368260.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 106.508102 m, bearing: 357.741895 deg, approach rate: 0.287828 m/s, LOS rate: -0.378631 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.462262 deg. 2025-01-08T20:31:00.486Z,1736368260.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050103 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:31:00.520Z,1736368260.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:00.521Z,1736368260.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023435 2025-01-08T20:31:00.772Z,1736368260.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:00.773Z,1736368260.773 [DAT](INFO): DAT read: Rx Time:20:30:59.4642 2025-01-08T20:31:00.774Z,1736368260.774 [DAT](INFO): Rx dataTimestamp_ set to:1736368260.773358 2025-01-08T20:31:00.774Z,1736368260.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276424 2025-01-08T20:31:00.959Z,1736368260.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:00.971Z,1736368260.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:00.974Z,1736368260.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 106.654861 m, bearing: 357.555328 deg, approach rate: 0.299851 m/s, LOS rate: -0.380658 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.335646 deg. 2025-01-08T20:31:00.975Z,1736368260.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047893 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:31:01.025Z,1736368261.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:01.027Z,1736368261.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528461 2025-01-08T20:31:01.276Z,1736368261.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:01.278Z,1736368261.278 [DAT](INFO): DAT read: Range 10 to 50 : 126.2 m (Round-trip 168.3 ms) speed 0.0 m/s 2025-01-08T20:31:01.278Z,1736368261.278 [DAT](INFO): DAT read: user:1394> 2025-01-08T20:31:01.279Z,1736368261.279 [DAT](INFO): DAT read: Tx time:20:31:00.5417 2025-01-08T20:31:01.280Z,1736368261.280 [DAT](INFO): Ping request sent. 2025-01-08T20:31:01.280Z,1736368261.280 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:01.280Z,1736368261.280 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:31:01.280Z,1736368261.280 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:01.281Z,1736368261.281 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:01.300Z,1736368261.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:01.310Z,1736368261.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.199997 m, deltaT: 3.783653 s, deltaX: -0.100006 m, approachRate: -0.026431 m/s, rangeRepo size: 4 2025-01-08T20:31:01.310Z,1736368261.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:01.313Z,1736368261.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 106.758881 m, bearing: 357.424272 deg, approach rate: 0.307753 m/s, LOS rate: -0.387367 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.501777 deg. 2025-01-08T20:31:01.314Z,1736368261.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050793 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:01.528Z,1736368261.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:01.528Z,1736368261.528 [DAT](INFO): DAT read: TxSync time:20:31:00.5410 2025-01-08T20:31:01.731Z,1736368261.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:01.743Z,1736368261.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:01.745Z,1736368261.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:01.748Z,1736368261.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 106.890854 m, bearing: 357.259364 deg, approach rate: 0.302366 m/s, LOS rate: -0.377356 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.400458 deg. 2025-01-08T20:31:01.750Z,1736368261.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049025 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:01.780Z,1736368261.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:01.780Z,1736368261.780 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:01.780Z,1736368261.780 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:01.781Z,1736368261.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:02.033Z,1736368262.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:02.036Z,1736368262.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755167 2025-01-08T20:31:02.112Z,1736368262.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:02.121Z,1736368262.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:02.125Z,1736368262.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 107.008186 m, bearing: 357.115161 deg, approach rate: 0.312571 m/s, LOS rate: -0.383733 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.462430 deg. 2025-01-08T20:31:02.126Z,1736368262.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050106 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:02.284Z,1736368262.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:02.284Z,1736368262.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004420 2025-01-08T20:31:02.493Z,1736368262.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:02.501Z,1736368262.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:02.504Z,1736368262.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 107.126915 m, bearing: 356.971630 deg, approach rate: 0.311892 m/s, LOS rate: -0.376629 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.464448 deg. 2025-01-08T20:31:02.506Z,1736368262.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050141 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:02.536Z,1736368262.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:02.538Z,1736368262.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257737 2025-01-08T20:31:02.788Z,1736368262.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:02.789Z,1736368262.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509094 2025-01-08T20:31:02.976Z,1736368262.976 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -89, +744, 2025-01-08T20:31:02.984Z,1736368262.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:31:02.984Z,1736368262.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:02.997Z,1736368262.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:03.000Z,1736368263.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 107.280983 m, bearing: 356.787644 deg, approach rate: 0.311395 m/s, LOS rate: -0.371328 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.343411 deg. 2025-01-08T20:31:03.001Z,1736368263.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048029 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:03.040Z,1736368263.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:03.040Z,1736368263.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760565 2025-01-08T20:31:03.292Z,1736368263.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:03.292Z,1736368263.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012557 2025-01-08T20:31:03.416Z,1736368263.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T20:31:03.416Z,1736368263.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:03.425Z,1736368263.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:03.449Z,1736368263.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 107.417404 m, bearing: 356.625745 deg, approach rate: 0.318038 m/s, LOS rate: -0.376955 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.409488 deg. 2025-01-08T20:31:03.450Z,1736368263.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049182 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:03.544Z,1736368263.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:03.544Z,1736368263.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264522 2025-01-08T20:31:03.796Z,1736368263.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:03.797Z,1736368263.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516827 2025-01-08T20:31:03.895Z,1736368263.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T20:31:03.896Z,1736368263.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:03.943Z,1736368263.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:03.956Z,1736368263.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:03.971Z,1736368263.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 107.567497 m, bearing: 356.448652 deg, approach rate: 0.285252 m/s, LOS rate: -0.336095 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.364034 deg. 2025-01-08T20:31:03.975Z,1736368263.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048389 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:04.048Z,1736368264.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:04.050Z,1736368264.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769859 2025-01-08T20:31:04.291Z,1736368264.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:04.300Z,1736368264.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:04.301Z,1736368264.301 [DAT](INFO): DAT read: Rx Time:20:31:03.1142 2025-01-08T20:31:04.301Z,1736368264.301 [DAT](INFO): Rx dataTimestamp_ set to:1736368264.300782 2025-01-08T20:31:04.302Z,1736368264.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021721 2025-01-08T20:31:04.302Z,1736368264.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:04.306Z,1736368264.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 107.696815 m, bearing: 356.310180 deg, approach rate: 0.371506 m/s, LOS rate: -0.397323 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.479649 deg. 2025-01-08T20:31:04.310Z,1736368264.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050407 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:04.552Z,1736368264.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:04.552Z,1736368264.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272500 2025-01-08T20:31:04.685Z,1736368264.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:04.717Z,1736368264.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:04.724Z,1736368264.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 107.823692 m, bearing: 356.174948 deg, approach rate: 0.303751 m/s, LOS rate: -0.323373 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.489345 deg. 2025-01-08T20:31:04.725Z,1736368264.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050576 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:04.805Z,1736368264.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:04.809Z,1736368264.809 [DAT](INFO): DAT read: Range 10 to 50 : 126.2 m (Round-trip 168.3 ms) speed 0.0 m/s 2025-01-08T20:31:04.810Z,1736368264.810 [DAT](INFO): DAT read: user:1395> 2025-01-08T20:31:04.813Z,1736368264.813 [DAT](INFO): DAT read: Tx time:20:31:04.1917 2025-01-08T20:31:04.813Z,1736368264.813 [DAT](INFO): Ping request sent. 2025-01-08T20:31:04.813Z,1736368264.813 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:04.814Z,1736368264.814 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:31:04.814Z,1736368264.814 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:04.817Z,1736368264.817 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:05.057Z,1736368265.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:05.059Z,1736368265.059 [DAT](INFO): DAT read: TxSync time:20:31:04.1910 2025-01-08T20:31:05.144Z,1736368265.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:05.153Z,1736368265.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.199997 m, deltaT: 3.528986 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T20:31:05.154Z,1736368265.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:05.157Z,1736368265.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 107.968590 m, bearing: 356.025169 deg, approach rate: 0.332949 m/s, LOS rate: -0.343706 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.445830 deg. 2025-01-08T20:31:05.158Z,1736368265.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049816 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:05.308Z,1736368265.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:05.493Z,1736368265.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:05.502Z,1736368265.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:05.505Z,1736368265.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 108.079315 m, bearing: 355.911498 deg, approach rate: 0.316980 m/s, LOS rate: -0.325078 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.553898 deg. 2025-01-08T20:31:05.506Z,1736368265.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051702 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:05.561Z,1736368265.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:05.812Z,1736368265.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:05.885Z,1736368265.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:05.894Z,1736368265.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:05.917Z,1736368265.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 108.204048 m, bearing: 355.784468 deg, approach rate: 0.318153 m/s, LOS rate: -0.323640 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.513911 deg. 2025-01-08T20:31:05.944Z,1736368265.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051005 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:06.064Z,1736368266.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:06.316Z,1736368266.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:06.326Z,1736368266.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:06.333Z,1736368266.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:06.335Z,1736368266.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:06.338Z,1736368266.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 108.342285 m, bearing: 355.646695 deg, approach rate: 0.313289 m/s, LOS rate: -0.311837 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.481775 deg. 2025-01-08T20:31:06.343Z,1736368266.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050444 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:06.568Z,1736368266.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:06.568Z,1736368266.568 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:06.568Z,1736368266.568 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:06.569Z,1736368266.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:06.704Z,1736368266.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:06.713Z,1736368266.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:06.716Z,1736368266.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 108.460434 m, bearing: 355.529097 deg, approach rate: 0.312460 m/s, LOS rate: -0.310665 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.542151 deg. 2025-01-08T20:31:06.717Z,1736368266.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051497 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:06.820Z,1736368266.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:06.821Z,1736368266.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008017 2025-01-08T20:31:07.072Z,1736368267.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:07.072Z,1736368267.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259226 2025-01-08T20:31:07.140Z,1736368267.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:07.157Z,1736368267.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:07.165Z,1736368267.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 108.597237 m, bearing: 355.396937 deg, approach rate: 0.308379 m/s, LOS rate: -0.297538 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.498582 deg. 2025-01-08T20:31:07.166Z,1736368267.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050737 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:07.325Z,1736368267.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:07.326Z,1736368267.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512261 2025-01-08T20:31:07.516Z,1736368267.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:07.525Z,1736368267.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:07.528Z,1736368267.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 108.715462 m, bearing: 355.283437 deg, approach rate: 0.321042 m/s, LOS rate: -0.307876 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.554431 deg. 2025-01-08T20:31:07.529Z,1736368267.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051712 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:07.576Z,1736368267.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:07.576Z,1736368267.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763259 2025-01-08T20:31:07.828Z,1736368267.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:07.828Z,1736368267.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015158 2025-01-08T20:31:07.918Z,1736368267.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:07.934Z,1736368267.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:07.945Z,1736368267.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 108.837128 m, bearing: 355.166066 deg, approach rate: 0.299973 m/s, LOS rate: -0.289060 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.542842 deg. 2025-01-08T20:31:07.950Z,1736368267.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051510 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:08.081Z,1736368268.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:08.081Z,1736368268.081 [DAT](INFO): DAT read: Rx Time:20:31:06.7642 2025-01-08T20:31:08.082Z,1736368268.082 [DAT](INFO): Rx dataTimestamp_ set to:1736368268.081552 2025-01-08T20:31:08.082Z,1736368268.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269154 2025-01-08T20:31:08.322Z,1736368268.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:08.332Z,1736368268.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:08.332Z,1736368268.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519128 2025-01-08T20:31:08.350Z,1736368268.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:08.356Z,1736368268.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:08.359Z,1736368268.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 108.960960 m, bearing: 355.041552 deg, approach rate: 0.294183 m/s, LOS rate: -0.295465 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.521444 deg. 2025-01-08T20:31:08.364Z,1736368268.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051136 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:08.584Z,1736368268.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:08.586Z,1736368268.586 [DAT](INFO): DAT read: Range 10 to 50 : 126.2 m (Round-trip 168.3 ms) speed 0.0 m/s 2025-01-08T20:31:08.586Z,1736368268.586 [DAT](INFO): DAT read: user:1396> 2025-01-08T20:31:08.587Z,1736368268.587 [DAT](INFO): DAT read: Tx time:20:31:07.8417 2025-01-08T20:31:08.588Z,1736368268.588 [DAT](INFO): Ping request sent. 2025-01-08T20:31:08.588Z,1736368268.588 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:08.588Z,1736368268.588 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:31:08.588Z,1736368268.588 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:08.589Z,1736368268.589 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:08.721Z,1736368268.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:08.743Z,1736368268.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.199997 m, deltaT: 3.779102 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T20:31:08.744Z,1736368268.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:08.747Z,1736368268.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 109.079109 m, bearing: 354.922961 deg, approach rate: 0.305844 m/s, LOS rate: -0.306657 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.539173 deg. 2025-01-08T20:31:08.776Z,1736368268.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051445 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:08.838Z,1736368268.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:08.842Z,1736368268.842 [DAT](INFO): DAT read: TxSync time:20:31:07.8410 2025-01-08T20:31:09.088Z,1736368269.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:09.156Z,1736368269.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:09.191Z,1736368269.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:09.200Z,1736368269.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 109.209824 m, bearing: 354.794457 deg, approach rate: 0.288566 m/s, LOS rate: -0.283346 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.509512 deg. 2025-01-08T20:31:09.201Z,1736368269.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050928 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:09.340Z,1736368269.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:09.516Z,1736368269.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:09.525Z,1736368269.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:09.528Z,1736368269.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 109.319595 m, bearing: 354.687992 deg, approach rate: 0.328161 m/s, LOS rate: -0.317956 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.575486 deg. 2025-01-08T20:31:09.529Z,1736368269.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052079 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:09.594Z,1736368269.594 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:09.844Z,1736368269.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:09.927Z,1736368269.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:09.935Z,1736368269.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:09.942Z,1736368269.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 109.445160 m, bearing: 354.567230 deg, approach rate: 0.306420 m/s, LOS rate: -0.294361 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.532693 deg. 2025-01-08T20:31:09.944Z,1736368269.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051332 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:10.097Z,1736368270.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:10.348Z,1736368270.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:10.383Z,1736368270.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:10.394Z,1736368270.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:10.400Z,1736368270.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:10.412Z,1736368270.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 109.580383 m, bearing: 354.435695 deg, approach rate: 0.290677 m/s, LOS rate: -0.282401 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.500444 deg. 2025-01-08T20:31:10.413Z,1736368270.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050770 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:10.600Z,1736368270.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:10.600Z,1736368270.600 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:10.600Z,1736368270.600 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:10.600Z,1736368270.600 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:10.739Z,1736368270.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:10.757Z,1736368270.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:10.764Z,1736368270.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 109.694260 m, bearing: 354.324681 deg, approach rate: 0.319394 m/s, LOS rate: -0.311042 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.561865 deg. 2025-01-08T20:31:10.765Z,1736368270.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051841 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:10.852Z,1736368270.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:10.853Z,1736368270.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264913 2025-01-08T20:31:11.104Z,1736368271.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:11.104Z,1736368271.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516687 2025-01-08T20:31:11.175Z,1736368271.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:11.187Z,1736368271.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:11.212Z,1736368271.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 109.831703 m, bearing: 354.187709 deg, approach rate: 0.320499 m/s, LOS rate: -0.318999 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.484163 deg. 2025-01-08T20:31:11.213Z,1736368271.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050485 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:11.356Z,1736368271.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:11.357Z,1736368271.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769407 2025-01-08T20:31:11.550Z,1736368271.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:11.559Z,1736368271.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:11.562Z,1736368271.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 109.950668 m, bearing: 354.069924 deg, approach rate: 0.318595 m/s, LOS rate: -0.315093 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.541588 deg. 2025-01-08T20:31:11.563Z,1736368271.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051488 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:11.608Z,1736368271.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:11.609Z,1736368271.609 [DAT](INFO): DAT read: Rx Time:20:31:10.4144 2025-01-08T20:31:11.610Z,1736368271.610 [DAT](INFO): Rx dataTimestamp_ set to:1736368271.609419 2025-01-08T20:31:11.611Z,1736368271.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022937 2025-01-08T20:31:11.860Z,1736368271.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:11.860Z,1736368271.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272810 2025-01-08T20:31:11.964Z,1736368271.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:11.977Z,1736368271.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:11.980Z,1736368271.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 110.082222 m, bearing: 353.940505 deg, approach rate: 0.314762 m/s, LOS rate: -0.309284 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.506770 deg. 2025-01-08T20:31:11.981Z,1736368271.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050880 target range: 136.500000 and range: 126.20 m. 2025-01-08T20:31:12.112Z,1736368272.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:12.114Z,1736368272.114 [DAT](INFO): DAT read: Range 10 to 50 : 126.3 m (Round-trip 168.4 ms) speed -0.4 m/s 2025-01-08T20:31:12.114Z,1736368272.114 [DAT](INFO): DAT read: user:1397> 2025-01-08T20:31:12.115Z,1736368272.115 [DAT](INFO): DAT read: Tx time:20:31:11.4918 2025-01-08T20:31:12.115Z,1736368272.115 [DAT](INFO): Ping request sent. 2025-01-08T20:31:12.116Z,1736368272.116 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:12.116Z,1736368272.116 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:31:12.116Z,1736368272.116 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:12.117Z,1736368272.117 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:12.364Z,1736368272.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:12.365Z,1736368272.365 [DAT](INFO): DAT read: TxSync time:20:31:11.4911 2025-01-08T20:31:12.397Z,1736368272.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:12.403Z,1736368272.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:12.407Z,1736368272.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.300003 m, deltaT: 3.527953 s, deltaX: 0.100006 m, approachRate: 0.028347 m/s, rangeRepo size: 4 2025-01-08T20:31:12.408Z,1736368272.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:12.411Z,1736368272.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 110.221558 m, bearing: 353.801017 deg, approach rate: 0.324886 m/s, LOS rate: -0.324829 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.476630 deg. 2025-01-08T20:31:12.413Z,1736368272.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050354 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:31:12.616Z,1736368272.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:12.616Z,1736368272.616 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:12.616Z,1736368272.616 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:12.617Z,1736368272.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:12.763Z,1736368272.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:12.771Z,1736368272.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:12.775Z,1736368272.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 110.339233 m, bearing: 353.683398 deg, approach rate: 0.322504 m/s, LOS rate: -0.322006 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.542078 deg. 2025-01-08T20:31:12.776Z,1736368272.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051496 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:31:12.868Z,1736368272.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:12.869Z,1736368272.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753651 2025-01-08T20:31:13.120Z,1736368273.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:13.120Z,1736368273.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004793 2025-01-08T20:31:13.203Z,1736368273.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:13.212Z,1736368273.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:13.214Z,1736368273.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 110.478859 m, bearing: 353.535941 deg, approach rate: 0.316914 m/s, LOS rate: -0.334264 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.452757 deg. 2025-01-08T20:31:13.226Z,1736368273.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049937 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:31:13.373Z,1736368273.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:13.373Z,1736368273.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257649 2025-01-08T20:31:13.560Z,1736368273.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:13.590Z,1736368273.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:13.597Z,1736368273.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 110.595284 m, bearing: 353.414236 deg, approach rate: 0.307707 m/s, LOS rate: -0.321326 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.529829 deg. 2025-01-08T20:31:13.598Z,1736368273.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051282 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:31:13.624Z,1736368273.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:13.625Z,1736368273.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509024 2025-01-08T20:31:13.876Z,1736368273.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:13.876Z,1736368273.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760685 2025-01-08T20:31:13.961Z,1736368273.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:13.981Z,1736368273.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:13.989Z,1736368273.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 110.724846 m, bearing: 353.279609 deg, approach rate: 0.330938 m/s, LOS rate: -0.343471 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.491156 deg. 2025-01-08T20:31:13.990Z,1736368273.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050607 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:31:14.129Z,1736368274.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:14.132Z,1736368274.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015233 2025-01-08T20:31:14.380Z,1736368274.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:14.380Z,1736368274.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264768 2025-01-08T20:31:14.394Z,1736368274.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:14.403Z,1736368274.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:14.407Z,1736368274.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 110.867104 m, bearing: 353.130604 deg, approach rate: 0.337308 m/s, LOS rate: -0.352854 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.448123 deg. 2025-01-08T20:31:14.408Z,1736368274.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049856 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:31:14.632Z,1736368274.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:14.633Z,1736368274.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517239 2025-01-08T20:31:14.786Z,1736368274.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:14.793Z,1736368274.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:14.795Z,1736368274.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:14.798Z,1736368274.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 110.996109 m, bearing: 352.996343 deg, approach rate: 0.328971 m/s, LOS rate: -0.341974 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.492250 deg. 2025-01-08T20:31:14.799Z,1736368274.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050627 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:31:14.885Z,1736368274.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:14.886Z,1736368274.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769873 2025-01-08T20:31:15.136Z,1736368275.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:15.136Z,1736368275.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020699 2025-01-08T20:31:15.242Z,1736368275.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:15.257Z,1736368275.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:15.263Z,1736368275.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 111.155174 m, bearing: 352.833107 deg, approach rate: 0.345586 m/s, LOS rate: -0.354140 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.405561 deg. 2025-01-08T20:31:15.264Z,1736368275.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049114 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:31:15.388Z,1736368275.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:15.389Z,1736368275.389 [DAT](INFO): DAT read: Rx Time:20:31:14.0646 2025-01-08T20:31:15.390Z,1736368275.390 [DAT](INFO): Rx dataTimestamp_ set to:1736368275.389360 2025-01-08T20:31:15.390Z,1736368275.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274738 2025-01-08T20:31:15.578Z,1736368275.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:15.601Z,1736368275.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:15.604Z,1736368275.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 111.272911 m, bearing: 352.713305 deg, approach rate: 0.340264 m/s, LOS rate: -0.345865 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.535537 deg. 2025-01-08T20:31:15.606Z,1736368275.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051382 target range: 136.500000 and range: 126.30 m. 2025-01-08T20:31:15.640Z,1736368275.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:15.641Z,1736368275.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525208 2025-01-08T20:31:15.892Z,1736368275.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:15.893Z,1736368275.893 [DAT](INFO): DAT read: Range 10 to 50 : 126.4 m (Round-trip 168.6 ms) speed 0.0 m/s 2025-01-08T20:31:15.894Z,1736368275.894 [DAT](INFO): DAT read: user:1398> 2025-01-08T20:31:15.895Z,1736368275.895 [DAT](INFO): DAT read: Tx time:20:31:15.1418 2025-01-08T20:31:15.895Z,1736368275.895 [DAT](INFO): Ping request sent. 2025-01-08T20:31:15.895Z,1736368275.895 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:15.896Z,1736368275.896 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:31:15.896Z,1736368275.896 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:15.896Z,1736368275.896 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:15.000Z,1736368276.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:16.010Z,1736368276.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.400002 m, deltaT: 3.779880 s, deltaX: 0.099998 m, approachRate: 0.026455 m/s, rangeRepo size: 4 2025-01-08T20:31:16.011Z,1736368276.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:16.014Z,1736368276.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 111.422035 m, bearing: 352.563482 deg, approach rate: 0.365630 m/s, LOS rate: -0.366853 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.445697 deg. 2025-01-08T20:31:16.015Z,1736368276.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049814 target range: 136.500000 and range: 126.40 m. 2025-01-08T20:31:16.144Z,1736368276.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:16.145Z,1736368276.145 [DAT](INFO): DAT read: TxSync time:20:31:15.1411 2025-01-08T20:31:16.396Z,1736368276.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:16.417Z,1736368276.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:16.426Z,1736368276.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:16.429Z,1736368276.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 111.571129 m, bearing: 352.412299 deg, approach rate: 0.357900 m/s, LOS rate: -0.362430 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.441624 deg. 2025-01-08T20:31:16.430Z,1736368276.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049743 target range: 136.500000 and range: 126.40 m. 2025-01-08T20:31:16.648Z,1736368276.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:16.796Z,1736368276.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:16.803Z,1736368276.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:16.805Z,1736368276.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:16.809Z,1736368276.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 111.708145 m, bearing: 352.275166 deg, approach rate: 0.361465 m/s, LOS rate: -0.361328 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.483670 deg. 2025-01-08T20:31:16.810Z,1736368276.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050477 target range: 136.500000 and range: 126.40 m. 2025-01-08T20:31:16.901Z,1736368276.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:16.901Z,1736368276.901 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:16.901Z,1736368276.901 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:16.901Z,1736368276.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:17.152Z,1736368277.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:17.152Z,1736368277.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256947 2025-01-08T20:31:17.259Z,1736368277.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:17.267Z,1736368277.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:17.270Z,1736368277.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 111.877007 m, bearing: 352.112343 deg, approach rate: 0.365492 m/s, LOS rate: -0.351891 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.406836 deg. 2025-01-08T20:31:17.271Z,1736368277.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049136 target range: 136.500000 and range: 126.40 m. 2025-01-08T20:31:17.404Z,1736368277.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:17.404Z,1736368277.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508876 2025-01-08T20:31:17.604Z,1736368277.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:17.613Z,1736368277.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:17.616Z,1736368277.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 112.003166 m, bearing: 351.991133 deg, approach rate: 0.364661 m/s, LOS rate: -0.349960 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.531341 deg. 2025-01-08T20:31:17.617Z,1736368277.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051309 target range: 136.500000 and range: 126.40 m. 2025-01-08T20:31:17.658Z,1736368277.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:17.659Z,1736368277.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763042 2025-01-08T20:31:17.908Z,1736368277.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:17.908Z,1736368277.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012970 2025-01-08T20:31:18.019Z,1736368278.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:18.028Z,1736368278.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:18.031Z,1736368278.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 112.155754 m, bearing: 351.845536 deg, approach rate: 0.367252 m/s, LOS rate: -0.349949 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.458368 deg. 2025-01-08T20:31:18.032Z,1736368278.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050035 target range: 136.500000 and range: 126.40 m. 2025-01-08T20:31:18.160Z,1736368278.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:18.161Z,1736368278.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265180 2025-01-08T20:31:18.412Z,1736368278.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:18.412Z,1736368278.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516897 2025-01-08T20:31:18.490Z,1736368278.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:18.498Z,1736368278.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:18.501Z,1736368278.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 112.328369 m, bearing: 351.683514 deg, approach rate: 0.367312 m/s, LOS rate: -0.344239 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.409252 deg. 2025-01-08T20:31:18.502Z,1736368278.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049178 target range: 136.500000 and range: 126.40 m. 2025-01-08T20:31:18.664Z,1736368278.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:18.665Z,1736368278.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769960 2025-01-08T20:31:18.812Z,1736368278.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:18.819Z,1736368278.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:18.821Z,1736368278.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:18.825Z,1736368278.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 112.447136 m, bearing: 351.572942 deg, approach rate: 0.368241 m/s, LOS rate: -0.342471 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.563194 deg. 2025-01-08T20:31:18.826Z,1736368278.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051865 target range: 136.500000 and range: 126.40 m. 2025-01-08T20:31:18.917Z,1736368278.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:18.917Z,1736368278.917 [DAT](INFO): DAT read: Rx Time:20:31:17.7147 2025-01-08T20:31:18.918Z,1736368278.918 [DAT](INFO): Rx dataTimestamp_ set to:1736368278.917461 2025-01-08T20:31:18.918Z,1736368278.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022821 2025-01-08T20:31:19.176Z,1736368279.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:19.177Z,1736368279.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281231 2025-01-08T20:31:19.266Z,1736368279.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:19.288Z,1736368279.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:19.296Z,1736368279.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 112.615334 m, bearing: 351.420529 deg, approach rate: 0.359976 m/s, LOS rate: -0.325706 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.438011 deg. 2025-01-08T20:31:19.297Z,1736368279.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049680 target range: 136.500000 and range: 126.40 m. 2025-01-08T20:31:19.428Z,1736368279.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:19.429Z,1736368279.429 [DAT](INFO): DAT read: Range 10 to 50 : 126.5 m (Round-trip 168.7 ms) speed 0.0 m/s 2025-01-08T20:31:19.430Z,1736368279.430 [DAT](INFO): DAT read: user:1399> 2025-01-08T20:31:19.431Z,1736368279.431 [DAT](INFO): DAT read: Tx time:20:31:18.7918 2025-01-08T20:31:19.431Z,1736368279.431 [DAT](INFO): Ping request sent. 2025-01-08T20:31:19.431Z,1736368279.431 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:19.432Z,1736368279.432 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:31:19.432Z,1736368279.432 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:19.432Z,1736368279.432 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:19.625Z,1736368279.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:19.656Z,1736368279.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.500000 m, deltaT: 3.535998 s, deltaX: 0.099998 m, approachRate: 0.028280 m/s, rangeRepo size: 4 2025-01-08T20:31:19.657Z,1736368279.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:19.667Z,1736368279.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 112.749138 m, bearing: 351.300663 deg, approach rate: 0.369109 m/s, LOS rate: -0.330267 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.535390 deg. 2025-01-08T20:31:19.681Z,1736368279.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:19.682Z,1736368279.682 [DAT](INFO): DAT read: TxSync time:20:31:18.7911 2025-01-08T20:31:19.689Z,1736368279.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051379 target range: 136.500000 and range: 126.50 m. 2025-01-08T20:31:19.932Z,1736368279.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:20.028Z,1736368280.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:20.036Z,1736368280.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:20.040Z,1736368280.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 112.900681 m, bearing: 351.166459 deg, approach rate: 0.393122 m/s, LOS rate: -0.347675 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.492492 deg. 2025-01-08T20:31:20.041Z,1736368280.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050631 target range: 136.500000 and range: 126.50 m. 2025-01-08T20:31:20.184Z,1736368280.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:20.436Z,1736368280.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:20.467Z,1736368280.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:20.476Z,1736368280.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:20.479Z,1736368280.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 113.058868 m, bearing: 351.032545 deg, approach rate: 0.359616 m/s, LOS rate: -0.304008 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.493382 deg. 2025-01-08T20:31:20.480Z,1736368280.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050646 target range: 136.500000 and range: 126.50 m. 2025-01-08T20:31:20.690Z,1736368280.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:20.832Z,1736368280.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:20.861Z,1736368280.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:20.871Z,1736368280.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:20.876Z,1736368280.876 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:31:20.878Z,1736368280.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 113.191055 m, bearing: 350.921628 deg, approach rate: 0.335166 m/s, LOS rate: -0.280907 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.562198 deg. 2025-01-08T20:31:20.884Z,1736368280.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051847 target range: 136.500000 and range: 126.50 m. 2025-01-08T20:31:20.940Z,1736368280.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:20.941Z,1736368280.941 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:20.941Z,1736368280.941 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:20.942Z,1736368280.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:21.193Z,1736368281.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:21.195Z,1736368281.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763444 2025-01-08T20:31:21.284Z,1736368281.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:21.296Z,1736368281.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:21.300Z,1736368281.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 113.355011 m, bearing: 350.790867 deg, approach rate: 0.385937 m/s, LOS rate: -0.307353 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.502849 deg. 2025-01-08T20:31:21.301Z,1736368281.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050812 target range: 136.500000 and range: 126.50 m. 2025-01-08T20:31:21.444Z,1736368281.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:21.444Z,1736368281.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012951 2025-01-08T20:31:21.637Z,1736368281.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:21.647Z,1736368281.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:21.652Z,1736368281.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 113.482552 m, bearing: 350.689199 deg, approach rate: 0.363190 m/s, LOS rate: -0.289190 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.589896 deg. 2025-01-08T20:31:21.654Z,1736368281.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052331 target range: 136.500000 and range: 126.50 m. 2025-01-08T20:31:21.696Z,1736368281.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:21.697Z,1736368281.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265070 2025-01-08T20:31:21.880Z,1736368281.880 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:31:21.948Z,1736368281.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:21.948Z,1736368281.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516875 2025-01-08T20:31:22.099Z,1736368282.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:22.109Z,1736368282.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:22.112Z,1736368282.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 113.649818 m, bearing: 350.556230 deg, approach rate: 0.361796 m/s, LOS rate: -0.287185 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.496246 deg. 2025-01-08T20:31:22.113Z,1736368282.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050696 target range: 136.500000 and range: 126.50 m. 2025-01-08T20:31:22.201Z,1736368282.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:22.204Z,1736368282.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772224 2025-01-08T20:31:22.452Z,1736368282.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:22.452Z,1736368282.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020949 2025-01-08T20:31:22.529Z,1736368282.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:22.548Z,1736368282.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:22.551Z,1736368282.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 113.802635 m, bearing: 350.439974 deg, approach rate: 0.349335 m/s, LOS rate: -0.265403 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.546259 deg. 2025-01-08T20:31:22.552Z,1736368282.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051569 target range: 136.500000 and range: 126.50 m. 2025-01-08T20:31:22.705Z,1736368282.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:22.706Z,1736368282.706 [DAT](INFO): DAT read: Rx Time:20:31:21.3650 2025-01-08T20:31:22.707Z,1736368282.707 [DAT](INFO): Rx dataTimestamp_ set to:1736368282.706563 2025-01-08T20:31:22.707Z,1736368282.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276007 2025-01-08T20:31:22.945Z,1736368282.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:22.952Z,1736368282.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:22.954Z,1736368282.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:22.956Z,1736368282.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:22.957Z,1736368282.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525398 2025-01-08T20:31:22.959Z,1736368282.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 113.950409 m, bearing: 350.328076 deg, approach rate: 0.362243 m/s, LOS rate: -0.273943 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.559302 deg. 2025-01-08T20:31:22.960Z,1736368282.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051797 target range: 136.500000 and range: 126.50 m. 2025-01-08T20:31:23.209Z,1736368283.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:23.214Z,1736368283.214 [DAT](INFO): DAT read: Range 10 to 50 : 126.6 m (Round-trip 168.9 ms) speed 0.0 m/s 2025-01-08T20:31:23.217Z,1736368283.217 [DAT](INFO): DAT read: user:1400> 2025-01-08T20:31:23.220Z,1736368283.220 [DAT](INFO): DAT read: Tx time:20:31:22.4419 2025-01-08T20:31:23.220Z,1736368283.220 [DAT](INFO): Ping request sent. 2025-01-08T20:31:23.221Z,1736368283.221 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:23.222Z,1736368283.222 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:31:23.222Z,1736368283.222 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:23.225Z,1736368283.225 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:23.376Z,1736368283.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:23.394Z,1736368283.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.599998 m, deltaT: 3.781491 s, deltaX: 0.099998 m, approachRate: 0.026444 m/s, rangeRepo size: 4 2025-01-08T20:31:23.396Z,1736368283.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:23.398Z,1736368283.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 114.098755 m, bearing: 350.216594 deg, approach rate: 0.339697 m/s, LOS rate: -0.254949 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.560550 deg. 2025-01-08T20:31:23.400Z,1736368283.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051819 target range: 136.500000 and range: 126.60 m. 2025-01-08T20:31:23.461Z,1736368283.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:23.462Z,1736368283.462 [DAT](INFO): DAT read: TxSync time:20:31:22.4412 2025-01-08T20:31:23.712Z,1736368283.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:23.768Z,1736368283.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:23.777Z,1736368283.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:23.780Z,1736368283.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 114.234093 m, bearing: 350.115531 deg, approach rate: 0.350070 m/s, LOS rate: -0.261104 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.591729 deg. 2025-01-08T20:31:23.781Z,1736368283.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052363 target range: 136.500000 and range: 126.60 m. 2025-01-08T20:31:23.964Z,1736368283.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:24.218Z,1736368284.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:24.361Z,1736368284.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:24.374Z,1736368284.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:24.378Z,1736368284.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 114.433685 m, bearing: 349.969664 deg, approach rate: 0.335018 m/s, LOS rate: -0.244412 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.457728 deg. 2025-01-08T20:31:24.379Z,1736368284.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050024 target range: 136.500000 and range: 126.60 m. 2025-01-08T20:31:24.468Z,1736368284.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:24.702Z,1736368284.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:24.711Z,1736368284.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:24.714Z,1736368284.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 114.548782 m, bearing: 349.885772 deg, approach rate: 0.340541 m/s, LOS rate: -0.247965 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.643135 deg. 2025-01-08T20:31:24.720Z,1736368284.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:24.735Z,1736368284.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053260 target range: 136.500000 and range: 126.60 m. 2025-01-08T20:31:24.972Z,1736368284.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:25.096Z,1736368285.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:25.103Z,1736368285.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:25.121Z,1736368285.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:25.129Z,1736368285.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 114.681496 m, bearing: 349.788961 deg, approach rate: 0.323915 m/s, LOS rate: -0.236014 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.604462 deg. 2025-01-08T20:31:25.130Z,1736368285.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052585 target range: 136.500000 and range: 126.60 m. 2025-01-08T20:31:25.226Z,1736368285.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:25.227Z,1736368285.227 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:25.228Z,1736368285.228 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:25.229Z,1736368285.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:25.476Z,1736368285.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:25.476Z,1736368285.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255943 2025-01-08T20:31:25.519Z,1736368285.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:25.549Z,1736368285.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:25.556Z,1736368285.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 114.826988 m, bearing: 349.682766 deg, approach rate: 0.339680 m/s, LOS rate: -0.247618 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.576379 deg. 2025-01-08T20:31:25.558Z,1736368285.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052095 target range: 136.500000 and range: 126.60 m. 2025-01-08T20:31:25.728Z,1736368285.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:25.729Z,1736368285.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508111 2025-01-08T20:31:25.909Z,1736368285.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:25.918Z,1736368285.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:25.921Z,1736368285.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 114.961411 m, bearing: 349.585094 deg, approach rate: 0.364525 m/s, LOS rate: -0.264557 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.601885 deg. 2025-01-08T20:31:25.923Z,1736368285.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052540 target range: 136.500000 and range: 126.60 m. 2025-01-08T20:31:25.981Z,1736368285.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:25.981Z,1736368285.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760808 2025-01-08T20:31:26.233Z,1736368286.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:26.236Z,1736368286.236 [DAT](INFO): DAT read: Rx Time:20:31:25.0154 2025-01-08T20:31:26.238Z,1736368286.238 [DAT](INFO): Rx dataTimestamp_ set to:1736368286.236473 2025-01-08T20:31:26.256Z,1736368286.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034293 2025-01-08T20:31:26.360Z,1736368286.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:26.369Z,1736368286.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:26.372Z,1736368286.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 115.121681 m, bearing: 349.468154 deg, approach rate: 0.355560 m/s, LOS rate: -0.259069 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.544230 deg. 2025-01-08T20:31:26.373Z,1736368286.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051534 target range: 136.500000 and range: 126.60 m. 2025-01-08T20:31:26.485Z,1736368286.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:26.488Z,1736368286.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266213 2025-01-08T20:31:26.725Z,1736368286.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:26.734Z,1736368286.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:26.736Z,1736368286.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:26.738Z,1736368286.738 [DAT](INFO): DAT read: Range 10 to 50 : 126.9 m (Round-trip 169.3 ms) speed 0.0 m/s 2025-01-08T20:31:26.740Z,1736368286.740 [DAT](INFO): DAT read: user:1401> 2025-01-08T20:31:26.741Z,1736368286.741 [DAT](INFO): DAT read: Tx time:20:31:26.0919 2025-01-08T20:31:26.741Z,1736368286.741 [DAT](INFO): Ping request sent. 2025-01-08T20:31:26.741Z,1736368286.741 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:26.742Z,1736368286.742 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:31:26.742Z,1736368286.742 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:26.742Z,1736368286.742 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:26.765Z,1736368286.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 115.251579 m, bearing: 349.373822 deg, approach rate: 0.355794 m/s, LOS rate: -0.258086 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.611882 deg. 2025-01-08T20:31:26.766Z,1736368286.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052715 target range: 136.500000 and range: 126.60 m. 2025-01-08T20:31:26.988Z,1736368286.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:26.989Z,1736368286.989 [DAT](INFO): DAT read: TxSync time:20:31:26.0912 2025-01-08T20:31:27.120Z,1736368287.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:27.148Z,1736368287.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:27.150Z,1736368287.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.900002 m, deltaT: 3.526861 s, deltaX: 0.300003 m, approachRate: 0.085062 m/s, rangeRepo size: 4 2025-01-08T20:31:27.151Z,1736368287.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:27.154Z,1736368287.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 115.392227 m, bearing: 349.272145 deg, approach rate: 0.338262 m/s, LOS rate: -0.244237 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.589901 deg. 2025-01-08T20:31:27.155Z,1736368287.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052331 target range: 136.500000 and range: 126.90 m. 2025-01-08T20:31:27.241Z,1736368287.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:27.243Z,1736368287.243 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:27.243Z,1736368287.243 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:27.244Z,1736368287.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:27.492Z,1736368287.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:27.492Z,1736368287.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750995 2025-01-08T20:31:27.551Z,1736368287.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:27.560Z,1736368287.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:27.563Z,1736368287.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 115.547142 m, bearing: 349.153861 deg, approach rate: 0.377302 m/s, LOS rate: -0.287700 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.540184 deg. 2025-01-08T20:31:27.564Z,1736368287.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051463 target range: 136.500000 and range: 126.90 m. 2025-01-08T20:31:27.744Z,1736368287.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:27.745Z,1736368287.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003324 2025-01-08T20:31:27.921Z,1736368287.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:27.931Z,1736368287.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:27.934Z,1736368287.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 115.681190 m, bearing: 349.052696 deg, approach rate: 0.361828 m/s, LOS rate: -0.272752 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.591416 deg. 2025-01-08T20:31:27.935Z,1736368287.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052357 target range: 136.500000 and range: 126.90 m. 2025-01-08T20:31:27.996Z,1736368287.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:27.997Z,1736368287.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255351 2025-01-08T20:31:28.250Z,1736368288.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:28.254Z,1736368288.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512415 2025-01-08T20:31:28.361Z,1736368288.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:28.376Z,1736368288.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:28.381Z,1736368288.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 115.842773 m, bearing: 348.926316 deg, approach rate: 0.363917 m/s, LOS rate: -0.284234 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.515954 deg. 2025-01-08T20:31:28.382Z,1736368288.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051040 target range: 136.500000 and range: 126.90 m. 2025-01-08T20:31:28.500Z,1736368288.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:28.500Z,1736368288.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759178 2025-01-08T20:31:28.731Z,1736368288.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:28.753Z,1736368288.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:28.753Z,1736368288.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011971 2025-01-08T20:31:28.776Z,1736368288.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:28.778Z,1736368288.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 115.979500 m, bearing: 348.819689 deg, approach rate: 0.343074 m/s, LOS rate: -0.267234 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.575055 deg. 2025-01-08T20:31:28.780Z,1736368288.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052072 target range: 136.500000 and range: 126.90 m. 2025-01-08T20:31:29.004Z,1736368289.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:29.006Z,1736368289.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263747 2025-01-08T20:31:29.148Z,1736368289.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:29.154Z,1736368289.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:29.157Z,1736368289.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:29.160Z,1736368289.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 116.133362 m, bearing: 348.700095 deg, approach rate: 0.400583 m/s, LOS rate: -0.310953 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.536255 deg. 2025-01-08T20:31:29.161Z,1736368289.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051395 target range: 136.500000 and range: 126.90 m. 2025-01-08T20:31:29.258Z,1736368289.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:29.261Z,1736368289.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518940 2025-01-08T20:31:29.508Z,1736368289.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:29.508Z,1736368289.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767121 2025-01-08T20:31:29.572Z,1736368289.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:29.581Z,1736368289.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:29.596Z,1736368289.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 116.293571 m, bearing: 348.566755 deg, approach rate: 0.378256 m/s, LOS rate: -0.314383 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.495094 deg. 2025-01-08T20:31:29.597Z,1736368289.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050676 target range: 136.500000 and range: 126.90 m. 2025-01-08T20:31:29.762Z,1736368289.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:29.762Z,1736368289.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020922 2025-01-08T20:31:29.942Z,1736368289.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:29.950Z,1736368289.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:29.953Z,1736368289.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 116.433777 m, bearing: 348.450660 deg, approach rate: 0.379721 m/s, LOS rate: -0.314045 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.546694 deg. 2025-01-08T20:31:29.954Z,1736368289.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051577 target range: 136.500000 and range: 126.90 m. 2025-01-08T20:31:30.013Z,1736368290.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:30.014Z,1736368290.014 [DAT](INFO): DAT read: Rx Time:20:31:28.6658 2025-01-08T20:31:30.015Z,1736368290.015 [DAT](INFO): Rx dataTimestamp_ set to:1736368290.014359 2025-01-08T20:31:30.015Z,1736368290.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274097 2025-01-08T20:31:30.265Z,1736368290.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:30.268Z,1736368290.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525760 2025-01-08T20:31:30.378Z,1736368290.378 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, , 39.44 2025-01-08T20:31:30.385Z,1736368290.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:31:30.385Z,1736368290.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:30.417Z,1736368290.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:30.424Z,1736368290.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 116.602562 m, bearing: 348.312058 deg, approach rate: 0.361755 m/s, LOS rate: -0.296632 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.479363 deg. 2025-01-08T20:31:30.425Z,1736368290.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050402 target range: 136.500000 and range: 126.90 m. 2025-01-08T20:31:30.516Z,1736368290.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:30.517Z,1736368290.517 [DAT](INFO): DAT read: Range 10 to 50 : 127ound-trip 169.7 ms) speed 0.0 m/s 2025-01-08T20:31:30.518Z,1736368290.518 [DAT](INFO): DAT read: user:1402> 2025-01-08T20:31:30.519Z,1736368290.519 [DAT](INFO): DAT read: Tx time:20:31:29.7419 2025-01-08T20:31:30.519Z,1736368290.519 [DAT](INFO): Ping request sent. 2025-01-08T20:31:30.519Z,1736368290.519 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:30.520Z,1736368290.520 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:31:30.520Z,1736368290.520 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:30.520Z,1736368290.520 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:30.753Z,1736368290.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:31:30.753Z,1736368290.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:30.763Z,1736368290.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.000000 m, deltaT: 3.779770 s, deltaX: 0.099998 m, approachRate: 0.026456 m/s, rangeRepo size: 4 2025-01-08T20:31:30.764Z,1736368290.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:30.766Z,1736368290.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 116.743309 m, bearing: 348.197353 deg, approach rate: 0.407662 m/s, LOS rate: -0.331834 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.550859 deg. 2025-01-08T20:31:30.768Z,1736368290.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:30.769Z,1736368290.769 [DAT](INFO): DAT read: TxSync time:20:31:29.7412 2025-01-08T20:31:30.775Z,1736368290.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051650 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:31:31.021Z,1736368291.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:31.181Z,1736368291.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:31:31.181Z,1736368291.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:31.197Z,1736368291.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:31.203Z,1736368291.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:31.207Z,1736368291.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 116.907677 m, bearing: 348.064219 deg, approach rate: 0.375926 m/s, LOS rate: -0.304063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.495723 deg. 2025-01-08T20:31:31.212Z,1736368291.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050687 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:31:31.275Z,1736368291.275 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:31.276Z,1736368291.276 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:31.276Z,1736368291.276 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:31.276Z,1736368291.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:31.528Z,1736368291.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:31.529Z,1736368291.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009805 2025-01-08T20:31:31.598Z,1736368291.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:31.609Z,1736368291.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:31.612Z,1736368291.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 117.079674 m, bearing: 347.924726 deg, approach rate: 0.419745 m/s, LOS rate: -0.339920 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.476701 deg. 2025-01-08T20:31:31.613Z,1736368291.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050355 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:31:31.780Z,1736368291.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:31.780Z,1736368291.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260923 2025-01-08T20:31:31.960Z,1736368291.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:31.968Z,1736368291.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:31.971Z,1736368291.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 117.230858 m, bearing: 347.804823 deg, approach rate: 0.420735 m/s, LOS rate: -0.333252 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.535316 deg. 2025-01-08T20:31:31.973Z,1736368291.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051378 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:31:32.033Z,1736368292.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:32.034Z,1736368292.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514131 2025-01-08T20:31:32.284Z,1736368292.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:32.284Z,1736368292.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764969 2025-01-08T20:31:32.403Z,1736368292.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:32.411Z,1736368292.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:32.414Z,1736368292.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 117.425575 m, bearing: 347.661529 deg, approach rate: 0.439728 m/s, LOS rate: -0.323062 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.465396 deg. 2025-01-08T20:31:32.415Z,1736368292.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050158 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:31:32.537Z,1736368292.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:32.541Z,1736368292.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019015 2025-01-08T20:31:32.785Z,1736368292.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:32.788Z,1736368292.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:32.789Z,1736368292.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269587 2025-01-08T20:31:32.796Z,1736368292.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:32.798Z,1736368292.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 117.593765 m, bearing: 347.538350 deg, approach rate: 0.437489 m/s, LOS rate: -0.319949 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.525554 deg. 2025-01-08T20:31:32.800Z,1736368292.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051208 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:31:33.040Z,1736368293.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:33.041Z,1736368293.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521166 2025-01-08T20:31:33.185Z,1736368293.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:33.196Z,1736368293.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:33.199Z,1736368293.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 117.770744 m, bearing: 347.409535 deg, approach rate: 0.441817 m/s, LOS rate: -0.321096 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.508698 deg. 2025-01-08T20:31:33.200Z,1736368293.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050914 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:31:33.292Z,1736368293.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:33.293Z,1736368293.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773084 2025-01-08T20:31:33.544Z,1736368293.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:33.544Z,1736368293.544 [DAT](INFO): DAT read: Rx Time:20:31:32.3163 2025-01-08T20:31:33.545Z,1736368293.545 [DAT](INFO): Rx dataTimestamp_ set to:1736368293.544627 2025-01-08T20:31:33.545Z,1736368293.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026002 2025-01-08T20:31:33.628Z,1736368293.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:33.635Z,1736368293.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:33.637Z,1736368293.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:33.641Z,1736368293.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 117.970772 m, bearing: 347.261611 deg, approach rate: 0.453744 m/s, LOS rate: -0.334983 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.451546 deg. 2025-01-08T20:31:33.642Z,1736368293.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049916 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:31:33.796Z,1736368293.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:33.796Z,1736368293.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277026 2025-01-08T20:31:33.996Z,1736368293.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:34.004Z,1736368294.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:34.009Z,1736368294.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 118.137459 m, bearing: 347.139220 deg, approach rate: 0.453573 m/s, LOS rate: -0.332569 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.527906 deg. 2025-01-08T20:31:34.010Z,1736368294.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051249 target range: 136.500000 and range: 127.00 m. 2025-01-08T20:31:34.048Z,1736368294.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:34.051Z,1736368294.051 [DAT](INFO): DAT read: Range 10 to 50 : 127.5 m (Round-trip 170.1 ms) speed 0.0 m/s 2025-01-08T20:31:34.052Z,1736368294.052 [DAT](INFO): DAT read: user:1403> 2025-01-08T20:31:34.053Z,1736368294.053 [DAT](INFO): DAT read: Tx time:20:31:33.3920 2025-01-08T20:31:34.054Z,1736368294.054 [DAT](INFO): Ping request sent. 2025-01-08T20:31:34.054Z,1736368294.054 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:34.054Z,1736368294.054 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:31:34.055Z,1736368294.055 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:34.056Z,1736368294.056 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:34.302Z,1736368294.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:34.304Z,1736368294.304 [DAT](INFO): DAT read: TxSync time:20:31:33.3913 2025-01-08T20:31:34.447Z,1736368294.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:34.480Z,1736368294.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.500000 m, deltaT: 3.532349 s, deltaX: 0.500000 m, approachRate: 0.141549 m/s, rangeRepo size: 4 2025-01-08T20:31:34.481Z,1736368294.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:34.485Z,1736368294.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 118.327629 m, bearing: 347.002256 deg, approach rate: 0.403942 m/s, LOS rate: -0.290457 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.484334 deg. 2025-01-08T20:31:34.486Z,1736368294.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050488 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:31:34.552Z,1736368294.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:34.807Z,1736368294.807 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:34.825Z,1736368294.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:34.833Z,1736368294.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:34.836Z,1736368294.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 118.488060 m, bearing: 346.887724 deg, approach rate: 0.448275 m/s, LOS rate: -0.319593 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.551428 deg. 2025-01-08T20:31:34.837Z,1736368294.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051660 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:31:35.060Z,1736368295.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:35.202Z,1736368295.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:35.212Z,1736368295.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:35.214Z,1736368295.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 118.648148 m, bearing: 346.773543 deg, approach rate: 0.422920 m/s, LOS rate: -0.301235 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.552482 deg. 2025-01-08T20:31:35.216Z,1736368295.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051678 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:31:35.313Z,1736368295.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:35.564Z,1736368295.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:35.645Z,1736368295.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:35.673Z,1736368295.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:35.682Z,1736368295.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:35.690Z,1736368295.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 118.831909 m, bearing: 346.647191 deg, approach rate: 0.396095 m/s, LOS rate: -0.271929 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.516091 deg. 2025-01-08T20:31:35.697Z,1736368295.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051043 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:31:35.816Z,1736368295.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:35.817Z,1736368295.817 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:35.817Z,1736368295.817 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:35.817Z,1736368295.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:36.012Z,1736368296.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:36.021Z,1736368296.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:36.025Z,1736368296.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 118.984428 m, bearing: 346.542363 deg, approach rate: 0.441339 m/s, LOS rate: -0.302947 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.580479 deg. 2025-01-08T20:31:36.026Z,1736368296.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052166 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:31:36.069Z,1736368296.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:36.070Z,1736368296.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015973 2025-01-08T20:31:36.320Z,1736368296.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:36.320Z,1736368296.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266528 2025-01-08T20:31:36.458Z,1736368296.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:36.472Z,1736368296.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:36.475Z,1736368296.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 119.158478 m, bearing: 346.422635 deg, approach rate: 0.387725 m/s, LOS rate: -0.266325 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.535903 deg. 2025-01-08T20:31:36.476Z,1736368296.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051389 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:31:36.572Z,1736368296.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:36.574Z,1736368296.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519729 2025-01-08T20:31:36.821Z,1736368296.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:36.824Z,1736368296.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:36.825Z,1736368296.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770791 2025-01-08T20:31:36.832Z,1736368296.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:36.834Z,1736368296.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 119.299881 m, bearing: 346.325579 deg, approach rate: 0.391136 m/s, LOS rate: -0.268149 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.603736 deg. 2025-01-08T20:31:36.840Z,1736368296.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052572 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:31:37.076Z,1736368297.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:37.076Z,1736368297.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022638 2025-01-08T20:31:37.232Z,1736368297.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:37.242Z,1736368297.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:37.245Z,1736368297.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 119.460327 m, bearing: 346.215488 deg, approach rate: 0.391032 m/s, LOS rate: -0.267947 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.564732 deg. 2025-01-08T20:31:37.246Z,1736368297.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051892 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:31:37.328Z,1736368297.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:37.329Z,1736368297.329 [DAT](INFO): DAT read: Rx Time:20:31:35.9666 2025-01-08T20:31:37.329Z,1736368297.329 [DAT](INFO): Rx dataTimestamp_ set to:1736368297.328965 2025-01-08T20:31:37.330Z,1736368297.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276009 2025-01-08T20:31:37.580Z,1736368297.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:37.580Z,1736368297.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526647 2025-01-08T20:31:37.687Z,1736368297.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:37.695Z,1736368297.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:37.699Z,1736368297.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:37.718Z,1736368297.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 119.631447 m, bearing: 346.101373 deg, approach rate: 0.374645 m/s, LOS rate: -0.249484 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.552705 deg. 2025-01-08T20:31:37.719Z,1736368297.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051682 target range: 136.500000 and range: 127.50 m. 2025-01-08T20:31:37.832Z,1736368297.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:37.835Z,1736368297.835 [DAT](INFO): DAT read: Range 10 to 50 : 127.8 m (Round-trip 170.5 ms) speed 0.1 m/s 2025-01-08T20:31:37.836Z,1736368297.836 [DAT](INFO): DAT read: user:1404> 2025-01-08T20:31:37.837Z,1736368297.837 [DAT](INFO): DAT read: Tx time:20:31:37.0420 2025-01-08T20:31:37.837Z,1736368297.837 [DAT](INFO): Ping request sent. 2025-01-08T20:31:37.837Z,1736368297.837 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:37.837Z,1736368297.837 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T20:31:37.837Z,1736368297.837 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:37.840Z,1736368297.840 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:38.041Z,1736368298.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:38.056Z,1736368298.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.800003 m, deltaT: 3.784051 s, deltaX: 0.300003 m, approachRate: 0.079281 m/s, rangeRepo size: 4 2025-01-08T20:31:38.057Z,1736368298.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:38.080Z,1736368298.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 119.764587 m, bearing: 346.012696 deg, approach rate: 0.373603 m/s, LOS rate: -0.248559 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.628822 deg. 2025-01-08T20:31:38.081Z,1736368298.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053010 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:31:38.084Z,1736368298.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:38.085Z,1736368298.085 [DAT](INFO): DAT read: TxSync time:20:31:37.0413 2025-01-08T20:31:38.336Z,1736368298.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:38.510Z,1736368298.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:38.518Z,1736368298.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:38.521Z,1736368298.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 119.939262 m, bearing: 345.902195 deg, approach rate: 0.376892 m/s, LOS rate: -0.238078 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.563540 deg. 2025-01-08T20:31:38.524Z,1736368298.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051871 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:31:38.588Z,1736368298.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:38.841Z,1736368298.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:38.853Z,1736368298.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:38.861Z,1736368298.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:38.864Z,1736368298.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 120.067307 m, bearing: 345.821719 deg, approach rate: 0.373266 m/s, LOS rate: -0.234348 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.653388 deg. 2025-01-08T20:31:38.865Z,1736368298.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053439 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:31:39.092Z,1736368299.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:39.259Z,1736368299.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:39.268Z,1736368299.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:39.270Z,1736368299.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 120.219276 m, bearing: 345.726371 deg, approach rate: 0.373999 m/s, LOS rate: -0.234356 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.608876 deg. 2025-01-08T20:31:39.273Z,1736368299.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052662 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:31:39.344Z,1736368299.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:39.597Z,1736368299.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:39.703Z,1736368299.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:39.711Z,1736368299.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:39.713Z,1736368299.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:39.717Z,1736368299.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 120.381310 m, bearing: 345.621959 deg, approach rate: 0.363697 m/s, LOS rate: -0.234045 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.581747 deg. 2025-01-08T20:31:39.718Z,1736368299.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052189 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:31:39.848Z,1736368299.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:39.848Z,1736368299.848 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:39.848Z,1736368299.848 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:39.849Z,1736368299.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:40.067Z,1736368300.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:40.093Z,1736368300.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:40.096Z,1736368300.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 120.513977 m, bearing: 345.536255 deg, approach rate: 0.349166 m/s, LOS rate: -0.225316 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.637729 deg. 2025-01-08T20:31:40.098Z,1736368300.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053166 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:31:40.100Z,1736368300.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:40.100Z,1736368300.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263517 2025-01-08T20:31:40.352Z,1736368300.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:40.353Z,1736368300.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516180 2025-01-08T20:31:40.539Z,1736368300.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:40.547Z,1736368300.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:40.550Z,1736368300.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 120.688766 m, bearing: 345.425215 deg, approach rate: 0.385066 m/s, LOS rate: -0.244270 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.561922 deg. 2025-01-08T20:31:40.551Z,1736368300.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051843 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:31:40.604Z,1736368300.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:40.606Z,1736368300.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768476 2025-01-08T20:31:40.857Z,1736368300.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:40.857Z,1736368300.857 [DAT](INFO): DAT read: Rx Time:20:31:39.6172 2025-01-08T20:31:40.858Z,1736368300.858 [DAT](INFO): Rx dataTimestamp_ set to:1736368300.857606 2025-01-08T20:31:40.858Z,1736368300.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021492 2025-01-08T20:31:40.893Z,1736368300.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:40.902Z,1736368300.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:40.909Z,1736368300.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 120.819466 m, bearing: 345.341748 deg, approach rate: 0.368773 m/s, LOS rate: -0.235249 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.644430 deg. 2025-01-08T20:31:40.910Z,1736368300.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053283 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:31:41.108Z,1736368301.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:41.108Z,1736368301.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271476 2025-01-08T20:31:41.304Z,1736368301.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:41.344Z,1736368301.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T20:31:41.347Z,1736368301.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 120.970802 m, bearing: 345.245493 deg, approach rate: 0.341945 m/s, LOS rate: -0.217216 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.606155 deg. 2025-01-08T20:31:41.352Z,1736368301.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052615 target range: 136.500000 and range: 127.80 m. 2025-01-08T20:31:41.360Z,1736368301.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:41.367Z,1736368301.367 [DAT](INFO): DAT read: 20:31:39.6172 LVL= 18800, 15153, 15234, 22387, AGC= 55, IDX= 452,-0.24, 2.326,-2.311,-1.354,-2.538, PHS=-1.331, 0.274, 1.182, RAW= 249.1, -1.1, CAL= 251.6, -1.4, ROT= 258.4, 1.4 2025-01-08T20:31:41.368Z,1736368301.368 [DAT](INFO): got valid direction response: 20:31:39.6172 LVL= 18800, 15153, 15234, 22387, AGC= 55, IDX= 452,-0.24, 2.326,-2.311,-1.354,-2.538, PHS=-1.331, 0.274, 1.182, RAW= 249.1, -1.1, CAL= 251.6, -1.4, ROT= 258.4, 1.4 2025-01-08T20:31:41.369Z,1736368301.369 [DAT](INFO): DAT read: Bearing 258.4, 1.4 (Local) 2025-01-08T20:31:41.369Z,1736368301.369 [DAT](INFO): Local bearing/azimuth received: Bearing 258.4, 1.4 (Local) 2025-01-08T20:31:41.371Z,1736368301.371 [DAT](INFO): DAT read: Range 10 to 50 : 128.2 m (Round-trip 171.0 ms) speed -0.2 m/s 2025-01-08T20:31:41.373Z,1736368301.373 [DAT](INFO): DAT read: user:1405> 2025-01-08T20:31:41.374Z,1736368301.374 [DAT](INFO): DAT read: Tx time:20:31:40.7420 2025-01-08T20:31:41.374Z,1736368301.374 [DAT](INFO): Ping request sent. 2025-01-08T20:31:41.374Z,1736368301.374 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:41.374Z,1736368301.374 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:31:41.384Z,1736368301.384 [DAT](INFO): direction in FSK: [0.068870,-0.448211,-0.891271] 2025-01-08T20:31:41.384Z,1736368301.384 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:41.384Z,1736368301.384 [DAT](INFO): publishing direction and range info 2025-01-08T20:31:41.392Z,1736368301.392 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:41.395Z,1736368301.395 [DAT](INFO): publishing direction and range info 2025-01-08T20:31:41.612Z,1736368301.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:41.613Z,1736368301.613 [DAT](INFO): DAT read: TxSync time:20:31:40.7413 2025-01-08T20:31:41.764Z,1736368301.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:41.804Z,1736368301.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.199997 m, deltaT: 3.527789 s, deltaX: 0.399994 m, approachRate: 0.113384 m/s, rangeRepo size: 4 2025-01-08T20:31:41.807Z,1736368301.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.199997 m, bearing: 36.329616 deg, lat: 36.904442 deg, lon: -122.119664 deg, deltaT: 106.171091 s, deltaX: -8.300003 m, approachRate: -0.078176 m/s, posRepo size: 4 2025-01-08T20:31:41.812Z,1736368301.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m. 2025-01-08T20:31:41.814Z,1736368301.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.199997 m, nav range: 120.708710 m, bearing: 345.447194 deg, approach rate: 0.000000 m/s, LOS rate: -0.217216 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.598323 deg. 2025-01-08T20:31:41.820Z,1736368301.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052478 target range: 128.199997 and range: 128.20 m. 2025-01-08T20:31:41.864Z,1736368301.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:42.088Z,1736368302.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:42.096Z,1736368302.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:42.098Z,1736368302.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m. 2025-01-08T20:31:42.101Z,1736368302.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.199997 m, nav range: 120.831535 m, bearing: 345.367530 deg, approach rate: 0.410454 m/s, LOS rate: -0.265950 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.655807 deg. 2025-01-08T20:31:42.102Z,1736368302.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053481 target range: 128.199997 and range: 128.20 m. 2025-01-08T20:31:42.116Z,1736368302.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:42.116Z,1736368302.116 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:42.116Z,1736368302.116 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:42.116Z,1736368302.116 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:42.368Z,1736368302.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:42.368Z,1736368302.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994208 2025-01-08T20:31:42.542Z,1736368302.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:42.574Z,1736368302.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m. 2025-01-08T20:31:42.581Z,1736368302.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.199997 m, nav range: 121.013474 m, bearing: 345.252410 deg, approach rate: 0.381856 m/s, LOS rate: -0.241254 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.549720 deg. 2025-01-08T20:31:42.582Z,1736368302.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051630 target range: 128.199997 and range: 128.20 m. 2025-01-08T20:31:42.620Z,1736368302.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:42.621Z,1736368302.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246851 2025-01-08T20:31:42.872Z,1736368302.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:42.873Z,1736368302.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499074 2025-01-08T20:31:42.913Z,1736368302.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:42.922Z,1736368302.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m. 2025-01-08T20:31:42.925Z,1736368302.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.199997 m, nav range: 121.163559 m, bearing: 345.158421 deg, approach rate: 0.432305 m/s, LOS rate: -0.270388 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.612943 deg. 2025-01-08T20:31:42.926Z,1736368302.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052733 target range: 128.199997 and range: 128.20 m. 2025-01-08T20:31:43.124Z,1736368303.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:43.124Z,1736368303.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750347 2025-01-08T20:31:43.303Z,1736368303.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:43.313Z,1736368303.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m. 2025-01-08T20:31:43.315Z,1736368303.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.199997 m, nav range: 121.320961 m, bearing: 345.060117 deg, approach rate: 0.402677 m/s, LOS rate: -0.251163 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.600029 deg. 2025-01-08T20:31:43.317Z,1736368303.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052508 target range: 128.199997 and range: 128.20 m. 2025-01-08T20:31:43.377Z,1736368303.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:43.378Z,1736368303.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004010 2025-01-08T20:31:43.628Z,1736368303.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:43.629Z,1736368303.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255117 2025-01-08T20:31:43.749Z,1736368303.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:43.758Z,1736368303.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m. 2025-01-08T20:31:43.777Z,1736368303.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.199997 m, nav range: 121.506775 m, bearing: 344.942031 deg, approach rate: 0.416915 m/s, LOS rate: -0.264547 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.540845 deg. 2025-01-08T20:31:43.778Z,1736368303.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051475 target range: 128.199997 and range: 128.20 m. 2025-01-08T20:31:43.880Z,1736368303.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:43.881Z,1736368303.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507175 2025-01-08T20:31:44.120Z,1736368304.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:44.127Z,1736368304.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:44.129Z,1736368304.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m. 2025-01-08T20:31:44.132Z,1736368304.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:44.133Z,1736368304.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758601 2025-01-08T20:31:44.134Z,1736368304.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.199997 m, nav range: 121.661476 m, bearing: 344.844322 deg, approach rate: 0.416980 m/s, LOS rate: -0.263029 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.601804 deg. 2025-01-08T20:31:44.135Z,1736368304.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052539 target range: 128.199997 and range: 128.20 m. 2025-01-08T20:31:44.384Z,1736368304.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:44.384Z,1736368304.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010342 2025-01-08T20:31:44.595Z,1736368304.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:44.603Z,1736368304.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m. 2025-01-08T20:31:44.606Z,1736368304.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.199997 m, nav range: 121.874344 m, bearing: 344.711187 deg, approach rate: 0.449322 m/s, LOS rate: -0.280529 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.495858 deg. 2025-01-08T20:31:44.607Z,1736368304.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050690 target range: 128.199997 and range: 128.20 m. 2025-01-08T20:31:44.636Z,1736368304.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:44.637Z,1736368304.637 [DAT](INFO): DAT read: Rx Time:20:31:43.3180 2025-01-08T20:31:44.637Z,1736368304.637 [DAT](INFO): Rx dataTimestamp_ set to:1736368304.637176 2025-01-08T20:31:44.638Z,1736368304.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264318 2025-01-08T20:31:44.888Z,1736368304.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:44.889Z,1736368304.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514271 2025-01-08T20:31:44.932Z,1736368304.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:44.949Z,1736368304.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.20 m. 2025-01-08T20:31:44.956Z,1736368304.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.199997 m, nav range: 122.020164 m, bearing: 344.620634 deg, approach rate: 0.421775 m/s, LOS rate: -0.261604 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.623224 deg. 2025-01-08T20:31:44.957Z,1736368304.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052912 target range: 128.199997 and range: 128.20 m. 2025-01-08T20:31:45.140Z,1736368305.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:45.147Z,1736368305.147 [DAT](INFO): DAT read: 20:31:43.3180 LVL= 22960, 20881, 17298, 31987, AGC= 55, IDX= 427,-0.28, 1.648,-2.920,-1.996,-3.091, PHS=-1.456, 0.218, 1.092, RAW= 250.3, 1.3, CAL= 254.1, 2.3, ROT= 255.9, -2.3 2025-01-08T20:31:45.148Z,1736368305.148 [DAT](INFO): got valid direction response: 20:31:43.3180 LVL= 22960, 20881, 17298, 31987, AGC= 55, IDX= 427,-0.28, 1.648,-2.920,-1.996,-3.091, PHS=-1.456, 0.218, 1.092, RAW= 250.3, 1.3, CAL= 254.1, 2.3, ROT= 255.9, -2.3 2025-01-08T20:31:45.149Z,1736368305.149 [DAT](INFO): DAT read: Bearing 255.9, -2.3 (Local) 2025-01-08T20:31:45.149Z,1736368305.149 [DAT](INFO): Local bearing/azimuth received: Bearing 255.9, -2.3 (Local) 2025-01-08T20:31:45.156Z,1736368305.156 [DAT](INFO): DAT read: Range 10 to 50 : 128.7 m (Round-trip 171.7 ms) speed -0.1 m/s 2025-01-08T20:31:45.157Z,1736368305.157 [DAT](INFO): DAT read: user:1406> 2025-01-08T20:31:45.157Z,1736368305.157 [DAT](INFO): DAT read: Tx time:20:31:44.4421 2025-01-08T20:31:45.158Z,1736368305.158 [DAT](INFO): Ping request sent. 2025-01-08T20:31:45.158Z,1736368305.158 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:45.158Z,1736368305.158 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:31:45.160Z,1736368305.160 [DAT](INFO): direction in FSK: [0.024958,-0.428232,-0.903324] 2025-01-08T20:31:45.160Z,1736368305.160 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:45.160Z,1736368305.160 [DAT](INFO): publishing direction and range info 2025-01-08T20:31:45.164Z,1736368305.164 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:45.164Z,1736368305.164 [DAT](INFO): publishing direction and range info 2025-01-08T20:31:45.362Z,1736368305.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:45.392Z,1736368305.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:45.393Z,1736368305.393 [DAT](INFO): DAT read: TxSync time:20:31:44.4414 2025-01-08T20:31:45.399Z,1736368305.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.699997 m, deltaT: 3.779944 s, deltaX: 0.500000 m, approachRate: 0.132277 m/s, rangeRepo size: 4 2025-01-08T20:31:45.402Z,1736368305.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.699997 m, bearing: 29.967189 deg, lat: 36.904406 deg, lon: -122.119599 deg, deltaT: 3.779944 s, deltaX: 0.500000 m, approachRate: 0.132277 m/s, posRepo size: 4 2025-01-08T20:31:45.402Z,1736368305.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T20:31:45.409Z,1736368305.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 116.883430 m, bearing: 346.700301 deg, approach rate: 0.000000 m/s, LOS rate: -0.261604 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.544644 deg. 2025-01-08T20:31:45.411Z,1736368305.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051541 target range: 128.699997 and range: 128.70 m. 2025-01-08T20:31:45.644Z,1736368305.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:45.768Z,1736368305.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:45.777Z,1736368305.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T20:31:45.800Z,1736368305.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 117.059280 m, bearing: 346.575235 deg, approach rate: 0.460062 m/s, LOS rate: -0.326708 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.519928 deg. 2025-01-08T20:31:45.801Z,1736368305.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051110 target range: 128.699997 and range: 128.70 m. 2025-01-08T20:31:45.896Z,1736368305.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:46.136Z,1736368306.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:46.143Z,1736368306.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:46.145Z,1736368306.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T20:31:46.148Z,1736368306.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:46.148Z,1736368306.148 [DAT](INFO): ****** received valid address query ****** 2025-01-08T20:31:46.148Z,1736368306.148 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T20:31:46.149Z,1736368306.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T20:31:46.152Z,1736368306.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 117.219582 m, bearing: 346.462290 deg, approach rate: 0.434965 m/s, LOS rate: -0.306049 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.556189 deg. 2025-01-08T20:31:46.153Z,1736368306.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051743 target range: 128.699997 and range: 128.70 m. 2025-01-08T20:31:46.400Z,1736368306.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:46.401Z,1736368306.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242801 2025-01-08T20:31:46.608Z,1736368306.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:46.616Z,1736368306.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T20:31:46.619Z,1736368306.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 117.429703 m, bearing: 346.315967 deg, approach rate: 0.446400 m/s, LOS rate: -0.310305 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.456383 deg. 2025-01-08T20:31:46.621Z,1736368306.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050001 target range: 128.699997 and range: 128.70 m. 2025-01-08T20:31:46.652Z,1736368306.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:46.653Z,1736368306.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495392 2025-01-08T20:31:46.904Z,1736368306.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:46.904Z,1736368306.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746574 2025-01-08T20:31:46.971Z,1736368306.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:46.991Z,1736368306.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T20:31:47.002Z,1736368307.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 117.582893 m, bearing: 346.209810 deg, approach rate: 0.408903 m/s, LOS rate: -0.282990 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.576503 deg. 2025-01-08T20:31:47.024Z,1736368307.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052097 target range: 128.699997 and range: 128.70 m. 2025-01-08T20:31:47.157Z,1736368307.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:47.158Z,1736368307.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999841 2025-01-08T20:31:47.361Z,1736368307.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:47.386Z,1736368307.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T20:31:47.390Z,1736368307.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 117.766258 m, bearing: 346.083471 deg, approach rate: 0.464158 m/s, LOS rate: -0.319308 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.516136 deg. 2025-01-08T20:31:47.391Z,1736368307.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051044 target range: 128.699997 and range: 128.70 m. 2025-01-08T20:31:47.409Z,1736368307.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:47.410Z,1736368307.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251911 2025-01-08T20:31:47.660Z,1736368307.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:47.661Z,1736368307.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502944 2025-01-08T20:31:47.774Z,1736368307.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:47.784Z,1736368307.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T20:31:47.811Z,1736368307.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 117.946136 m, bearing: 345.956311 deg, approach rate: 0.452434 m/s, LOS rate: -0.319350 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.513662 deg. 2025-01-08T20:31:47.812Z,1736368307.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051000 target range: 128.699997 and range: 128.70 m. 2025-01-08T20:31:47.913Z,1736368307.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:47.917Z,1736368307.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758432 2025-01-08T20:31:48.156Z,1736368308.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:48.164Z,1736368308.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:48.165Z,1736368308.165 [DAT](INFO): DAT read: Rx Time:20:31:47.0187 2025-01-08T20:31:48.165Z,1736368308.165 [DAT](INFO): Rx dataTimestamp_ set to:1736368308.164771 2025-01-08T20:31:48.166Z,1736368308.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007772 2025-01-08T20:31:48.163Z,1736368308.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T20:31:48.168Z,1736368308.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T20:31:48.171Z,1736368308.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 118.113281 m, bearing: 345.838905 deg, approach rate: 0.434337 m/s, LOS rate: -0.304656 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.542842 deg. 2025-01-08T20:31:48.173Z,1736368308.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051510 target range: 128.699997 and range: 128.70 m. 2025-01-08T20:31:48.416Z,1736368308.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:48.416Z,1736368308.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258551 2025-01-08T20:31:48.631Z,1736368308.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:48.636Z,1736368308.636 [lineCaptureHoming](INFO): Timed out from 2025-01-08T19:31:48.4Z 2025-01-08T20:31:48.636Z,1736368308.636 [MissionManager](INFO): lineCaptureHoming is completed. 2025-01-08T20:31:48.636Z,1736368308.636 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming 2025-01-08T20:31:48.636Z,1736368308.636 [lineCaptureHoming] Stopped 2025-01-08T20:31:48.636Z,1736368308.636 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming 2025-01-08T20:31:48.636Z,1736368308.636 [lineCaptureHoming:Science] Stopped 2025-01-08T20:31:48.636Z,1736368308.636 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science 2025-01-08T20:31:48.636Z,1736368308.636 [lineCaptureHoming:Science:B] Stopped 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:Science:C] Stopped 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:Science:E] Stopped 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:Science:F] Stopped 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:Science:OceanCurrent] Stopped 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:StandardEnvelopes] Stopped 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-01-08T20:31:48.637Z,1736368308.637 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-01-08T20:31:48.638Z,1736368308.638 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-01-08T20:31:48.638Z,1736368308.638 [lineCaptureHoming:MicromodemComms] Stopped 2025-01-08T20:31:48.638Z,1736368308.638 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-01-08T20:31:48.638Z,1736368308.638 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T20:31:48.638Z,1736368308.638 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T20:31:48.638Z,1736368308.638 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T20:31:48.638Z,1736368308.638 [lineCaptureHoming:LineCapture] Stopped 2025-01-08T20:31:48.638Z,1736368308.638 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture 2025-01-08T20:31:48.638Z,1736368308.638 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped 2025-01-08T20:31:48.638Z,1736368308.638 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-01-08T20:31:48.638Z,1736368308.638 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-01-08T20:31:48.638Z,1736368308.638 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-01-08T20:31:48.639Z,1736368308.639 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-01-08T20:31:48.639Z,1736368308.639 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-01-08T20:31:48.639Z,1736368308.639 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-01-08T20:31:48.639Z,1736368308.639 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-01-08T20:31:48.639Z,1736368308.639 [lineCaptureHoming:LineCapture:G] Stopped 2025-01-08T20:31:48.639Z,1736368308.639 [lineCaptureHoming:LineCapture:H] Stopped 2025-01-08T20:31:48.639Z,1736368308.639 [lineCaptureHoming:LineCapture:HoldMass] Stopped 2025-01-08T20:31:48.639Z,1736368308.639 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass 2025-01-08T20:31:48.639Z,1736368308.639 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped 2025-01-08T20:31:48.639Z,1736368308.639 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped 2025-01-08T20:31:48.639Z,1736368308.639 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize. 2025-01-08T20:31:48.639Z,1736368308.639 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-01-08T20:31:48.640Z,1736368308.640 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T20:31:48.640Z,1736368308.640 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-01-08T20:31:48.640Z,1736368308.640 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-01-08T20:31:48.640Z,1736368308.640 [lineCaptureHoming:LineCapture:HomingSequence] Stopped 2025-01-08T20:31:48.640Z,1736368308.640 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence 2025-01-08T20:31:48.640Z,1736368308.640 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped 2025-01-08T20:31:48.640Z,1736368308.640 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-01-08T20:31:48.640Z,1736368308.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-01-08T20:31:48.640Z,1736368308.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T20:31:48.640Z,1736368308.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-01-08T20:31:48.640Z,1736368308.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T20:31:48.641Z,1736368308.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-01-08T20:31:48.641Z,1736368308.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T20:31:48.641Z,1736368308.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-01-08T20:31:48.641Z,1736368308.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-01-08T20:31:48.641Z,1736368308.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-01-08T20:31:48.641Z,1736368308.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-01-08T20:31:48.641Z,1736368308.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-01-08T20:31:48.641Z,1736368308.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-08T20:31:48.641Z,1736368308.641 [lineCaptureHoming:TrackAC.] Stopped 2025-01-08T20:31:48.641Z,1736368308.641 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact. 2025-01-08T20:31:48.641Z,1736368308.641 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-01-08T20:31:48.642Z,1736368308.642 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T20:31:48.642Z,1736368308.642 [lineCaptureHoming:Lap] Stopped 2025-01-08T20:31:48.642Z,1736368308.642 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap 2025-01-08T20:31:48.642Z,1736368308.642 [lineCaptureHoming:Lap:B] Stopped 2025-01-08T20:31:48.642Z,1736368308.642 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B 2025-01-08T20:31:48.670Z,1736368308.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:48.673Z,1736368308.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514603 2025-01-08T20:31:48.744Z,1736368308.744 [WetLabsBB2FL](INFO): Powering down 2025-01-08T20:31:48.920Z,1736368308.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:48.927Z,1736368308.927 [DAT](INFO): DAT read: 20:31:47.0187 LVL= 24912, 18353, 14610, 26547, AGC= 61, IDX= 434,-0.11,-2.113,-0.365, 0.438,-0.571, PHS=-1.454, 0.252, 1.006, RAW= 252.6, 1.8, CAL= 256.7, 2.9, ROT= 253.3, -2.9 2025-01-08T20:31:48.929Z,1736368308.929 [DAT](INFO): got valid direction response: 20:31:47.0187 LVL= 24912, 18353, 14610, 26547, AGC= 61, IDX= 434,-0.11,-2.113,-0.365, 0.438,-0.571, PHS=-1.454, 0.252, 1.006, RAW= 252.6, 1.8, CAL= 256.7, 2.9, ROT= 253.3, -2.9 2025-01-08T20:31:48.929Z,1736368308.929 [DAT](INFO): DAT read: Bearing 253.3, -2.9 (Local) 2025-01-08T20:31:48.930Z,1736368308.930 [DAT](INFO): Local bearing/azimuth received: Bearing 253.3, -2.9 (Local) 2025-01-08T20:31:48.932Z,1736368308.932 [DAT](INFO): DAT read: Range 10 to 50 : 129.3 m (Round-trip 172.4 ms) speed 0.0 m/s 2025-01-08T20:31:48.932Z,1736368308.932 [DAT](INFO): DAT read: user:1407> 2025-01-08T20:31:48.933Z,1736368308.933 [DAT](INFO): DAT read: Tx time:20:31:48.1421 2025-01-08T20:31:48.933Z,1736368308.933 [DAT](INFO): Ping request sent. 2025-01-08T20:31:48.933Z,1736368308.933 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:48.934Z,1736368308.934 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T20:31:48.935Z,1736368308.935 [DAT](INFO): direction in FSK: [0.019999,-0.392202,-0.919662] 2025-01-08T20:31:48.935Z,1736368308.935 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:48.935Z,1736368308.935 [DAT](INFO): publishing direction and range info 2025-01-08T20:31:48.939Z,1736368308.939 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:48.956Z,1736368308.956 [DAT](INFO): publishing direction and range info 2025-01-08T20:31:49.031Z,1736368309.031 [WetLabsUBAT](INFO): Powering down 2025-01-08T20:31:49.172Z,1736368309.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:49.173Z,1736368309.173 [DAT](INFO): DAT read: TxSync time:20:31:48.1414 2025-01-08T20:31:49.353Z,1736368309.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:49.365Z,1736368309.365 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-01-08T20:31:49.366Z,1736368309.366 [DefaultWithUndock] Running Loop=1 2025-01-08T20:31:49.366Z,1736368309.366 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-01-08T20:31:49.366Z,1736368309.366 [DefaultWithUndock:A.Wait] Running Loop=1 2025-01-08T20:31:49.366Z,1736368309.366 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-01-08T20:31:49.380Z,1736368309.380 [DockingStepper](INFO): Pause 2025-01-08T20:31:49.424Z,1736368309.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:49.676Z,1736368309.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:49.924Z,1736368309.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:49.928Z,1736368309.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:50.180Z,1736368310.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T20:31:50.196Z,1736368310.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:50.356Z,1736368310.356 [CommandExec](IMPORTANT): got command configSet DAT.convertPhaseDataToDirection 0 bool persist 2025-01-08T20:31:50.368Z,1736368310.368 [CommandExec](IMPORTANT): got command configSet LineCapture.openLoopFlyby 0 bool persist 2025-01-08T20:31:50.394Z,1736368310.394 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2025-01-08T20:31:50.394Z,1736368310.394 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl 2025-01-08T20:31:50.395Z,1736368310.395 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl 2025-01-08T20:31:50.396Z,1736368310.396 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl 2025-01-08T20:31:50.689Z,1736368310.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:51.000Z,1736368311.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:51.208Z,1736368311.208 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into: 60 30 NaN NaN 0 0 10 1 20 1 7 1 2025-01-08T20:31:51.213Z,1736368311.213 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min 2025-01-08T20:31:51.215Z,1736368311.215 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min 2025-01-08T20:31:51.217Z,1736368311.217 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg 2025-01-08T20:31:51.239Z,1736368311.239 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg 2025-01-08T20:31:51.241Z,1736368311.241 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m 2025-01-08T20:31:51.254Z,1736368311.254 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m 2025-01-08T20:31:51.257Z,1736368311.257 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m 2025-01-08T20:31:51.259Z,1736368311.259 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s 2025-01-08T20:31:51.261Z,1736368311.261 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m 2025-01-08T20:31:51.263Z,1736368311.263 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km 2025-01-08T20:31:51.265Z,1736368311.265 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m 2025-01-08T20:31:51.268Z,1736368311.268 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool 2025-01-08T20:31:51.270Z,1736368311.270 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool 2025-01-08T20:31:51.270Z,1736368311.270 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-01-08T20:31:51.270Z,1736368311.270 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-01-08T20:31:51.293Z,1736368311.293 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-01-08T20:31:51.407Z,1736368311.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:51.562Z,1736368311.562 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2025-01-08T20:31:51.566Z,1736368311.566 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h 2025-01-08T20:31:51.572Z,1736368311.572 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min 2025-01-08T20:31:51.576Z,1736368311.576 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-01-08T20:31:51.578Z,1736368311.578 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s 2025-01-08T20:31:51.580Z,1736368311.580 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-01-08T20:31:51.582Z,1736368311.582 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s 2025-01-08T20:31:51.606Z,1736368311.606 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min 2025-01-08T20:31:51.634Z,1736368311.634 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min 2025-01-08T20:31:51.666Z,1736368311.666 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-01-08T20:31:51.707Z,1736368311.707 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-01-08T20:31:51.707Z,1736368311.707 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-01-08T20:31:51.708Z,1736368311.708 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-01-08T20:31:51.817Z,1736368311.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:51.844Z,1736368311.844 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2025-01-08T20:31:51.856Z,1736368311.856 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m 2025-01-08T20:31:51.858Z,1736368311.858 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2025-01-08T20:31:51.867Z,1736368311.867 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m 2025-01-08T20:31:51.881Z,1736368311.881 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-01-08T20:31:51.882Z,1736368311.882 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-01-08T20:31:51.909Z,1736368311.909 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-01-08T20:31:51.929Z,1736368311.929 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-01-08T20:31:51.942Z,1736368311.942 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-01-08T20:31:51.943Z,1736368311.943 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-01-08T20:31:51.944Z,1736368311.944 [DAT](INFO): DAT read: Rx Time:20:31:50.7193 2025-01-08T20:31:51.945Z,1736368311.945 [DAT](INFO): Rx dataTimestamp_ set to:1736368311.944663 2025-01-08T20:31:51.946Z,1736368311.946 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-01-08T20:31:51.964Z,1736368311.964 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-01-08T20:31:51.967Z,1736368311.967 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool 2025-01-08T20:31:51.970Z,1736368311.970 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-01-08T20:31:51.972Z,1736368311.972 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-01-08T20:31:51.972Z,1736368311.972 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-01-08T20:31:51.973Z,1736368311.973 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-01-08T20:31:51.000Z,1736368312.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:31:52.097Z,1736368312.097 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-01-08T20:31:52.103Z,1736368312.103 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool 2025-01-08T20:31:52.105Z,1736368312.105 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool 2025-01-08T20:31:52.106Z,1736368312.106 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool 2025-01-08T20:31:52.108Z,1736368312.108 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool 2025-01-08T20:31:52.111Z,1736368312.111 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool 2025-01-08T20:31:52.117Z,1736368312.117 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-01-08T20:31:52.119Z,1736368312.119 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy. 2025-01-08T20:31:52.122Z,1736368312.122 [transit:MassHold.Pitch](DEBUG): Construct. 2025-01-08T20:31:52.128Z,1736368312.128 [transit:Transit:A.Pitch](DEBUG): Construct. 2025-01-08T20:31:52.156Z,1736368312.156 [transit:Transit:B.SetSpeed](DEBUG): Construct. 2025-01-08T20:31:52.158Z,1736368312.158 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint. 2025-01-08T20:31:52.225Z,1736368312.225 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission transit { """ Vehicle transits to desired waypoint and can be commanded to use/hold mass or buoyancy. """ arguments { MissionTimeout = 60 minute """ Maximum duration of mission """ NeedCommsTime = 30 minute """ How often to surface for commumications """ Latitude = NaN degree """ Latitude of waypoint to seek. If set to NaN, uses latitude at mission initialization. """ Longitude = NaN degree """ Longitude of waypoint to seek. If set to NaN, uses longitude at mission initialization. """ Northings = 0 meter """ Northward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """ Eastings = 0 meter """ Eastward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """ Depth = 10 meter """ Depth of flat and level flight during the mission. """ Speed = 1 meter_per_second """ Speed of vehicle (relative to water) during the mission. """ MaxDepth = 20 meter """ Maximum depth for the entire mission. """ MinOffshore = 1 kilometer """ Minimum distance offshore for the entire mission. """ MinAltitude = 7 meter """ Minimum height above the sea floor for the entire mission. """ MassHold = true """ Set to True in order to hold mass at default position, False to allow mass to run on its own. """ BuoyancyHold = true """ Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own. """ } timeout duration=MissionTimeout insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime assign in sequence NeedComms:WaitForPitchUp = 1 second insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl behavior Guidance:Buoyancy id="BuoyancyHold" { run while ( BuoyancyHold ) set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch id="MassHold" { run while ( MassHold ) set massPosition = Control:VerticalControl.massDefault } aggregate Transit { run in sequence behavior Guidance:Pitch { run in parallel set depth = Depth } behavior Guidance:SetSpeed { run in parallel set speed = Speed } behavior Guidance:Waypoint id="Wpt1" { run in sequence set latitude = Latitude set longitude = Longitude set northingsDelta = Northings set eastingsDelta = Eastings } call id="PhoneHome" refId="NeedComms" } } 2025-01-08T20:31:52.225Z,1736368312.225 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit 2025-01-08T20:31:52.229Z,1736368312.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:52.454Z,1736368312.454 [DAT](INFO): DAT read: 20:31:50.7193 LVL= 19952, 15649, 13138, 22467, AGC= 57, IDX= 440, 0.16, 2.523,-1.843,-1.215,-2.125, PHS=-1.547, 0.329, 0.907, RAW= 257.0, 2.8, CAL= 261.3, 4.2, ROT= 248.7, -4.2 2025-01-08T20:31:52.455Z,1736368312.455 [DAT](INFO): got valid direction response: 20:31:50.7193 LVL= 19952, 15649, 13138, 22467, AGC= 57, IDX= 440, 0.16, 2.523,-1.843,-1.215,-2.125, PHS=-1.547, 0.329, 0.907, RAW= 257.0, 2.8, CAL= 261.3, 4.2, ROT= 248.7, -4.2 2025-01-08T20:31:52.456Z,1736368312.456 [DAT](INFO): DAT read: Bearing 248.7, -4.2 (Local) 2025-01-08T20:31:52.457Z,1736368312.457 [DAT](INFO): Local bearing/azimuth received: Bearing 248.7, -4.2 (Local) 2025-01-08T20:31:52.458Z,1736368312.458 [DAT](INFO): DAT read: Range 10 to 50 : 129.7 m (Round-trip 173.0 ms) speed -0.1 m/s 2025-01-08T20:31:52.459Z,1736368312.459 [DAT](INFO): DAT read: user:1408> 2025-01-08T20:31:52.460Z,1736368312.460 [DAT](INFO): DAT read: Tx time:20:31:51.8421 2025-01-08T20:31:52.460Z,1736368312.460 [DAT](INFO): Ping request sent. 2025-01-08T20:31:52.460Z,1736368312.460 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:52.460Z,1736368312.460 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-01-08T20:31:52.461Z,1736368312.461 [DAT](INFO): direction in FSK: [-0.362276,-0.929189,0.073238] 2025-01-08T20:31:52.462Z,1736368312.462 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:52.462Z,1736368312.462 [DAT](INFO): publishing direction and range info 2025-01-08T20:31:52.469Z,1736368312.469 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:52.469Z,1736368312.469 [DAT](INFO): publishing direction and range info 2025-01-08T20:31:52.702Z,1736368312.702 [DAT](INFO): DAT read: TxSync time:20:31:51.8414 2025-01-08T20:31:52.790Z,1736368312.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:53.003Z,1736368313.003 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:31:53.024Z,1736368313.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:53.431Z,1736368313.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:53.860Z,1736368313.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:54.241Z,1736368314.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:54.689Z,1736368314.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:55.096Z,1736368315.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:55.480Z,1736368315.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:55.724Z,1736368315.724 [DAT](INFO): DAT read: Rx Time:20:31:54.4203 2025-01-08T20:31:55.725Z,1736368315.725 [DAT](INFO): Rx dataTimestamp_ set to:1736368315.724557 2025-01-08T20:31:55.884Z,1736368315.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:56.229Z,1736368316.229 [DAT](INFO): DAT read: Range 10 to 50 : 130.4 m (Round-trip 173.9 ms) speed 0.0 m/s 2025-01-08T20:31:56.230Z,1736368316.230 [DAT](INFO): DAT read: user:1409> 2025-01-08T20:31:56.231Z,1736368316.231 [DAT](INFO): DAT read: Tx time:20:31:55.4922 2025-01-08T20:31:56.231Z,1736368316.231 [DAT](INFO): Ping request sent. 2025-01-08T20:31:56.231Z,1736368316.231 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:31:56.232Z,1736368316.232 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-01-08T20:31:56.232Z,1736368316.232 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:56.232Z,1736368316.232 [DAT](INFO): publishing transmit ping time 2025-01-08T20:31:56.311Z,1736368316.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:56.480Z,1736368316.480 [DAT](INFO): DAT read: TxSync time:20:31:55.4915 2025-01-08T20:31:56.720Z,1736368316.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:57.089Z,1736368317.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:57.468Z,1736368317.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:57.918Z,1736368317.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:58.274Z,1736368318.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:58.678Z,1736368318.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:59.097Z,1736368319.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:59.252Z,1736368319.252 [DAT](INFO): DAT read: Rx Time:20:31:58.0708 2025-01-08T20:31:59.253Z,1736368319.253 [DAT](INFO): Rx dataTimestamp_ set to:1736368319.252502 2025-01-08T20:31:59.507Z,1736368319.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:31:59.764Z,1736368319.764 [DAT](INFO): DAT read: Range 10 to 50 : 130.8 m (Round-trip 174.4 ms) speed 0.1 m/s 2025-01-08T20:31:59.766Z,1736368319.766 [DAT](INFO): DAT read: user:1410> 2025-01-08T20:31:59.768Z,1736368319.768 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-01-08T20:31:59.917Z,1736368319.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:00.008Z,1736368320.008 [DAT](INFO): DAT read: Tx time:20:31:59.1922 2025-01-08T20:32:00.009Z,1736368320.009 [DAT](INFO): Ping request sent. 2025-01-08T20:32:00.009Z,1736368320.009 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:00.009Z,1736368320.009 [DAT](INFO): DAT read: TxSync time:20:31:59.1915 2025-01-08T20:32:00.010Z,1736368320.010 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:00.295Z,1736368320.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:00.702Z,1736368320.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:01.126Z,1736368321.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:01.504Z,1736368321.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:01.954Z,1736368321.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:02.320Z,1736368322.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:02.735Z,1736368322.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:03.036Z,1736368323.036 [DAT](INFO): DAT read: Rx Time:20:32:01.7713 2025-01-08T20:32:03.037Z,1736368323.037 [DAT](INFO): Rx dataTimestamp_ set to:1736368323.036523 2025-01-08T20:32:03.149Z,1736368323.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:03.321Z,1736368323.321 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 1 hour 2025-01-08T20:32:03.322Z,1736368323.322 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 60 minute 2025-01-08T20:32:03.323Z,1736368323.323 [CommandExec](IMPORTANT): got command set transit.Latitude 36.903 degree 2025-01-08T20:32:03.324Z,1736368323.324 [CommandExec](IMPORTANT): got command set transit.Longitude -122.113 degree 2025-01-08T20:32:03.324Z,1736368323.324 [CommandExec](IMPORTANT): got command run 2025-01-08T20:32:03.326Z,1736368323.326 [CommandExec](IMPORTANT): Running 2025-01-08T20:32:03.524Z,1736368323.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:03.528Z,1736368323.528 [DefaultWithUndock] Stopped 2025-01-08T20:32:03.528Z,1736368323.528 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-01-08T20:32:03.529Z,1736368323.529 [DefaultWithUndock:A.Wait] Stopped 2025-01-08T20:32:03.529Z,1736368323.529 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-01-08T20:32:03.529Z,1736368323.529 [MissionManager](IMPORTANT): Started mission transit 2025-01-08T20:32:03.529Z,1736368323.529 [transit] Running Loop=1 2025-01-08T20:32:03.529Z,1736368323.529 [transit](DEBUG): Aggregate::initialize transit 2025-01-08T20:32:03.529Z,1736368323.529 [transit:StandardEnvelopes] Running Loop=1 2025-01-08T20:32:03.529Z,1736368323.529 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes 2025-01-08T20:32:03.529Z,1736368323.529 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-01-08T20:32:03.529Z,1736368323.529 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-01-08T20:32:03.530Z,1736368323.530 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-01-08T20:32:03.530Z,1736368323.530 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-01-08T20:32:03.530Z,1736368323.530 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-01-08T20:32:03.530Z,1736368323.530 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-01-08T20:32:03.530Z,1736368323.530 [transit:BackseatDriver] Running Loop=1 2025-01-08T20:32:03.530Z,1736368323.530 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver 2025-01-08T20:32:03.530Z,1736368323.530 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-01-08T20:32:03.530Z,1736368323.530 [transit:PowerOnly] Running Loop=1 2025-01-08T20:32:03.531Z,1736368323.531 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly 2025-01-08T20:32:03.531Z,1736368323.531 [transit:PowerOnly:A] Running Loop=1 2025-01-08T20:32:03.531Z,1736368323.531 [transit:PowerOnly:B] Running Loop=1 2025-01-08T20:32:03.531Z,1736368323.531 [transit:PowerOnly:C] Running Loop=1 2025-01-08T20:32:03.531Z,1736368323.531 [transit:PowerOnly:D] Running Loop=1 2025-01-08T20:32:03.531Z,1736368323.531 [transit:PowerOnly:E.Wait] Running Loop=1 2025-01-08T20:32:03.532Z,1736368323.532 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-01-08T20:32:03.532Z,1736368323.532 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2025-01-08T20:32:03.532Z,1736368323.532 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-01-08T20:32:03.532Z,1736368323.532 [transit:MassHold.Pitch] Running Loop=1 2025-01-08T20:32:03.532Z,1736368323.532 [transit:MassHold.Pitch](DEBUG): Initialize. 2025-01-08T20:32:03.532Z,1736368323.532 [transit:B] Running Loop=1 2025-01-08T20:32:03.533Z,1736368323.533 [transit:MassHold.Pitch] Running Loop=1 2025-01-08T20:32:03.533Z,1736368323.533 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2025-01-08T20:32:03.533Z,1736368323.533 [transit:PowerOnly] Running Loop=1 2025-01-08T20:32:03.534Z,1736368323.534 [transit:PowerOnly:D] Stopped 2025-01-08T20:32:03.534Z,1736368323.534 [transit:PowerOnly:C] Stopped 2025-01-08T20:32:03.534Z,1736368323.534 [transit:PowerOnly:B] Stopped 2025-01-08T20:32:03.534Z,1736368323.534 [transit:PowerOnly:A] Stopped 2025-01-08T20:32:03.534Z,1736368323.534 [transit:BackseatDriver] Running Loop=1 2025-01-08T20:32:03.534Z,1736368323.534 [transit:StandardEnvelopes] Running Loop=1 2025-01-08T20:32:03.534Z,1736368323.534 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-01-08T20:32:03.535Z,1736368323.535 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-01-08T20:32:03.535Z,1736368323.535 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-01-08T20:32:03.536Z,1736368323.536 [transit:B] Stopped 2025-01-08T20:32:03.536Z,1736368323.536 [transit:C] Running Loop=1 2025-01-08T20:32:03.541Z,1736368323.541 [DAT](INFO): DAT read: Range 10 to 50 : 131.2 m (Round-trip 175.0 ms) speed 0.0 m/s 2025-01-08T20:32:03.542Z,1736368323.542 [DAT](INFO): DAT read: user:1411> 2025-01-08T20:32:03.543Z,1736368323.543 [DAT](INFO): DAT read: Tx time:20:32:02.8922 2025-01-08T20:32:03.543Z,1736368323.543 [DAT](INFO): Ping request sent. 2025-01-08T20:32:03.543Z,1736368323.543 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:03.544Z,1736368323.544 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-01-08T20:32:03.544Z,1736368323.544 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:03.544Z,1736368323.544 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:03.795Z,1736368323.795 [DAT](INFO): DAT read: TxSync time:20:32:02.8915 2025-01-08T20:32:03.942Z,1736368323.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:03.950Z,1736368323.950 [transit:C] Stopped 2025-01-08T20:32:03.950Z,1736368323.950 [transit:E] Running Loop=1 2025-01-08T20:32:04.328Z,1736368324.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:04.334Z,1736368324.334 [transit:E] Stopped 2025-01-08T20:32:04.334Z,1736368324.334 [transit:F] Running Loop=1 2025-01-08T20:32:04.726Z,1736368324.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:04.732Z,1736368324.732 [transit:F] Stopped 2025-01-08T20:32:04.732Z,1736368324.732 [transit:G] Running Loop=1 2025-01-08T20:32:05.153Z,1736368325.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:05.159Z,1736368325.159 [transit:G] Stopped 2025-01-08T20:32:05.159Z,1736368325.159 [transit:Transit] Running Loop=1 2025-01-08T20:32:05.160Z,1736368325.160 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit 2025-01-08T20:32:05.160Z,1736368325.160 [transit:Transit:A.Pitch] Running Loop=1 2025-01-08T20:32:05.160Z,1736368325.160 [transit:Transit:A.Pitch](DEBUG): Initialize. 2025-01-08T20:32:05.160Z,1736368325.160 [transit:Transit:B.SetSpeed] Running Loop=1 2025-01-08T20:32:05.160Z,1736368325.160 [transit:Transit:B.SetSpeed](DEBUG): Initialize. 2025-01-08T20:32:05.160Z,1736368325.160 [transit:Transit:Wpt1.Waypoint] Running Loop=1 2025-01-08T20:32:05.160Z,1736368325.160 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent. 2025-01-08T20:32:05.161Z,1736368325.161 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.903000,-122.112999 2025-01-08T20:32:05.552Z,1736368325.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:05.559Z,1736368325.559 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.903000,-122.112999 2025-01-08T20:32:05.560Z,1736368325.560 [transit:Transit:B.SetSpeed] Running Loop=1 2025-01-08T20:32:05.560Z,1736368325.560 [transit:Transit:A.Pitch] Running Loop=1 2025-01-08T20:32:05.568Z,1736368325.568 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-01-08T20:32:05.568Z,1736368325.568 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-01-08T20:32:05.975Z,1736368325.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:06.343Z,1736368326.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:06.765Z,1736368326.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:06.820Z,1736368326.820 [DAT](INFO): DAT read: Rx Time:20:32:05.4720 2025-01-08T20:32:06.822Z,1736368326.822 [DAT](INFO): Rx dataTimestamp_ set to:1736368326.820805 2025-01-08T20:32:07.192Z,1736368327.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:07.322Z,1736368327.322 [DAT](INFO): DAT read: Range 10 to 50 : 131.6 m (Round-trip 175.5 ms) speed -0.1 m/s 2025-01-08T20:32:07.324Z,1736368327.324 [DAT](INFO): DAT read: user:1412> 2025-01-08T20:32:07.325Z,1736368327.325 [DAT](INFO): DAT read: Tx time:20:32:06.5922 2025-01-08T20:32:07.325Z,1736368327.325 [DAT](INFO): Ping request sent. 2025-01-08T20:32:07.325Z,1736368327.325 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:07.326Z,1736368327.326 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-08T20:32:07.326Z,1736368327.326 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:07.327Z,1736368327.327 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:07.559Z,1736368327.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:07.572Z,1736368327.572 [DAT](INFO): DAT read: TxSync time:20:32:06.5915 2025-01-08T20:32:07.977Z,1736368327.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:08.368Z,1736368328.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:08.768Z,1736368328.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:09.207Z,1736368329.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:09.592Z,1736368329.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:10.005Z,1736368330.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:10.346Z,1736368330.346 [DAT](INFO): DAT read: Rx Time:20:32:09.1723 2025-01-08T20:32:10.346Z,1736368330.346 [DAT](INFO): Rx dataTimestamp_ set to:1736368330.345916 2025-01-08T20:32:10.382Z,1736368330.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:10.786Z,1736368330.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:11.107Z,1736368331.107 [DAT](INFO): DAT read: 20:32:09.1723 LVL= 24816, 19025, 15474, 25683, AGC= 62, IDX= 421, 0.02, 1.113, 3.074,-2.681, 2.739, PHS=-1.538, 0.381, 0.859, RAW= 259.1, 2.7, CAL= 263.1, 4.0, ROT= 246.9, -4.0 2025-01-08T20:32:11.109Z,1736368331.109 [DAT](INFO): got valid direction response: 20:32:09.1723 LVL= 24816, 19025, 15474, 25683, AGC= 62, IDX= 421, 0.02, 1.113, 3.074,-2.681, 2.739, PHS=-1.538, 0.381, 0.859, RAW= 259.1, 2.7, CAL= 263.1, 4.0, ROT= 246.9, -4.0 2025-01-08T20:32:11.111Z,1736368331.111 [DAT](INFO): DAT read: Bearing 246.9, -4.0 (Local) 2025-01-08T20:32:11.111Z,1736368331.111 [DAT](INFO): Local bearing/azimuth received: Bearing 246.9, -4.0 (Local) 2025-01-08T20:32:11.114Z,1736368331.114 [DAT](INFO): DAT read: Range 10 to 50 : 131.8 m (Round-trip 175.8 ms) speed -0.2 m/s 2025-01-08T20:32:11.115Z,1736368331.115 [DAT](INFO): DAT read: user:1413> 2025-01-08T20:32:11.120Z,1736368331.120 [DAT](INFO): DAT read: Tx time:20:32:10.2923 2025-01-08T20:32:11.121Z,1736368331.121 [DAT](INFO): Ping request sent. 2025-01-08T20:32:11.121Z,1736368331.121 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:11.122Z,1736368331.122 [DAT](INFO): DAT read: TxSync time:20:32:10.2916 2025-01-08T20:32:11.122Z,1736368331.122 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-01-08T20:32:11.152Z,1736368331.152 [DAT](INFO): direction in FSK: [-0.391381,-0.917581,0.069756] 2025-01-08T20:32:11.152Z,1736368331.152 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:11.152Z,1736368331.152 [DAT](INFO): publishing direction and range info 2025-01-08T20:32:11.164Z,1736368331.164 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:11.164Z,1736368331.164 [DAT](INFO): publishing direction and range info 2025-01-08T20:32:11.250Z,1736368331.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:11.629Z,1736368331.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:12.053Z,1736368332.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:12.430Z,1736368332.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:12.851Z,1736368332.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:13.258Z,1736368333.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:13.649Z,1736368333.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:14.078Z,1736368334.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:14.129Z,1736368334.129 [DAT](INFO): DAT read: Rx Time:20:32:12.8728 2025-01-08T20:32:14.130Z,1736368334.130 [DAT](INFO): Rx dataTimestamp_ set to:1736368334.129337 2025-01-08T20:32:14.456Z,1736368334.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:14.639Z,1736368334.639 [DAT](INFO): DAT read: 20:32:12.8728 LVL= 20720, 18241, 13170, 25251, AGC= 61, IDX= 425, 0.47,-3.048,-1.613,-0.369,-1.631, PHS=-1.329, 0.065, 1.259, RAW= 242.6, 0.0, CAL= 245.5, 0.5, ROT= 264.5, -0.5 2025-01-08T20:32:14.640Z,1736368334.640 [DAT](INFO): got valid direction response: 20:32:12.8728 LVL= 20720, 18241, 13170, 25251, AGC= 61, IDX= 425, 0.47,-3.048,-1.613,-0.369,-1.631, PHS=-1.329, 0.065, 1.259, RAW= 242.6, 0.0, CAL= 245.5, 0.5, ROT= 264.5, -0.5 2025-01-08T20:32:14.642Z,1736368334.642 [DAT](INFO): DAT read: Bearing 264.5, -0.5 (Local) 2025-01-08T20:32:14.642Z,1736368334.642 [DAT](INFO): Local bearing/azimuth received: Bearing 264.5, -0.5 (Local) 2025-01-08T20:32:14.645Z,1736368334.645 [DAT](INFO): DAT read: Range 10 to 50 : 132.2 m (Round-trip 176.3 ms) speed 0.0 m/s 2025-01-08T20:32:14.647Z,1736368334.647 [DAT](INFO): DAT read: user:1414> 2025-01-08T20:32:14.648Z,1736368334.648 [DAT](INFO): DAT read: Tx time:20:32:13.9923 2025-01-08T20:32:14.648Z,1736368334.648 [DAT](INFO): Ping request sent. 2025-01-08T20:32:14.649Z,1736368334.649 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:14.649Z,1736368334.649 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-01-08T20:32:14.650Z,1736368334.650 [DAT](INFO): direction in FSK: [-0.095842,-0.995358,0.008727] 2025-01-08T20:32:14.651Z,1736368334.651 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:14.651Z,1736368334.651 [DAT](INFO): publishing direction and range info 2025-01-08T20:32:14.654Z,1736368334.654 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:14.654Z,1736368334.654 [DAT](INFO): publishing direction and range info 2025-01-08T20:32:14.862Z,1736368334.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:14.884Z,1736368334.884 [DAT](INFO): DAT read: TxSync time:20:32:13.9916 2025-01-08T20:32:15.292Z,1736368335.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:15.663Z,1736368335.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:16.090Z,1736368336.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:16.470Z,1736368336.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:16.874Z,1736368336.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:17.298Z,1736368337.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:17.688Z,1736368337.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:17.908Z,1736368337.908 [DAT](INFO): DAT read: Rx Time:20:32:16.5732 2025-01-08T20:32:17.909Z,1736368337.909 [DAT](INFO): Rx dataTimestamp_ set to:1736368337.908447 2025-01-08T20:32:18.119Z,1736368338.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:18.418Z,1736368338.418 [DAT](INFO): DAT read: 20:32:16.5732 LVL= 28000, 26001, 10210, 32755, AGC= 61, IDX= 446, 0.04, 1.581, 2.687,-2.135, 2.839, PHS=-1.171,-0.105, 1.306, RAW= 235.4, -0.3, CAL= 237.5, -1.3, ROT= 272.5, 1.3 2025-01-08T20:32:18.420Z,1736368338.420 [DAT](INFO): got valid direction response: 20:32:16.5732 LVL= 28000, 26001, 10210, 32755, AGC= 61, IDX= 446, 0.04, 1.581, 2.687,-2.135, 2.839, PHS=-1.171,-0.105, 1.306, RAW= 235.4, -0.3, CAL= 237.5, -1.3, ROT= 272.5, 1.3 2025-01-08T20:32:18.421Z,1736368338.421 [DAT](INFO): DAT read: Bearing 272.5, 1.3 (Local) 2025-01-08T20:32:18.421Z,1736368338.421 [DAT](INFO): Local bearing/azimuth received: Bearing 272.5, 1.3 (Local) 2025-01-08T20:32:18.423Z,1736368338.423 [DAT](INFO): DAT read: Range 10 to 50 : 132.5 m (Round-trip 176.7 ms) speed 0.2 m/s 2025-01-08T20:32:18.424Z,1736368338.424 [DAT](INFO): DAT read: user:1415> 2025-01-08T20:32:18.424Z,1736368338.424 [DAT](INFO): DAT read: Tx time:20:32:17.6923 2025-01-08T20:32:18.425Z,1736368338.425 [DAT](INFO): Ping request sent. 2025-01-08T20:32:18.425Z,1736368338.425 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:18.425Z,1736368338.425 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-01-08T20:32:18.426Z,1736368338.426 [DAT](INFO): direction in FSK: [0.043608,-0.998791,-0.022687] 2025-01-08T20:32:18.426Z,1736368338.426 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:18.427Z,1736368338.427 [DAT](INFO): publishing direction and range info 2025-01-08T20:32:18.434Z,1736368338.434 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:18.434Z,1736368338.434 [DAT](INFO): publishing direction and range info 2025-01-08T20:32:18.539Z,1736368338.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:18.664Z,1736368338.664 [DAT](INFO): DAT read: TxSync time:20:32:17.6916 2025-01-08T20:32:18.947Z,1736368338.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:19.369Z,1736368339.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:19.742Z,1736368339.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:20.169Z,1736368340.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:20.573Z,1736368340.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:20.976Z,1736368340.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:21.414Z,1736368341.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:21.436Z,1736368341.436 [DAT](INFO): DAT read: Rx Time:20:32:20.2731 2025-01-08T20:32:21.437Z,1736368341.437 [DAT](INFO): Rx dataTimestamp_ set to:1736368341.436578 2025-01-08T20:32:21.814Z,1736368341.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:21.942Z,1736368341.942 [DAT](INFO): DAT read: Range 10 to 50 : 132.3 m (Round-trip 176.5 ms) speed 0.0 m/s 2025-01-08T20:32:21.943Z,1736368341.943 [DAT](INFO): DAT read: user:1416> 2025-01-08T20:32:21.943Z,1736368341.943 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-01-08T20:32:22.192Z,1736368342.192 [DAT](INFO): DAT read: Tx time:20:32:21.3924 2025-01-08T20:32:22.193Z,1736368342.193 [DAT](INFO): Ping request sent. 2025-01-08T20:32:22.193Z,1736368342.193 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:22.194Z,1736368342.194 [DAT](INFO): DAT read: TxSync time:20:32:21.3916 2025-01-08T20:32:22.194Z,1736368342.194 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:22.286Z,1736368342.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:22.673Z,1736368342.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:23.124Z,1736368343.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:32:23.138Z,1736368343.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:23.485Z,1736368343.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:23.878Z,1736368343.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:24.129Z,1736368344.129 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:32:24.302Z,1736368344.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:24.692Z,1736368344.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:25.145Z,1736368345.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:25.216Z,1736368345.216 [DAT](INFO): DAT read: Rx Time:20:32:23.9725 2025-01-08T20:32:25.217Z,1736368345.217 [DAT](INFO): Rx dataTimestamp_ set to:1736368345.216548 2025-01-08T20:32:25.519Z,1736368345.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:25.721Z,1736368345.721 [DAT](INFO): DAT read: Range 10 to 50 : 131.9 m (Round-trip 175.9 ms) speed 0.1 m/s 2025-01-08T20:32:25.722Z,1736368345.722 [DAT](INFO): DAT read: user:1417> 2025-01-08T20:32:25.723Z,1736368345.723 [DAT](INFO): DAT read: Tx time:20:32:25.0924 2025-01-08T20:32:25.723Z,1736368345.723 [DAT](INFO): Ping request sent. 2025-01-08T20:32:25.723Z,1736368345.723 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:25.724Z,1736368345.724 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-01-08T20:32:25.724Z,1736368345.724 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:25.724Z,1736368345.724 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:25.903Z,1736368345.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:25.974Z,1736368345.974 [DAT](INFO): DAT read: TxSync time:20:32:25.0916 2025-01-08T20:32:26.318Z,1736368346.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:26.718Z,1736368346.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:27.165Z,1736368347.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:27.533Z,1736368347.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:27.916Z,1736368347.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:28.347Z,1736368348.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:28.727Z,1736368348.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:29.000Z,1736368349.000 [DAT](INFO): DAT read: Rx Time:20:32:27.6717 2025-01-08T20:32:29.001Z,1736368349.001 [DAT](INFO): Rx dataTimestamp_ set to:1736368349.000470 2025-01-08T20:32:29.144Z,1736368349.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:29.505Z,1736368349.505 [DAT](INFO): DAT read: Range 10 to 50 : 131.3 m (Round-trip 175.1 ms) speed 0.0 m/s 2025-01-08T20:32:29.506Z,1736368349.506 [DAT](INFO): DAT read: user:1418> 2025-01-08T20:32:29.507Z,1736368349.507 [DAT](INFO): DAT read: Tx time:20:32:28.7924 2025-01-08T20:32:29.511Z,1736368349.511 [DAT](INFO): Ping request sent. 2025-01-08T20:32:29.511Z,1736368349.511 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:29.512Z,1736368349.512 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-01-08T20:32:29.512Z,1736368349.512 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:29.512Z,1736368349.512 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:29.581Z,1736368349.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:29.758Z,1736368349.758 [DAT](INFO): DAT read: TxSync time:20:32:28.7916 2025-01-08T20:32:29.940Z,1736368349.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:30.391Z,1736368350.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:30.744Z,1736368350.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:31.150Z,1736368351.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:31.569Z,1736368351.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:31.956Z,1736368351.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:32.382Z,1736368352.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:32.528Z,1736368352.528 [DAT](INFO): DAT read: Rx Time:20:32:31.3713 2025-01-08T20:32:32.529Z,1736368352.529 [DAT](INFO): Rx dataTimestamp_ set to:1736368352.528488 2025-01-08T20:32:32.769Z,1736368352.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:33.037Z,1736368353.037 [DAT](INFO): DAT read: Range 10 to 50 : 131.1 m (Round-trip 174.8 ms) speed 0.0 m/s 2025-01-08T20:32:33.038Z,1736368353.038 [DAT](INFO): DAT read: user:1419> 2025-01-08T20:32:33.038Z,1736368353.038 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-01-08T20:32:33.176Z,1736368353.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:33.293Z,1736368353.293 [DAT](INFO): DAT read: Tx time:20:32:32.4925 2025-01-08T20:32:33.293Z,1736368353.293 [DAT](INFO): Ping request sent. 2025-01-08T20:32:33.293Z,1736368353.293 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:33.294Z,1736368353.294 [DAT](INFO): DAT read: TxSync time:20:32:32.4917 2025-01-08T20:32:33.294Z,1736368353.294 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:33.601Z,1736368353.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:33.992Z,1736368353.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:34.402Z,1736368354.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:34.784Z,1736368354.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:35.191Z,1736368355.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:35.636Z,1736368355.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:36.013Z,1736368356.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:36.318Z,1736368356.318 [DAT](INFO): DAT read: Rx Time:20:32:35.0711 2025-01-08T20:32:36.318Z,1736368356.318 [DAT](INFO): Rx dataTimestamp_ set to:1736368356.317921 2025-01-08T20:32:36.437Z,1736368356.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:36.818Z,1736368356.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:36.821Z,1736368356.821 [DAT](INFO): DAT read: Range 10 to 50 : 130.8 m (Round-trip 174.5 ms) speed 0.1 m/s 2025-01-08T20:32:36.822Z,1736368356.822 [DAT](INFO): DAT read: user:1420> 2025-01-08T20:32:36.823Z,1736368356.823 [DAT](INFO): DAT read: Tx time:20:32:36.1925 2025-01-08T20:32:36.823Z,1736368356.823 [DAT](INFO): Ping request sent. 2025-01-08T20:32:36.823Z,1736368356.823 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:36.824Z,1736368356.824 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-01-08T20:32:36.824Z,1736368356.824 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:36.824Z,1736368356.824 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:37.072Z,1736368357.072 [DAT](INFO): DAT read: TxSync time:20:32:36.1917 2025-01-08T20:32:37.222Z,1736368357.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:37.663Z,1736368357.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:38.037Z,1736368358.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:38.462Z,1736368358.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:38.843Z,1736368358.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:39.249Z,1736368359.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:39.674Z,1736368359.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:40.050Z,1736368360.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:40.109Z,1736368360.109 [DAT](INFO): DAT read: Rx Time:20:32:38.7709 2025-01-08T20:32:40.109Z,1736368360.109 [DAT](INFO): Rx dataTimestamp_ set to:1736368360.108798 2025-01-08T20:32:40.464Z,1736368360.464 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, 8,A 2025-01-08T20:32:40.471Z,1736368360.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:32:40.471Z,1736368360.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:40.613Z,1736368360.613 [DAT](INFO): DAT read: Range 10 to 50 : 130.7 m (Round-trip 174.3 ms) speed 0.1 m/s 2025-01-08T20:32:40.614Z,1736368360.614 [DAT](INFO): DAT read: user:1421> 2025-01-08T20:32:40.615Z,1736368360.615 [DAT](INFO): DAT read: Tx time:20:32:39.8925 2025-01-08T20:32:40.616Z,1736368360.616 [DAT](INFO): Ping request sent. 2025-01-08T20:32:40.616Z,1736368360.616 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:40.616Z,1736368360.616 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-01-08T20:32:40.616Z,1736368360.616 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:40.617Z,1736368360.617 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:40.865Z,1736368360.865 [DAT](INFO): DAT read: TxSync time:20:32:39.8917 2025-01-08T20:32:40.879Z,1736368360.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:32:40.879Z,1736368360.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:41.277Z,1736368361.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:32:41.277Z,1736368361.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:41.710Z,1736368361.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:42.079Z,1736368362.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:42.498Z,1736368362.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:42.884Z,1736368362.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:43.282Z,1736368363.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:43.636Z,1736368363.636 [DAT](INFO): DAT read: Rx Time:20:32:42.4709 2025-01-08T20:32:43.637Z,1736368363.637 [DAT](INFO): Rx dataTimestamp_ set to:1736368363.636414 2025-01-08T20:32:43.717Z,1736368363.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:44.115Z,1736368364.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:44.149Z,1736368364.149 [DAT](INFO): DAT read: Range 10 to 50 : 130.7 m (Round-trip 174.3 ms) speed -0.2 m/s 2025-01-08T20:32:44.150Z,1736368364.150 [DAT](INFO): DAT read: user:1422> 2025-01-08T20:32:44.150Z,1736368364.150 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-01-08T20:32:44.405Z,1736368364.405 [DAT](INFO): DAT read: Tx time:20:32:43.5925 2025-01-08T20:32:44.406Z,1736368364.406 [DAT](INFO): Ping request sent. 2025-01-08T20:32:44.406Z,1736368364.406 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:44.408Z,1736368364.408 [DAT](INFO): DAT read: TxSync time:20:32:43.5917 2025-01-08T20:32:44.410Z,1736368364.410 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:44.535Z,1736368364.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:44.912Z,1736368364.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:45.320Z,1736368365.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:45.746Z,1736368365.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:46.122Z,1736368366.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:46.564Z,1736368366.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:46.932Z,1736368366.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:47.344Z,1736368367.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:47.428Z,1736368367.428 [DAT](INFO): DAT read: Rx Time:20:32:46.1718 2025-01-08T20:32:47.429Z,1736368367.429 [DAT](INFO): Rx dataTimestamp_ set to:1736368367.428327 2025-01-08T20:32:47.772Z,1736368367.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:47.929Z,1736368367.929 [DAT](INFO): DAT read: Range 10 to 50 : 131.2 m (Round-trip 175.0 ms) speed 0.0 m/s 2025-01-08T20:32:47.930Z,1736368367.930 [DAT](INFO): DAT read: user:1423> 2025-01-08T20:32:47.931Z,1736368367.931 [DAT](INFO): DAT read: Tx time:20:32:47.2926 2025-01-08T20:32:47.931Z,1736368367.931 [DAT](INFO): Ping request sent. 2025-01-08T20:32:47.931Z,1736368367.931 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:47.932Z,1736368367.932 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-01-08T20:32:47.932Z,1736368367.932 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:47.932Z,1736368367.932 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:48.147Z,1736368368.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:48.180Z,1736368368.180 [DAT](INFO): DAT read: TxSync time:20:32:47.2918 2025-01-08T20:32:48.569Z,1736368368.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:48.955Z,1736368368.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:49.359Z,1736368369.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:49.777Z,1736368369.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:50.172Z,1736368370.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:50.598Z,1736368370.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:50.972Z,1736368370.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:51.204Z,1736368371.204 [DAT](INFO): DAT read: Rx Time:20:32:49.8727 2025-01-08T20:32:51.205Z,1736368371.205 [DAT](INFO): Rx dataTimestamp_ set to:1736368371.204449 2025-01-08T20:32:51.379Z,1736368371.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:51.709Z,1736368371.709 [DAT](INFO): DAT read: Range 10 to 50 : 131.9 m (Round-trip 175.9 ms) speed 0.0 m/s 2025-01-08T20:32:51.710Z,1736368371.710 [DAT](INFO): DAT read: user:1424> 2025-01-08T20:32:51.711Z,1736368371.711 [DAT](INFO): DAT read: Tx time:20:32:50.9926 2025-01-08T20:32:51.711Z,1736368371.711 [DAT](INFO): Ping request sent. 2025-01-08T20:32:51.711Z,1736368371.711 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:51.712Z,1736368371.712 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-01-08T20:32:51.712Z,1736368371.712 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:51.712Z,1736368371.712 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:51.821Z,1736368371.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:51.961Z,1736368371.961 [DAT](INFO): DAT read: TxSync time:20:32:50.9918 2025-01-08T20:32:52.182Z,1736368372.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:52.620Z,1736368372.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:52.991Z,1736368372.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:53.411Z,1736368373.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:53.825Z,1736368373.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:54.202Z,1736368374.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:54.256Z,1736368374.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:32:54.653Z,1736368374.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:54.732Z,1736368374.732 [DAT](INFO): DAT read: Rx Time:20:32:53.5732 2025-01-08T20:32:54.733Z,1736368374.733 [DAT](INFO): Rx dataTimestamp_ set to:1736368374.732631 2025-01-08T20:32:55.028Z,1736368375.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:55.260Z,1736368375.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:32:55.428Z,1736368375.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:55.490Z,1736368375.490 [DAT](INFO): DAT read: Range 10 to 50 : 132.3 m (Round-trip 176.4 ms) speed -0.2 m/s 2025-01-08T20:32:55.491Z,1736368375.491 [DAT](INFO): DAT read: user:1425> 2025-01-08T20:32:55.492Z,1736368375.492 [DAT](INFO): DAT read: Tx time:20:32:54.6926 2025-01-08T20:32:55.492Z,1736368375.492 [DAT](INFO): Ping request sent. 2025-01-08T20:32:55.493Z,1736368375.493 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:55.493Z,1736368375.493 [DAT](INFO): DAT read: TxSync time:20:32:54.6918 2025-01-08T20:32:55.494Z,1736368375.494 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-01-08T20:32:55.494Z,1736368375.494 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:55.494Z,1736368375.494 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:55.850Z,1736368375.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:56.238Z,1736368376.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:56.663Z,1736368376.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:57.043Z,1736368377.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:57.463Z,1736368377.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:57.870Z,1736368377.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:58.267Z,1736368378.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:58.516Z,1736368378.516 [DAT](INFO): DAT read: Rx Time:20:32:57.2740 2025-01-08T20:32:58.517Z,1736368378.517 [DAT](INFO): Rx dataTimestamp_ set to:1736368378.516556 2025-01-08T20:32:58.692Z,1736368378.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:59.021Z,1736368379.021 [DAT](INFO): DAT read: Range 10 to 50 : 132.8 m (Round-trip 177.1 ms) speed -0.3 m/s 2025-01-08T20:32:59.022Z,1736368379.022 [DAT](INFO): DAT read: user:1426> 2025-01-08T20:32:59.023Z,1736368379.023 [DAT](INFO): DAT read: Tx time:20:32:58.3927 2025-01-08T20:32:59.023Z,1736368379.023 [DAT](INFO): Ping request sent. 2025-01-08T20:32:59.023Z,1736368379.023 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:32:59.023Z,1736368379.023 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-01-08T20:32:59.024Z,1736368379.024 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:59.024Z,1736368379.024 [DAT](INFO): publishing transmit ping time 2025-01-08T20:32:59.101Z,1736368379.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:59.272Z,1736368379.272 [DAT](INFO): DAT read: TxSync time:20:32:58.3919 2025-01-08T20:32:59.471Z,1736368379.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:32:59.889Z,1736368379.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:00.298Z,1736368380.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:00.724Z,1736368380.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:01.091Z,1736368381.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:01.486Z,1736368381.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:01.921Z,1736368381.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:02.297Z,1736368382.297 [DAT](INFO): DAT read: Rx Time:20:33:00.9754 2025-01-08T20:33:02.297Z,1736368382.297 [DAT](INFO): Rx dataTimestamp_ set to:1736368382.296791 2025-01-08T20:33:02.306Z,1736368382.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:02.752Z,1736368382.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:02.806Z,1736368382.806 [DAT](INFO): DAT read: 20:33:00.9754 LVL= 27424, 23921, 16210, 26963, AGC= 61, IDX= 433,-0.46,-0.573, 1.102, 2.069, 0.969, PHS=-1.454, 0.181, 1.097, RAW= 249.2, 1.6, CAL= 253.3, 2.6, ROT= 256.7, -2.6 2025-01-08T20:33:02.809Z,1736368382.809 [DAT](INFO): got valid direction response: 20:33:00.9754 LVL= 27424, 23921, 16210, 26963, AGC= 61, IDX= 433,-0.46,-0.573, 1.102, 2.069, 0.969, PHS=-1.454, 0.181, 1.097, RAW= 249.2, 1.6, CAL= 253.3, 2.6, ROT= 256.7, -2.6 2025-01-08T20:33:02.810Z,1736368382.810 [DAT](INFO): DAT read: Bearing 256.7, -2.6 (Local) 2025-01-08T20:33:02.810Z,1736368382.810 [DAT](INFO): Local bearing/azimuth received: Bearing 256.7, -2.6 (Local) 2025-01-08T20:33:02.812Z,1736368382.812 [DAT](INFO): DAT read: Range 10 to 50 : 133.9 m (Round-trip 178.6 ms) speed -0.3 m/s 2025-01-08T20:33:02.812Z,1736368382.812 [DAT](INFO): DAT read: user:1427> 2025-01-08T20:33:02.813Z,1736368382.813 [DAT](INFO): DAT read: Tx time:20:33:02.0927 2025-01-08T20:33:02.813Z,1736368382.813 [DAT](INFO): Ping request sent. 2025-01-08T20:33:02.814Z,1736368382.814 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:02.814Z,1736368382.814 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-01-08T20:33:02.815Z,1736368382.815 [DAT](INFO): direction in FSK: [-0.229813,-0.972177,0.045363] 2025-01-08T20:33:02.815Z,1736368382.815 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:02.815Z,1736368382.815 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:02.818Z,1736368382.818 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:02.819Z,1736368382.819 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:03.052Z,1736368383.052 [DAT](INFO): DAT read: TxSync time:20:33:02.0919 2025-01-08T20:33:03.119Z,1736368383.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:03.506Z,1736368383.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:03.933Z,1736368383.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:04.320Z,1736368384.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:04.768Z,1736368384.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:05.162Z,1736368385.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:05.571Z,1736368385.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:05.824Z,1736368385.824 [DAT](INFO): DAT read: Rx Time:20:33:04.6768 2025-01-08T20:33:05.825Z,1736368385.825 [DAT](INFO): Rx dataTimestamp_ set to:1736368385.824434 2025-01-08T20:33:05.990Z,1736368385.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:06.404Z,1736368386.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:06.590Z,1736368386.590 [DAT](INFO): DAT read: 20:33:04.6768 LVL= 27872, 29569, 16882, 32691, AGC= 58, IDX= 447,-0.25,-1.444, 0.340, 1.017, 0.094, PHS=-1.450, 0.293, 0.920, RAW= 255.2, 2.3, CAL= 259.4, 3.5, ROT= 250.6, -3.5 2025-01-08T20:33:06.591Z,1736368386.591 [DAT](INFO): got valid direction response: 20:33:04.6768 LVL= 27872, 29569, 16882, 32691, AGC= 58, IDX= 447,-0.25,-1.444, 0.340, 1.017, 0.094, PHS=-1.450, 0.293, 0.920, RAW= 255.2, 2.3, CAL= 259.4, 3.5, ROT= 250.6, -3.5 2025-01-08T20:33:06.592Z,1736368386.592 [DAT](INFO): DAT read: Bearing 250.6, -3.5 (Local) 2025-01-08T20:33:06.593Z,1736368386.593 [DAT](INFO): Local bearing/azimuth received: Bearing 250.6, -3.5 (Local) 2025-01-08T20:33:06.594Z,1736368386.594 [DAT](INFO): DAT read: Range 10 to 50 : 134.9 m (Round-trip 179.9 ms) speed -0.2 m/s 2025-01-08T20:33:06.606Z,1736368386.606 [DAT](INFO): DAT read: user:1428> 2025-01-08T20:33:06.606Z,1736368386.606 [DAT](INFO): DAT read: Tx time:20:33:05.7927 2025-01-08T20:33:06.607Z,1736368386.607 [DAT](INFO): Ping request sent. 2025-01-08T20:33:06.607Z,1736368386.607 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:06.612Z,1736368386.612 [DAT](INFO): DAT read: TxSync time:20:33:05.7919 2025-01-08T20:33:06.612Z,1736368386.612 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-01-08T20:33:06.613Z,1736368386.613 [DAT](INFO): direction in FSK: [-0.331542,-0.941463,0.061049] 2025-01-08T20:33:06.614Z,1736368386.614 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:06.614Z,1736368386.614 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:06.621Z,1736368386.621 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:06.622Z,1736368386.622 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:06.827Z,1736368386.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:07.178Z,1736368387.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:07.582Z,1736368387.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:08.009Z,1736368388.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:08.401Z,1736368388.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:08.843Z,1736368388.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:09.215Z,1736368389.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:09.604Z,1736368389.604 [DAT](INFO): DAT read: Rx Time:20:33:08.3780 2025-01-08T20:33:09.605Z,1736368389.605 [DAT](INFO): Rx dataTimestamp_ set to:1736368389.604569 2025-01-08T20:33:09.609Z,1736368389.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:10.099Z,1736368390.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:10.122Z,1736368390.122 [DAT](INFO): DAT read: 20:33:08.3780 LVL= 27616, 25041, 17538, 27971, AGC= 60, IDX= 442,-0.15, 0.724, 2.579,-3.051, 2.308, PHS=-1.496, 0.318, 0.921, RAW= 256.1, 2.4, CAL= 260.3, 3.6, ROT= 249.7, -3.6 2025-01-08T20:33:10.124Z,1736368390.124 [DAT](INFO): got valid direction response: 20:33:08.3780 LVL= 27616, 25041, 17538, 27971, AGC= 60, IDX= 442,-0.15, 0.724, 2.579,-3.051, 2.308, PHS=-1.496, 0.318, 0.921, RAW= 256.1, 2.4, CAL= 260.3, 3.6, ROT= 249.7, -3.6 2025-01-08T20:33:10.125Z,1736368390.125 [DAT](INFO): DAT read: Bearing 249.7, -3.6 (Local) 2025-01-08T20:33:10.125Z,1736368390.125 [DAT](INFO): Local bearing/azimuth received: Bearing 249.7, -3.6 (Local) 2025-01-08T20:33:10.126Z,1736368390.126 [DAT](INFO): DAT read: Range 10 to 50 : 135.7 m (Round-trip 181.0 ms) speed 0.0 m/s 2025-01-08T20:33:10.127Z,1736368390.127 [DAT](INFO): DAT read: user:1429> 2025-01-08T20:33:10.128Z,1736368390.128 [DAT](INFO): DAT read: Tx time:20:33:09.4928 2025-01-08T20:33:10.128Z,1736368390.128 [DAT](INFO): Ping request sent. 2025-01-08T20:33:10.128Z,1736368390.128 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:10.129Z,1736368390.129 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-01-08T20:33:10.130Z,1736368390.130 [DAT](INFO): direction in FSK: [-0.346251,-0.936038,0.062791] 2025-01-08T20:33:10.130Z,1736368390.130 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:10.130Z,1736368390.130 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:10.141Z,1736368390.141 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:10.142Z,1736368390.142 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:10.360Z,1736368390.360 [DAT](INFO): DAT read: TxSync time:20:33:09.4920 2025-01-08T20:33:10.441Z,1736368390.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:10.868Z,1736368390.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:11.224Z,1736368391.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:11.624Z,1736368391.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:12.060Z,1736368392.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:12.430Z,1736368392.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:12.907Z,1736368392.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:13.238Z,1736368393.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:13.384Z,1736368393.384 [DAT](INFO): DAT read: Rx Time:20:33:12.0795 2025-01-08T20:33:13.385Z,1736368393.385 [DAT](INFO): Rx dataTimestamp_ set to:1736368393.384480 2025-01-08T20:33:13.644Z,1736368393.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:13.894Z,1736368393.894 [DAT](INFO): DAT read: 20:33:12.0795 LVL= 30896, 32753, 24114, 32755, AGC= 59, IDX= 457, 0.42,-1.532, 0.494, 0.985, 0.133, PHS=-1.577, 0.408, 0.849, RAW= 260.2, 2.9, CAL= 264.1, 4.2, ROT= 245.9, -4.2 2025-01-08T20:33:13.895Z,1736368393.895 [DAT](INFO): got valid direction response: 20:33:12.0795 LVL= 30896, 32753, 24114, 32755, AGC= 59, IDX= 457, 0.42,-1.532, 0.494, 0.985, 0.133, PHS=-1.577, 0.408, 0.849, RAW= 260.2, 2.9, CAL= 264.1, 4.2, ROT= 245.9, -4.2 2025-01-08T20:33:13.896Z,1736368393.896 [DAT](INFO): DAT read: Bearing 245.9, -4.2 (Local) 2025-01-08T20:33:13.897Z,1736368393.897 [DAT](INFO): Local bearing/azimuth received: Bearing 245.9, -4.2 (Local) 2025-01-08T20:33:13.898Z,1736368393.898 [DAT](INFO): DAT read: Range 10 to 50 : 136.9 m (Round-trip 182.6 ms) speed -0.4 m/s 2025-01-08T20:33:13.899Z,1736368393.899 [DAT](INFO): DAT read: user:1430> 2025-01-08T20:33:13.900Z,1736368393.900 [DAT](INFO): DAT read: Tx time:20:33:13.1928 2025-01-08T20:33:13.900Z,1736368393.900 [DAT](INFO): Ping request sent. 2025-01-08T20:33:13.900Z,1736368393.900 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:13.900Z,1736368393.900 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-01-08T20:33:13.901Z,1736368393.901 [DAT](INFO): direction in FSK: [-0.407234,-0.910383,0.073238] 2025-01-08T20:33:13.901Z,1736368393.901 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:13.902Z,1736368393.902 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:13.905Z,1736368393.905 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:13.905Z,1736368393.905 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:14.074Z,1736368394.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:14.140Z,1736368394.140 [DAT](INFO): DAT read: TxSync time:20:33:13.1920 2025-01-08T20:33:14.459Z,1736368394.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:14.924Z,1736368394.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:15.258Z,1736368395.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:15.667Z,1736368395.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:16.087Z,1736368396.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:16.478Z,1736368396.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:16.915Z,1736368396.915 [DAT](INFO): DAT read: Rx Time:20:33:15.7815 2025-01-08T20:33:16.917Z,1736368396.917 [DAT](INFO): Rx dataTimestamp_ set to:1736368396.915909 2025-01-08T20:33:16.965Z,1736368396.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:17.299Z,1736368397.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:17.674Z,1736368397.674 [DAT](INFO): DAT read: 20:33:15.7815 LVL= 24368, 25665, 18322, 30547, AGC= 61, IDX= 461, 0.43,-0.549, 1.503, 1.808, 1.022, PHS=-1.483, 0.528, 0.783, RAW= 264.1, 1.6, CAL= 266.8, 2.3, ROT= 243.2, -2.3 2025-01-08T20:33:17.675Z,1736368397.675 [DAT](INFO): got valid direction response: 20:33:15.7815 LVL= 24368, 25665, 18322, 30547, AGC= 61, IDX= 461, 0.43,-0.549, 1.503, 1.808, 1.022, PHS=-1.483, 0.528, 0.783, RAW= 264.1, 1.6, CAL= 266.8, 2.3, ROT= 243.2, -2.3 2025-01-08T20:33:17.676Z,1736368397.676 [DAT](INFO): DAT read: Bearing 243.2, -2.3 (Local) 2025-01-08T20:33:17.677Z,1736368397.677 [DAT](INFO): Local bearing/azimuth received: Bearing 243.2, -2.3 (Local) 2025-01-08T20:33:17.678Z,1736368397.678 [DAT](INFO): DAT read: Range 10 to 50 : 138.3 m (Round-trip 184.5 ms) speed -0.4 m/s 2025-01-08T20:33:17.679Z,1736368397.679 [DAT](INFO): DAT read: user:1431> 2025-01-08T20:33:17.686Z,1736368397.686 [DAT](INFO): DAT read: Tx time:20:33:16.8944 2025-01-08T20:33:17.687Z,1736368397.687 [DAT](INFO): Ping request sent. 2025-01-08T20:33:17.687Z,1736368397.687 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:17.688Z,1736368397.688 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-01-08T20:33:17.690Z,1736368397.690 [DAT](INFO): direction in FSK: [-0.450514,-0.891867,0.040132] 2025-01-08T20:33:17.690Z,1736368397.690 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:17.690Z,1736368397.690 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:17.701Z,1736368397.701 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:17.702Z,1736368397.702 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:17.781Z,1736368397.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:17.921Z,1736368397.921 [DAT](INFO): DAT read: TxSync time:20:33:16.8936 2025-01-08T20:33:18.142Z,1736368398.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:18.510Z,1736368398.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:18.994Z,1736368398.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:19.327Z,1736368399.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:19.722Z,1736368399.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:20.144Z,1736368400.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:20.544Z,1736368400.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:20.692Z,1736368400.692 [DAT](INFO): DAT read: Rx Time:20:33:19.4850 2025-01-08T20:33:20.693Z,1736368400.693 [DAT](INFO): Rx dataTimestamp_ set to:1736368400.692447 2025-01-08T20:33:21.008Z,1736368401.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:21.205Z,1736368401.205 [DAT](INFO): DAT read: 20:33:19.4850 LVL= 27968, 27473, 16082, 30707, AGC= 56, IDX= 466,-0.11, 0.142, 2.265, 2.563, 1.738, PHS=-1.508, 0.574, 0.823, RAW= 264.4, 1.0, CAL= 266.8, 1.4, ROT= 243.2, -1.4 2025-01-08T20:33:21.206Z,1736368401.206 [DAT](INFO): got valid direction response: 20:33:19.4850 LVL= 27968, 27473, 16082, 30707, AGC= 56, IDX= 466,-0.11, 0.142, 2.265, 2.563, 1.738, PHS=-1.508, 0.574, 0.823, RAW= 264.4, 1.0, CAL= 266.8, 1.4, ROT= 243.2, -1.4 2025-01-08T20:33:21.207Z,1736368401.207 [DAT](INFO): DAT read: Bearing 243.2, -1.4 (Local) 2025-01-08T20:33:21.207Z,1736368401.207 [DAT](INFO): Local bearing/azimuth received: Bearing 243.2, -1.4 (Local) 2025-01-08T20:33:21.209Z,1736368401.209 [DAT](INFO): DAT read: Range 10 to 50 : 139.8 m (Round-trip 186.5 ms) speed -0.4 m/s 2025-01-08T20:33:21.210Z,1736368401.210 [DAT](INFO): DAT read: user:1432> 2025-01-08T20:33:21.211Z,1736368401.211 [DAT](INFO): DAT read: Tx time:20:33:20.5928 2025-01-08T20:33:21.211Z,1736368401.211 [DAT](INFO): Ping request sent. 2025-01-08T20:33:21.211Z,1736368401.211 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:21.211Z,1736368401.211 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-01-08T20:33:21.212Z,1736368401.212 [DAT](INFO): direction in FSK: [-0.450743,-0.892319,0.024432] 2025-01-08T20:33:21.212Z,1736368401.212 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:21.213Z,1736368401.213 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:21.216Z,1736368401.216 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:21.216Z,1736368401.216 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:21.351Z,1736368401.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:21.454Z,1736368401.454 [DAT](INFO): DAT read: TxSync time:20:33:20.5920 2025-01-08T20:33:21.754Z,1736368401.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:22.176Z,1736368402.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:22.555Z,1736368402.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:23.015Z,1736368403.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:23.388Z,1736368403.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:23.768Z,1736368403.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:24.266Z,1736368404.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:24.476Z,1736368404.476 [DAT](INFO): DAT read: Rx Time:20:33:23.1854 2025-01-08T20:33:24.477Z,1736368404.477 [DAT](INFO): Rx dataTimestamp_ set to:1736368404.476439 2025-01-08T20:33:24.587Z,1736368404.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:25.013Z,1736368405.013 [DAT](INFO): DAT read: 20:33:23.1854 LVL= 25312, 20977, 14994, 24259, AGC= 57, IDX= 452, 0.16,-0.956, 1.084, 1.506, 0.609, PHS=-1.477, 0.522, 0.895, RAW= 261.6, 0.6, CAL= 264.1, 1.1, ROT= 245.9, -1.1 2025-01-08T20:33:25.026Z,1736368405.026 [DAT](INFO): got valid direction response: 20:33:23.1854 LVL= 25312, 20977, 14994, 24259, AGC= 57, IDX= 452, 0.16,-0.956, 1.084, 1.506, 0.609, PHS=-1.477, 0.522, 0.895, RAW= 261.6, 0.6, CAL= 264.1, 1.1, ROT= 245.9, -1.1 2025-01-08T20:33:25.044Z,1736368405.044 [DAT](INFO): DAT read: Bearing 245.9, -1.1 (Local) 2025-01-08T20:33:25.044Z,1736368405.044 [DAT](INFO): Local bearing/azimuth received: Bearing 245.9, -1.1 (Local) 2025-01-08T20:33:25.046Z,1736368405.046 [DAT](INFO): DAT read: Range 10 to 50 : 141.2 m (Round-trip 188.3 ms) speed -0.4 m/s 2025-01-08T20:33:25.046Z,1736368405.046 [DAT](INFO): DAT read: user:1433> 2025-01-08T20:33:25.063Z,1736368405.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:25.068Z,1736368405.068 [DAT](INFO): DAT read: Tx time:20:33:24.2929 2025-01-08T20:33:25.068Z,1736368405.068 [DAT](INFO): Ping request sent. 2025-01-08T20:33:25.068Z,1736368405.068 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:25.068Z,1736368405.068 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-01-08T20:33:25.069Z,1736368405.069 [DAT](INFO): direction in FSK: [-0.408255,-0.912666,0.019197] 2025-01-08T20:33:25.069Z,1736368405.069 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:25.070Z,1736368405.070 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:25.077Z,1736368405.077 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:25.077Z,1736368405.077 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:25.232Z,1736368405.232 [DAT](INFO): DAT read: TxSync time:20:33:24.2921 2025-01-08T20:33:25.384Z,1736368405.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:33:25.446Z,1736368405.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:25.783Z,1736368405.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:26.214Z,1736368406.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:26.389Z,1736368406.389 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:33:26.595Z,1736368406.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:27.063Z,1736368407.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:27.424Z,1736368407.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:27.809Z,1736368407.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:28.230Z,1736368408.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:28.256Z,1736368408.256 [DAT](INFO): DAT read: Rx Time:20:33:26.8875 2025-01-08T20:33:28.257Z,1736368408.257 [DAT](INFO): Rx dataTimestamp_ set to:1736368408.256463 2025-01-08T20:33:28.635Z,1736368408.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:28.766Z,1736368408.766 [DAT](INFO): DAT read: 20:33:26.8875 LVL= 29552, 29633, 16722, 31027, AGC= 57, IDX= 442,-0.44, 3.008,-1.125,-0.882,-1.660, PHS=-1.528, 0.581, 0.775, RAW= 265.7, 1.6, CAL= 268.2, 2.1, ROT= 241.8, -2.1 2025-01-08T20:33:28.767Z,1736368408.767 [DAT](INFO): got valid direction response: 20:33:26.8875 LVL= 29552, 29633, 16722, 31027, AGC= 57, IDX= 442,-0.44, 3.008,-1.125,-0.882,-1.660, PHS=-1.528, 0.581, 0.775, RAW= 265.7, 1.6, CAL= 268.2, 2.1, ROT= 241.8, -2.1 2025-01-08T20:33:28.768Z,1736368408.768 [DAT](INFO): DAT read: Bearing 241.8, -2.1 (Local) 2025-01-08T20:33:28.769Z,1736368408.769 [DAT](INFO): Local bearing/azimuth received: Bearing 241.8, -2.1 (Local) 2025-01-08T20:33:28.770Z,1736368408.770 [DAT](INFO): DAT read: Range 10 to 50 : 142.8 m (Round-trip 190.4 ms) speed -0.1 m/s 2025-01-08T20:33:28.771Z,1736368408.771 [DAT](INFO): DAT read: user:1434> 2025-01-08T20:33:28.772Z,1736368408.772 [DAT](INFO): DAT read: Tx time:20:33:27.9929 2025-01-08T20:33:28.772Z,1736368408.772 [DAT](INFO): Ping request sent. 2025-01-08T20:33:28.772Z,1736368408.772 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:28.772Z,1736368408.772 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-01-08T20:33:28.773Z,1736368408.773 [DAT](INFO): direction in FSK: [-0.472233,-0.880712,0.036644] 2025-01-08T20:33:28.774Z,1736368408.774 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:28.774Z,1736368408.774 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:28.777Z,1736368408.777 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:28.777Z,1736368408.777 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:29.014Z,1736368409.014 [DAT](INFO): DAT read: TxSync time:20:33:27.9921 2025-01-08T20:33:29.071Z,1736368409.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:29.442Z,1736368409.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:29.831Z,1736368409.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:30.246Z,1736368410.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:30.648Z,1736368410.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:31.124Z,1736368411.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:31.479Z,1736368411.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:31.792Z,1736368411.792 [DAT](INFO): DAT read: Rx Time:20:33:30.5894 2025-01-08T20:33:31.793Z,1736368411.793 [DAT](INFO): Rx dataTimestamp_ set to:1736368411.792501 2025-01-08T20:33:31.859Z,1736368411.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:32.305Z,1736368412.305 [DAT](INFO): DAT read: 20:33:30.5894 LVL= 26608, 27585, 16530, 28387, AGC= 57, IDX= 445, 0.19, 2.716,-1.401,-1.303,-1.958, PHS=-1.521, 0.604, 0.651, RAW= 268.9, 2.5, CAL= 271.6, 3.1, ROT= 238.4, -3.1 2025-01-08T20:33:32.306Z,1736368412.306 [DAT](INFO): got valid direction response: 20:33:30.5894 LVL= 26608, 27585, 16530, 28387, AGC= 57, IDX= 445, 0.19, 2.716,-1.401,-1.303,-1.958, PHS=-1.521, 0.604, 0.651, RAW= 268.9, 2.5, CAL= 271.6, 3.1, ROT= 238.4, -3.1 2025-01-08T20:33:32.307Z,1736368412.307 [DAT](INFO): DAT read: Bearing 238.4, -3.1 (Local) 2025-01-08T20:33:32.308Z,1736368412.308 [DAT](INFO): Local bearing/azimuth received: Bearing 238.4, -3.1 (Local) 2025-01-08T20:33:32.309Z,1736368412.309 [DAT](INFO): DAT read: Range 10 to 50 : 144.2 m (Round-trip 192.3 ms) speed -0.3 m/s 2025-01-08T20:33:32.310Z,1736368412.310 [DAT](INFO): DAT read: user:1435> 2025-01-08T20:33:32.311Z,1736368412.311 [DAT](INFO): DAT read: Tx time:20:33:31.6929 2025-01-08T20:33:32.311Z,1736368412.311 [DAT](INFO): Ping request sent. 2025-01-08T20:33:32.311Z,1736368412.311 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:32.314Z,1736368412.314 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-01-08T20:33:32.314Z,1736368412.314 [DAT](INFO): direction in FSK: [-0.523219,-0.850481,0.054079] 2025-01-08T20:33:32.315Z,1736368412.315 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:32.315Z,1736368412.315 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:32.318Z,1736368412.318 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:32.318Z,1736368412.318 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:32.391Z,1736368412.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:32.549Z,1736368412.549 [DAT](INFO): DAT read: TxSync time:20:33:31.6921 2025-01-08T20:33:32.674Z,1736368412.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:33.076Z,1736368413.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:33.513Z,1736368413.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:33.880Z,1736368413.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:34.306Z,1736368414.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:34.692Z,1736368414.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:35.092Z,1736368415.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:35.518Z,1736368415.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:35.572Z,1736368415.572 [DAT](INFO): DAT read: Rx Time:20:33:34.2914 2025-01-08T20:33:35.573Z,1736368415.573 [DAT](INFO): Rx dataTimestamp_ set to:1736368415.572558 2025-01-08T20:33:35.903Z,1736368415.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:36.083Z,1736368416.083 [DAT](INFO): DAT read: 20:33:34.2915 LVL= 27552, 24529, 17138, 28835, AGC= 57, IDX= 450, 0.02, 2.733,-1.356,-1.291,-1.907, PHS=-1.554, 0.598, 0.613, RAW= 269.6, 3.2, CAL= 272.7, 4.1, ROT= 237.3, -4.1 2025-01-08T20:33:36.084Z,1736368416.084 [DAT](INFO): got valid direction response: 20:33:34.2915 LVL= 27552, 24529, 17138, 28835, AGC= 57, IDX= 450, 0.02, 2.733,-1.356,-1.291,-1.907, PHS=-1.554, 0.598, 0.613, RAW= 269.6, 3.2, CAL= 272.7, 4.1, ROT= 237.3, -4.1 2025-01-08T20:33:36.085Z,1736368416.085 [DAT](INFO): DAT read: Bearing 237.3, -4.1 (Local) 2025-01-08T20:33:36.085Z,1736368416.085 [DAT](INFO): Local bearing/azimuth received: Bearing 237.3, -4.1 (Local) 2025-01-08T20:33:36.087Z,1736368416.087 [DAT](INFO): DAT read: Range 10 to 50 : 145.7 m (Round-trip 194.3 ms) speed -0.4 m/s 2025-01-08T20:33:36.087Z,1736368416.087 [DAT](INFO): DAT read: user:1436> 2025-01-08T20:33:36.088Z,1736368416.088 [DAT](INFO): DAT read: Tx time:20:33:35.3930 2025-01-08T20:33:36.088Z,1736368416.088 [DAT](INFO): Ping request sent. 2025-01-08T20:33:36.089Z,1736368416.089 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:36.089Z,1736368416.089 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-01-08T20:33:36.090Z,1736368416.090 [DAT](INFO): direction in FSK: [-0.538858,-0.839357,0.071497] 2025-01-08T20:33:36.090Z,1736368416.090 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:36.090Z,1736368416.090 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:36.093Z,1736368416.093 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:36.094Z,1736368416.094 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:36.329Z,1736368416.329 [DAT](INFO): DAT read: TxSync time:20:33:35.3922 2025-01-08T20:33:36.360Z,1736368416.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:36.706Z,1736368416.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:37.115Z,1736368417.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:37.525Z,1736368417.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:37.924Z,1736368417.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:38.369Z,1736368418.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:38.735Z,1736368418.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:39.143Z,1736368419.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:39.364Z,1736368419.364 [DAT](INFO): DAT read: Rx Time:20:33:37.9936 2025-01-08T20:33:39.365Z,1736368419.365 [DAT](INFO): Rx dataTimestamp_ set to:1736368419.364506 2025-01-08T20:33:39.539Z,1736368419.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:39.874Z,1736368419.874 [DAT](INFO): DAT read: 20:33:37.9936 LVL= 31216, 31969, 17250, 31347, AGC= 60, IDX= 456,-0.29,-0.679, 1.571, 1.661, 0.986, PHS=-1.577, 0.632, 0.672, RAW= 269.1, 2.5, CAL= 271.8, 3.0, ROT= 238.2, -3.0 2025-01-08T20:33:39.875Z,1736368419.875 [DAT](INFO): got valid direction response: 20:33:37.9936 LVL= 31216, 31969, 17250, 31347, AGC= 60, IDX= 456,-0.29,-0.679, 1.571, 1.661, 0.986, PHS=-1.577, 0.632, 0.672, RAW= 269.1, 2.5, CAL= 271.8, 3.0, ROT= 238.2, -3.0 2025-01-08T20:33:39.876Z,1736368419.876 [DAT](INFO): DAT read: Bearing 238.2, -3.0 (Local) 2025-01-08T20:33:39.877Z,1736368419.877 [DAT](INFO): Local bearing/azimuth received: Bearing 238.2, -3.0 (Local) 2025-01-08T20:33:39.878Z,1736368419.878 [DAT](INFO): DAT read: Range 10 to 50 : 147.3 m (Round-trip 196.4 ms) speed -0.4 m/s 2025-01-08T20:33:39.879Z,1736368419.879 [DAT](INFO): DAT read: user:1437> 2025-01-08T20:33:39.880Z,1736368419.880 [DAT](INFO): DAT read: Tx time:20:33:39.0930 2025-01-08T20:33:39.880Z,1736368419.880 [DAT](INFO): Ping request sent. 2025-01-08T20:33:39.880Z,1736368419.880 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:39.880Z,1736368419.880 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-01-08T20:33:39.881Z,1736368419.881 [DAT](INFO): direction in FSK: [-0.526234,-0.848728,0.052336] 2025-01-08T20:33:39.882Z,1736368419.882 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:39.882Z,1736368419.882 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:39.887Z,1736368419.887 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:39.888Z,1736368419.888 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:39.984Z,1736368419.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:40.120Z,1736368420.120 [DAT](INFO): DAT read: TxSync time:20:33:39.0922 2025-01-08T20:33:40.370Z,1736368420.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:40.766Z,1736368420.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:41.154Z,1736368421.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:41.576Z,1736368421.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:41.963Z,1736368421.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:42.396Z,1736368422.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:42.770Z,1736368422.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:42.892Z,1736368422.892 [DAT](INFO): DAT read: Rx Time:20:33:41.6955 2025-01-08T20:33:42.893Z,1736368422.893 [DAT](INFO): Rx dataTimestamp_ set to:1736368422.892499 2025-01-08T20:33:43.180Z,1736368423.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:43.410Z,1736368423.410 [DAT](INFO): DAT read: 20:33:41.6955 LVL= 25584, 26033, 16674, 31427, AGC= 57, IDX= 443,-0.44,-0.549, 1.660, 1.790, 1.089, PHS=-1.550, 0.619, 0.699, RAW= 268.2, 2.1, CAL= 270.7, 2.6, ROT= 239.3, -2.6 2025-01-08T20:33:43.411Z,1736368423.411 [DAT](INFO): got valid direction response: 20:33:41.6955 LVL= 25584, 26033, 16674, 31427, AGC= 57, IDX= 443,-0.44,-0.549, 1.660, 1.790, 1.089, PHS=-1.550, 0.619, 0.699, RAW= 268.2, 2.1, CAL= 270.7, 2.6, ROT= 239.3, -2.6 2025-01-08T20:33:43.425Z,1736368423.425 [DAT](INFO): DAT read: Bearing 239.3, -2.6 (Local) 2025-01-08T20:33:43.425Z,1736368423.425 [DAT](INFO): Local bearing/azimuth received: Bearing 239.3, -2.6 (Local) 2025-01-08T20:33:43.427Z,1736368423.427 [DAT](INFO): DAT read: Range 10 to 50 : 148.7 m (Round-trip 198.3 ms) speed -0.3 m/s 2025-01-08T20:33:43.428Z,1736368423.428 [DAT](INFO): DAT read: user:1438> 2025-01-08T20:33:43.428Z,1736368423.428 [DAT](INFO): DAT read: Tx time:20:33:42.7930 2025-01-08T20:33:43.429Z,1736368423.429 [DAT](INFO): Ping request sent. 2025-01-08T20:33:43.429Z,1736368423.429 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:43.429Z,1736368423.429 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-01-08T20:33:43.430Z,1736368423.430 [DAT](INFO): direction in FSK: [-0.510017,-0.858967,0.045363] 2025-01-08T20:33:43.430Z,1736368423.430 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:43.431Z,1736368423.431 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:43.434Z,1736368423.434 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:43.434Z,1736368423.434 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:43.591Z,1736368423.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:43.648Z,1736368423.648 [DAT](INFO): DAT read: TxSync time:20:33:42.7922 2025-01-08T20:33:44.081Z,1736368424.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:44.605Z,1736368424.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:44.993Z,1736368424.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:45.436Z,1736368425.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:45.798Z,1736368425.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:46.202Z,1736368426.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:46.649Z,1736368426.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:46.672Z,1736368426.672 [DAT](INFO): DAT read: Rx Time:20:33:45.3972 2025-01-08T20:33:46.673Z,1736368426.673 [DAT](INFO): Rx dataTimestamp_ set to:1736368426.672526 2025-01-08T20:33:47.012Z,1736368427.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:47.178Z,1736368427.178 [DAT](INFO): DAT read: Range 10 to 50 : 150.0 m (Round-trip 200.0 ms) speed -0.4 m/s 2025-01-08T20:33:47.179Z,1736368427.179 [DAT](INFO): DAT read: user:1439> 2025-01-08T20:33:47.180Z,1736368427.180 [DAT](INFO): DAT read: Tx time:20:33:46.4930 2025-01-08T20:33:47.180Z,1736368427.180 [DAT](INFO): Ping request sent. 2025-01-08T20:33:47.180Z,1736368427.180 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:47.180Z,1736368427.180 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-01-08T20:33:47.180Z,1736368427.180 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:47.181Z,1736368427.181 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:47.426Z,1736368427.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:47.429Z,1736368427.429 [DAT](INFO): DAT read: TxSync time:20:33:46.4922 2025-01-08T20:33:47.818Z,1736368427.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:48.222Z,1736368428.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:48.661Z,1736368428.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:49.037Z,1736368429.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:49.434Z,1736368429.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:49.841Z,1736368429.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:50.251Z,1736368430.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:50.452Z,1736368430.452 [DAT](INFO): DAT read: Rx Time:20:33:49.0998 2025-01-08T20:33:50.453Z,1736368430.453 [DAT](INFO): Rx dataTimestamp_ set to:1736368430.452468 2025-01-08T20:33:50.680Z,1736368430.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:50.957Z,1736368430.957 [DAT](INFO): DAT read: Range 10 to 50 : 151.8 m (Round-trip 202.5 ms) speed -0.4 m/s 2025-01-08T20:33:50.958Z,1736368430.958 [DAT](INFO): DAT read: user:1440> 2025-01-08T20:33:50.959Z,1736368430.959 [DAT](INFO): DAT read: Tx time:20:33:50.1931 2025-01-08T20:33:50.959Z,1736368430.959 [DAT](INFO): Ping request sent. 2025-01-08T20:33:50.959Z,1736368430.959 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:50.960Z,1736368430.960 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-01-08T20:33:50.960Z,1736368430.960 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:50.960Z,1736368430.960 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:51.056Z,1736368431.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:51.208Z,1736368431.208 [DAT](INFO): DAT read: TxSync time:20:33:50.1923 2025-01-08T20:33:51.455Z,1736368431.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:51.869Z,1736368431.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:52.312Z,1736368432.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:52.686Z,1736368432.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:53.087Z,1736368433.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:53.487Z,1736368433.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:53.878Z,1736368433.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:53.981Z,1736368433.981 [DAT](INFO): DAT read: Rx Time:20:33:52.8023 2025-01-08T20:33:53.981Z,1736368433.981 [DAT](INFO): Rx dataTimestamp_ set to:1736368433.981149 2025-01-08T20:33:54.367Z,1736368434.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:54.691Z,1736368434.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:54.743Z,1736368434.743 [DAT](INFO): DAT read: 20:33:52.8023 LVL= 28208, 26769, 16834, 30355, AGC= 59, IDX= 447, 0.26,-0.127, 2.256, 2.013, 1.478, PHS=-1.518, 0.824, 0.531, RAW= 276.6, 1.5, CAL= 278.7, 1.4, ROT= 231.3, -1.4 2025-01-08T20:33:54.750Z,1736368434.750 [DAT](INFO): got valid direction response: 20:33:52.8023 LVL= 28208, 26769, 16834, 30355, AGC= 59, IDX= 447, 0.26,-0.127, 2.256, 2.013, 1.478, PHS=-1.518, 0.824, 0.531, RAW= 276.6, 1.5, CAL= 278.7, 1.4, ROT= 231.3, -1.4 2025-01-08T20:33:54.751Z,1736368434.751 [DAT](INFO): DAT read: Bearing 231.3, -1.4 (Local) 2025-01-08T20:33:54.751Z,1736368434.751 [DAT](INFO): Local bearing/azimuth received: Bearing 231.3, -1.4 (Local) 2025-01-08T20:33:54.753Z,1736368434.753 [DAT](INFO): DAT read: Range 10 to 50 : 153.7 m (Round-trip 205.0 ms) speed -0.4 m/s 2025-01-08T20:33:54.754Z,1736368434.754 [DAT](INFO): DAT read: user:1441> 2025-01-08T20:33:54.754Z,1736368434.754 [DAT](INFO): DAT read: Tx time:20:33:53.8931 2025-01-08T20:33:54.755Z,1736368434.755 [DAT](INFO): Ping request sent. 2025-01-08T20:33:54.755Z,1736368434.755 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:54.764Z,1736368434.764 [DAT](INFO): DAT read: TxSync time:20:33:53.8923 2025-01-08T20:33:54.765Z,1736368434.765 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-01-08T20:33:54.766Z,1736368434.766 [DAT](INFO): direction in FSK: [-0.625056,-0.780198,0.024432] 2025-01-08T20:33:54.767Z,1736368434.767 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:54.777Z,1736368434.777 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:54.784Z,1736368434.784 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:54.785Z,1736368434.785 [DAT](INFO): publishing direction and range info 2025-01-08T20:33:55.097Z,1736368435.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:55.495Z,1736368435.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:55.898Z,1736368435.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:56.364Z,1736368436.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:56.520Z,1736368436.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:33:56.708Z,1736368436.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:57.110Z,1736368437.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:57.515Z,1736368437.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:57.524Z,1736368437.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:33:57.760Z,1736368437.760 [DAT](INFO): DAT read: Rx Time:20:33:56.5040 2025-01-08T20:33:57.761Z,1736368437.761 [DAT](INFO): Rx dataTimestamp_ set to:1736368437.760446 2025-01-08T20:33:58.015Z,1736368438.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:58.269Z,1736368438.269 [DAT](INFO): DAT read: Range 10 to 50 : 155.0 m (Round-trip 206.7 ms) speed 0.0 m/s 2025-01-08T20:33:58.272Z,1736368438.272 [DAT](INFO): DAT read: user:1442> 2025-01-08T20:33:58.274Z,1736368438.274 [DAT](INFO): DAT read: Tx time:20:33:57.5931 2025-01-08T20:33:58.276Z,1736368438.276 [DAT](INFO): Ping request sent. 2025-01-08T20:33:58.276Z,1736368438.276 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:33:58.277Z,1736368438.277 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-01-08T20:33:58.277Z,1736368438.277 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:58.280Z,1736368438.280 [DAT](INFO): publishing transmit ping time 2025-01-08T20:33:58.425Z,1736368438.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:58.516Z,1736368438.516 [DAT](INFO): DAT read: TxSync time:20:33:57.5923 2025-01-08T20:33:58.823Z,1736368438.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:59.313Z,1736368439.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:33:59.636Z,1736368439.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:00.041Z,1736368440.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:00.477Z,1736368440.477 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for bottom velocity. Device response is::BS0 2025-01-08T20:34:00.484Z,1736368440.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:34:00.484Z,1736368440.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:00.845Z,1736368440.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:34:00.845Z,1736368440.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:01.243Z,1736368441.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:34:01.244Z,1736368441.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:01.544Z,1736368441.544 [DAT](INFO): DAT read: Rx Time:20:34:00.2059 2025-01-08T20:34:01.545Z,1736368441.545 [DAT](INFO): Rx dataTimestamp_ set to:1736368441.544436 2025-01-08T20:34:01.654Z,1736368441.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:34:01.655Z,1736368441.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:02.054Z,1736368442.054 [DAT](INFO): DAT read: 20:34:00.2059 LVL= 27488, 31985, 15922, 32755, AGC= 58, IDX= 467, 0.32, 2.782,-1.072,-1.528,-1.915, PHS=-1.498, 0.890, 0.384, RAW= 281.6, 2.1, CAL= 284.1, 2.3, ROT= 225.9, -2.3 2025-01-08T20:34:02.056Z,1736368442.056 [DAT](INFO): got valid direction response: 20:34:00.2059 LVL= 27488, 31985, 15922, 32755, AGC= 58, IDX= 467, 0.32, 2.782,-1.072,-1.528,-1.915, PHS=-1.498, 0.890, 0.384, RAW= 281.6, 2.1, CAL= 284.1, 2.3, ROT= 225.9, -2.3 2025-01-08T20:34:02.056Z,1736368442.056 [DAT](INFO): DAT read: Bearing 225.9, -2.3 (Local) 2025-01-08T20:34:02.057Z,1736368442.057 [DAT](INFO): Local bearing/azimuth received: Bearing 225.9, -2.3 (Local) 2025-01-08T20:34:02.058Z,1736368442.058 [DAT](INFO): DAT read: Range 10 to 50 : 156.3 m (Round-trip 208.5 ms) speed -0.5 m/s 2025-01-08T20:34:02.067Z,1736368442.067 [DAT](INFO): DAT read: user:1443> 2025-01-08T20:34:02.068Z,1736368442.068 [DAT](INFO): DAT read: Tx time:20:34:01.2932 2025-01-08T20:34:02.068Z,1736368442.068 [DAT](INFO): Ping request sent. 2025-01-08T20:34:02.068Z,1736368442.068 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:02.069Z,1736368442.069 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-01-08T20:34:02.070Z,1736368442.070 [DAT](INFO): direction in FSK: [-0.695352,-0.717548,0.040132] 2025-01-08T20:34:02.070Z,1736368442.070 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:02.070Z,1736368442.070 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:02.073Z,1736368442.073 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:02.073Z,1736368442.073 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:02.091Z,1736368442.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:34:02.102Z,1736368442.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:02.304Z,1736368442.304 [DAT](INFO): DAT read: TxSync time:20:34:01.2924 2025-01-08T20:34:02.478Z,1736368442.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:02.875Z,1736368442.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:03.262Z,1736368443.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:03.667Z,1736368443.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:04.077Z,1736368444.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:04.512Z,1736368444.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:04.883Z,1736368444.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:05.076Z,1736368445.076 [DAT](INFO): DAT read: Rx Time:20:34:03.9090 2025-01-08T20:34:05.077Z,1736368445.077 [DAT](INFO): Rx dataTimestamp_ set to:1736368445.076551 2025-01-08T20:34:05.289Z,1736368445.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:05.581Z,1736368445.581 [DAT](INFO): DAT read: Range 10 to 50 : 158.7 m (Round-trip 211.7 ms) speed -0.5 m/s 2025-01-08T20:34:05.582Z,1736368445.582 [DAT](INFO): DAT read: user:1444> 2025-01-08T20:34:05.582Z,1736368445.582 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-01-08T20:34:05.695Z,1736368445.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:05.832Z,1736368445.832 [DAT](INFO): DAT read: Tx time:20:34:04.9932 2025-01-08T20:34:05.833Z,1736368445.833 [DAT](INFO): Ping request sent. 2025-01-08T20:34:05.833Z,1736368445.833 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:05.833Z,1736368445.833 [DAT](INFO): DAT read: TxSync time:20:34:04.9924 2025-01-08T20:34:05.834Z,1736368445.834 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:06.092Z,1736368446.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:06.529Z,1736368446.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:06.908Z,1736368446.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:07.302Z,1736368447.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:07.706Z,1736368447.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:08.131Z,1736368448.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:08.537Z,1736368448.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:08.856Z,1736368448.856 [DAT](INFO): DAT read: Rx Time:20:34:07.6267 2025-01-08T20:34:08.857Z,1736368448.857 [DAT](INFO): Rx dataTimestamp_ set to:1736368448.856516 2025-01-08T20:34:08.923Z,1736368448.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:09.356Z,1736368449.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:09.366Z,1736368449.366 [DAT](INFO): DAT read: 20:34:07.6267 LVL= 26672, 23281, 12818, 30931, AGC= 60, IDX= 89,-0.36,-2.402, 0.180,-0.622,-0.926, PHS=-1.388, 1.154, 0.301, RAW= 289.2, -0.6, CAL= 292.2, -1.8, ROT= 217.8, 1.8 2025-01-08T20:34:09.367Z,1736368449.367 [DAT](INFO): got valid direction response: 20:34:07.6267 LVL= 26672, 23281, 12818, 30931, AGC= 60, IDX= 89,-0.36,-2.402, 0.180,-0.622,-0.926, PHS=-1.388, 1.154, 0.301, RAW= 289.2, -0.6, CAL= 292.2, -1.8, ROT= 217.8, 1.8 2025-01-08T20:34:09.368Z,1736368449.368 [DAT](INFO): DAT read: Bearing 217.8, 1.8 (Local) 2025-01-08T20:34:09.369Z,1736368449.369 [DAT](INFO): Local bearing/azimuth received: Bearing 217.8, 1.8 (Local) 2025-01-08T20:34:09.370Z,1736368449.370 [DAT](INFO): DAT read: Range 10 to 50 : 171.9 m (Round-trip 229.3 ms) speed -0.4 m/s 2025-01-08T20:34:09.371Z,1736368449.371 [DAT](INFO): DAT read: user:1445> 2025-01-08T20:34:09.372Z,1736368449.372 [DAT](INFO): DAT read: Tx time:20:34:08.7432 2025-01-08T20:34:09.372Z,1736368449.372 [DAT](INFO): Ping request sent. 2025-01-08T20:34:09.372Z,1736368449.372 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:09.373Z,1736368449.373 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-01-08T20:34:09.374Z,1736368449.374 [DAT](INFO): direction in FSK: [-0.789765,-0.612605,-0.031411] 2025-01-08T20:34:09.374Z,1736368449.374 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:09.374Z,1736368449.374 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:09.377Z,1736368449.377 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:09.377Z,1736368449.377 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:09.613Z,1736368449.613 [DAT](INFO): DAT read: TxSync time:20:34:08.7424 2025-01-08T20:34:09.733Z,1736368449.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:10.132Z,1736368450.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:10.567Z,1736368450.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:10.938Z,1736368450.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:11.345Z,1736368451.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:11.757Z,1736368451.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:12.155Z,1736368452.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:12.572Z,1736368452.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:12.643Z,1736368452.643 [DAT](INFO): DAT read: Rx Time:20:34:11.3636 2025-01-08T20:34:12.643Z,1736368452.643 [DAT](INFO): Rx dataTimestamp_ set to:1736368452.642912 2025-01-08T20:34:12.963Z,1736368452.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:13.145Z,1736368453.145 [DAT](INFO): DAT read: Range 10 to 50 : 162.1 m (Round-trip 216.2 ms) speed -0.4 m/s 2025-01-08T20:34:13.146Z,1736368453.146 [DAT](INFO): DAT read: user:1446> 2025-01-08T20:34:13.147Z,1736368453.147 [DAT](INFO): DAT read: Tx time:20:34:12.4433 2025-01-08T20:34:13.147Z,1736368453.147 [DAT](INFO): Ping request sent. 2025-01-08T20:34:13.147Z,1736368453.147 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:13.148Z,1736368453.148 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-01-08T20:34:13.148Z,1736368453.148 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:13.148Z,1736368453.148 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:13.374Z,1736368453.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:13.396Z,1736368453.396 [DAT](INFO): DAT read: TxSync time:20:34:12.4425 2025-01-08T20:34:13.766Z,1736368453.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:14.171Z,1736368454.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:14.179Z,1736368454.179 [transit:NeedComms] Running Loop=1 2025-01-08T20:34:14.179Z,1736368454.179 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms 2025-01-08T20:34:14.179Z,1736368454.179 [transit:NeedComms:B.GoToSurface] Running Loop=1 2025-01-08T20:34:14.179Z,1736368454.179 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-01-08T20:34:14.180Z,1736368454.180 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-01-08T20:34:14.180Z,1736368454.180 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-01-08T20:34:14.181Z,1736368454.181 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-01-08T20:34:14.181Z,1736368454.181 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds. 2025-01-08T20:34:14.181Z,1736368454.181 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-01-08T20:34:14.182Z,1736368454.182 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-01-08T20:34:14.182Z,1736368454.182 [transit:NeedComms:A] Running Loop=1 2025-01-08T20:34:14.184Z,1736368454.184 [transit:NeedComms:A](INFO): last time_fix was: 1736364852.000000 second since 1970/01/01T00:00:00Z 2025-01-08T20:34:14.184Z,1736368454.184 [transit:NeedComms:A] Stopped 2025-01-08T20:34:14.598Z,1736368454.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:14.985Z,1736368454.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:15.382Z,1736368455.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:15.786Z,1736368455.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:16.197Z,1736368456.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:16.421Z,1736368456.421 [DAT](INFO): DAT read: Rx Time:20:34:15.0656 2025-01-08T20:34:16.421Z,1736368456.421 [DAT](INFO): Rx dataTimestamp_ set to:1736368456.420835 2025-01-08T20:34:16.626Z,1736368456.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:16.930Z,1736368456.930 [DAT](INFO): DAT read: 20:34:15.0656 LVL= 26288, 25937, 12450, 31571, AGC= 56, IDX= 454,-0.02,-2.320, 0.235,-0.518,-0.853, PHS=-1.379, 1.135, 0.332, RAW= 288.2, -0.8, CAL= 291.2, -2.2, ROT= 218.8, 2.2 2025-01-08T20:34:16.931Z,1736368456.931 [DAT](INFO): got valid direction response: 20:34:15.0656 LVL= 26288, 25937, 12450, 31571, AGC= 56, IDX= 454,-0.02,-2.320, 0.235,-0.518,-0.853, PHS=-1.379, 1.135, 0.332, RAW= 288.2, -0.8, CAL= 291.2, -2.2, ROT= 218.8, 2.2 2025-01-08T20:34:16.932Z,1736368456.932 [DAT](INFO): DAT read: Bearing 218.8, 2.2 (Local) 2025-01-08T20:34:16.933Z,1736368456.933 [DAT](INFO): Local bearing/azimuth received: Bearing 218.8, 2.2 (Local) 2025-01-08T20:34:16.934Z,1736368456.934 [DAT](INFO): DAT read: Range 10 to 50 : 163.5 m (Round-trip 218.1 ms) speed -0.4 m/s 2025-01-08T20:34:16.935Z,1736368456.935 [DAT](INFO): DAT read: user:1447> 2025-01-08T20:34:16.936Z,1736368456.936 [DAT](INFO): DAT read: Tx time:20:34:16.1433 2025-01-08T20:34:16.936Z,1736368456.936 [DAT](INFO): Ping request sent. 2025-01-08T20:34:16.936Z,1736368456.936 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:16.938Z,1736368456.938 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-01-08T20:34:16.942Z,1736368456.942 [DAT](INFO): direction in FSK: [-0.778764,-0.626142,-0.038388] 2025-01-08T20:34:16.942Z,1736368456.942 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:16.942Z,1736368456.942 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:16.945Z,1736368456.945 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:16.946Z,1736368456.946 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:17.032Z,1736368457.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:17.176Z,1736368457.176 [DAT](INFO): DAT read: TxSync time:20:34:16.1425 2025-01-08T20:34:17.408Z,1736368457.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:17.816Z,1736368457.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:18.210Z,1736368458.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:18.649Z,1736368458.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:19.023Z,1736368459.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:19.428Z,1736368459.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:19.826Z,1736368459.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:19.948Z,1736368459.948 [DAT](INFO): DAT read: Rx Time:20:34:18.7691 2025-01-08T20:34:19.949Z,1736368459.949 [DAT](INFO): Rx dataTimestamp_ set to:1736368459.948486 2025-01-08T20:34:20.235Z,1736368460.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:20.681Z,1736368460.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:20.731Z,1736368460.731 [DAT](INFO): DAT read: 20:34:18.7691 LVL= 32752, 32753, 18674, 32755, AGC= 58, IDX= 458,-0.25, 2.179,-1.572,-2.254,-2.649, PHS=-1.367, 1.124, 0.391, RAW= 286.6, -1.3, CAL= 289.8, -3.1, ROT= 220.2, 3.1 2025-01-08T20:34:20.732Z,1736368460.732 [DAT](INFO): got valid direction response: 20:34:18.7691 LVL= 32752, 32753, 18674, 32755, AGC= 58, IDX= 458,-0.25, 2.179,-1.572,-2.254,-2.649, PHS=-1.367, 1.124, 0.391, RAW= 286.6, -1.3, CAL= 289.8, -3.1, ROT= 220.2, 3.1 2025-01-08T20:34:20.733Z,1736368460.733 [DAT](INFO): DAT read: Bearin 3.1 (Local) 2025-01-08T20:34:20.733Z,1736368460.733 [DAT](INFO): Local bearing/azimuth received: Bearin 3.1 (Local) 2025-01-08T20:34:20.735Z,1736368460.735 [DAT](INFO): DAT read: Range 10 to 50 : 166.2 m (Round-trip 221.6 ms) speed -0.6 m/s 2025-01-08T20:34:20.736Z,1736368460.736 [DAT](INFO): DAT read: user:1448> 2025-01-08T20:34:20.737Z,1736368460.737 [DAT](INFO): DAT read: Tx time:20:34:19.8933 2025-01-08T20:34:20.737Z,1736368460.737 [DAT](INFO): Ping request sent. 2025-01-08T20:34:20.737Z,1736368460.737 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:20.738Z,1736368460.738 [DAT](INFO): DAT read: TxSync time:20:34:19.8925 2025-01-08T20:34:20.738Z,1736368460.738 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-01-08T20:34:20.747Z,1736368460.747 [DAT](INFO): direction in FSK: [-0.762678,-0.644513,-0.054079] 2025-01-08T20:34:20.748Z,1736368460.748 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:20.748Z,1736368460.748 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:20.751Z,1736368460.751 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:20.752Z,1736368460.752 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:21.044Z,1736368461.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:21.442Z,1736368461.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:21.860Z,1736368461.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:22.271Z,1736368462.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:22.683Z,1736368462.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:23.067Z,1736368463.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:23.463Z,1736368463.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:23.732Z,1736368463.732 [DAT](INFO): DAT read: Rx Time:20:34:22.5222 2025-01-08T20:34:23.733Z,1736368463.733 [DAT](INFO): Rx dataTimestamp_ set to:1736368463.732464 2025-01-08T20:34:23.872Z,1736368463.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:24.253Z,1736368464.253 [DAT](INFO): DAT read: 20:34:22.5222 LVL= 32544, 28193, 15634, 29779, AGC= 60, IDX= 458, 0.06,-1.344, 1.109, 0.667, 0.188, PHS=-1.444, 0.969, 0.477, RAW= 281.1, -0.0, CAL= 283.4, -1.1, ROT= 226.6, 1.1 2025-01-08T20:34:24.254Z,1736368464.254 [DAT](INFO): got valid direction response: 20:34:22.5222 LVL= 32544, 28193, 15634, 29779, AGC= 60, IDX= 458, 0.06,-1.344, 1.109, 0.667, 0.188, PHS=-1.444, 0.969, 0.477, RAW= 281.1, -0.0, CAL= 283.4, -1.1, ROT= 226.6, 1.1 2025-01-08T20:34:24.255Z,1736368464.255 [DAT](INFO): DAT read: Bearing 226.6, 1.1 (Local) 2025-01-08T20:34:24.255Z,1736368464.255 [DAT](INFO): Local bearing/azimuth received: Bearing 226.6, 1.1 (Local) 2025-01-08T20:34:24.257Z,1736368464.257 [DAT](INFO): DAT read: Range 10 to 50 : 168.6 m (Round-trip 224.8 ms) speed 0.0 m/s 2025-01-08T20:34:24.264Z,1736368464.264 [DAT](INFO): DAT read: user:1449> 2025-01-08T20:34:24.266Z,1736368464.266 [DAT](INFO): DAT read: Tx time:20:34:23.6433 2025-01-08T20:34:24.272Z,1736368464.272 [DAT](INFO): Ping request sent. 2025-01-08T20:34:24.272Z,1736368464.272 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:24.274Z,1736368464.274 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-01-08T20:34:24.327Z,1736368464.327 [DAT](INFO): direction in FSK: [-0.686961,-0.726441,-0.019197] 2025-01-08T20:34:24.328Z,1736368464.328 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:24.328Z,1736368464.328 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:24.331Z,1736368464.331 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:24.347Z,1736368464.347 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:24.458Z,1736368464.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:24.489Z,1736368464.489 [DAT](INFO): DAT read: TxSync time:20:34:23.6425 2025-01-08T20:34:24.713Z,1736368464.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:25.126Z,1736368465.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:25.515Z,1736368465.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:25.935Z,1736368465.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:26.380Z,1736368466.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:26.738Z,1736368466.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:27.135Z,1736368467.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:27.512Z,1736368467.512 [DAT](INFO): DAT read: Rx Time:20:34:26.2739 2025-01-08T20:34:27.513Z,1736368467.513 [DAT](INFO): Rx dataTimestamp_ set to:1736368467.512479 2025-01-08T20:34:27.537Z,1736368467.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:27.648Z,1736368467.648 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:34:27.992Z,1736368467.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:28.024Z,1736368468.024 [DAT](INFO): DAT read: 20:34:26.2739 LVL= 26336, 24145, 14882, 28339, AGC= 62, IDX= 458, 0.16,-3.024,-0.724,-0.909,-1.409, PHS=-1.527, 0.731, 0.497, RAW= 275.4, 2.8, CAL= 278.2, 3.3, ROT= 231.8, -3.3 2025-01-08T20:34:28.026Z,1736368468.026 [DAT](INFO): got valid direction response: 20:34:26.2739 LVL= 26336, 24145, 14882, 28339, AGC= 62, IDX= 458, 0.16,-3.024,-0.724,-0.909,-1.409, PHS=-1.527, 0.731, 0.497, RAW= 275.4, 2.8, CAL= 278.2, 3.3, ROT= 231.8, -3.3 2025-01-08T20:34:28.040Z,1736368468.040 [DAT](INFO): DAT read: Bearing 231.8, -3.3 (Local) 2025-01-08T20:34:28.041Z,1736368468.041 [DAT](INFO): Local bearing/azimuth received: Bearing 231.8, -3.3 (Local) 2025-01-08T20:34:28.042Z,1736368468.042 [DAT](INFO): DAT read: Range 10 to 50 : 169.8 m (Round-trip 226.4 ms) speed -0.2 m/s 2025-01-08T20:34:28.043Z,1736368468.043 [DAT](INFO): DAT read: user:1450> 2025-01-08T20:34:28.044Z,1736368468.044 [DAT](INFO): DAT read: Tx time:20:34:27.3933 2025-01-08T20:34:28.044Z,1736368468.044 [DAT](INFO): Ping request sent. 2025-01-08T20:34:28.044Z,1736368468.044 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:28.044Z,1736368468.044 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-01-08T20:34:28.045Z,1736368468.045 [DAT](INFO): direction in FSK: [-0.617383,-0.784554,0.057564] 2025-01-08T20:34:28.046Z,1736368468.046 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:28.046Z,1736368468.046 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:28.057Z,1736368468.057 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:28.057Z,1736368468.057 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:28.271Z,1736368468.271 [DAT](INFO): DAT read: TxSync time:20:34:27.3925 2025-01-08T20:34:28.376Z,1736368468.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:28.652Z,1736368468.652 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:34:28.746Z,1736368468.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:29.155Z,1736368469.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:29.560Z,1736368469.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:29.968Z,1736368469.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:30.388Z,1736368470.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:30.769Z,1736368470.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:31.176Z,1736368471.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:31.292Z,1736368471.292 [DAT](INFO): DAT read: Rx Time:20:34:30.0253 2025-01-08T20:34:31.293Z,1736368471.293 [DAT](INFO): Rx dataTimestamp_ set to:1736368471.292459 2025-01-08T20:34:31.582Z,1736368471.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:31.802Z,1736368471.802 [DAT](INFO): DAT read: 20:34:30.0253 LVL= 25568, 24609, 15970, 28467, AGC= 59, IDX= 441, 0.09,-2.697,-0.446,-0.493,-1.027, PHS=-1.582, 0.629, 0.531, RAW= 272.2, 3.9, CAL= 275.6, 5.1, ROT= 234.4, -5.1 2025-01-08T20:34:31.803Z,1736368471.803 [DAT](INFO): got valid direction response: 20:34:30.0253 LVL= 25568, 24609, 15970, 28467, AGC= 59, IDX= 441, 0.09,-2.697,-0.446,-0.493,-1.027, PHS=-1.582, 0.629, 0.531, RAW= 272.2, 3.9, CAL= 275.6, 5.1, ROT= 234.4, -5.1 2025-01-08T20:34:31.804Z,1736368471.804 [DAT](INFO): DAT read: Bearing 234.4, -5.1 (Local) 2025-01-08T20:34:31.805Z,1736368471.805 [DAT](INFO): Local bearing/azimuth received: Bearing 234.4, -5.1 (Local) 2025-01-08T20:34:31.806Z,1736368471.806 [DAT](INFO): DAT read: Range 10 to 50 : 170.8 m (Round-trip 227.8 ms) speed -0.6 m/s 2025-01-08T20:34:31.807Z,1736368471.807 [DAT](INFO): DAT read: user:1451> 2025-01-08T20:34:31.808Z,1736368471.808 [DAT](INFO): DAT read: Tx time:20:34:31.1434 2025-01-08T20:34:31.809Z,1736368471.809 [DAT](INFO): Ping request sent. 2025-01-08T20:34:31.809Z,1736368471.809 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:31.809Z,1736368471.809 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-01-08T20:34:31.810Z,1736368471.810 [DAT](INFO): direction in FSK: [-0.579819,-0.809882,0.088894] 2025-01-08T20:34:31.810Z,1736368471.810 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:31.810Z,1736368471.810 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:31.814Z,1736368471.814 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:31.814Z,1736368471.814 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:31.994Z,1736368471.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:32.048Z,1736368472.048 [DAT](INFO): DAT read: TxSync time:20:34:31.1426 2025-01-08T20:34:32.416Z,1736368472.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:32.786Z,1736368472.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:33.195Z,1736368473.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:33.595Z,1736368473.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:33.998Z,1736368473.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:34.445Z,1736368474.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:34.807Z,1736368474.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:35.072Z,1736368475.072 [DAT](INFO): DAT read: Rx Time:20:34:33.7791 2025-01-08T20:34:35.073Z,1736368475.073 [DAT](INFO): Rx dataTimestamp_ set to:1736368475.072478 2025-01-08T20:34:35.210Z,1736368475.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:35.585Z,1736368475.585 [DAT](INFO): DAT read: 20:34:33.7791 LVL= 29968, 27441, 17986, 32755, AGC= 60, IDX= 464,-0.09, 3.053,-1.036,-0.941,-1.598, PHS=-1.544, 0.609, 0.654, RAW= 269.0, 2.6, CAL= 271.7, 3.2, ROT= 238.3, -3.2 2025-01-08T20:34:35.586Z,1736368475.586 [DAT](INFO): got valid direction response: 20:34:33.7791 LVL= 29968, 27441, 17986, 32755, AGC= 60, IDX= 464,-0.09, 3.053,-1.036,-0.941,-1.598, PHS=-1.544, 0.609, 0.654, RAW= 269.0, 2.6, CAL= 271.7, 3.2, ROT= 238.3, -3.2 2025-01-08T20:34:35.587Z,1736368475.587 [DAT](INFO): DAT read: Bearing 238.3, -3.2 (Lo73.7 m (Round-trip 231.6 ms) speed -0.5 m/s 2025-01-08T20:34:35.588Z,1736368475.588 [DAT](INFO): unknown deviceResponse_: Bearing 238.3, -3.2 (Lo73.7 m (Round-trip 231.6 ms) speed -0.5 m/s 2025-01-08T20:34:35.588Z,1736368475.588 [DAT](INFO): DAT read: user:1452> 2025-01-08T20:34:35.589Z,1736368475.589 [DAT](INFO): DAT read: Tx time:20:34:34.8934 2025-01-08T20:34:35.589Z,1736368475.589 [DAT](INFO): Ping request sent. 2025-01-08T20:34:35.589Z,1736368475.589 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:35.590Z,1736368475.590 [DAT](INFO): #Rx 46: Read direction message, but no range. 2025-01-08T20:34:35.591Z,1736368475.591 [DAT](INFO): direction in FSK: [-0.524652,-0.849484,0.055822] 2025-01-08T20:34:35.591Z,1736368475.591 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:35.598Z,1736368475.598 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:35.621Z,1736368475.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:35.833Z,1736368475.833 [DAT](INFO): DAT read: TxSync time:20:34:34.8926 2025-01-08T20:34:36.018Z,1736368476.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:36.445Z,1736368476.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:36.826Z,1736368476.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:37.232Z,1736368477.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:37.647Z,1736368477.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:38.058Z,1736368478.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:38.480Z,1736368478.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:38.852Z,1736368478.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:38.868Z,1736368478.868 [DAT](INFO): DAT read: Rx Time:20:34:37.5324 2025-01-08T20:34:38.869Z,1736368478.869 [DAT](INFO): Rx dataTimestamp_ set to:1736368478.868600 2025-01-08T20:34:39.254Z,1736368479.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:39.373Z,1736368479.373 [DAT](INFO): DAT read: Range 10 to 50 : 176.1 m (Round-trip 234.8 ms) speed 0.1 m/s 2025-01-08T20:34:39.374Z,1736368479.374 [DAT](INFO): DAT read: user:1453> 2025-01-08T20:34:39.375Z,1736368479.375 [DAT](INFO): DAT read: Tx time:20:34:38.6450 2025-01-08T20:34:39.375Z,1736368479.375 [DAT](INFO): Ping request sent. 2025-01-08T20:34:39.375Z,1736368479.375 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:39.376Z,1736368479.376 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-01-08T20:34:39.376Z,1736368479.376 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:39.376Z,1736368479.376 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:39.624Z,1736368479.624 [DAT](INFO): DAT read: TxSync time:20:34:38.6442 2025-01-08T20:34:39.659Z,1736368479.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:40.063Z,1736368480.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:40.517Z,1736368480.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:34:40.518Z,1736368480.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:40.880Z,1736368480.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:34:40.880Z,1736368480.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:41.270Z,1736368481.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:34:41.270Z,1736368481.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:41.679Z,1736368481.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:34:41.680Z,1736368481.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:42.088Z,1736368482.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:34:42.088Z,1736368482.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:42.400Z,1736368482.400 [DAT](INFO): DAT read: Rx Time:20:34:41.2844 2025-01-08T20:34:42.401Z,1736368482.401 [DAT](INFO): Rx dataTimestamp_ set to:1736368482.400412 2025-01-08T20:34:42.510Z,1736368482.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:42.891Z,1736368482.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:43.170Z,1736368483.170 [DAT](INFO): DAT read: 20:34:41.2844 LVL= 25584, 25569, 17762, 32563, AGC= 58, IDX= 453,-0.20,-2.414,-0.222,-0.121,-0.734, PHS=-1.593, 0.559, 0.610, RAW= 268.8, 3.9, CAL= 272.3, 5.2, ROT= 237.7, -5.2 2025-01-08T20:34:43.172Z,1736368483.172 [DAT](INFO): got valid direction response: 20:34:41.2844 LVL= 25584, 25569, 17762, 32563, AGC= 58, IDX= 453,-0.20,-2.414,-0.222,-0.121,-0.734, PHS=-1.593, 0.559, 0.610, RAW= 268.8, 3.9, CAL= 272.3, 5.2, ROT= 237.7, -5.2 2025-01-08T20:34:43.173Z,1736368483.173 [DAT](INFO): DAT read: Bearing 237.7, -5.2 (Local) 2025-01-08T20:34:43.173Z,1736368483.173 [DAT](INFO): Local bearing/azimuth received: Bearing 237.7, -5.2 (Local) 2025-01-08T20:34:43.174Z,1736368483.174 [DAT](INFO): DAT read: Range 10 to 50 : 176.4 m (Round-trip 235.2 ms) speed -0.2 m/s 2025-01-08T20:34:43.176Z,1736368483.176 [DAT](INFO): DAT read: user:1454> 2025-01-08T20:34:43.176Z,1736368483.176 [DAT](INFO): DAT read: Tx time:20:34:42.3935 2025-01-08T20:34:43.177Z,1736368483.177 [DAT](INFO): Ping request sent. 2025-01-08T20:34:43.177Z,1736368483.177 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:43.177Z,1736368483.177 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-01-08T20:34:43.178Z,1736368483.178 [DAT](INFO): direction in FSK: [-0.532153,-0.841783,0.090633] 2025-01-08T20:34:43.178Z,1736368483.178 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:43.179Z,1736368483.179 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:43.182Z,1736368483.182 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:43.182Z,1736368483.182 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:43.295Z,1736368483.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:43.412Z,1736368483.412 [DAT](INFO): DAT read: TxSync time:20:34:42.3927 2025-01-08T20:34:43.713Z,1736368483.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:44.115Z,1736368484.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:44.521Z,1736368484.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:44.911Z,1736368484.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:45.310Z,1736368485.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:45.719Z,1736368485.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:46.118Z,1736368486.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:46.186Z,1736368486.186 [DAT](INFO): DAT read: Rx Time:20:34:45.0341 2025-01-08T20:34:46.186Z,1736368486.186 [DAT](INFO): Rx dataTimestamp_ set to:1736368486.186071 2025-01-08T20:34:46.557Z,1736368486.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:46.950Z,1736368486.950 [DAT](INFO): DAT read: 20:34:45.0341 LVL= 21280, 20817, 14434, 25475, AGC= 59, IDX= 434,-0.14, 0.310, 2.378, 2.614, 1.938, PHS=-1.540, 0.487, 0.673, RAW= 265.7, 3.6, CAL= 269.1, 4.9, ROT= 240.9, -4.9 2025-01-08T20:34:46.951Z,1736368486.951 [DAT](INFO): got valid direction response: 20:34:45.0341 LVL= 21280, 20817, 14434, 25475, AGC= 59, IDX= 434,-0.14, 0.310, 2.378, 2.614, 1.938, PHS=-1.540, 0.487, 0.673, RAW= 265.7, 3.6, CAL= 269.1, 4.9, ROT= 240.9, -4.9 2025-01-08T20:34:46.952Z,1736368486.952 [DAT](INFO): DAT read: Bearing 240.9, -4.9 (Local) 2025-01-08T20:34:46.953Z,1736368486.953 [DAT](INFO): Local bearing/azimuth received: Bearing 240.9, -4.9 (Local) 2025-01-08T20:34:46.954Z,1736368486.954 [DAT](INFO): DAT read: Range 10 to 50 : 177.3 m (Round-trip 236.5 ms) speed -0.6 m/s 2025-01-08T20:34:46.955Z,1736368486.955 [DAT](INFO): DAT read: user:1455> 2025-01-08T20:34:46.956Z,1736368486.956 [DAT](INFO): DAT read: Tx time:20:34:46.1435 2025-01-08T20:34:46.956Z,1736368486.956 [DAT](INFO): Ping request sent. 2025-01-08T20:34:46.956Z,1736368486.956 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:46.957Z,1736368486.957 [DAT](INFO): DAT read: TxSync time:20:34:46.1427 2025-01-08T20:34:46.957Z,1736368486.957 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-01-08T20:34:46.958Z,1736368486.958 [DAT](INFO): direction in FSK: [-0.484558,-0.870579,0.085417] 2025-01-08T20:34:46.959Z,1736368486.959 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:46.959Z,1736368486.959 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:46.966Z,1736368486.966 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:46.966Z,1736368486.966 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:46.973Z,1736368486.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:47.330Z,1736368487.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:47.740Z,1736368487.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:48.138Z,1736368488.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:48.560Z,1736368488.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:48.948Z,1736368488.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:49.359Z,1736368489.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:49.763Z,1736368489.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:49.966Z,1736368489.966 [DAT](INFO): DAT read: Rx Time:20:34:48.7878 2025-01-08T20:34:49.966Z,1736368489.966 [DAT](INFO): Rx dataTimestamp_ set to:1736368489.966002 2025-01-08T20:34:50.164Z,1736368490.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:50.582Z,1736368490.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:50.726Z,1736368490.726 [DAT](INFO): DAT read: 20:34:48.7878 LVL= 29808, 24017, 15938, 27075, AGC= 59, IDX= 456,-0.02, 1.329,-2.928,-2.519, 2.999, PHS=-1.583, 0.403, 0.762, RAW= 261.8, 3.9, CAL= 266.0, 5.4, ROT= 244.0, -5.4 2025-01-08T20:34:50.728Z,1736368490.728 [DAT](INFO): got valid direction response: 20:34:48.7878 LVL= 29808, 24017, 15938, 27075, AGC= 59, IDX= 456,-0.02, 1.329,-2.928,-2.519, 2.999, PHS=-1.583, 0.403, 0.762, RAW= 261.8, 3.9, CAL= 266.0, 5.4, ROT= 244.0, -5.4 2025-01-08T20:34:50.729Z,1736368490.729 [DAT](INFO): DAT read: Bearing 244.0, -5.4 (Local) 2025-01-08T20:34:50.729Z,1736368490.729 [DAT](INFO): Local bearing/azimuth received: Bearing 244.0, -5.4 (Local) 2025-01-08T20:34:50.731Z,1736368490.731 [DAT](INFO): DAT read: Range 10 to 50 : 180.1 m (Round-trip 240.2 ms) speed -0.5 m/s 2025-01-08T20:34:50.732Z,1736368490.732 [DAT](INFO): DAT read: user:1456> 2025-01-08T20:34:50.732Z,1736368490.732 [DAT](INFO): DAT read: Tx time:20:34:49.8935 2025-01-08T20:34:50.733Z,1736368490.733 [DAT](INFO): Ping request sent. 2025-01-08T20:34:50.733Z,1736368490.733 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:50.733Z,1736368490.733 [DAT](INFO): DAT read: TxSync time:20:34:49.8927 2025-01-08T20:34:50.734Z,1736368490.734 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-01-08T20:34:50.735Z,1736368490.735 [DAT](INFO): direction in FSK: [-0.436425,-0.894805,0.094108] 2025-01-08T20:34:50.735Z,1736368490.735 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:50.735Z,1736368490.735 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:50.738Z,1736368490.738 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:50.739Z,1736368490.739 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:50.980Z,1736368490.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:51.370Z,1736368491.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:51.774Z,1736368491.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:52.183Z,1736368492.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:52.617Z,1736368492.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:52.986Z,1736368492.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:53.392Z,1736368493.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:53.744Z,1736368493.744 [DAT](INFO): DAT read: Rx Time:20:34:52.5406 2025-01-08T20:34:53.745Z,1736368493.745 [DAT](INFO): Rx dataTimestamp_ set to:1736368493.744458 2025-01-08T20:34:53.814Z,1736368493.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:54.262Z,1736368494.262 [DAT](INFO): DAT read: 20:34:52.5406 LVL= 28192, 32753, 18530, 32755, AGC= 58, IDX= 451, 0.12,-0.714, 1.168, 1.784, 0.920, PHS=-1.547, 0.295, 0.861, RAW= 257.0, 3.6, CAL= 261.8, 5.2, ROT= 248.2, -5.2 2025-01-08T20:34:54.266Z,1736368494.266 [DAT](INFO): got valid direction response: 20:34:52.5406 LVL= 28192, 32753, 18530, 32755, AGC= 58, IDX= 451, 0.12,-0.714, 1.168, 1.784, 0.920, PHS=-1.547, 0.295, 0.861, RAW= 257.0, 3.6, CAL= 261.8, 5.2, ROT= 248.2, -5.2 2025-01-08T20:34:54.270Z,1736368494.270 [DAT](INFO): DAT read: Bearing 248.2, -5.2 (Local) 2025-01-08T20:34:54.272Z,1736368494.272 [DAT](INFO): Local bearing/azimuth received: Bearing 248.2, -5.2 (Local) 2025-01-08T20:34:54.284Z,1736368494.284 [DAT](INFO): DAT read: Range 10 to 50 : 182.1 m (Round-trip 242.8 ms) speed 0.0 m/s 2025-01-08T20:34:54.287Z,1736368494.287 [DAT](INFO): DAT read: user:1457> 2025-01-08T20:34:54.297Z,1736368494.297 [DAT](INFO): DAT read: Tx time:20:34:53.6436 2025-01-08T20:34:54.298Z,1736368494.298 [DAT](INFO): Ping request sent. 2025-01-08T20:34:54.298Z,1736368494.298 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:54.308Z,1736368494.308 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-01-08T20:34:54.331Z,1736368494.331 [DAT](INFO): direction in FSK: [-0.369839,-0.924665,0.090633] 2025-01-08T20:34:54.332Z,1736368494.332 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:54.332Z,1736368494.332 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:54.335Z,1736368494.335 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:54.335Z,1736368494.335 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:54.335Z,1736368494.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:54.500Z,1736368494.500 [DAT](INFO): DAT read: TxSync time:20:34:53.6428 2025-01-08T20:34:54.643Z,1736368494.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:55.017Z,1736368495.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:55.417Z,1736368495.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:55.820Z,1736368495.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:56.218Z,1736368496.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:56.659Z,1736368496.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:57.029Z,1736368497.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:57.436Z,1736368497.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:57.524Z,1736368497.524 [DAT](INFO): DAT read: Rx Time:20:34:56.2906 2025-01-08T20:34:57.525Z,1736368497.525 [DAT](INFO): Rx dataTimestamp_ set to:1736368497.524544 2025-01-08T20:34:57.834Z,1736368497.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:58.034Z,1736368498.034 [DAT](INFO): DAT read: 20:34:56.2906 LVL= 25520, 29505, 17186, 29411, AGC= 60, IDX= 435, 0.10, 0.528, 2.428, 3.037, 2.156, PHS=-1.540, 0.319, 0.878, RAW= 257.3, 3.2, CAL= 261.8, 4.6, ROT= 248.2, -4.6 2025-01-08T20:34:58.035Z,1736368498.035 [DAT](INFO): got valid direction response: 20:34:56.2906 LVL= 25520, 29505, 17186, 29411, AGC= 60, IDX= 435, 0.10, 0.528, 2.428, 3.037, 2.156, PHS=-1.540, 0.319, 0.878, RAW= 257.3, 3.2, CAL= 261.8, 4.6, ROT= 248.2, -4.6 2025-01-08T20:34:58.036Z,1736368498.036 [DAT](INFO): DAT read: Bearing 248.2, -4.6 (Local) 2025-01-08T20:34:58.037Z,1736368498.037 [DAT](INFO): Local bearing/azimuth received: Bearing 248.2, -4.6 (Local) 2025-01-08T20:34:58.038Z,1736368498.038 [DAT](INFO): DAT read: Range 10 to 50 : 182.1 m (Round-trip 242.8 ms) speed 0.2 m/s 2025-01-08T20:34:58.039Z,1736368498.039 [DAT](INFO): DAT read: user:1458> 2025-01-08T20:34:58.040Z,1736368498.040 [DAT](INFO): DAT read: Tx time:20:34:57.3936 2025-01-08T20:34:58.040Z,1736368498.040 [DAT](INFO): Ping request sent. 2025-01-08T20:34:58.040Z,1736368498.040 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:34:58.040Z,1736368498.040 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-01-08T20:34:58.041Z,1736368498.041 [DAT](INFO): direction in FSK: [-0.370172,-0.925495,0.080199] 2025-01-08T20:34:58.041Z,1736368498.041 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:58.042Z,1736368498.042 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:58.045Z,1736368498.045 [DAT](INFO): publishing transmit ping time 2025-01-08T20:34:58.045Z,1736368498.045 [DAT](INFO): publishing direction and range info 2025-01-08T20:34:58.248Z,1736368498.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:58.283Z,1736368498.283 [DAT](INFO): DAT read: TxSync time:20:34:57.3928 2025-01-08T20:34:58.669Z,1736368498.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:58.776Z,1736368498.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:34:59.046Z,1736368499.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:59.467Z,1736368499.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:34:59.780Z,1736368499.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:34:59.857Z,1736368499.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:00.300Z,1736368500.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:00.685Z,1736368500.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:01.071Z,1736368501.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:01.304Z,1736368501.304 [DAT](INFO): DAT read: Rx Time:20:35:00.0413 2025-01-08T20:35:01.305Z,1736368501.305 [DAT](INFO): Rx dataTimestamp_ set to:1736368501.304610 2025-01-08T20:35:01.487Z,1736368501.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:01.814Z,1736368501.814 [DAT](INFO): DAT read: 20:35:00.0413 LVL= 25744, 24929, 16434, 29219, AGC= 54, IDX= 441, 0.40, 1.117, 3.013,-2.689, 2.708, PHS=-1.502, 0.353, 0.884, RAW= 257.8, 2.5, CAL= 261.8, 3.8, ROT= 248.2, -3.8 2025-01-08T20:35:01.816Z,1736368501.816 [DAT](INFO): got valid direction response: 20:35:00.0413 LVL= 25744, 24929, 16434, 29219, AGC= 54, IDX= 441, 0.40, 1.117, 3.013,-2.689, 2.708, PHS=-1.502, 0.353, 0.884, RAW= 257.8, 2.5, CAL= 261.8, 3.8, ROT= 248.2, -3.8 2025-01-08T20:35:01.817Z,1736368501.817 [DAT](INFO): DAT read: Bearing 248.2, -3.8 (Local) 2025-01-08T20:35:01.817Z,1736368501.817 [DAT](INFO): Local bearing/azimuth received: Bearing 248.2, -3.8 (Local) 2025-01-08T20:35:01.819Z,1736368501.819 [DAT](INFO): DAT read: Range 10 to 50 : 182.6 m (Round-trip 243.5 ms) speed -0.5 m/s 2025-01-08T20:35:01.824Z,1736368501.824 [DAT](INFO): DAT read: user:1459> 2025-01-08T20:35:01.825Z,1736368501.825 [DAT](INFO): DAT read: Tx time:20:35:01.1436 2025-01-08T20:35:01.825Z,1736368501.825 [DAT](INFO): Ping request sent. 2025-01-08T20:35:01.825Z,1736368501.825 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:01.826Z,1736368501.826 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-01-08T20:35:01.827Z,1736368501.827 [DAT](INFO): direction in FSK: [-0.370551,-0.926445,0.066274] 2025-01-08T20:35:01.827Z,1736368501.827 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:01.827Z,1736368501.827 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:01.830Z,1736368501.830 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:01.830Z,1736368501.830 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:01.911Z,1736368501.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:02.061Z,1736368502.061 [DAT](INFO): DAT read: TxSync time:20:35:01.1428 2025-01-08T20:35:02.361Z,1736368502.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:02.695Z,1736368502.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:03.098Z,1736368503.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:03.504Z,1736368503.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:03.906Z,1736368503.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:04.361Z,1736368504.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:04.714Z,1736368504.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:05.084Z,1736368505.084 [DAT](INFO): DAT read: Rx Time:20:35:03.7942 2025-01-08T20:35:05.085Z,1736368505.085 [DAT](INFO): Rx dataTimestamp_ set to:1736368505.084428 2025-01-08T20:35:05.139Z,1736368505.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:05.553Z,1736368505.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:05.594Z,1736368505.594 [DAT](INFO): DAT read: 20:35:03.7942 LVL= 26544, 26273, 19058, 30163, AGC= 60, IDX= 455,-0.26, 0.170, 1.960, 2.762, 1.749, PHS=-1.492, 0.258, 1.010, RAW= 253.0, 2.0, CAL= 257.2, 3.1, ROT= 252.8, -3.1 2025-01-08T20:35:05.595Z,1736368505.595 [DAT](INFO): got valid direction response: 20:35:03.7942 LVL= 26544, 26273, 19058, 30163, AGC= 60, IDX= 455,-0.26, 0.170, 1.960, 2.762, 1.749, PHS=-1.492, 0.258, 1.010, RAW= 253.0, 2.0, CAL= 257.2, 3.1, ROT= 252.8, -3.1 2025-01-08T20:35:05.596Z,1736368505.596 [DAT](INFO): DAT read: Bearing 252.8, -3.1 (Local) 2025-01-08T20:35:05.596Z,1736368505.596 [DAT](INFO): Local bearing/azimuth received: Bearing 252.8, -3.1 (Local) 2025-01-08T20:35:05.598Z,1736368505.598 [DAT](INFO): DAT read: Range 10 to 50 : 184.7 m (Round-trip 246.3 ms) speed -0.5 m/s 2025-01-08T20:35:05.599Z,1736368505.599 [DAT](INFO): DAT read: user:1460> 2025-01-08T20:35:05.599Z,1736368505.599 [DAT](INFO): DAT read: Tx time:20:35:04.8937 2025-01-08T20:35:05.600Z,1736368505.600 [DAT](INFO): Ping request sent. 2025-01-08T20:35:05.600Z,1736368505.600 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:05.600Z,1736368505.600 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-01-08T20:35:05.601Z,1736368505.601 [DAT](INFO): direction in FSK: [-0.295275,-0.953880,0.054079] 2025-01-08T20:35:05.601Z,1736368505.601 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:05.602Z,1736368505.602 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:05.605Z,1736368505.605 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:05.605Z,1736368505.605 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:05.840Z,1736368505.840 [DAT](INFO): DAT read: TxSync time:20:35:04.8929 2025-01-08T20:35:05.932Z,1736368505.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:06.380Z,1736368506.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:06.751Z,1736368506.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:07.138Z,1736368507.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:07.542Z,1736368507.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:07.946Z,1736368507.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:08.387Z,1736368508.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:35:08.387Z,1736368508.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:08.754Z,1736368508.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:35:08.754Z,1736368508.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:08.864Z,1736368508.864 [DAT](INFO): DAT read: Rx Time:20:35:07.5467 2025-01-08T20:35:08.865Z,1736368508.865 [DAT](INFO): Rx dataTimestamp_ set to:1736368508.864498 2025-01-08T20:35:09.234Z,1736368509.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:35:09.234Z,1736368509.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:09.369Z,1736368509.369 [DAT](INFO): DAT read: Range 10 to 50 : 186.6 m (Round-trip 248.9 ms) speed 0.1 m/s 2025-01-08T20:35:09.370Z,1736368509.370 [DAT](INFO): DAT read: user:1461> 2025-01-08T20:35:09.371Z,1736368509.371 [DAT](INFO): DAT read: Tx time:20:35:08.6437 2025-01-08T20:35:09.371Z,1736368509.371 [DAT](INFO): Ping request sent. 2025-01-08T20:35:09.371Z,1736368509.371 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:09.372Z,1736368509.372 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-01-08T20:35:09.372Z,1736368509.372 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:09.372Z,1736368509.372 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:09.567Z,1736368509.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:35:09.568Z,1736368509.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:09.621Z,1736368509.621 [DAT](INFO): DAT read: TxSync time:20:35:08.6429 2025-01-08T20:35:09.972Z,1736368509.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:35:09.972Z,1736368509.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:10.407Z,1736368510.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:35:10.408Z,1736368510.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:10.779Z,1736368510.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:35:10.780Z,1736368510.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:11.178Z,1736368511.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:35:11.178Z,1736368511.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:11.599Z,1736368511.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:35:11.600Z,1736368511.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:12.004Z,1736368512.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:35:12.004Z,1736368512.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:12.431Z,1736368512.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:12.644Z,1736368512.644 [DAT](INFO): DAT read: Rx Time:20:35:11.2967 2025-01-08T20:35:12.645Z,1736368512.645 [DAT](INFO): Rx dataTimestamp_ set to:1736368512.644416 2025-01-08T20:35:12.811Z,1736368512.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:13.149Z,1736368513.149 [DAT](INFO): DAT read: Range 10 to 50 : 186.6 m (Round-trip 248.9 ms) speed 0.2 m/s 2025-01-08T20:35:13.150Z,1736368513.150 [DAT](INFO): DAT read: user:1462> 2025-01-08T20:35:13.151Z,1736368513.151 [DAT](INFO): DAT read: Tx time:20:35:12.3937 2025-01-08T20:35:13.151Z,1736368513.151 [DAT](INFO): Ping request sent. 2025-01-08T20:35:13.151Z,1736368513.151 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:13.152Z,1736368513.152 [DAT](ERROR): #Rx 56: Read range message, but no direction. 2025-01-08T20:35:13.152Z,1736368513.152 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:13.152Z,1736368513.152 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:13.247Z,1736368513.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:13.400Z,1736368513.400 [DAT](INFO): DAT read: TxSync time:20:35:12.3929 2025-01-08T20:35:13.609Z,1736368513.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:14.005Z,1736368514.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:14.429Z,1736368514.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:14.815Z,1736368514.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:15.223Z,1736368515.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:15.622Z,1736368515.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:16.026Z,1736368516.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:16.436Z,1736368516.436 [DAT](INFO): DAT read: Rx Time:20:35:15.0466 2025-01-08T20:35:16.437Z,1736368516.437 [DAT](INFO): Rx dataTimestamp_ set to:1736368516.436511 2025-01-08T20:35:16.452Z,1736368516.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:35:16.452Z,1736368516.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:16.836Z,1736368516.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:35:16.836Z,1736368516.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:16.946Z,1736368516.946 [DAT](INFO): DAT read: Range 10 to 50 : 186.6 m (Round-trip 248.8 ms) speed -0.4 m/s 2025-01-08T20:35:16.946Z,1736368516.946 [DAT](INFO): DAT read: user:1463> 2025-01-08T20:35:16.947Z,1736368516.947 [DAT](INFO): DAT read: Tx time:20:35:16.1437 2025-01-08T20:35:16.948Z,1736368516.948 [DAT](INFO): Ping request sent. 2025-01-08T20:35:16.948Z,1736368516.948 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:16.948Z,1736368516.948 [DAT](INFO): DAT read: TxSync time:20:35:16.1430 2025-01-08T20:35:16.949Z,1736368516.949 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-01-08T20:35:16.949Z,1736368516.949 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:16.950Z,1736368516.950 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:17.250Z,1736368517.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:35:17.250Z,1736368517.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:17.647Z,1736368517.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:35:17.647Z,1736368517.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:18.046Z,1736368518.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:35:18.046Z,1736368518.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:18.480Z,1736368518.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:18.863Z,1736368518.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:19.258Z,1736368519.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:19.667Z,1736368519.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:19.964Z,1736368519.964 [DAT](INFO): DAT read: Rx Time:20:35:18.7989 2025-01-08T20:35:19.965Z,1736368519.965 [DAT](INFO): Rx dataTimestamp_ set to:1736368519.964597 2025-01-08T20:35:20.067Z,1736368520.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:20.582Z,1736368520.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:20.727Z,1736368520.727 [DAT](INFO): DAT read: 20:35:18.7989 LVL= 28144, 28081, 21586, 32755, AGC= 63, IDX= 501,-0.06, 2.431,-3.085,-1.867, 3.079, PHS=-0.560, 0.166, 1.335, RAW= 232.3, -11.4, CAL= 227.4, -21.6, ROT= 282.6, 21.6 2025-01-08T20:35:20.729Z,1736368520.729 [DAT](INFO): got valid direction response: 20:35:18.7989 LVL= 28144, 28081, 21586, 32755, AGC= 63, IDX= 501,-0.06, 2.431,-3.085,-1.867, 3.079, PHS=-0.560, 0.166, 1.335, RAW= 232.3, -11.4, CAL= 227.4, -21.6, ROT= 282.6, 21.6 2025-01-08T20:35:20.730Z,1736368520.730 [DAT](INFO): DAT read: Bearing 282.6, 21.6 (Local) 2025-01-08T20:35:20.731Z,1736368520.731 [DAT](INFO): Local bearing/azimuth received: Bearing 282.6, 21.6 (Local) 2025-01-08T20:35:20.765Z,1736368520.765 [DAT](INFO): DAT read: Range 10 to 50 : 188.2 m (Round-trip 251.0 ms) speed -0.4 m/s 2025-01-08T20:35:20.766Z,1736368520.766 [DAT](INFO): DAT read: user:1464> 2025-01-08T20:35:20.771Z,1736368520.771 [DAT](INFO): DAT read: Tx time:20:35:19.8937 2025-01-08T20:35:20.772Z,1736368520.772 [DAT](INFO): Ping request sent. 2025-01-08T20:35:20.772Z,1736368520.772 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:20.772Z,1736368520.772 [DAT](INFO): DAT read: TxSync time:20:35:19.8929 2025-01-08T20:35:20.773Z,1736368520.773 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-01-08T20:35:20.774Z,1736368520.774 [DAT](INFO): direction in FSK: [0.202825,-0.907384,-0.368125] 2025-01-08T20:35:20.774Z,1736368520.774 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:20.774Z,1736368520.774 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:20.789Z,1736368520.789 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:20.789Z,1736368520.789 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:20.932Z,1736368520.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:21.330Z,1736368521.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:21.737Z,1736368521.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:22.138Z,1736368522.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:22.576Z,1736368522.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:22.946Z,1736368522.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:23.353Z,1736368523.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:23.744Z,1736368523.744 [DAT](INFO): DAT read: Rx Time:20:35:22.5505 2025-01-08T20:35:23.745Z,1736368523.745 [DAT](INFO): Rx dataTimestamp_ set to:1736368523.744596 2025-01-08T20:35:23.779Z,1736368523.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:24.249Z,1736368524.249 [DAT](INFO): DAT read: Range 10 to 50 : 189.4 m (Round-trip 252.6 ms) speed 0.0 m/s 2025-01-08T20:35:24.250Z,1736368524.250 [DAT](INFO): DAT read: user:1465> 2025-01-08T20:35:24.251Z,1736368524.251 [DAT](INFO): DAT read: Tx time:20:35:23.6438 2025-01-08T20:35:24.251Z,1736368524.251 [DAT](INFO): Ping request sent. 2025-01-08T20:35:24.251Z,1736368524.251 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:24.252Z,1736368524.252 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-01-08T20:35:24.252Z,1736368524.252 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:24.253Z,1736368524.253 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:24.338Z,1736368524.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:24.500Z,1736368524.500 [DAT](INFO): DAT read: TxSync time:20:35:23.6430 2025-01-08T20:35:24.626Z,1736368524.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:24.988Z,1736368524.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:25.407Z,1736368525.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:25.804Z,1736368525.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:26.204Z,1736368526.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:26.626Z,1736368526.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:27.025Z,1736368527.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:27.415Z,1736368527.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:27.524Z,1736368527.524 [DAT](INFO): DAT read: Rx Time:20:35:26.3003 2025-01-08T20:35:27.525Z,1736368527.525 [DAT](INFO): Rx dataTimestamp_ set to:1736368527.524523 2025-01-08T20:35:27.816Z,1736368527.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:28.034Z,1736368528.034 [DAT](INFO): DAT read: 20:35:26.3003 LVL= 32752, 32753, 19410, 32755, AGC= 62, IDX= 470,-0.41, 0.238, 1.235, 2.490, 1.232, PHS=-0.906, 0.049, 1.255, RAW= 236.2, -4.3, CAL= 235.4, -11.0, ROT= 274.6, 11.0 2025-01-08T20:35:28.035Z,1736368528.035 [DAT](INFO): got valid direction response: 20:35:26.3003 LVL= 32752, 32753, 19410, 32755, AGC= 62, IDX= 470,-0.41, 0.238, 1.235, 2.490, 1.232, PHS=-0.906, 0.049, 1.255, RAW= 236.2, -4.3, CAL= 235.4, -11.0, ROT= 274.6, 11.0 2025-01-08T20:35:28.036Z,1736368528.036 [DAT](INFO): DAT read: Bearing 274.6, 11.0 (Local) 2025-01-08T20:35:28.037Z,1736368528.037 [DAT](INFO): Local bearing/azimuth received: Bearing 274.6, 11.0 (Local) 2025-01-08T20:35:28.038Z,1736368528.038 [DAT](INFO): DAT read: Range 10 to 50 : 189.3 m (Round-trip 252.4 ms) speed 0.0 m/s 2025-01-08T20:35:28.039Z,1736368528.039 [DAT](INFO): DAT read: user:1466> 2025-01-08T20:35:28.040Z,1736368528.040 [DAT](INFO): DAT read: Tx time:20:35:27.3938 2025-01-08T20:35:28.040Z,1736368528.040 [DAT](INFO): Ping request sent. 2025-01-08T20:35:28.040Z,1736368528.040 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:28.040Z,1736368528.040 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-01-08T20:35:28.041Z,1736368528.041 [DAT](INFO): direction in FSK: [0.078725,-0.978465,-0.190809] 2025-01-08T20:35:28.042Z,1736368528.042 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:28.042Z,1736368528.042 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:28.045Z,1736368528.045 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:28.046Z,1736368528.046 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:28.230Z,1736368528.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:28.283Z,1736368528.283 [DAT](INFO): DAT read: TxSync time:20:35:27.3930 2025-01-08T20:35:28.659Z,1736368528.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:29.035Z,1736368529.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:29.436Z,1736368529.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:29.854Z,1736368529.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:29.900Z,1736368529.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:35:30.248Z,1736368530.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:30.685Z,1736368530.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:30.904Z,1736368530.904 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:35:31.056Z,1736368531.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:31.304Z,1736368531.304 [DAT](INFO): DAT read: Rx Time:20:35:30.0500 2025-01-08T20:35:31.305Z,1736368531.305 [DAT](INFO): Rx dataTimestamp_ set to:1736368531.304513 2025-01-08T20:35:31.463Z,1736368531.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:31.814Z,1736368531.814 [DAT](INFO): DAT read: 20:35:30.0500 LVL= 27712, 28929, 16818, 32755, AGC= 61, IDX= 463, 0.15,-3.010,-2.304,-1.124,-2.532, PHS=-0.389, 0.275, 1.406, RAW= 231.5, -16.2, CAL= 226.8, -25.9, ROT= 283.2, 25.9 2025-01-08T20:35:31.815Z,1736368531.815 [DAT](INFO): got valid direction response: 20:35:30.0500 LVL= 27712, 28929, 16818, 32755, AGC= 61, IDX= 463, 0.15,-3.010,-2.304,-1.124,-2.532, PHS=-0.389, 0.275, 1.406, RAW= 231.5, -16.2, CAL= 226.8, -25.9, ROT= 283.2, 25.9 2025-01-08T20:35:31.816Z,1736368531.816 [DAT](INFO): DAT read: Bearing 283.2, 25.9 (Local) 2025-01-08T20:35:31.816Z,1736368531.816 [DAT](INFO): Local bearing/azimuth received: Bearing 283.2, 25.9 (Local) 2025-01-08T20:35:31.818Z,1736368531.818 [DAT](INFO): DAT read: Range 10 to 50 : 189.0 m (Round-trip 252.0 ms) speed -0.1 m/s 2025-01-08T20:35:31.819Z,1736368531.819 [DAT](INFO): DAT read: user:1467> 2025-01-08T20:35:31.829Z,1736368531.829 [DAT](INFO): DAT read: Tx time:20:35:31.1438 2025-01-08T20:35:31.830Z,1736368531.830 [DAT](INFO): Ping request sent. 2025-01-08T20:35:31.830Z,1736368531.830 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:31.830Z,1736368531.830 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-01-08T20:35:31.844Z,1736368531.844 [DAT](INFO): direction in FSK: [0.205415,-0.875790,-0.436802] 2025-01-08T20:35:31.844Z,1736368531.844 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:31.845Z,1736368531.845 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:31.853Z,1736368531.853 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:31.853Z,1736368531.853 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:31.911Z,1736368531.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:32.061Z,1736368532.061 [DAT](INFO): DAT read: TxSync time:20:35:31.1430 2025-01-08T20:35:32.286Z,1736368532.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:32.688Z,1736368532.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:35:32.688Z,1736368532.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:33.068Z,1736368533.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:35:33.069Z,1736368533.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:33.476Z,1736368533.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:35:33.476Z,1736368533.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:33.884Z,1736368533.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:35:33.884Z,1736368533.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:34.330Z,1736368534.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:35:34.330Z,1736368534.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:34.716Z,1736368534.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:35.084Z,1736368535.084 [DAT](INFO): DAT read: Rx Time:20:35:33.8036 2025-01-08T20:35:35.085Z,1736368535.085 [DAT](INFO): Rx dataTimestamp_ set to:1736368535.084637 2025-01-08T20:35:35.090Z,1736368535.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:35.550Z,1736368535.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:35.595Z,1736368535.595 [DAT](INFO): DAT read: 20:35:33.8036 LVL= 28720, 29169, 21058, 32755, AGC= 58, IDX= 469,-0.09,-1.148,-0.228, 0.995,-0.248, PHS=-0.813, 0.066, 1.240, RAW= 235.3, -5.6, CAL= 233.2, -13.6, ROT= 276.8, 13.6 2025-01-08T20:35:35.596Z,1736368535.596 [DAT](INFO): got valid direction response: 20:35:33.8036 LVL= 28720, 29169, 21058, 32755, AGC= 58, IDX= 469,-0.09,-1.148,-0.228, 0.995,-0.248, PHS=-0.813, 0.066, 1.240, RAW= 235.3, -5.6, CAL= 233.2, -13.6, ROT= 276.8, 13.6 2025-01-08T20:35:35.597Z,1736368535.597 [DAT](INFO): DAT read: Bearing 276.8, 13.6 (Local) 2025-01-08T20:35:35.598Z,1736368535.598 [DAT](INFO): Local bearing/azimuth received: Bearing 276.8, 13.6 (Local) 2025-01-08T20:35:35.600Z,1736368535.600 [DAT](INFO): DAT read: Range 10 to 50 : 191.6 m (Round-trip 255.5 ms) speed -0.2 m/s 2025-01-08T20:35:35.601Z,1736368535.601 [DAT](INFO): DAT read: user:1468> 2025-01-08T20:35:35.601Z,1736368535.601 [DAT](INFO): DAT read: Tx time:20:35:34.8939 2025-01-08T20:35:35.602Z,1736368535.602 [DAT](INFO): Ping request sent. 2025-01-08T20:35:35.602Z,1736368535.602 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:35.602Z,1736368535.602 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-01-08T20:35:35.603Z,1736368535.603 [DAT](INFO): direction in FSK: [0.115084,-0.965124,-0.235142] 2025-01-08T20:35:35.611Z,1736368535.611 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:35.612Z,1736368535.612 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:35.615Z,1736368535.615 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:35.615Z,1736368535.615 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:35.840Z,1736368535.840 [DAT](INFO): DAT read: TxSync time:20:35:34.8931 2025-01-08T20:35:35.917Z,1736368535.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:36.360Z,1736368536.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:35:36.360Z,1736368536.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:36.711Z,1736368536.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:35:36.712Z,1736368536.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:37.124Z,1736368537.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:35:37.124Z,1736368537.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:37.515Z,1736368537.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:35:37.516Z,1736368537.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:37.920Z,1736368537.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:35:37.920Z,1736368537.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:38.378Z,1736368538.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:35:38.378Z,1736368538.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:38.732Z,1736368538.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:35:38.733Z,1736368538.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:38.864Z,1736368538.864 [DAT](INFO): DAT read: Rx Time:20:35:37.5539 2025-01-08T20:35:38.865Z,1736368538.865 [DAT](INFO): Rx dataTimestamp_ set to:1736368538.864663 2025-01-08T20:35:39.136Z,1736368539.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:35:39.136Z,1736368539.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:39.374Z,1736368539.374 [DAT](INFO): DAT read: 20:35:37.5539 LVL= 32752, 31505, 18370, 32755, AGC= 67, IDX= 424, 0.18,-1.431,-0.543, 0.718,-0.586, PHS=-0.757, 0.090, 1.302, RAW= 234.2, -7.1, CAL= 230.8, -16.3, ROT= 279.2, 16.3 2025-01-08T20:35:39.376Z,1736368539.376 [DAT](INFO): got valid direction response: 20:35:37.5539 LVL= 32752, 31505, 18370, 32755, AGC= 67, IDX= 424, 0.18,-1.431,-0.543, 0.718,-0.586, PHS=-0.757, 0.090, 1.302, RAW= 234.2, -7.1, CAL= 230.8, -16.3, ROT= 279.2, 16.3 2025-01-08T20:35:39.377Z,1736368539.377 [DAT](INFO): DAT read: Bearing 279.2, 16.3 (Local) 2025-01-08T20:35:39.377Z,1736368539.377 [DAT](INFO): Local bearing/azimuth received: Bearing 279.2, 16.3 (Local) 2025-01-08T20:35:39.378Z,1736368539.378 [DAT](INFO): DAT read: Range 10 to 50 : 191.8 m (Round-trip 255.8 ms) speed 0.4 m/s 2025-01-08T20:35:39.379Z,1736368539.379 [DAT](INFO): DAT read: user:1469> 2025-01-08T20:35:39.380Z,1736368539.380 [DAT](INFO): DAT read: Tx time:20:35:38.6439 2025-01-08T20:35:39.380Z,1736368539.380 [DAT](INFO): Ping request sent. 2025-01-08T20:35:39.381Z,1736368539.381 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:39.381Z,1736368539.381 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-01-08T20:35:39.382Z,1736368539.382 [DAT](INFO): direction in FSK: [0.153455,-0.947459,-0.280667] 2025-01-08T20:35:39.382Z,1736368539.382 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:39.382Z,1736368539.382 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:39.385Z,1736368539.385 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:39.386Z,1736368539.386 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:39.544Z,1736368539.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:35:39.544Z,1736368539.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:39.621Z,1736368539.621 [DAT](INFO): DAT read: TxSync time:20:35:38.6431 2025-01-08T20:35:39.944Z,1736368539.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:35:39.944Z,1736368539.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:40.407Z,1736368540.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:35:40.408Z,1736368540.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:40.747Z,1736368540.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:35:40.747Z,1736368540.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:41.156Z,1736368541.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:35:41.156Z,1736368541.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:41.559Z,1736368541.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:35:41.560Z,1736368541.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:41.966Z,1736368541.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:35:41.966Z,1736368541.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:42.391Z,1736368542.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:35:42.391Z,1736368542.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:42.648Z,1736368542.648 [DAT](INFO): DAT read: Rx Time:20:35:41.3032 2025-01-08T20:35:42.649Z,1736368542.649 [DAT](INFO): Rx dataTimestamp_ set to:1736368542.648525 2025-01-08T20:35:42.772Z,1736368542.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:35:42.773Z,1736368542.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:43.165Z,1736368543.165 [DAT](INFO): DAT read: 20:35:41.3032 LVL= 27344, 31793, 21458, 32755, AGC= 62, IDX= 448, 0.03,-2.602,-1.994,-0.463,-1.895, PHS=-0.619,-0.052, 1.429, RAW= 225.6, -8.3, CAL= 221.1, -16.3, ROT= 288.9, 16.3 2025-01-08T20:35:43.166Z,1736368543.166 [DAT](INFO): got valid direction response: 20:35:41.3032 LVL= 27344, 31793, 21458, 32755, AGC= 62, IDX= 448, 0.03,-2.602,-1.994,-0.463,-1.895, PHS=-0.619,-0.052, 1.429, RAW= 225.6, -8.3, CAL= 221.1, -16.3, ROT= 288.9, 16.3 2025-01-08T20:35:43.167Z,1736368543.167 [DAT](INFO): DAT read: Bearing 288.9, 16.3 (Local) 2025-01-08T20:35:43.167Z,1736368543.167 [DAT](INFO): Local bearing/azimuth received: Bearing 288.9, 16.3 (Local) 2025-01-08T20:35:43.169Z,1736368543.169 [DAT](INFO): DAT read: Range 10 to 50 : 191.3 m (Round-trip 255.1 ms) speed 0.4 m/s 2025-01-08T20:35:43.169Z,1736368543.169 [DAT](INFO): DAT read: user:1470> 2025-01-08T20:35:43.170Z,1736368543.170 [DAT](INFO): DAT read: Tx time:20:35:42.3939 2025-01-08T20:35:43.170Z,1736368543.170 [DAT](INFO): Ping request sent. 2025-01-08T20:35:43.171Z,1736368543.171 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:43.171Z,1736368543.171 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-01-08T20:35:43.184Z,1736368543.184 [DAT](INFO): direction in FSK: [0.310897,-0.908058,-0.280667] 2025-01-08T20:35:43.184Z,1736368543.184 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:43.185Z,1736368543.185 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:43.193Z,1736368543.193 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:43.194Z,1736368543.194 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:43.237Z,1736368543.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:35:43.237Z,1736368543.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:43.405Z,1736368543.405 [DAT](INFO): DAT read: TxSync time:20:35:42.3931 2025-01-08T20:35:43.583Z,1736368543.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:35:43.583Z,1736368543.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:43.977Z,1736368543.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:35:43.978Z,1736368543.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:44.417Z,1736368544.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:35:44.418Z,1736368544.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:44.785Z,1736368544.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:35:44.785Z,1736368544.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:45.194Z,1736368545.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:35:45.194Z,1736368545.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:45.596Z,1736368545.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:35:45.596Z,1736368545.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:45.000Z,1736368546.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:35:45.000Z,1736368546.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:46.419Z,1736368546.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:46.428Z,1736368546.428 [DAT](INFO): DAT read: Rx Time:20:35:45.0531 2025-01-08T20:35:46.429Z,1736368546.429 [DAT](INFO): Rx dataTimestamp_ set to:1736368546.428661 2025-01-08T20:35:46.813Z,1736368546.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:46.938Z,1736368546.938 [DAT](INFO): DAT read: 20:35:45.0531 LVL= 19728, 26145, 16002, 27859, AGC= 57, IDX= 447,-0.15, 0.713, 1.180, 2.967, 1.646, PHS=-0.845,-0.419, 1.318, RAW= 220.7, -0.6, CAL= 220.3, -6.1, ROT= 289.7, 6.1 2025-01-08T20:35:46.939Z,1736368546.939 [DAT](INFO): got valid direction response: 20:35:45.0531 LVL= 19728, 26145, 16002, 27859, AGC= 57, IDX= 447,-0.15, 0.713, 1.180, 2.967, 1.646, PHS=-0.845,-0.419, 1.318, RAW= 220.7, -0.6, CAL= 220.3, -6.1, ROT= 289.7, 6.1 2025-01-08T20:35:46.942Z,1736368546.942 [DAT](INFO): DAT read: Bearing 289.7, 6.1 (Local) 2025-01-08T20:35:46.943Z,1736368546.943 [DAT](INFO): Local bearing/azimuth received: Bearing 289.7, 6.1 (Local) 2025-01-08T20:35:46.946Z,1736368546.946 [DAT](INFO): DAT read: Range 10 to 50 : 191.1 m (Round-trip 254.9 ms) speed 0.0 m/s 2025-01-08T20:35:46.948Z,1736368546.948 [DAT](INFO): DAT read: user:1471> 2025-01-08T20:35:46.949Z,1736368546.949 [DAT](INFO): DAT read: Tx time:20:35:46.1440 2025-01-08T20:35:46.949Z,1736368546.949 [DAT](INFO): Ping request sent. 2025-01-08T20:35:46.949Z,1736368546.949 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:46.950Z,1736368546.950 [DAT](INFO): DAT read: TxSync time:20:35:46.1432 2025-01-08T20:35:46.950Z,1736368546.950 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-01-08T20:35:46.951Z,1736368546.951 [DAT](INFO): direction in FSK: [0.335187,-0.936140,-0.106264] 2025-01-08T20:35:46.952Z,1736368546.952 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:46.952Z,1736368546.952 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:46.955Z,1736368546.955 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:46.955Z,1736368546.955 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:47.216Z,1736368547.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:47.611Z,1736368547.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:48.023Z,1736368548.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:48.447Z,1736368548.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:48.828Z,1736368548.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:49.229Z,1736368549.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:49.636Z,1736368549.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:49.956Z,1736368549.956 [DAT](INFO): DAT read: Rx Time:20:35:48.8017 2025-01-08T20:35:49.957Z,1736368549.957 [DAT](INFO): Rx dataTimestamp_ set to:1736368549.956467 2025-01-08T20:35:50.049Z,1736368550.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:50.546Z,1736368550.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:50.718Z,1736368550.718 [DAT](INFO): DAT read: 20:35:48.8017 LVL= 27584, 29809, 20098, 32755, AGC= 62, IDX= 438,-0.04, 0.087, 0.184, 1.746, 0.411, PHS=-0.236,-0.180, 1.332, RAW= 211.8, -11.9, CAL= 207.2, -18.1, ROT= 302.8, 18.1 2025-01-08T20:35:50.720Z,1736368550.720 [DAT](INFO): got valid direction response: 20:35:48.8017 LVL= 27584, 29809, 20098, 32755, AGC= 62, IDX= 438,-0.04, 0.087, 0.184, 1.746, 0.411, PHS=-0.236,-0.180, 1.332, RAW= 211.8, -11.9, CAL= 207.2, -18.1, ROT= 302.8, 18.1 2025-01-08T20:35:50.721Z,1736368550.721 [DAT](INFO): DAT read: Bearing 302.8, 18.1 (Local) 2025-01-08T20:35:50.721Z,1736368550.721 [DAT](INFO): Local bearing/azimuth received: Bearing 302.8, 18.1 (Local) 2025-01-08T20:35:50.723Z,1736368550.723 [DAT](INFO): DAT read: Range 10 to 50 : 190.2 m (Round-trip 253.6 ms) speed 0.2 m/s 2025-01-08T20:35:50.728Z,1736368550.728 [DAT](INFO): DAT read: user:1472> 2025-01-08T20:35:50.729Z,1736368550.729 [DAT](INFO): DAT read: Tx time:20:35:49.8940 2025-01-08T20:35:50.729Z,1736368550.729 [DAT](INFO): Ping request sent. 2025-01-08T20:35:50.729Z,1736368550.729 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:50.730Z,1736368550.730 [DAT](INFO): DAT read: TxSync time:20:35:49.8932 2025-01-08T20:35:50.731Z,1736368550.731 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-01-08T20:35:50.732Z,1736368550.732 [DAT](INFO): direction in FSK: [0.514902,-0.798972,-0.310676] 2025-01-08T20:35:50.732Z,1736368550.732 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:50.732Z,1736368550.732 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:50.763Z,1736368550.763 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:50.764Z,1736368550.764 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:50.848Z,1736368550.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:51.251Z,1736368551.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:51.650Z,1736368551.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:51.659Z,1736368551.659 [transit:NeedComms:C] Running Loop=1 2025-01-08T20:35:52.063Z,1736368552.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:52.071Z,1736368552.071 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-01-08T20:35:52.320Z,1736368552.320 [Radio_Surface](INFO): Powering up 2025-01-08T20:35:52.485Z,1736368552.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:52.883Z,1736368552.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:53.284Z,1736368553.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:53.700Z,1736368553.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:53.736Z,1736368553.736 [DAT](INFO): DAT read: Rx Time:20:35:52.5511 2025-01-08T20:35:53.737Z,1736368553.737 [DAT](INFO): Rx dataTimestamp_ set to:1736368553.736534 2025-01-08T20:35:54.103Z,1736368554.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:54.262Z,1736368554.262 [DAT](INFO): DAT read: 20:35:52.5511 LVL= 19840, 31889, 32754, 24179, AGC= 63, IDX= 443,-0.47,-2.019,-1.881,-0.056,-1.456, PHS=-0.476,-0.378, 1.397, RAW= 212.7, -6.0, CAL= 209.9, -12.7, ROT= 300.1, 12.7 2025-01-08T20:35:54.266Z,1736368554.266 [DAT](INFO): got valid direction response: 20:35:52.5511 LVL= 19840, 31889, 32754, 24179, AGC= 63, IDX= 443,-0.47,-2.019,-1.881,-0.056,-1.456, PHS=-0.476,-0.378, 1.397, RAW= 212.7, -6.0, CAL= 209.9, -12.7, ROT= 300.1, 12.7 2025-01-08T20:35:54.270Z,1736368554.270 [DAT](INFO): DAT read: Bearing 300.1, 12.7 (Local) 2025-01-08T20:35:54.271Z,1736368554.271 [DAT](INFO): Local bearing/azimuth received: Bearing 300.1, 12.7 (Local) 2025-01-08T20:35:54.304Z,1736368554.304 [DAT](INFO): DAT read: Range 10 to 50 : 189.7 m (Round-trip 253.0 ms) speed -0.2 m/s 2025-01-08T20:35:54.306Z,1736368554.306 [DAT](INFO): DAT read: user:1473> 2025-01-08T20:35:54.313Z,1736368554.313 [DAT](INFO): DAT read: Tx time:20:35:53.6440 2025-01-08T20:35:54.314Z,1736368554.314 [DAT](INFO): Ping request sent. 2025-01-08T20:35:54.314Z,1736368554.314 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:54.315Z,1736368554.315 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-01-08T20:35:54.336Z,1736368554.336 [DAT](INFO): direction in FSK: [0.489241,-0.843985,-0.219846] 2025-01-08T20:35:54.336Z,1736368554.336 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:54.337Z,1736368554.337 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:54.341Z,1736368554.341 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:54.341Z,1736368554.341 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:54.492Z,1736368554.492 [DAT](INFO): DAT read: TxSync time:20:35:53.6432 2025-01-08T20:35:54.517Z,1736368554.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:54.891Z,1736368554.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:55.288Z,1736368555.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:55.706Z,1736368555.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:56.120Z,1736368556.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:56.545Z,1736368556.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:56.928Z,1736368556.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:57.318Z,1736368557.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:57.517Z,1736368557.517 [DAT](INFO): DAT read: Rx Time:20:35:56.3005 2025-01-08T20:35:57.517Z,1736368557.517 [DAT](INFO): Rx dataTimestamp_ set to:1736368557.516973 2025-01-08T20:35:57.572Z,1736368557.572 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10 2025-01-08T20:35:57.572Z,1736368557.572 [Radio_Surface](INFO): Found local IP address 10.89.10.2 for eth0 2025-01-08T20:35:57.720Z,1736368557.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:58.026Z,1736368558.026 [DAT](INFO): DAT read: 20:35:56.3005 LVL= 12640, 14705, 21746, 23427, AGC= 64, IDX= 420, 0.30, 2.891,-2.570,-1.341,-2.396, PHS=-0.908,-0.128, 1.052, RAW= 233.3, -0.2, CAL= 234.9, -1.9, ROT= 275.1, 1.9 2025-01-08T20:35:58.027Z,1736368558.027 [DAT](INFO): got valid direction response: 20:35:56.3005 LVL= 12640, 14705, 21746, 23427, AGC= 64, IDX= 420, 0.30, 2.891,-2.570,-1.341,-2.396, PHS=-0.908,-0.128, 1.052, RAW= 233.3, -0.2, CAL= 234.9, -1.9, ROT= 275.1, 1.9 2025-01-08T20:35:58.028Z,1736368558.028 [DAT](INFO): DAT read: Bearing 275.1, 1.9 (Local) 2025-01-08T20:35:58.028Z,1736368558.028 [DAT](INFO): Local bearing/azimuth received: Bearing 275.1, 1.9 (Local) 2025-01-08T20:35:58.030Z,1736368558.030 [DAT](INFO): DAT read: Range 10 to 50 : 189.3 m (Round-trip 252.4 ms) speed 0.3 m/s 2025-01-08T20:35:58.031Z,1736368558.031 [DAT](INFO): DAT read: user:1474> 2025-01-08T20:35:58.031Z,1736368558.031 [DAT](INFO): DAT read: Tx time:20:35:57.3940 2025-01-08T20:35:58.032Z,1736368558.032 [DAT](INFO): Ping request sent. 2025-01-08T20:35:58.032Z,1736368558.032 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:35:58.032Z,1736368558.032 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-01-08T20:35:58.033Z,1736368558.033 [DAT](INFO): direction in FSK: [0.088845,-0.995493,-0.033155] 2025-01-08T20:35:58.033Z,1736368558.033 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:58.034Z,1736368558.034 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:58.037Z,1736368558.037 [DAT](INFO): publishing transmit ping time 2025-01-08T20:35:58.037Z,1736368558.037 [DAT](INFO): publishing direction and range info 2025-01-08T20:35:58.152Z,1736368558.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:58.275Z,1736368558.275 [DAT](INFO): DAT read: TxSync time:20:35:57.3932 2025-01-08T20:35:58.560Z,1736368558.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:58.931Z,1736368558.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:59.332Z,1736368559.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:35:59.750Z,1736368559.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:00.148Z,1736368560.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:00.616Z,1736368560.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:36:00.616Z,1736368560.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:00.969Z,1736368560.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:36:00.969Z,1736368560.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:01.024Z,1736368561.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:36:01.296Z,1736368561.296 [DAT](INFO): DAT read: Rx Time:20:36:00.0495 2025-01-08T20:36:01.297Z,1736368561.297 [DAT](INFO): Rx dataTimestamp_ set to:1736368561.296410 2025-01-08T20:36:01.381Z,1736368561.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:36:01.381Z,1736368561.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:01.806Z,1736368561.806 [DAT](INFO): DAT read: 20:36:00.0495 LVL= 24048, 29089, 10274, 23427, AGC= 64, IDX= 425,-0.18, 0.940, 1.958,-3.014, 1.974, PHS=-0.945, 0.031, 1.292, RAW= 235.8, -3.9, CAL= 235.2, -10.3, ROT= 274.8, 10.3 2025-01-08T20:36:01.807Z,1736368561.807 [DAT](INFO): got valid direction response: 20:36:00.0495 LVL= 24048, 29089, 10274, 23427, AGC= 64, IDX= 425,-0.18, 0.940, 1.958,-3.014, 1.974, PHS=-0.945, 0.031, 1.292, RAW= 235.8, -3.9, CAL= 235.2, -10.3, ROT= 274.8, 10.3 2025-01-08T20:36:01.808Z,1736368561.808 [DAT](INFO): DAT read: Bearing 274.8, 10.3 (Local) 2025-01-08T20:36:01.809Z,1736368561.809 [DAT](INFO): Local bearing/azimuth received: Bearing 274.8, 10.3 (Local) 2025-01-08T20:36:01.810Z,1736368561.810 [DAT](INFO): DAT read: Range 10 to 50 : 188.4 m (Round-trip 251.2 ms) speed 0.7 m/s 2025-01-08T20:36:01.811Z,1736368561.811 [DAT](INFO): DAT read: user:1475> 2025-01-08T20:36:01.812Z,1736368561.812 [DAT](INFO): DAT read: Tx time:20:36:01.1441 2025-01-08T20:36:01.812Z,1736368561.812 [DAT](INFO): Ping request sent. 2025-01-08T20:36:01.812Z,1736368561.812 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:01.812Z,1736368561.812 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-01-08T20:36:01.813Z,1736368561.813 [DAT](INFO): direction in FSK: [0.082329,-0.980434,-0.178802] 2025-01-08T20:36:01.814Z,1736368561.814 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:01.814Z,1736368561.814 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:01.817Z,1736368561.817 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:01.818Z,1736368561.818 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:01.841Z,1736368561.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T20:36:01.841Z,1736368561.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:02.028Z,1736368562.028 [DataOverHttps](INFO): Radio surface powered ON. 2025-01-08T20:36:02.028Z,1736368562.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:36:02.052Z,1736368562.052 [DAT](INFO): DAT read: TxSync time:20:36:01.1433 2025-01-08T20:36:02.161Z,1736368562.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:36:02.161Z,1736368562.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:02.585Z,1736368562.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:36:02.585Z,1736368562.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:02.964Z,1736368562.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:36:02.964Z,1736368562.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:03.371Z,1736368563.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:36:03.371Z,1736368563.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:03.776Z,1736368563.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:36:03.777Z,1736368563.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:04.380Z,1736368564.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.2 s old, using for 20.0 s. 2025-01-08T20:36:04.380Z,1736368564.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:04.581Z,1736368564.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:36:04.582Z,1736368564.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:04.988Z,1736368564.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:36:04.988Z,1736368564.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:05.080Z,1736368565.080 [DAT](INFO): DAT read: Rx Time:20:36:03.7978 2025-01-08T20:36:05.081Z,1736368565.081 [DAT](INFO): Rx dataTimestamp_ set to:1736368565.080442 2025-01-08T20:36:05.417Z,1736368565.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:36:05.417Z,1736368565.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:05.585Z,1736368565.585 [DAT](INFO): DAT read: Range 10 to 50 : 187.2 m (Round-trip 249.6 ms) speed 0.1 m/s 2025-01-08T20:36:05.586Z,1736368565.586 [DAT](INFO): DAT read: user:1476> 2025-01-08T20:36:05.587Z,1736368565.587 [DAT](INFO): DAT read: Tx time:20:36:04.8941 2025-01-08T20:36:05.592Z,1736368565.592 [DAT](INFO): Ping request sent. 2025-01-08T20:36:05.592Z,1736368565.592 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:05.592Z,1736368565.592 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-01-08T20:36:05.592Z,1736368565.592 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:05.593Z,1736368565.593 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:05.816Z,1736368565.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:36:05.816Z,1736368565.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:05.836Z,1736368565.836 [DAT](INFO): DAT read: TxSync time:20:36:04.8933 2025-01-08T20:36:06.200Z,1736368566.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:36:06.200Z,1736368566.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:06.621Z,1736368566.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:36:06.622Z,1736368566.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:07.013Z,1736368567.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:36:07.013Z,1736368567.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:07.412Z,1736368567.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:36:07.412Z,1736368567.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:07.812Z,1736368567.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:36:07.812Z,1736368567.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:08.220Z,1736368568.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:36:08.220Z,1736368568.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:08.649Z,1736368568.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:36:08.649Z,1736368568.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:08.860Z,1736368568.860 [DAT](INFO): DAT read: Rx Time:20:36:07.5484 2025-01-08T20:36:08.861Z,1736368568.861 [DAT](INFO): Rx dataTimestamp_ set to:1736368568.860443 2025-01-08T20:36:09.033Z,1736368569.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:36:09.033Z,1736368569.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:09.365Z,1736368569.365 [DAT](INFO): DAT read: Range 10 to 50 : 187.5 m (Round-trip 250.1 ms) speed -0.4 m/s 2025-01-08T20:36:09.366Z,1736368569.366 [DAT](INFO): DAT read: user:1477> 2025-01-08T20:36:09.367Z,1736368569.367 [DAT](INFO): DAT read: Tx time:20:36:08.6441 2025-01-08T20:36:09.367Z,1736368569.367 [DAT](INFO): Ping request sent. 2025-01-08T20:36:09.367Z,1736368569.367 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:09.368Z,1736368569.368 [DAT](ERROR): #Rx 71: Read range message, but no direction. 2025-01-08T20:36:09.368Z,1736368569.368 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:09.368Z,1736368569.368 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:09.466Z,1736368569.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:36:09.466Z,1736368569.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:09.616Z,1736368569.616 [DAT](INFO): DAT read: TxSync time:20:36:08.6433 2025-01-08T20:36:09.857Z,1736368569.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:36:09.857Z,1736368569.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:10.252Z,1736368570.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:36:10.252Z,1736368570.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:10.671Z,1736368570.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s. 2025-01-08T20:36:10.671Z,1736368570.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:11.048Z,1736368571.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s. 2025-01-08T20:36:11.048Z,1736368571.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:11.456Z,1736368571.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s. 2025-01-08T20:36:11.456Z,1736368571.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:11.862Z,1736368571.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s. 2025-01-08T20:36:11.863Z,1736368571.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:12.265Z,1736368572.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.1 s old, using for 20.0 s. 2025-01-08T20:36:12.266Z,1736368572.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:12.648Z,1736368572.648 [DAT](INFO): DAT read: Rx Time:20:36:11.2991 2025-01-08T20:36:12.649Z,1736368572.649 [DAT](INFO): Rx dataTimestamp_ set to:1736368572.648571 2025-01-08T20:36:12.696Z,1736368572.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:13.068Z,1736368573.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:13.170Z,1736368573.170 [DAT](INFO): DAT read: 20:36:11.2991 LVL= 25248, 32753, 17954, 32755, AGC= 57, IDX= 436, 0.20,-1.630,-1.215, 0.419,-0.734, PHS=-0.807,-0.433, 1.150, RAW= 220.4, 1.0, CAL= 220.8, -4.0, ROT= 289.2, 4.0 2025-01-08T20:36:13.172Z,1736368573.172 [DAT](INFO): got valid direction response: 20:36:11.2991 LVL= 25248, 32753, 17954, 32755, AGC= 57, IDX= 436, 0.20,-1.630,-1.215, 0.419,-0.734, PHS=-0.807,-0.433, 1.150, RAW= 220.4, 1.0, CAL= 220.8, -4.0, ROT= 289.2, 4.0 2025-01-08T20:36:13.173Z,1736368573.173 [DAT](INFO): DAT read: Bearing 289.2, 4.0 (Local) 2025-01-08T20:36:13.173Z,1736368573.173 [DAT](INFO): Local bearing/azimuth received: Bearing 289.2, 4.0 (Local) 2025-01-08T20:36:13.175Z,1736368573.175 [DAT](INFO): DAT read: Range 10 to 50 : 188.0 m (Round-trip 250.7 ms) speed 0.3 m/s 2025-01-08T20:36:13.176Z,1736368573.176 [DAT](INFO): DAT read: user:1478> 2025-01-08T20:36:13.177Z,1736368573.177 [DAT](INFO): DAT read: Tx time:20:36:12.3942 2025-01-08T20:36:13.177Z,1736368573.177 [DAT](INFO): Ping request sent. 2025-01-08T20:36:13.177Z,1736368573.177 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:13.177Z,1736368573.177 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-01-08T20:36:13.178Z,1736368573.178 [DAT](INFO): direction in FSK: [0.328066,-0.942076,-0.069756] 2025-01-08T20:36:13.178Z,1736368573.178 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:13.179Z,1736368573.179 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:13.182Z,1736368573.182 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:13.182Z,1736368573.182 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:13.404Z,1736368573.404 [DAT](INFO): DAT read: TxSync time:20:36:12.3934 2025-01-08T20:36:13.481Z,1736368573.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:13.886Z,1736368573.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:14.329Z,1736368574.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:14.705Z,1736368574.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:15.088Z,1736368575.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:15.498Z,1736368575.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:15.930Z,1736368575.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:16.375Z,1736368576.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:16.428Z,1736368576.428 [DAT](INFO): DAT read: Rx Time:20:36:15.0471 2025-01-08T20:36:16.429Z,1736368576.429 [DAT](INFO): Rx dataTimestamp_ set to:1736368576.428572 2025-01-08T20:36:16.724Z,1736368576.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:16.935Z,1736368576.935 [DAT](INFO): DAT read: Range 10 to 50 : 186.6 m (Round-trip 248.8 ms) speed 0.3 m/s 2025-01-08T20:36:16.937Z,1736368576.937 [DAT](INFO): DAT read: user:1479> 2025-01-08T20:36:16.939Z,1736368576.939 [DAT](INFO): DAT read: Tx time:20:36:16.1442 2025-01-08T20:36:16.939Z,1736368576.939 [DAT](INFO): Ping request sent. 2025-01-08T20:36:16.939Z,1736368576.939 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:16.940Z,1736368576.940 [DAT](INFO): DAT read: TxSync time:20:36:16.1434 2025-01-08T20:36:16.940Z,1736368576.940 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-01-08T20:36:16.941Z,1736368576.941 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:16.941Z,1736368576.941 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:17.113Z,1736368577.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:17.513Z,1736368577.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:17.922Z,1736368577.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:18.374Z,1736368578.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:36:18.374Z,1736368578.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:18.754Z,1736368578.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:36:18.754Z,1736368578.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:19.124Z,1736368579.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:36:19.125Z,1736368579.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:19.537Z,1736368579.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:36:19.537Z,1736368579.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:19.950Z,1736368579.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:36:19.950Z,1736368579.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:19.956Z,1736368579.956 [DAT](INFO): DAT read: Rx Time:20:36:18.7959 2025-01-08T20:36:19.957Z,1736368579.957 [DAT](INFO): Rx dataTimestamp_ set to:1736368579.956583 2025-01-08T20:36:20.373Z,1736368580.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:36:20.373Z,1736368580.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:20.461Z,1736368580.461 [DAT](INFO): DAT read: Range 10 to 50 : 185.7 m (Round-trip 247.6 ms) speed -0.6 m/s 2025-01-08T20:36:20.462Z,1736368580.462 [DAT](INFO): DAT read: user:1480> 2025-01-08T20:36:20.463Z,1736368580.463 [DAT](ERROR): #Rx 74: Read range message, but no direction. 2025-01-08T20:36:20.712Z,1736368580.712 [DAT](INFO): DAT read: Tx time:20:36:19.8942 2025-01-08T20:36:20.713Z,1736368580.713 [DAT](INFO): Ping request sent. 2025-01-08T20:36:20.713Z,1736368580.713 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:20.713Z,1736368580.713 [DAT](INFO): DAT read: TxSync time:20:36:19.8934 2025-01-08T20:36:20.714Z,1736368580.714 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:20.764Z,1736368580.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:36:20.765Z,1736368580.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:21.158Z,1736368581.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:36:21.158Z,1736368581.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:21.548Z,1736368581.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:36:21.548Z,1736368581.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:21.953Z,1736368581.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:36:21.953Z,1736368581.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:22.395Z,1736368582.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:22.770Z,1736368582.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:23.168Z,1736368583.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:23.572Z,1736368583.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:23.736Z,1736368583.736 [DAT](INFO): DAT read: Rx Time:20:36:22.5470 2025-01-08T20:36:23.737Z,1736368583.737 [DAT](INFO): Rx dataTimestamp_ set to:1736368583.736453 2025-01-08T20:36:23.973Z,1736368583.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:24.259Z,1736368584.259 [DAT](INFO): DAT read: 20:36:22.5470 LVL= 32752, 32753, 24370, 32755, AGC= 66, IDX= 431,-0.03,-1.670,-1.514, 0.079,-0.937, PHS=-0.645,-0.530, 1.013, RAW= 213.6, 2.1, CAL= 214.1, -4.1, ROT= 295.9, 4.1 2025-01-08T20:36:24.262Z,1736368584.262 [DAT](INFO): got valid direction response: 20:36:22.5470 LVL= 32752, 32753, 24370, 32755, AGC= 66, IDX= 431,-0.03,-1.670,-1.514, 0.079,-0.937, PHS=-0.645,-0.530, 1.013, RAW= 213.6, 2.1, CAL= 214.1, -4.1, ROT= 295.9, 4.1 2025-01-08T20:36:24.265Z,1736368584.265 [DAT](INFO): DAT read: Bearing 295.9, 4.1 (Local) 2025-01-08T20:36:24.266Z,1736368584.266 [DAT](INFO): Local bearing/azimuth received: Bearing 295.9, 4.1 (Local) 2025-01-08T20:36:24.300Z,1736368584.300 [DAT](INFO): DAT read: Range 10 to 50 : 186.5 m (Round-trip 248.7 ms) speed -0.1 m/s 2025-01-08T20:36:24.303Z,1736368584.303 [DAT](INFO): DAT read: user:1481> 2025-01-08T20:36:24.313Z,1736368584.313 [DAT](INFO): DAT read: Tx time:20:36:23.6442 2025-01-08T20:36:24.314Z,1736368584.314 [DAT](INFO): Ping request sent. 2025-01-08T20:36:24.315Z,1736368584.315 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:24.331Z,1736368584.331 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-01-08T20:36:24.332Z,1736368584.332 [DAT](INFO): direction in FSK: [0.435684,-0.897256,-0.071497] 2025-01-08T20:36:24.333Z,1736368584.333 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:24.333Z,1736368584.333 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:24.344Z,1736368584.344 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:24.344Z,1736368584.344 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:24.447Z,1736368584.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:36:24.447Z,1736368584.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:24.493Z,1736368584.493 [DAT](INFO): DAT read: TxSync time:20:36:23.6434 2025-01-08T20:36:24.789Z,1736368584.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:36:24.789Z,1736368584.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:25.191Z,1736368585.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:36:25.191Z,1736368585.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:25.604Z,1736368585.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:36:25.604Z,1736368585.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:25.996Z,1736368585.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:36:25.996Z,1736368585.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:26.422Z,1736368586.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:26.815Z,1736368586.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:27.240Z,1736368587.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:27.516Z,1736368587.516 [DAT](INFO): DAT read: Rx Time:20:36:26.2974 2025-01-08T20:36:27.517Z,1736368587.517 [DAT](INFO): Rx dataTimestamp_ set to:1736368587.516398 2025-01-08T20:36:27.634Z,1736368587.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:28.026Z,1736368588.026 [DAT](INFO): DAT read: 20:36:26.2975 LVL= 32416, 32753, 19506, 32755, AGC= 59, IDX= 435,-0.02,-1.827,-2.096,-0.515,-1.529, PHS=-0.210,-0.520, 1.011, RAW= 199.0, -4.1, CAL= 197.7, -10.7, ROT= 312.3, 10.7 2025-01-08T20:36:28.028Z,1736368588.028 [DAT](INFO): got valid direction response: 20:36:26.2975 LVL= 32416, 32753, 19506, 32755, AGC= 59, IDX= 435,-0.02,-1.827,-2.096,-0.515,-1.529, PHS=-0.210,-0.520, 1.011, RAW= 199.0, -4.1, CAL= 197.7, -10.7, ROT= 312.3, 10.7 2025-01-08T20:36:28.028Z,1736368588.028 [DAT](INFO): DAT read: Bearing 312.3, 10.7 (Local) 2025-01-08T20:36:28.029Z,1736368588.029 [DAT](INFO): Local bearing/azimuth received: Bearing 312.3, 10.7 (Local) 2025-01-08T20:36:28.030Z,1736368588.030 [DAT](INFO): DAT read: Range 10 to 50 : 186.8 m (Round-trip 249.1 ms) speed 0.2 m/s 2025-01-08T20:36:28.031Z,1736368588.031 [DAT](INFO): DAT read: user:1482> 2025-01-08T20:36:28.032Z,1736368588.032 [DAT](INFO): DAT read: Tx time:20:36:27.3943 2025-01-08T20:36:28.032Z,1736368588.032 [DAT](INFO): Ping request sent. 2025-01-08T20:36:28.032Z,1736368588.032 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:28.032Z,1736368588.032 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-01-08T20:36:28.033Z,1736368588.033 [DAT](INFO): direction in FSK: [0.661311,-0.726771,-0.185667] 2025-01-08T20:36:28.034Z,1736368588.034 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:28.034Z,1736368588.034 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:28.061Z,1736368588.061 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:28.061Z,1736368588.061 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:28.063Z,1736368588.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:28.277Z,1736368588.277 [DAT](INFO): DAT read: TxSync time:20:36:27.3935 2025-01-08T20:36:28.443Z,1736368588.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:36:28.443Z,1736368588.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:28.824Z,1736368588.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:36:28.824Z,1736368588.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:29.228Z,1736368589.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:36:29.228Z,1736368589.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:29.629Z,1736368589.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:36:29.629Z,1736368589.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:30.041Z,1736368590.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:36:30.041Z,1736368590.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:30.473Z,1736368590.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:36:30.473Z,1736368590.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:30.844Z,1736368590.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:36:30.844Z,1736368590.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:31.248Z,1736368591.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:36:31.248Z,1736368591.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:31.296Z,1736368591.296 [DAT](INFO): DAT read: Rx Time:20:36:30.0458 2025-01-08T20:36:31.297Z,1736368591.297 [DAT](INFO): Rx dataTimestamp_ set to:1736368591.296573 2025-01-08T20:36:31.658Z,1736368591.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:36:31.659Z,1736368591.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:31.806Z,1736368591.806 [DAT](INFO): DAT read: 20:36:30.0458 LVL= 24720, 19377, 10674, 21283, AGC= 64, IDX= 419,-0.06,-2.611, 2.844,-1.366,-2.335, PHS=-0.188,-1.057, 0.966, RAW= 184.6, 3.2, CAL= 184.7, -5.1, ROT= 325.3, 5.1 2025-01-08T20:36:31.810Z,1736368591.810 [DAT](INFO): got valid direction response: 20:36:30.0458 LVL= 24720, 19377, 10674, 21283, AGC= 64, IDX= 419,-0.06,-2.611, 2.844,-1.366,-2.335, PHS=-0.188,-1.057, 0.966, RAW= 184.6, 3.2, CAL= 184.7, -5.1, ROT= 325.3, 5.1 2025-01-08T20:36:31.820Z,1736368591.820 [DAT](INFO): DAT read: Bearing 325.3, 5.1 (Local) 2025-01-08T20:36:31.821Z,1736368591.821 [DAT](INFO): Local bearing/azimuth received: Bearing 325.3, 5.1 (Local) 2025-01-08T20:36:31.822Z,1736368591.822 [DAT](INFO): DAT read: Range 10 to 50 : 185.5 m (Round-trip 247.4 ms) speed 0.3 m/s 2025-01-08T20:36:31.823Z,1736368591.823 [DAT](INFO): DAT read: user:1483> 2025-01-08T20:36:31.824Z,1736368591.824 [DAT](INFO): DAT read: Tx time:20:36:31.1443 2025-01-08T20:36:31.824Z,1736368591.824 [DAT](INFO): Ping request sent. 2025-01-08T20:36:31.824Z,1736368591.824 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:31.824Z,1736368591.824 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-01-08T20:36:31.825Z,1736368591.825 [DAT](INFO): direction in FSK: [0.818889,-0.567026,-0.088894] 2025-01-08T20:36:31.826Z,1736368591.826 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:31.826Z,1736368591.826 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:31.849Z,1736368591.849 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:31.849Z,1736368591.849 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:32.052Z,1736368592.052 [DAT](INFO): DAT read: TxSync time:20:36:31.1435 2025-01-08T20:36:32.059Z,1736368592.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:36:32.059Z,1736368592.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:32.149Z,1736368592.149 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:36:32.478Z,1736368592.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:36:32.479Z,1736368592.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:32.868Z,1736368592.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:36:32.868Z,1736368592.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:33.152Z,1736368593.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:36:33.281Z,1736368593.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:36:33.281Z,1736368593.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:33.667Z,1736368593.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:36:33.667Z,1736368593.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:34.074Z,1736368594.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:36:34.074Z,1736368594.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:34.510Z,1736368594.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:36:34.510Z,1736368594.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:34.903Z,1736368594.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:36:34.903Z,1736368594.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:35.076Z,1736368595.076 [DAT](INFO): DAT read: Rx Time:20:36:33.7949 2025-01-08T20:36:35.077Z,1736368595.077 [DAT](INFO): Rx dataTimestamp_ set to:1736368595.076465 2025-01-08T20:36:35.292Z,1736368595.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T20:36:35.292Z,1736368595.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:35.586Z,1736368595.586 [DAT](INFO): DAT read: 20:36:33.7949 LVL= 18464, 25841, 25986, 25267, AGC= 60, IDX= 424,-0.46, 1.984, 1.378,-2.905, 2.368, PHS=-0.296,-0.943, 1.007, RAW= 191.0, 2.7, CAL= 191.0, -5.2, ROT= 319.0, 5.2 2025-01-08T20:36:35.587Z,1736368595.587 [DAT](INFO): got valid direction response: 20:36:33.7949 LVL= 18464, 25841, 25986, 25267, AGC= 60, IDX= 424,-0.46, 1.984, 1.378,-2.905, 2.368, PHS=-0.296,-0.943, 1.007, RAW= 191.0, 2.7, CAL= 191.0, -5.2, ROT= 319.0, 5.2 2025-01-08T20:36:35.588Z,1736368595.588 [DAT](INFO): DAT read: Bearing 319.0, 5.2 (Local) 2025-01-08T20:36:35.589Z,1736368595.589 [DAT](INFO): Local bearing/azimuth received: Bearing 319.0, 5.2 (Local) 2025-01-08T20:36:35.590Z,1736368595.590 [DAT](INFO): DAT read: Range 10 to 50 : 184.8 m (Round-trip 246.4 ms) speed -0.2 m/s 2025-01-08T20:36:35.591Z,1736368595.591 [DAT](INFO): DAT read: user:1484> 2025-01-08T20:36:35.592Z,1736368595.592 [DAT](INFO): DAT read: Tx time:20:36:34.8943 2025-01-08T20:36:35.592Z,1736368595.592 [DAT](INFO): Ping request sent. 2025-01-08T20:36:35.592Z,1736368595.592 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:35.592Z,1736368595.592 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-01-08T20:36:35.593Z,1736368595.593 [DAT](INFO): direction in FSK: [0.751603,-0.653359,-0.090633] 2025-01-08T20:36:35.593Z,1736368595.593 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:35.594Z,1736368595.594 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:35.597Z,1736368595.597 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:35.597Z,1736368595.597 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:35.746Z,1736368595.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:36:35.746Z,1736368595.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:35.832Z,1736368595.832 [DAT](INFO): DAT read: TxSync time:20:36:34.8935 2025-01-08T20:36:36.122Z,1736368596.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:36:36.122Z,1736368596.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:36.518Z,1736368596.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:36:36.519Z,1736368596.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:36.907Z,1736368596.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:36:36.907Z,1736368596.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:37.308Z,1736368597.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:36:37.308Z,1736368597.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:37.739Z,1736368597.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:36:37.739Z,1736368597.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:38.137Z,1736368598.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:36:38.137Z,1736368598.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:38.542Z,1736368598.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:38.856Z,1736368598.856 [DAT](INFO): DAT read: Rx Time:20:36:37.5455 2025-01-08T20:36:38.857Z,1736368598.857 [DAT](INFO): Rx dataTimestamp_ set to:1736368598.856440 2025-01-08T20:36:38.927Z,1736368598.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:39.328Z,1736368599.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:39.369Z,1736368599.369 [DAT](INFO): DAT read: 20:36:37.5455 LVL= 19344, 21489, 10290, 18275, AGC= 65, IDX= 430, 0.28,-0.995,-0.854, 0.591,-0.569, PHS=-0.338,-0.238, 1.157, RAW= 213.4, -8.1, CAL= 209.9, -14.7, ROT= 300.1, 14.7 2025-01-08T20:36:39.370Z,1736368599.370 [DAT](INFO): got valid direction response: 20:36:37.5455 LVL= 19344, 21489, 10290, 18275, AGC= 65, IDX= 430, 0.28,-0.995,-0.854, 0.591,-0.569, PHS=-0.338,-0.238, 1.157, RAW= 213.4, -8.1, CAL= 209.9, -14.7, ROT= 300.1, 14.7 2025-01-08T20:36:39.371Z,1736368599.371 [DAT](INFO): DAT read: Bearing 300.1, 14.7 (Local) 2025-01-08T20:36:39.371Z,1736368599.371 [DAT](INFO): Local bearing/azimuth received: Bearing 300.1, 14.7 (Local) 2025-01-08T20:36:39.373Z,1736368599.373 [DAT](INFO): DAT read: Range 10 to 50 : 185.2 m (Round-trip 247.0 ms) speed -0.3 m/s 2025-01-08T20:36:39.373Z,1736368599.373 [DAT](INFO): DAT read: user:1485> 2025-01-08T20:36:39.374Z,1736368599.374 [DAT](INFO): DAT read: Tx time:20:36:38.6443 2025-01-08T20:36:39.374Z,1736368599.374 [DAT](INFO): Ping request sent. 2025-01-08T20:36:39.375Z,1736368599.375 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:39.375Z,1736368599.375 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-01-08T20:36:39.377Z,1736368599.377 [DAT](INFO): direction in FSK: [0.485095,-0.836833,-0.253758] 2025-01-08T20:36:39.377Z,1736368599.377 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:39.377Z,1736368599.377 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:39.381Z,1736368599.381 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:39.381Z,1736368599.381 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:39.616Z,1736368599.616 [DAT](INFO): DAT read: TxSync time:20:36:38.6435 2025-01-08T20:36:39.736Z,1736368599.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:40.132Z,1736368600.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:40.584Z,1736368600.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:40.940Z,1736368600.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:41.351Z,1736368601.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:41.762Z,1736368601.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:42.156Z,1736368602.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:42.578Z,1736368602.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:36:42.579Z,1736368602.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:42.640Z,1736368602.640 [DAT](INFO): DAT read: Rx Time:20:36:41.2965 2025-01-08T20:36:42.641Z,1736368602.641 [DAT](INFO): Rx dataTimestamp_ set to:1736368602.640501 2025-01-08T20:36:43.016Z,1736368603.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T20:36:43.017Z,1736368603.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:43.150Z,1736368603.150 [DAT](INFO): DAT read: 20:36:41.2965 LVL= 12176, 15601, 8818, 14963, AGC= 67, IDX= 441,-0.49, 0.659, 0.734, 2.540, 1.257, PHS=-0.509,-0.475, 1.280, RAW= 211.0, -3.4, CAL= 209.1, -10.2, ROT= 300.9, 10.2 2025-01-08T20:36:43.151Z,1736368603.151 [DAT](INFO): got valid direction response: 20:36:41.2965 LVL= 12176, 15601, 8818, 14963, AGC= 67, IDX= 441,-0.49, 0.659, 0.734, 2.540, 1.257, PHS=-0.509,-0.475, 1.280, RAW= 211.0, -3.4, CAL= 209.1, -10.2, ROT= 300.9, 10.2 2025-01-08T20:36:43.152Z,1736368603.152 [DAT](INFO): DAT read: Bearing 300.9, 10.2 (Local) 2025-01-08T20:36:43.153Z,1736368603.153 [DAT](INFO): Local bearing/azimuth received: Bearing 300.9, 10.2 (Local) 2025-01-08T20:36:43.157Z,1736368603.157 [DAT](INFO): DAT read: Range 10 to 50 : 186.0 m (Round-trip 248.0 ms) speed 0.2 m/s 2025-01-08T20:36:43.176Z,1736368603.176 [DAT](INFO): DAT read: user:1486> 2025-01-08T20:36:43.177Z,1736368603.177 [DAT](INFO): DAT read: Tx time:20:36:42.3944 2025-01-08T20:36:43.177Z,1736368603.177 [DAT](INFO): Ping request sent. 2025-01-08T20:36:43.177Z,1736368603.177 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:43.177Z,1736368603.177 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-01-08T20:36:43.178Z,1736368603.178 [DAT](INFO): direction in FSK: [0.505425,-0.844504,-0.177085] 2025-01-08T20:36:43.179Z,1736368603.179 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:43.179Z,1736368603.179 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:43.182Z,1736368603.182 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:43.182Z,1736368603.182 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:43.384Z,1736368603.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:36:43.384Z,1736368603.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:43.396Z,1736368603.396 [DAT](INFO): DAT read: TxSync time:20:36:42.3936 2025-01-08T20:36:43.772Z,1736368603.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:36:43.772Z,1736368603.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:44.193Z,1736368604.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:36:44.193Z,1736368604.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:44.613Z,1736368604.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:44.983Z,1736368604.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:45.391Z,1736368605.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:45.788Z,1736368605.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:46.202Z,1736368606.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:46.428Z,1736368606.428 [DAT](INFO): DAT read: Rx Time:20:36:45.0447 2025-01-08T20:36:46.429Z,1736368606.429 [DAT](INFO): Rx dataTimestamp_ set to:1736368606.428458 2025-01-08T20:36:46.624Z,1736368606.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:36:46.624Z,1736368606.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:46.933Z,1736368606.933 [DAT](INFO): DAT read: Range 10 to 50 : 184.5 m (Round-trip 246.1 ms) speed 0.3 m/s 2025-01-08T20:36:46.934Z,1736368606.934 [DAT](INFO): DAT read: user:1487> 2025-01-08T20:36:46.937Z,1736368606.937 [DAT](INFO): DAT read: Tx time:20:36:46.1444 2025-01-08T20:36:46.938Z,1736368606.938 [DAT](INFO): Ping request sent. 2025-01-08T20:36:46.939Z,1736368606.939 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:46.940Z,1736368606.940 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-01-08T20:36:46.940Z,1736368606.940 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:46.941Z,1736368606.941 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:47.033Z,1736368607.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:36:47.033Z,1736368607.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:47.184Z,1736368607.184 [DAT](INFO): DAT read: TxSync time:20:36:46.1436 2025-01-08T20:36:47.414Z,1736368607.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:36:47.414Z,1736368607.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:47.812Z,1736368607.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:36:47.812Z,1736368607.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:48.216Z,1736368608.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:36:48.216Z,1736368608.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:48.639Z,1736368608.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:36:48.639Z,1736368608.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:49.030Z,1736368609.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:36:49.030Z,1736368609.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:49.433Z,1736368609.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:36:49.433Z,1736368609.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:49.832Z,1736368609.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:36:49.832Z,1736368609.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:49.956Z,1736368609.956 [DAT](INFO): DAT read: Rx Time:20:36:48.7951 2025-01-08T20:36:49.957Z,1736368609.957 [DAT](INFO): Rx dataTimestamp_ set to:1736368609.956479 2025-01-08T20:36:50.251Z,1736368610.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:36:50.251Z,1736368610.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:50.669Z,1736368610.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:36:50.669Z,1736368610.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:50.718Z,1736368610.718 [DAT](INFO): DAT read: 20:36:48.7951 LVL= 24560, 25265, 10786, 25875, AGC= 64, IDX= 441,-0.18,-1.605,-2.293,-0.833,-1.700, PHS= 0.183,-0.545, 0.864, RAW= 178.9, -8.3, CAL= 180.3, -14.4, ROT= 329.7, 14.4 2025-01-08T20:36:50.720Z,1736368610.720 [DAT](INFO): got valid direction response: 20:36:48.7951 LVL= 24560, 25265, 10786, 25875, AGC= 64, IDX= 441,-0.18,-1.605,-2.293,-0.833,-1.700, PHS= 0.183,-0.545, 0.864, RAW= 178.9, -8.3, CAL= 180.3, -14.4, ROT= 329.7, 14.4 2025-01-08T20:36:50.721Z,1736368610.721 [DAT](INFO): DAT read: Bearing 329.7, 14.4 (Local) 2025-01-08T20:36:50.721Z,1736368610.721 [DAT](INFO): Local bearing/azimuth received: Bearing 329.7, 14.4 (Local) 2025-01-08T20:36:50.723Z,1736368610.723 [DAT](INFO): DAT read: Range 10 to 50 : 184.8 m (Round-trip 246.5 ms) speed -0.4 m/s 2025-01-08T20:36:50.724Z,1736368610.724 [DAT](INFO): DAT read: user:1488> 2025-01-08T20:36:50.725Z,1736368610.725 [DAT](INFO): DAT read: Tx time:20:36:49.8944 2025-01-08T20:36:50.726Z,1736368610.726 [DAT](INFO): Ping request sent. 2025-01-08T20:36:50.726Z,1736368610.726 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:50.726Z,1736368610.726 [DAT](INFO): DAT read: TxSync time:20:36:49.8936 2025-01-08T20:36:50.727Z,1736368610.727 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-01-08T20:36:50.728Z,1736368610.728 [DAT](INFO): direction in FSK: [0.836270,-0.488677,-0.248690] 2025-01-08T20:36:50.728Z,1736368610.728 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:50.728Z,1736368610.728 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:50.731Z,1736368610.731 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:50.732Z,1736368610.732 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:51.044Z,1736368611.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:36:51.044Z,1736368611.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:51.449Z,1736368611.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:36:51.449Z,1736368611.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:51.854Z,1736368611.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:36:51.854Z,1736368611.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:52.282Z,1736368612.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:36:52.282Z,1736368612.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:52.687Z,1736368612.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:53.076Z,1736368613.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:53.488Z,1736368613.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:53.736Z,1736368613.736 [DAT](INFO): DAT read: Rx Time:20:36:52.5458 2025-01-08T20:36:53.737Z,1736368613.737 [DAT](INFO): Rx dataTimestamp_ set to:1736368613.736466 2025-01-08T20:36:53.875Z,1736368613.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:54.286Z,1736368614.286 [DAT](INFO): DAT read: 20:36:52.5458 LVL= 18720, 14065, 13410, 17571, AGC= 59, IDX= 447, 0.29,-1.367,-1.253, 0.620,-0.708, PHS=-0.571,-0.498, 1.325, RAW= 211.9, -2.8, CAL= 210.3, -9.6, ROT= 299.7, 9.6 2025-01-08T20:36:54.294Z,1736368614.294 [DAT](INFO): got valid direction response: 20:36:52.5458 LVL= 18720, 14065, 13410, 17571, AGC= 59, IDX= 447, 0.29,-1.367,-1.253, 0.620,-0.708, PHS=-0.571,-0.498, 1.325, RAW= 211.9, -2.8, CAL= 210.3, -9.6, ROT= 299.7, 9.6 2025-01-08T20:36:54.301Z,1736368614.301 [DAT](INFO): DAT read: Bearing 299.7, 9.6 (Local) 2025-01-08T20:36:54.302Z,1736368614.302 [DAT](INFO): Local bearing/azimuth received: Bearing 299.7, 9.6 (Local) 2025-01-08T20:36:54.311Z,1736368614.311 [DAT](INFO): DAT read: Range 10 to 50 : 185.3 m (Round-trip 247.1 ms) speed 0.1 m/s 2025-01-08T20:36:54.317Z,1736368614.317 [DAT](INFO): DAT read: user:1489> 2025-01-08T20:36:54.324Z,1736368614.324 [DAT](INFO): DAT read: Tx time:20:36:53.6445 2025-01-08T20:36:54.325Z,1736368614.325 [DAT](INFO): Ping request sent. 2025-01-08T20:36:54.325Z,1736368614.325 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:54.326Z,1736368614.326 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-01-08T20:36:54.362Z,1736368614.362 [DAT](INFO): direction in FSK: [0.488520,-0.856467,-0.166769] 2025-01-08T20:36:54.362Z,1736368614.362 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:54.362Z,1736368614.362 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:54.373Z,1736368614.373 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:54.374Z,1736368614.374 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:54.434Z,1736368614.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:54.493Z,1736368614.493 [DAT](INFO): DAT read: TxSync time:20:36:53.6437 2025-01-08T20:36:54.676Z,1736368614.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:55.105Z,1736368615.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:55.498Z,1736368615.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:55.891Z,1736368615.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:56.357Z,1736368616.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:36:56.357Z,1736368616.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:56.703Z,1736368616.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:36:56.703Z,1736368616.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:57.100Z,1736368617.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:36:57.100Z,1736368617.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:57.508Z,1736368617.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:36:57.508Z,1736368617.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:57.516Z,1736368617.516 [DAT](INFO): DAT read: Rx Time:20:36:56.2958 2025-01-08T20:36:57.517Z,1736368617.517 [DAT](INFO): Rx dataTimestamp_ set to:1736368617.516637 2025-01-08T20:36:57.916Z,1736368617.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:36:57.916Z,1736368617.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:58.026Z,1736368618.026 [DAT](INFO): DAT read: 20:36:56.2958 LVL= 14736, 18833, 14290, 19235, AGC= 74, IDX= 448, 0.35, 0.872, 0.966, 2.407, 1.552, PHS=-0.592,-0.539, 0.852, RAW= 211.9, 4.0, CAL= 213.2, -2.3, ROT= 296.8, 2.3 2025-01-08T20:36:58.027Z,1736368618.027 [DAT](INFO): got valid direction response: 20:36:56.2958 LVL= 14736, 18833, 14290, 19235, AGC= 74, IDX= 448, 0.35, 0.872, 0.966, 2.407, 1.552, PHS=-0.592,-0.539, 0.852, RAW= 211.9, 4.0, CAL= 213.2, -2.3, ROT= 296.8, 2.3 2025-01-08T20:36:58.028Z,1736368618.028 [DAT](INFO): DAT read: Bearing 296.8, 2.3 (Local) 2025-01-08T20:36:58.029Z,1736368618.029 [DAT](INFO): Local bearing/azimuth received: Bearing 296.8, 2.3 (Local) 2025-01-08T20:36:58.030Z,1736368618.030 [DAT](INFO): DAT read: Range 10 to 50 : 185.4 m (Round-trip 247.2 ms) speed 0.0 m/s 2025-01-08T20:36:58.031Z,1736368618.031 [DAT](INFO): DAT read: user:1490> 2025-01-08T20:36:58.032Z,1736368618.032 [DAT](INFO): DAT read: Tx time:20:36:57.3945 2025-01-08T20:36:58.032Z,1736368618.032 [DAT](INFO): Ping request sent. 2025-01-08T20:36:58.032Z,1736368618.032 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:36:58.032Z,1736368618.032 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-01-08T20:36:58.033Z,1736368618.033 [DAT](INFO): direction in FSK: [0.450514,-0.891867,-0.040132] 2025-01-08T20:36:58.034Z,1736368618.034 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:58.034Z,1736368618.034 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:58.038Z,1736368618.038 [DAT](INFO): publishing transmit ping time 2025-01-08T20:36:58.039Z,1736368618.039 [DAT](INFO): publishing direction and range info 2025-01-08T20:36:58.275Z,1736368618.275 [DAT](INFO): DAT read: TxSync time:20:36:57.3937 2025-01-08T20:36:58.373Z,1736368618.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:36:58.373Z,1736368618.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:58.730Z,1736368618.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:36:58.730Z,1736368618.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:59.124Z,1736368619.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:36:59.125Z,1736368619.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:59.533Z,1736368619.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:36:59.533Z,1736368619.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:36:59.929Z,1736368619.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:36:59.929Z,1736368619.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:00.368Z,1736368620.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:37:00.368Z,1736368620.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:00.736Z,1736368620.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:37:00.736Z,1736368620.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:01.140Z,1736368621.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:37:01.140Z,1736368621.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:01.296Z,1736368621.296 [DAT](INFO): DAT read: Rx Time:20:37:00.0450 2025-01-08T20:37:01.297Z,1736368621.297 [DAT](INFO): Rx dataTimestamp_ set to:1736368621.296510 2025-01-08T20:37:01.554Z,1736368621.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:37:01.554Z,1736368621.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:01.806Z,1736368621.806 [DAT](INFO): DAT read: 20:37:00.0450 LVL= 26992, 26913, 15218, 26227, AGC= 66, IDX= 440,-0.35, 1.904, 1.373, 2.979, 1.970, PHS= 0.023,-0.550, 1.007, RAW= 188.7, -7.1, CAL= 188.5, -13.2, ROT= 321.5, 13.2 2025-01-08T20:37:01.808Z,1736368621.808 [DAT](INFO): got valid direction response: 20:37:00.0450 LVL= 26992, 26913, 15218, 26227, AGC= 66, IDX= 440,-0.35, 1.904, 1.373, 2.979, 1.970, PHS= 0.023,-0.550, 1.007, RAW= 188.7, -7.1, CAL= 188.5, -13.2, ROT= 321.5, 13.2 2025-01-08T20:37:01.809Z,1736368621.809 [DAT](INFO): DAT read: Bearing 321.5, 13.2 (Local) 2025-01-08T20:37:01.809Z,1736368621.809 [DAT](INFO): Local bearing/azimuth received: Bearing 321.5, 13.2 (Local) 2025-01-08T20:37:01.811Z,1736368621.811 [DAT](INFO): DAT read: Range 10 to 50 : 184.7 m (Round-trip 246.3 ms) speed -0.2 m/s 2025-01-08T20:37:01.812Z,1736368621.812 [DAT](INFO): DAT read: user:1491> 2025-01-08T20:37:01.813Z,1736368621.813 [DAT](INFO): DAT read: Tx time:20:37:01.1445 2025-01-08T20:37:01.813Z,1736368621.813 [DAT](INFO): Ping request sent. 2025-01-08T20:37:01.813Z,1736368621.813 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:01.813Z,1736368621.813 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-01-08T20:37:01.814Z,1736368621.814 [DAT](INFO): direction in FSK: [0.761931,-0.606067,-0.228351] 2025-01-08T20:37:01.815Z,1736368621.815 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:01.815Z,1736368621.815 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:01.818Z,1736368621.818 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:01.818Z,1736368621.818 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:01.961Z,1736368621.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:37:01.961Z,1736368621.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:02.052Z,1736368622.052 [DAT](INFO): DAT read: TxSync time:20:37:01.1437 2025-01-08T20:37:02.389Z,1736368622.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:37:02.389Z,1736368622.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:02.757Z,1736368622.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:37:02.757Z,1736368622.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:03.169Z,1736368623.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:37:03.169Z,1736368623.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:03.280Z,1736368623.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:37:03.592Z,1736368623.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:37:03.592Z,1736368623.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:03.972Z,1736368623.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:37:03.972Z,1736368623.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:04.285Z,1736368624.285 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:37:04.393Z,1736368624.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:37:04.393Z,1736368624.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:04.784Z,1736368624.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:37:04.784Z,1736368624.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:05.080Z,1736368625.080 [DAT](INFO): DAT read: Rx Time:20:37:03.7945 2025-01-08T20:37:05.081Z,1736368625.081 [DAT](INFO): Rx dataTimestamp_ set to:1736368625.080500 2025-01-08T20:37:05.184Z,1736368625.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:37:05.184Z,1736368625.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:05.587Z,1736368625.587 [DAT](INFO): DAT read: Range 10 to 50 : 184.3 m (Round-trip 245.8 ms) speed 0.0 m/s 2025-01-08T20:37:05.588Z,1736368625.588 [DAT](INFO): DAT read: user:1492> 2025-01-08T20:37:05.588Z,1736368625.588 [DAT](INFO): DAT read: Tx time:20:37:04.8945 2025-01-08T20:37:05.589Z,1736368625.589 [DAT](INFO): Ping request sent. 2025-01-08T20:37:05.589Z,1736368625.589 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:05.589Z,1736368625.589 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-01-08T20:37:05.589Z,1736368625.589 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:05.590Z,1736368625.590 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:05.669Z,1736368625.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s. 2025-01-08T20:37:05.669Z,1736368625.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:05.836Z,1736368625.836 [DAT](INFO): DAT read: TxSync time:20:37:04.8937 2025-01-08T20:37:05.990Z,1736368625.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:37:05.990Z,1736368625.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:06.417Z,1736368626.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:06.800Z,1736368626.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:07.199Z,1736368627.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:07.608Z,1736368627.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:08.017Z,1736368628.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:08.440Z,1736368628.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:37:08.440Z,1736368628.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:08.823Z,1736368628.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:37:08.824Z,1736368628.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:08.862Z,1736368628.862 [DAT](INFO): DAT read: Rx Time:20:37:07.5452 2025-01-08T20:37:08.862Z,1736368628.862 [DAT](INFO): Rx dataTimestamp_ set to:1736368628.862197 2025-01-08T20:37:09.272Z,1736368629.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:37:09.272Z,1736368629.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:09.372Z,1736368629.372 [DAT](INFO): DAT read: 20:37:07.5452 LVL= 15344, 25249, 12338, 18467, AGC= 71, IDX= 442, 0.32,-0.056, 0.799, 1.470, 0.842, PHS=-0.809, 0.005, 0.625, RAW= 244.5, 2.9, CAL= 249.2, 4.0, ROT= 260.8, -4.0 2025-01-08T20:37:09.373Z,1736368629.373 [DAT](INFO): got valid direction response: 20:37:07.5452 LVL= 15344, 25249, 12338, 18467, AGC= 71, IDX= 442, 0.32,-0.056, 0.799, 1.470, 0.842, PHS=-0.809, 0.005, 0.625, RAW= 244.5, 2.9, CAL= 249.2, 4.0, ROT= 260.8, -4.0 2025-01-08T20:37:09.374Z,1736368629.374 [DAT](INFO): DAT read: Bearing 260.8, -4.0 (Local) 2025-01-08T20:37:09.374Z,1736368629.374 [DAT](INFO): Local bearing/azimuth received: Bearing 260.8, -4.0 (Local) 2025-01-08T20:37:09.375Z,1736368629.375 [DAT](INFO): DAT read: Range 10 to 50 : 184.8 m (Round-trip 246.4 ms) speed 0.1 m/s 2025-01-08T20:37:09.376Z,1736368629.376 [DAT](INFO): DAT read: user:1493> 2025-01-08T20:37:09.377Z,1736368629.377 [DAT](INFO): DAT read: Tx time:20:37:08.6446 2025-01-08T20:37:09.377Z,1736368629.377 [DAT](INFO): Ping request sent. 2025-01-08T20:37:09.377Z,1736368629.377 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:09.378Z,1736368629.378 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-01-08T20:37:09.379Z,1736368629.379 [DAT](INFO): direction in FSK: [-0.159492,-0.984732,0.069756] 2025-01-08T20:37:09.379Z,1736368629.379 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:09.380Z,1736368629.380 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:09.382Z,1736368629.382 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:09.383Z,1736368629.383 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:09.616Z,1736368629.616 [DAT](INFO): DAT read: TxSync time:20:37:08.6438 2025-01-08T20:37:09.649Z,1736368629.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:37:09.649Z,1736368629.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:10.032Z,1736368630.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:37:10.032Z,1736368630.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:10.450Z,1736368630.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:37:10.450Z,1736368630.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:10.844Z,1736368630.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:37:10.844Z,1736368630.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:11.245Z,1736368631.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:37:11.245Z,1736368631.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:11.661Z,1736368631.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:37:11.662Z,1736368631.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:12.052Z,1736368632.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:37:12.052Z,1736368632.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:12.482Z,1736368632.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:37:12.482Z,1736368632.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:12.641Z,1736368632.641 [DAT](INFO): DAT read: Rx Time:20:37:11.2959 2025-01-08T20:37:12.641Z,1736368632.641 [DAT](INFO): Rx dataTimestamp_ set to:1736368632.640798 2025-01-08T20:37:12.866Z,1736368632.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:37:12.866Z,1736368632.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:13.150Z,1736368633.150 [DAT](INFO): DAT read: 20:37:11.2959 LVL= 21440, 22417, 16466, 25651, AGC= 64, IDX= 448, 0.12, 0.394, 0.217, 2.356, 1.101, PHS=-0.619,-0.837, 1.252, RAW= 204.5, 2.1, CAL= 204.7, -5.1, ROT= 305.3, 5.1 2025-01-08T20:37:13.151Z,1736368633.151 [DAT](INFO): got valid direction response: 20:37:11.2959 LVL= 21440, 22417, 16466, 25651, AGC= 64, IDX= 448, 0.12, 0.394, 0.217, 2.356, 1.101, PHS=-0.619,-0.837, 1.252, RAW= 204.5, 2.1, CAL= 204.7, -5.1, ROT= 305.3, 5.1 2025-01-08T20:37:13.155Z,1736368633.155 [DAT](INFO): DAT read: Bearing 305.3, 5.1 (Local) 2025-01-08T20:37:13.157Z,1736368633.157 [DAT](INFO): Local bearing/azimuth received: Bearing 305.3, 5.1 (Local) 2025-01-08T20:37:13.159Z,1736368633.159 [DAT](INFO): DAT read: Range 10 to 50 : 185.4 m (Round-trip 247.2 ms) speed 0.2 m/s 2025-01-08T20:37:13.160Z,1736368633.160 [DAT](INFO): DAT read: user:1494> 2025-01-08T20:37:13.160Z,1736368633.160 [DAT](INFO): DAT read: Tx time:20:37:12.3946 2025-01-08T20:37:13.161Z,1736368633.161 [DAT](INFO): Ping request sent. 2025-01-08T20:37:13.161Z,1736368633.161 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:13.161Z,1736368633.161 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-01-08T20:37:13.162Z,1736368633.162 [DAT](INFO): direction in FSK: [0.575570,-0.812907,-0.088894] 2025-01-08T20:37:13.162Z,1736368633.162 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:13.163Z,1736368633.163 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:13.174Z,1736368633.174 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:13.174Z,1736368633.174 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:13.296Z,1736368633.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:37:13.296Z,1736368633.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:13.396Z,1736368633.396 [DAT](INFO): DAT read: TxSync time:20:37:12.3938 2025-01-08T20:37:13.668Z,1736368633.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:37:13.668Z,1736368633.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:14.068Z,1736368634.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:37:14.068Z,1736368634.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:14.496Z,1736368634.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:37:14.496Z,1736368634.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:14.895Z,1736368634.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:37:14.895Z,1736368634.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:15.296Z,1736368635.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:37:15.296Z,1736368635.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:15.692Z,1736368635.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:37:15.692Z,1736368635.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:16.094Z,1736368636.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:37:16.094Z,1736368636.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:16.428Z,1736368636.428 [DAT](INFO): DAT read: Rx Time:20:37:15.0456 2025-01-08T20:37:16.429Z,1736368636.429 [DAT](INFO): Rx dataTimestamp_ set to:1736368636.428504 2025-01-08T20:37:16.521Z,1736368636.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:37:16.521Z,1736368636.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:16.896Z,1736368636.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:37:16.896Z,1736368636.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:16.943Z,1736368636.943 [DAT](INFO): DAT read: 20:37:15.0456 LVL= 7536, 9057, 10786, 9459, AGC= 70, IDX= 447,-0.35, 2.782, 2.890, 1.597, 2.636, PHS= 0.233, 0.300,-1.042, RAW= 27.5, 7.8, CAL= 26.0, 11.9, ROT= 124.0, -11.9 2025-01-08T20:37:16.944Z,1736368636.944 [DAT](INFO): got valid direction response: 20:37:15.0456 LVL= 7536, 9057, 10786, 9459, AGC= 70, IDX= 447,-0.35, 2.782, 2.890, 1.597, 2.636, PHS= 0.233, 0.300,-1.042, RAW= 27.5, 7.8, CAL= 26.0, 11.9, ROT= 124.0, -11.9 2025-01-08T20:37:16.945Z,1736368636.945 [DAT](INFO): DAT read: Bearing 124.0, -11.9 (Local) 2025-01-08T20:37:16.945Z,1736368636.945 [DAT](INFO): Local bearing/azimuth received: Bearing 124.0, -11.9 (Local) 2025-01-08T20:37:16.947Z,1736368636.947 [DAT](INFO): DAT read: Range 10 to 50 : 185.1 m (Round-trip 246.8 ms) speed 0.4 m/s 2025-01-08T20:37:16.947Z,1736368636.947 [DAT](INFO): DAT read: user:1495> 2025-01-08T20:37:16.948Z,1736368636.948 [DAT](INFO): DAT read: Tx time:20:37:16.1446 2025-01-08T20:37:16.949Z,1736368636.949 [DAT](INFO): Ping request sent. 2025-01-08T20:37:16.949Z,1736368636.949 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:16.949Z,1736368636.949 [DAT](INFO): DAT read: TxSync time:20:37:16.1438 2025-01-08T20:37:16.950Z,1736368636.950 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-01-08T20:37:16.951Z,1736368636.951 [DAT](INFO): direction in FSK: [-0.547175,0.811221,0.206204] 2025-01-08T20:37:16.951Z,1736368636.951 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:16.951Z,1736368636.951 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:16.954Z,1736368636.954 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:16.954Z,1736368636.954 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:17.309Z,1736368637.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:37:17.309Z,1736368637.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:17.705Z,1736368637.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:37:17.705Z,1736368637.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:18.112Z,1736368638.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:37:18.112Z,1736368638.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:18.531Z,1736368638.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:18.922Z,1736368638.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:19.324Z,1736368639.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:19.731Z,1736368639.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:19.960Z,1736368639.960 [DAT](INFO): DAT read: Rx Time:20:37:18.7943 2025-01-08T20:37:19.961Z,1736368639.961 [DAT](INFO): Rx dataTimestamp_ set to:1736368639.960473 2025-01-08T20:37:20.135Z,1736368640.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:20.465Z,1736368640.465 [DAT](INFO): DAT read: Range 10 to 50 : 184.1 m (Round-trip 245.5 ms) speed 0.0 m/s 2025-01-08T20:37:20.466Z,1736368640.466 [DAT](INFO): DAT read: user:1496> 2025-01-08T20:37:20.466Z,1736368640.466 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-01-08T20:37:20.555Z,1736368640.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:20.716Z,1736368640.716 [DAT](INFO): DAT read: Tx time:20:37:19.8947 2025-01-08T20:37:20.717Z,1736368640.717 [DAT](INFO): Ping request sent. 2025-01-08T20:37:20.717Z,1736368640.717 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:20.717Z,1736368640.717 [DAT](INFO): DAT read: TxSync time:20:37:19.8939 2025-01-08T20:37:20.718Z,1736368640.718 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:20.954Z,1736368640.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:21.340Z,1736368641.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:21.745Z,1736368641.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:22.153Z,1736368642.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:22.579Z,1736368642.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:22.959Z,1736368642.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:23.370Z,1736368643.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:23.749Z,1736368643.749 [DAT](INFO): DAT read: Rx Time:20:37:22.5448 2025-01-08T20:37:23.749Z,1736368643.749 [DAT](INFO): Rx dataTimestamp_ set to:1736368643.749082 2025-01-08T20:37:23.778Z,1736368643.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:24.181Z,1736368644.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:24.288Z,1736368644.288 [DAT](INFO): DAT read: 20:37:22.5448 LVL= 32752, 32753, 17682, 32755, AGC= 65, IDX= 451, 0.14, 1.504, 0.627, 2.294, 1.422, PHS= 0.170,-0.748, 0.869, RAW= 175.5, -4.2, CAL= 177.0, -11.3, ROT= 333.0, 11.3 2025-01-08T20:37:24.291Z,1736368644.291 [DAT](INFO): got valid direction response: 20:37:22.5448 LVL= 32752, 32753, 17682, 32755, AGC= 65, IDX= 451, 0.14, 1.504, 0.627, 2.294, 1.422, PHS= 0.170,-0.748, 0.869, RAW= 175.5, -4.2, CAL= 177.0, -11.3, ROT= 333.0, 11.3 2025-01-08T20:37:24.298Z,1736368644.298 [DAT](INFO): DAT read: Bearing 333.0, 11.3 (Local) 2025-01-08T20:37:24.299Z,1736368644.299 [DAT](INFO): Local bearing/azimuth received: Bearing 333.0, 11.3 (Local) 2025-01-08T20:37:24.312Z,1736368644.312 [DAT](INFO): DAT read: Range 10 to 50 : 184.4 m (Round-trip 245.9 ms) speed -0.4 m/s 2025-01-08T20:37:24.314Z,1736368644.314 [DAT](INFO): DAT read: user:1497> 2025-01-08T20:37:24.322Z,1736368644.322 [DAT](INFO): DAT read: Tx time:20:37:23.6447 2025-01-08T20:37:24.328Z,1736368644.328 [DAT](INFO): Ping request sent. 2025-01-08T20:37:24.328Z,1736368644.328 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:24.328Z,1736368644.328 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-01-08T20:37:24.329Z,1736368644.329 [DAT](INFO): direction in FSK: [0.873734,-0.445190,-0.195946] 2025-01-08T20:37:24.329Z,1736368644.329 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:24.330Z,1736368644.330 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:24.337Z,1736368644.337 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:24.337Z,1736368644.337 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:24.504Z,1736368644.504 [DAT](INFO): DAT read: TxSync time:20:37:23.6439 2025-01-08T20:37:24.619Z,1736368644.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:24.976Z,1736368644.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:25.397Z,1736368645.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:25.793Z,1736368645.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:26.192Z,1736368646.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:26.616Z,1736368646.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:27.006Z,1736368647.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:27.400Z,1736368647.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:27.532Z,1736368647.532 [DAT](INFO): DAT read: Rx Time:20:37:26.2962 2025-01-08T20:37:27.533Z,1736368647.533 [DAT](INFO): Rx dataTimestamp_ set to:1736368647.532415 2025-01-08T20:37:27.812Z,1736368647.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:28.037Z,1736368648.037 [DAT](INFO): DAT read: Range 10 to 50 : 185.5 m (Round-trip 247.4 ms) speed -0.2 m/s 2025-01-08T20:37:28.038Z,1736368648.038 [DAT](INFO): DAT read: user:1498> 2025-01-08T20:37:28.039Z,1736368648.039 [DAT](INFO): DAT read: Tx time:20:37:27.3947 2025-01-08T20:37:28.039Z,1736368648.039 [DAT](INFO): Ping request sent. 2025-01-08T20:37:28.039Z,1736368648.039 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:28.039Z,1736368648.039 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-01-08T20:37:28.040Z,1736368648.040 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:28.040Z,1736368648.040 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:28.206Z,1736368648.206 [NAL9602](INFO): SBD MO Status=2, MOMSN=46739, MT Status=2, MTMSN=0 2025-01-08T20:37:28.206Z,1736368648.206 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-01-08T20:37:28.213Z,1736368648.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:28.292Z,1736368648.292 [DAT](INFO): DAT read: TxSync time:20:37:27.3939 2025-01-08T20:37:28.647Z,1736368648.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:37:28.647Z,1736368648.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:29.020Z,1736368649.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:37:29.020Z,1736368649.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:29.420Z,1736368649.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:37:29.421Z,1736368649.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:29.832Z,1736368649.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:37:29.832Z,1736368649.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:30.238Z,1736368650.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:37:30.238Z,1736368650.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:30.667Z,1736368650.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:37:30.667Z,1736368650.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:31.040Z,1736368651.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:37:31.040Z,1736368651.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:31.328Z,1736368651.328 [DAT](INFO): DAT read: Rx Time:20:37:30.0456 2025-01-08T20:37:31.329Z,1736368651.329 [DAT](INFO): Rx dataTimestamp_ set to:1736368651.328479 2025-01-08T20:37:31.440Z,1736368651.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:37:31.440Z,1736368651.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:31.838Z,1736368651.838 [DAT](INFO): DAT read: 20:37:30.0456 LVL= 24720, 21953, 13298, 23619, AGC= 67, IDX= 410, 0.21,-0.987,-2.026,-0.282,-1.680, PHS= 0.781,-0.299, 1.396, RAW= 171.0, -24.1, CAL= 173.4, -30.4, ROT= 336.6, 30.4 2025-01-08T20:37:31.847Z,1736368651.847 [DAT](INFO): got valid direction response: 20:37:30.0456 LVL= 24720, 21953, 13298, 23619, AGC= 67, IDX= 410, 0.21,-0.987,-2.026,-0.282,-1.680, PHS= 0.781,-0.299, 1.396, RAW= 171.0, -24.1, CAL= 173.4, -30.4, ROT= 336.6, 30.4 2025-01-08T20:37:31.848Z,1736368651.848 [DAT](INFO): DAT read: Bearing 336.6, 30.4 (Local) 2025-01-08T20:37:31.849Z,1736368651.849 [DAT](INFO): Local bearing/azimuth received: Bearing 336.6, 30.4 (Local) 2025-01-08T20:37:31.850Z,1736368651.850 [DAT](INFO): DAT read: Range 10 to 50 : 185.0 m (Round-trip 246.7 ms) speed 0.0 m/s 2025-01-08T20:37:31.863Z,1736368651.863 [DAT](INFO): DAT read: user:1499> 2025-01-08T20:37:31.864Z,1736368651.864 [DAT](INFO): DAT read: Tx time:20:37:31.1447 2025-01-08T20:37:31.864Z,1736368651.864 [DAT](INFO): Ping request sent. 2025-01-08T20:37:31.864Z,1736368651.864 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:31.865Z,1736368651.865 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-01-08T20:37:31.866Z,1736368651.866 [DAT](INFO): direction in FSK: [0.791576,-0.342545,-0.506034] 2025-01-08T20:37:31.866Z,1736368651.866 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:31.866Z,1736368651.866 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:31.870Z,1736368651.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:37:31.870Z,1736368651.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:31.875Z,1736368651.875 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:31.879Z,1736368651.879 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:32.084Z,1736368652.084 [DAT](INFO): DAT read: TxSync time:20:37:31.1439 2025-01-08T20:37:32.287Z,1736368652.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:37:32.288Z,1736368652.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:32.690Z,1736368652.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:33.063Z,1736368653.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:33.505Z,1736368653.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:33.870Z,1736368653.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:34.412Z,1736368654.412 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:37:34.441Z,1736368654.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:34.672Z,1736368654.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:35.084Z,1736368655.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:35.128Z,1736368655.128 [DAT](INFO): DAT read: Rx Time:20:37:33.7948 2025-01-08T20:37:35.129Z,1736368655.129 [DAT](INFO): Rx dataTimestamp_ set to:1736368655.128449 2025-01-08T20:37:35.416Z,1736368655.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:37:35.484Z,1736368655.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:35.633Z,1736368655.633 [DAT](INFO): DAT read: Range 10 to 50 : 184.3 m (Round-trip 245.8 ms) speed 0.1 m/s 2025-01-08T20:37:35.634Z,1736368655.634 [DAT](INFO): DAT read: user:1500> 2025-01-08T20:37:35.635Z,1736368655.635 [DAT](INFO): DAT read: Tx time:20:37:34.8948 2025-01-08T20:37:35.635Z,1736368655.635 [DAT](INFO): Ping request sent. 2025-01-08T20:37:35.635Z,1736368655.635 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:35.636Z,1736368655.636 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-01-08T20:37:35.636Z,1736368655.636 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:35.636Z,1736368655.636 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:35.884Z,1736368655.884 [DAT](INFO): DAT read: TxSync time:20:37:34.8940 2025-01-08T20:37:35.894Z,1736368655.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:36.356Z,1736368656.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:37:36.356Z,1736368656.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:36.700Z,1736368656.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:37:36.700Z,1736368656.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:37.100Z,1736368657.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:37:37.100Z,1736368657.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:37.500Z,1736368657.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:37:37.500Z,1736368657.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:37.906Z,1736368657.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:37:37.906Z,1736368657.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:38.378Z,1736368658.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:37:38.378Z,1736368658.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:38.717Z,1736368658.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:37:38.717Z,1736368658.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:38.908Z,1736368658.908 [DAT](INFO): DAT read: Rx Time:20:37:37.5443 2025-01-08T20:37:38.909Z,1736368658.909 [DAT](INFO): Rx dataTimestamp_ set to:1736368658.908487 2025-01-08T20:37:39.120Z,1736368659.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:37:39.120Z,1736368659.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:39.413Z,1736368659.413 [DAT](INFO): DAT read: Range 10 to 50 : 184.0 m (Round-trip 245.4 ms) speed -0.4 m/s 2025-01-08T20:37:39.414Z,1736368659.414 [DAT](INFO): DAT read: user:1501> 2025-01-08T20:37:39.415Z,1736368659.415 [DAT](INFO): DAT read: Tx time:20:37:38.6448 2025-01-08T20:37:39.415Z,1736368659.415 [DAT](INFO): Ping request sent. 2025-01-08T20:37:39.415Z,1736368659.415 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:39.415Z,1736368659.415 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-01-08T20:37:39.416Z,1736368659.416 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:39.416Z,1736368659.416 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:39.529Z,1736368659.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:37:39.529Z,1736368659.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:39.664Z,1736368659.664 [DAT](INFO): DAT read: TxSync time:20:37:38.6440 2025-01-08T20:37:39.934Z,1736368659.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:37:39.934Z,1736368659.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:40.368Z,1736368660.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:40.735Z,1736368660.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:41.136Z,1736368661.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:41.548Z,1736368661.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:41.961Z,1736368661.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:42.345Z,1736368662.345 [NAL9602](INFO): SBD MO Status=0, MOMSN=46739, MT Status=0, MTMSN=0 2025-01-08T20:37:42.346Z,1736368662.346 [NAL9602](INFO): No messages in MT queue 2025-01-08T20:37:42.392Z,1736368662.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:42.444Z,1736368662.444 [DAT](INFO): DAT read: Rx Time:20:37:41.2958 2025-01-08T20:37:42.445Z,1736368662.445 [DAT](INFO): Rx dataTimestamp_ set to:1736368662.444596 2025-01-08T20:37:42.765Z,1736368662.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:43.180Z,1736368663.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:43.207Z,1736368663.207 [DAT](INFO): DAT read: 20:37:41.2958 LVL= 19408, 22241, 12018, 21123, AGC= 67, IDX= 444, 0.41,-0.594,-2.304,-0.110,-1.687, PHS= 1.181,-0.571, 1.573, RAW= 159.9, -21.3, CAL= 164.2, -27.7, ROT= 345.8, 27.7 2025-01-08T20:37:43.208Z,1736368663.208 [DAT](INFO): got valid direction response: 20:37:41.2958 LVL= 19408, 22241, 12018, 21123, AGC= 67, IDX= 444, 0.41,-0.594,-2.304,-0.110,-1.687, PHS= 1.181,-0.571, 1.573, RAW= 159.9, -21.3, CAL= 164.2, -27.7, ROT= 345.8, 27.7 2025-01-08T20:37:43.209Z,1736368663.209 [DAT](INFO): DAT read: Bearing 345.8, 27.7 (Local) 2025-01-08T20:37:43.210Z,1736368663.210 [DAT](INFO): Local bearing/azimuth received: Bearing 345.8, 27.7 (Local) 2025-01-08T20:37:43.212Z,1736368663.212 [DAT](INFO): DAT read: Range 10 to 50 : 185.1 m (Round-trip 246.9 ms) speed 0.0 m/s 2025-01-08T20:37:43.212Z,1736368663.212 [DAT](INFO): DAT read: user:1502> 2025-01-08T20:37:43.213Z,1736368663.213 [DAT](INFO): DAT read: Tx time:20:37:42.3948 2025-01-08T20:37:43.213Z,1736368663.213 [DAT](INFO): Ping request sent. 2025-01-08T20:37:43.213Z,1736368663.213 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:43.214Z,1736368663.214 [DAT](INFO): DAT read: TxSync time:20:37:42.3940 2025-01-08T20:37:43.215Z,1736368663.215 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-01-08T20:37:43.224Z,1736368663.224 [DAT](INFO): direction in FSK: [0.858341,-0.217194,-0.464842] 2025-01-08T20:37:43.224Z,1736368663.224 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:43.225Z,1736368663.225 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:43.228Z,1736368663.228 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:43.228Z,1736368663.228 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:43.566Z,1736368663.566 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,203741.00,A,3654.19677,N,12207.02755,W,0.253,322.48,080125,,,A*73 2025-01-08T20:37:43.568Z,1736368663.568 [NAL9602](INFO): GPS fix at 20250108T203741: (36.903279, -122.117126) 2025-01-08T20:37:43.576Z,1736368663.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:43.577Z,1736368663.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07 2025-01-08T20:37:43.577Z,1736368663.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): horizontalPathLengthSinceLastFix_ = 2493.01, recording fix residuals... 2025-01-08T20:37:43.602Z,1736368663.602 [UniversalFixResidualReporter](INFO): Fix residual: 3.7 %DT, over the last 2493.0 m. Residual distance 92.2 m at bearing -20.2 degrees. Fix at (36.9033, -122.1171) with 471.3 m made good. 2025-01-08T20:37:43.610Z,1736368663.610 [transit:NeedComms:C] Stopped 2025-01-08T20:37:43.610Z,1736368663.610 [transit:NeedComms:D] Running Loop=1 2025-01-08T20:37:43.988Z,1736368663.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:43.996Z,1736368663.996 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-01-08T20:37:44.396Z,1736368664.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:44.794Z,1736368664.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:45.212Z,1736368665.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:45.580Z,1736368665.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:45.992Z,1736368665.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:46.224Z,1736368666.224 [DAT](INFO): DAT read: Rx Time:20:37:45.0460 2025-01-08T20:37:46.225Z,1736368666.225 [DAT](INFO): Rx dataTimestamp_ set to:1736368666.224446 2025-01-08T20:37:46.421Z,1736368666.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:37:46.421Z,1736368666.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:46.823Z,1736368666.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:37:46.823Z,1736368666.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:46.987Z,1736368666.987 [DAT](INFO): DAT read: 20:37:45.0460 LVL= 9952, 20561, 11218, 11347, AGC= 75, IDX= 447,-0.36,-1.390,-1.853,-0.362,-1.131, PHS=-0.171,-0.674, 0.766, RAW= 189.9, 1.3, CAL= 189.8, -6.5, ROT= 320.2, 6.5 2025-01-08T20:37:46.988Z,1736368666.988 [DAT](INFO): got valid direction response: 20:37:45.0460 LVL= 9952, 20561, 11218, 11347, AGC= 75, IDX= 447,-0.36,-1.390,-1.853,-0.362,-1.131, PHS=-0.171,-0.674, 0.766, RAW= 189.9, 1.3, CAL= 189.8, -6.5, ROT= 320.2, 6.5 2025-01-08T20:37:46.989Z,1736368666.989 [DAT](INFO): DAT read: Bearing 320.2, 6.5 (Local) 2025-01-08T20:37:46.989Z,1736368666.989 [DAT](INFO): Local bearing/azimuth received: Bearing 320.2, 6.5 (Local) 2025-01-08T20:37:46.991Z,1736368666.991 [DAT](INFO): DAT read: Range 10 to 50 : 185.3 m (Round-trip 247.1 ms) speed 0.0 m/s 2025-01-08T20:37:46.992Z,1736368666.992 [DAT](INFO): DAT read: user:1503> 2025-01-08T20:37:46.992Z,1736368666.992 [DAT](INFO): DAT read: Tx time:20:37:46.1448 2025-01-08T20:37:46.993Z,1736368666.993 [DAT](INFO): Ping request sent. 2025-01-08T20:37:46.993Z,1736368666.993 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:46.993Z,1736368666.993 [DAT](INFO): DAT read: TxSync time:20:37:46.1440 2025-01-08T20:37:46.994Z,1736368666.994 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-01-08T20:37:46.995Z,1736368666.995 [DAT](INFO): direction in FSK: [0.763345,-0.635995,-0.113203] 2025-01-08T20:37:46.995Z,1736368666.995 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:46.996Z,1736368666.996 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:46.998Z,1736368666.998 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:46.999Z,1736368666.999 [DAT](INFO): publishing direction and range info 2025-01-08T20:37:48.549Z,1736368668.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s. 2025-01-08T20:37:48.549Z,1736368668.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:48.644Z,1736368668.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.7 s old, using for 20.0 s. 2025-01-08T20:37:48.644Z,1736368668.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:50.009Z,1736368670.009 [DAT](INFO): DAT read: Rx Time:20:37:48.7948 2025-01-08T20:37:50.009Z,1736368670.009 [DAT](INFO): Rx dataTimestamp_ set to:1736368670.008742 2025-01-08T20:37:50.513Z,1736368670.513 [DAT](INFO): DAT read: Range 10 to 50 : 184.3 m (Round-trip 245.8 ms) speed 0.0 m/s 2025-01-08T20:37:50.514Z,1736368670.514 [DAT](INFO): DAT read: user:1504> 2025-01-08T20:37:50.515Z,1736368670.515 [DAT](INFO): DAT read: Tx time:20:37:49.8949 2025-01-08T20:37:50.515Z,1736368670.515 [DAT](INFO): Ping request sent. 2025-01-08T20:37:50.515Z,1736368670.515 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:50.516Z,1736368670.516 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-01-08T20:37:50.516Z,1736368670.516 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:50.516Z,1736368670.516 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:50.764Z,1736368670.764 [DAT](INFO): DAT read: TxSync time:20:37:49.8941 2025-01-08T20:37:51.054Z,1736368671.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.1 s old, using for 20.0 s. 2025-01-08T20:37:51.054Z,1736368671.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:51.150Z,1736368671.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:37:51.151Z,1736368671.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:51.518Z,1736368671.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.5 s old, using for 20.0 s. 2025-01-08T20:37:51.518Z,1736368671.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:51.920Z,1736368671.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.9 s old, using for 20.0 s. 2025-01-08T20:37:51.920Z,1736368671.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:52.371Z,1736368672.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.4 s old, using for 20.0 s. 2025-01-08T20:37:52.372Z,1736368672.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:52.710Z,1736368672.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.7 s old, using for 20.0 s. 2025-01-08T20:37:52.710Z,1736368672.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:53.121Z,1736368673.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.1 s old, using for 20.0 s. 2025-01-08T20:37:53.121Z,1736368673.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:53.524Z,1736368673.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.5 s old, using for 20.0 s. 2025-01-08T20:37:53.525Z,1736368673.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:53.788Z,1736368673.788 [DAT](INFO): DAT read: Rx Time:20:37:52.5450 2025-01-08T20:37:53.789Z,1736368673.789 [DAT](INFO): Rx dataTimestamp_ set to:1736368673.788455 2025-01-08T20:37:53.937Z,1736368673.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.9 s old, using for 20.0 s. 2025-01-08T20:37:53.937Z,1736368673.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:54.298Z,1736368674.298 [DAT](INFO): DAT read: Range 10 to 50 : 184.4 m (Round-trip 245.9 ms) speed -0.2 m/s 2025-01-08T20:37:54.301Z,1736368674.301 [DAT](INFO): DAT read: user:1505> 2025-01-08T20:37:54.312Z,1736368674.312 [DAT](INFO): DAT read: Tx time:20:37:53.6449 2025-01-08T20:37:54.313Z,1736368674.313 [DAT](INFO): Ping request sent. 2025-01-08T20:37:54.314Z,1736368674.314 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:54.315Z,1736368674.315 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-01-08T20:37:54.324Z,1736368674.324 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:54.325Z,1736368674.325 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:54.419Z,1736368674.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.4 s old, using for 20.0 s. 2025-01-08T20:37:54.419Z,1736368674.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:54.544Z,1736368674.544 [DAT](INFO): DAT read: TxSync time:20:37:53.6441 2025-01-08T20:37:54.737Z,1736368674.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.7 s old, using for 20.0 s. 2025-01-08T20:37:54.737Z,1736368674.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:55.140Z,1736368675.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.1 s old, using for 20.0 s. 2025-01-08T20:37:55.140Z,1736368675.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:55.550Z,1736368675.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.6 s old, using for 20.0 s. 2025-01-08T20:37:55.550Z,1736368675.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:55.948Z,1736368675.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.0 s old, using for 20.0 s. 2025-01-08T20:37:55.949Z,1736368675.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:56.388Z,1736368676.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:56.756Z,1736368676.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:57.164Z,1736368677.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:57.560Z,1736368677.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:57.576Z,1736368677.576 [DAT](INFO): DAT read: Rx Time:20:37:56.2965 2025-01-08T20:37:57.577Z,1736368677.577 [DAT](INFO): Rx dataTimestamp_ set to:1736368677.576524 2025-01-08T20:37:57.975Z,1736368677.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:58.081Z,1736368678.081 [DAT](INFO): DAT read: Range 10 to 50 : 185.6 m (Round-trip 247.5 ms) speed 0.0 m/s 2025-01-08T20:37:58.082Z,1736368678.082 [DAT](INFO): DAT read: user:1506> 2025-01-08T20:37:58.083Z,1736368678.083 [DAT](INFO): DAT read: Tx time:20:37:57.3949 2025-01-08T20:37:58.083Z,1736368678.083 [DAT](INFO): Ping request sent. 2025-01-08T20:37:58.083Z,1736368678.083 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:37:58.084Z,1736368678.084 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-01-08T20:37:58.084Z,1736368678.084 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:58.084Z,1736368678.084 [DAT](INFO): publishing transmit ping time 2025-01-08T20:37:58.332Z,1736368678.332 [DAT](INFO): DAT read: TxSync time:20:37:57.3941 2025-01-08T20:37:58.396Z,1736368678.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:58.777Z,1736368678.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:59.191Z,1736368679.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:59.584Z,1736368679.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:37:59.983Z,1736368679.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:00.410Z,1736368680.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:00.785Z,1736368680.785 [NAL9602](INFO): SBD MO Status=1, MOMSN=46740, MT Status=0, MTMSN=0 2025-01-08T20:38:00.835Z,1736368680.835 [NAL9602](INFO): Sent 151 bytes from file Logs/20250108T193415/Courier0000.lzma 2025-01-08T20:38:00.836Z,1736368680.836 [NAL9602](INFO): Packets left to send: 0 2025-01-08T20:38:00.865Z,1736368680.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:01.356Z,1736368681.356 [DAT](INFO): DAT read: Rx Time:20:38:00.0463 2025-01-08T20:38:01.357Z,1736368681.357 [DAT](INFO): Rx dataTimestamp_ set to:1736368681.356606 2025-01-08T20:38:01.868Z,1736368681.868 [DAT](INFO): DAT read: 20:38:00.0463 LVL= 20448, 31441, 11554, 16755, AGC= 64, IDX= 433,-0.33,-1.283,-0.815, 0.517,-0.657, PHS=-0.538,-0.111, 1.171, RAW= 223.9, -6.8, CAL= 220.3, -14.2, ROT= 289.7, 14.2 2025-01-08T20:38:01.869Z,1736368681.869 [DAT](INFO): got valid direction response: 20:38:00.0463 LVL= 20448, 31441, 11554, 16755, AGC= 64, IDX= 433,-0.33,-1.283,-0.815, 0.517,-0.657, PHS=-0.538,-0.111, 1.171, RAW= 223.9, -6.8, CAL= 220.3, -14.2, ROT= 289.7, 14.2 2025-01-08T20:38:01.870Z,1736368681.870 [DAT](INFO): DAT read: Bearing 289.7, 14.2 (Local) 2025-01-08T20:38:01.870Z,1736368681.870 [DAT](INFO): Local bearing/azimuth received: Bearing 289.7, 14.2 (Local) 2025-01-08T20:38:01.872Z,1736368681.872 [DAT](INFO): DAT read: Range 10 to 50 : 185.4 m (Round-trip 247.2 ms) speed 0.4 m/s 2025-01-08T20:38:01.872Z,1736368681.872 [DAT](INFO): DAT read: user:1507> 2025-01-08T20:38:01.873Z,1736368681.873 [DAT](INFO): DAT read: Tx time:20:38:01.1450 2025-01-08T20:38:01.873Z,1736368681.873 [DAT](INFO): Ping request sent. 2025-01-08T20:38:01.874Z,1736368681.874 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:01.874Z,1736368681.874 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-01-08T20:38:01.875Z,1736368681.875 [DAT](INFO): direction in FSK: [0.326796,-0.912704,-0.245307] 2025-01-08T20:38:01.875Z,1736368681.875 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:01.876Z,1736368681.876 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:01.878Z,1736368681.878 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:01.879Z,1736368681.879 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:02.112Z,1736368682.112 [DAT](INFO): DAT read: TxSync time:20:38:01.1442 2025-01-08T20:38:02.650Z,1736368682.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:04.768Z,1736368684.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:04.867Z,1736368684.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:05.140Z,1736368685.140 [DAT](INFO): DAT read: Rx Time:20:38:03.7949 2025-01-08T20:38:05.141Z,1736368685.141 [DAT](INFO): Rx dataTimestamp_ set to:1736368685.140442 2025-01-08T20:38:05.215Z,1736368685.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:05.536Z,1736368685.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:38:05.620Z,1736368685.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:05.659Z,1736368685.659 [DAT](INFO): DAT read: 20:38:03.7949 LVL= 32752, 20241, 25538, 31059, AGC= 66, IDX= 433,-0.37,-1.717,-1.136, 0.254,-0.725, PHS=-0.904,-0.364, 0.976, RAW= 226.2, 3.5, CAL= 228.9, 1.9, ROT= 281.1, -1.9 2025-01-08T20:38:05.660Z,1736368685.660 [DAT](INFO): got valid direction response: 20:38:03.7949 LVL= 32752, 20241, 25538, 31059, AGC= 66, IDX= 433,-0.37,-1.717,-1.136, 0.254,-0.725, PHS=-0.904,-0.364, 0.976, RAW= 226.2, 3.5, CAL= 228.9, 1.9, ROT= 281.1, -1.9 2025-01-08T20:38:05.661Z,1736368685.661 [DAT](INFO): DAT read: Bearing 281.1, -1.9 (Local) 2025-01-08T20:38:05.661Z,1736368685.661 [DAT](INFO): Local bearing/azimuth received: Bearing 281.1, -1.9 (Local) 2025-01-08T20:38:05.663Z,1736368685.663 [DAT](INFO): DAT read: Range 10 to 50 : 184.3 m (Round-trip 245.8 ms) speed -0.4 m/s 2025-01-08T20:38:05.664Z,1736368685.664 [DAT](INFO): DAT read: user:1508> 2025-01-08T20:38:05.665Z,1736368685.665 [DAT](INFO): DAT read: Tx time:20:38:04.8950 2025-01-08T20:38:05.665Z,1736368685.665 [DAT](INFO): Ping request sent. 2025-01-08T20:38:05.665Z,1736368685.665 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:05.666Z,1736368685.666 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-01-08T20:38:05.667Z,1736368685.667 [DAT](INFO): direction in FSK: [0.192416,-0.980753,0.033155] 2025-01-08T20:38:05.667Z,1736368685.667 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:05.667Z,1736368685.667 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:05.670Z,1736368685.670 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:05.670Z,1736368685.670 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:05.900Z,1736368685.900 [DAT](INFO): DAT read: TxSync time:20:38:04.8942 2025-01-08T20:38:06.029Z,1736368686.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:06.461Z,1736368686.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:06.540Z,1736368686.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:38:06.834Z,1736368686.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:07.237Z,1736368687.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:07.644Z,1736368687.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:08.058Z,1736368688.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:08.462Z,1736368688.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:08.847Z,1736368688.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:08.937Z,1736368688.937 [DAT](INFO): DAT read: Rx Time:20:38:07.5456 2025-01-08T20:38:08.937Z,1736368688.937 [DAT](INFO): Rx dataTimestamp_ set to:1736368688.936848 2025-01-08T20:38:09.270Z,1736368689.270 [NAL9602](INFO): SBD MO Status=1, MOMSN=46741, MT Status=0, MTMSN=0 2025-01-08T20:38:09.320Z,1736368689.320 [NAL9602](INFO): Sent 39 bytes from file Logs/20250108T193415/Courier0006.lzma 2025-01-08T20:38:09.320Z,1736368689.320 [NAL9602](INFO): Packets left to send: 0 2025-01-08T20:38:09.336Z,1736368689.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:09.449Z,1736368689.449 [DAT](INFO): DAT read: 20:38:07.5456 LVL= 13616, 30289, 25634, 20035, AGC= 64, IDX= 440,-0.13, 3.079,-3.087,-1.212,-1.880, PHS=-1.236,-1.159, 0.665, RAW= 212.0, 18.2, CAL= 217.3, 22.5, ROT= 292.7, -22.5 2025-01-08T20:38:09.451Z,1736368689.451 [DAT](INFO): got valid direction response: 20:38:07.5456 LVL= 13616, 30289, 25634, 20035, AGC= 64, IDX= 440,-0.13, 3.079,-3.087,-1.212,-1.880, PHS=-1.236,-1.159, 0.665, RAW= 212.0, 18.2, CAL= 217.3, 22.5, ROT= 292.7, -22.5 2025-01-08T20:38:09.452Z,1736368689.452 [DAT](INFO): DAT read: Bearing 292.7, -22.5 (Local) 2025-01-08T20:38:09.453Z,1736368689.453 [DAT](INFO): Local bearing/azimuth received: Bearing 292.7, -22.5 (Local) 2025-01-08T20:38:09.454Z,1736368689.454 [DAT](INFO): DAT read: Range 10 to 50 : 184.8 m (Round-trip 246.4 ms) speed -0.5 m/s 2025-01-08T20:38:09.455Z,1736368689.455 [DAT](INFO): DAT read: user:1509> 2025-01-08T20:38:09.456Z,1736368689.456 [DAT](INFO): DAT read: Tx time:20:38:08.6450 2025-01-08T20:38:09.456Z,1736368689.456 [DAT](INFO): Ping request sent. 2025-01-08T20:38:09.456Z,1736368689.456 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:09.457Z,1736368689.457 [DAT](INFO): DAT read: TxSync time:20:38:08.6442 2025-01-08T20:38:09.457Z,1736368689.457 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-01-08T20:38:09.458Z,1736368689.458 [DAT](INFO): direction in FSK: [0.356531,-0.852314,0.382683] 2025-01-08T20:38:09.459Z,1736368689.459 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:09.459Z,1736368689.459 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:09.486Z,1736368689.486 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:09.486Z,1736368689.486 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:10.902Z,1736368690.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:38:10.902Z,1736368690.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:12.464Z,1736368692.464 [DAT](INFO): DAT read: Rx Time:20:38:11.2971 2025-01-08T20:38:12.465Z,1736368692.465 [DAT](INFO): Rx dataTimestamp_ set to:1736368692.464472 2025-01-08T20:38:12.969Z,1736368692.969 [DAT](INFO): DAT read: Range 10 to 50 : 186.0 m (Round-trip 248.0 ms) speed 0.4 m/s 2025-01-08T20:38:12.970Z,1736368692.970 [DAT](INFO): DAT read: user:1510> 2025-01-08T20:38:12.970Z,1736368692.970 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-01-08T20:38:13.045Z,1736368693.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:38:13.045Z,1736368693.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:13.200Z,1736368693.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.9 s old, using for 20.0 s. 2025-01-08T20:38:13.200Z,1736368693.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:13.220Z,1736368693.220 [DAT](INFO): DAT read: Tx time:20:38:12.3951 2025-01-08T20:38:13.221Z,1736368693.221 [DAT](INFO): Ping request sent. 2025-01-08T20:38:13.221Z,1736368693.221 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:13.222Z,1736368693.222 [DAT](INFO): DAT read: TxSync time:20:38:12.3943 2025-01-08T20:38:13.222Z,1736368693.222 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:13.528Z,1736368693.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.2 s old, using for 20.0 s. 2025-01-08T20:38:13.528Z,1736368693.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:13.927Z,1736368693.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s. 2025-01-08T20:38:13.928Z,1736368693.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:14.446Z,1736368694.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.1 s old, using for 20.0 s. 2025-01-08T20:38:14.447Z,1736368694.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:14.783Z,1736368694.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.4 s old, using for 20.0 s. 2025-01-08T20:38:14.783Z,1736368694.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:15.149Z,1736368695.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.8 s old, using for 20.0 s. 2025-01-08T20:38:15.149Z,1736368695.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:15.533Z,1736368695.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.2 s old, using for 20.0 s. 2025-01-08T20:38:15.533Z,1736368695.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:15.965Z,1736368695.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s. 2025-01-08T20:38:15.965Z,1736368695.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:16.246Z,1736368696.246 [DAT](INFO): DAT read: Rx Time:20:38:15.0464 2025-01-08T20:38:16.247Z,1736368696.247 [DAT](INFO): Rx dataTimestamp_ set to:1736368696.246426 2025-01-08T20:38:16.419Z,1736368696.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:16.749Z,1736368696.749 [DAT](INFO): DAT read: Range 10 to 50 : 185.4 m (Round-trip 247.2 ms) speed -0.1 m/s 2025-01-08T20:38:16.750Z,1736368696.750 [DAT](INFO): DAT read: user:1511> 2025-01-08T20:38:16.751Z,1736368696.751 [DAT](INFO): DAT read: Tx time:20:38:16.1451 2025-01-08T20:38:16.751Z,1736368696.751 [DAT](INFO): Ping request sent. 2025-01-08T20:38:16.751Z,1736368696.751 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:16.752Z,1736368696.752 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-01-08T20:38:16.752Z,1736368696.752 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:16.752Z,1736368696.752 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:16.762Z,1736368696.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:17.000Z,1736368697.000 [DAT](INFO): DAT read: TxSync time:20:38:16.1443 2025-01-08T20:38:17.165Z,1736368697.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:17.551Z,1736368697.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:17.951Z,1736368697.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:18.354Z,1736368698.354 [NAL9602](INFO): SBD MO Status=1, MOMSN=46742, MT Status=0, MTMSN=0 2025-01-08T20:38:18.416Z,1736368698.416 [NAL9602](INFO): Sent 39 bytes from file Logs/20250108T193415/Courier0009.lzma 2025-01-08T20:38:18.416Z,1736368698.416 [NAL9602](INFO): Packets left to send: 0 2025-01-08T20:38:18.484Z,1736368698.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:38:18.485Z,1736368698.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:19.961Z,1736368699.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:38:19.961Z,1736368699.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:20.024Z,1736368700.024 [DAT](INFO): DAT read: Rx Time:20:38:18.7948 2025-01-08T20:38:20.025Z,1736368700.025 [DAT](INFO): Rx dataTimestamp_ set to:1736368700.024433 2025-01-08T20:38:20.073Z,1736368700.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:38:20.073Z,1736368700.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:20.534Z,1736368700.534 [DAT](INFO): DAT read: 20:38:18.7948 LVL= 27808, 30353, 14210, 32755, AGC= 60, IDX= 415, 0.12,-2.671,-3.140,-1.403,-2.422, PHS=-0.161,-0.671, 1.016, RAW= 192.9, -2.5, CAL= 192.4, -9.4, ROT= 317.6, 9.4 2025-01-08T20:38:20.535Z,1736368700.535 [DAT](INFO): got valid direction response: 20:38:18.7948 LVL= 27808, 30353, 14210, 32755, AGC= 60, IDX= 415, 0.12,-2.671,-3.140,-1.403,-2.422, PHS=-0.161,-0.671, 1.016, RAW= 192.9, -2.5, CAL= 192.4, -9.4, ROT= 317.6, 9.4 2025-01-08T20:38:20.536Z,1736368700.536 [DAT](INFO): DAT read: Bearing 317.6, 9.4 (Local) 2025-01-08T20:38:20.536Z,1736368700.536 [DAT](INFO): Local bearing/azimuth received: Bearing 317.6, 9.4 (Local) 2025-01-08T20:38:20.538Z,1736368700.538 [DAT](INFO): DAT read: Range 10 to 50 : 184.2 m (Round-trip 245.6 ms) speed -0.4 m/s 2025-01-08T20:38:20.539Z,1736368700.539 [DAT](INFO): DAT read: user:1512> 2025-01-08T20:38:20.540Z,1736368700.540 [DAT](INFO): DAT read: Tx time:20:38:19.8951 2025-01-08T20:38:20.540Z,1736368700.540 [DAT](INFO): Ping request sent. 2025-01-08T20:38:20.540Z,1736368700.540 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:20.540Z,1736368700.540 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-01-08T20:38:20.541Z,1736368700.541 [DAT](INFO): direction in FSK: [0.728539,-0.665248,-0.163326] 2025-01-08T20:38:20.542Z,1736368700.542 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:20.542Z,1736368700.542 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:20.545Z,1736368700.545 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:20.545Z,1736368700.545 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:20.780Z,1736368700.780 [DAT](INFO): DAT read: TxSync time:20:38:19.8943 2025-01-08T20:38:22.466Z,1736368702.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:38:22.466Z,1736368702.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:22.553Z,1736368702.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s. 2025-01-08T20:38:22.553Z,1736368702.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:22.910Z,1736368702.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.0 s old, using for 20.0 s. 2025-01-08T20:38:22.911Z,1736368702.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:23.324Z,1736368703.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.4 s old, using for 20.0 s. 2025-01-08T20:38:23.324Z,1736368703.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:23.736Z,1736368703.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.8 s old, using for 20.0 s. 2025-01-08T20:38:23.736Z,1736368703.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:23.805Z,1736368703.805 [DAT](INFO): DAT read: Rx Time:20:38:22.5467 2025-01-08T20:38:23.807Z,1736368703.807 [DAT](INFO): Rx dataTimestamp_ set to:1736368703.805819 2025-01-08T20:38:24.134Z,1736368704.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.2 s old, using for 20.0 s. 2025-01-08T20:38:24.135Z,1736368704.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:24.313Z,1736368704.313 [DAT](INFO): DAT read: Range 10 to 50 : 185.6 m (Round-trip 247.5 ms) speed -0.5 m/s 2025-01-08T20:38:24.316Z,1736368704.316 [DAT](INFO): DAT read: user:1513> 2025-01-08T20:38:24.318Z,1736368704.318 [DAT](INFO): DAT read: Tx time:20:38:23.6451 2025-01-08T20:38:24.319Z,1736368704.319 [DAT](INFO): Ping request sent. 2025-01-08T20:38:24.320Z,1736368704.320 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:24.321Z,1736368704.321 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-01-08T20:38:24.321Z,1736368704.321 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:24.329Z,1736368704.329 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:24.561Z,1736368704.561 [DAT](INFO): DAT read: TxSync time:20:38:23.6443 2025-01-08T20:38:24.563Z,1736368704.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s. 2025-01-08T20:38:24.564Z,1736368704.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:24.937Z,1736368704.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.0 s old, using for 20.0 s. 2025-01-08T20:38:24.937Z,1736368704.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:25.337Z,1736368705.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.4 s old, using for 20.0 s. 2025-01-08T20:38:25.337Z,1736368705.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:25.748Z,1736368705.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.8 s old, using for 20.0 s. 2025-01-08T20:38:25.748Z,1736368705.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:26.148Z,1736368706.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.2 s old, using for 20.0 s. 2025-01-08T20:38:26.148Z,1736368706.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:26.591Z,1736368706.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.6 s old, using for 20.0 s. 2025-01-08T20:38:26.591Z,1736368706.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:26.976Z,1736368706.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.0 s old, using for 20.0 s. 2025-01-08T20:38:26.976Z,1736368706.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:27.374Z,1736368707.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.4 s old, using for 20.0 s. 2025-01-08T20:38:27.374Z,1736368707.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:27.596Z,1736368707.596 [DAT](INFO): DAT read: Rx Time:20:38:26.2976 2025-01-08T20:38:27.597Z,1736368707.597 [DAT](INFO): Rx dataTimestamp_ set to:1736368707.596663 2025-01-08T20:38:27.765Z,1736368707.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s. 2025-01-08T20:38:27.766Z,1736368707.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:28.106Z,1736368708.106 [DAT](INFO): DAT read: 20:38:26.2976 LVL= 32752, 29233, 13730, 27795, AGC= 63, IDX= 427,-0.24, 2.304, 2.224,-2.601, 2.813, PHS=-0.421,-0.542, 0.866, RAW= 205.6, 1.4, CAL= 205.6, -5.6, ROT= 304.4, 5.6 2025-01-08T20:38:28.107Z,1736368708.107 [DAT](INFO): got valid direction response: 20:38:26.2976 LVL= 32752, 29233, 13730, 27795, AGC= 63, IDX= 427,-0.24, 2.304, 2.224,-2.601, 2.813, PHS=-0.421,-0.542, 0.866, RAW= 205.6, 1.4, CAL= 205.6, -5.6, ROT= 304.4, 5.6 2025-01-08T20:38:28.108Z,1736368708.108 [DAT](INFO): DAT read: Bearing 304.4, 5.6 (Local) 2025-01-08T20:38:28.109Z,1736368708.109 [DAT](INFO): Local bearing/azimuth received: Bearing 304.4, 5.6 (Local) 2025-01-08T20:38:28.110Z,1736368708.110 [DAT](INFO): DAT read: Range 10 to 50 : 186.2 m (Round-trip 248.3 ms) speed 0.4 m/s 2025-01-08T20:38:28.111Z,1736368708.111 [DAT](INFO): DAT read: user:1514> 2025-01-08T20:38:28.112Z,1736368708.112 [DAT](INFO): DAT read: Tx time:20:38:27.3952 2025-01-08T20:38:28.112Z,1736368708.112 [DAT](INFO): Ping request sent. 2025-01-08T20:38:28.112Z,1736368708.112 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:28.112Z,1736368708.112 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-01-08T20:38:28.113Z,1736368708.113 [DAT](INFO): direction in FSK: [0.562271,-0.821176,-0.097583] 2025-01-08T20:38:28.113Z,1736368708.113 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:28.114Z,1736368708.114 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:28.119Z,1736368708.119 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:28.119Z,1736368708.119 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:28.228Z,1736368708.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.3 s old, using for 20.0 s. 2025-01-08T20:38:28.228Z,1736368708.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:28.353Z,1736368708.353 [DAT](INFO): DAT read: TxSync time:20:38:27.3944 2025-01-08T20:38:28.599Z,1736368708.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.6 s old, using for 20.0 s. 2025-01-08T20:38:28.599Z,1736368708.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:28.976Z,1736368708.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.0 s old, using for 20.0 s. 2025-01-08T20:38:28.976Z,1736368708.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:29.384Z,1736368709.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.4 s old, using for 20.0 s. 2025-01-08T20:38:29.385Z,1736368709.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:29.780Z,1736368709.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.8 s old, using for 20.0 s. 2025-01-08T20:38:29.780Z,1736368709.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:30.194Z,1736368710.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.2 s old, using for 20.0 s. 2025-01-08T20:38:30.194Z,1736368710.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:30.618Z,1736368710.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:30.996Z,1736368710.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:31.383Z,1736368711.383 [DAT](INFO): DAT read: Rx Time:20:38:30.0460 2025-01-08T20:38:31.383Z,1736368711.383 [DAT](INFO): Rx dataTimestamp_ set to:1736368711.382927 2025-01-08T20:38:31.403Z,1736368711.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:31.808Z,1736368711.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:31.889Z,1736368711.889 [DAT](INFO): DAT read: Range 10 to 50 : 185.0 m (Round-trip 246.7 ms) speed 0.1 m/s 2025-01-08T20:38:31.890Z,1736368711.890 [DAT](INFO): DAT read: user:1515> 2025-01-08T20:38:31.891Z,1736368711.891 [DAT](INFO): DAT read: Tx time:20:38:31.1452 2025-01-08T20:38:31.891Z,1736368711.891 [DAT](INFO): Ping request sent. 2025-01-08T20:38:31.891Z,1736368711.891 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:31.892Z,1736368711.892 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-01-08T20:38:31.892Z,1736368711.892 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:31.892Z,1736368711.892 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:32.140Z,1736368712.140 [DAT](INFO): DAT read: TxSync time:20:38:31.1444 2025-01-08T20:38:32.208Z,1736368712.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:32.626Z,1736368712.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:33.012Z,1736368713.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:33.422Z,1736368713.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:33.824Z,1736368713.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:34.222Z,1736368714.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:34.647Z,1736368714.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:38:34.647Z,1736368714.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:35.036Z,1736368715.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:38:35.036Z,1736368715.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:35.172Z,1736368715.172 [DAT](INFO): DAT read: Rx Time:20:38:33.7952 2025-01-08T20:38:35.173Z,1736368715.173 [DAT](INFO): Rx dataTimestamp_ set to:1736368715.172477 2025-01-08T20:38:35.458Z,1736368715.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:38:35.459Z,1736368715.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:35.682Z,1736368715.682 [DAT](INFO): DAT read: 20:38:33.7952 LVL= 22144, 22881, 13666, 22563, AGC= 72, IDX= 435, 0.07,-1.573,-0.820, 0.641,-0.548, PHS=-0.937,-0.225, 1.186, RAW= 229.2, -0.3, CAL= 229.8, -3.5, ROT= 280.2, 3.5 2025-01-08T20:38:35.684Z,1736368715.684 [DAT](INFO): got valid direction response: 20:38:33.7952 LVL= 22144, 22881, 13666, 22563, AGC= 72, IDX= 435, 0.07,-1.573,-0.820, 0.641,-0.548, PHS=-0.937,-0.225, 1.186, RAW= 229.2, -0.3, CAL= 229.8, -3.5, ROT= 280.2, 3.5 2025-01-08T20:38:35.685Z,1736368715.685 [DAT](INFO): DAT read: Bearing 280.2, 3.5 (Local) 2025-01-08T20:38:35.686Z,1736368715.686 [DAT](INFO): Local bearing/azimuth received: Bearing 280.2, 3.5 (Local) 2025-01-08T20:38:35.688Z,1736368715.688 [DAT](INFO): DAT read: Range 10 to 50 : 184.3 m (Round-trip 245.8 ms) speed 0.0 m/s 2025-01-08T20:38:35.689Z,1736368715.689 [DAT](INFO): DAT read: user:1516> 2025-01-08T20:38:35.691Z,1736368715.691 [DAT](INFO): DAT read: Tx time:20:38:34.8952 2025-01-08T20:38:35.692Z,1736368715.692 [DAT](INFO): Ping request sent. 2025-01-08T20:38:35.693Z,1736368715.693 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:35.694Z,1736368715.694 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-01-08T20:38:35.695Z,1736368715.695 [DAT](INFO): direction in FSK: [0.176755,-0.982360,-0.061049] 2025-01-08T20:38:35.696Z,1736368715.696 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:35.696Z,1736368715.696 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:35.699Z,1736368715.699 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:35.699Z,1736368715.699 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:35.849Z,1736368715.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:38:35.849Z,1736368715.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:35.929Z,1736368715.929 [DAT](INFO): DAT read: TxSync time:20:38:34.8944 2025-01-08T20:38:36.252Z,1736368716.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:38:36.252Z,1736368716.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:36.641Z,1736368716.641 [NAL9602](INFO): SBD MO Status=2, MOMSN=46743, MT Status=2, MTMSN=0 2025-01-08T20:38:36.641Z,1736368716.641 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-01-08T20:38:36.688Z,1736368716.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:38:36.692Z,1736368716.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:38:36.692Z,1736368716.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:37.056Z,1736368717.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:38:37.056Z,1736368717.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:37.460Z,1736368717.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:38:37.460Z,1736368717.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:37.693Z,1736368717.693 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:38:37.892Z,1736368717.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:38:37.892Z,1736368717.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:38.308Z,1736368718.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:38:38.309Z,1736368718.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:38.700Z,1736368718.700 [DAT](INFO): DAT read: Rx Time:20:38:37.5463 2025-01-08T20:38:38.701Z,1736368718.701 [DAT](INFO): Rx dataTimestamp_ set to:1736368718.700615 2025-01-08T20:38:38.703Z,1736368718.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:38:38.703Z,1736368718.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:39.076Z,1736368719.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:38:39.076Z,1736368719.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:39.470Z,1736368719.470 [DAT](INFO): DAT read: 20:38:37.5463 LVL= 11472, 11953, 4850, 7379, AGC= 65, IDX= 452,-0.37,-1.314,-1.204,-2.408,-1.419, PHS= 0.193, 0.262,-0.991, RAW= 27.2, 8.8, CAL= 25.7, 13.7, ROT= 124.3, -13.7 2025-01-08T20:38:39.471Z,1736368719.471 [DAT](INFO): got valid direction response: 20:38:37.5463 LVL= 11472, 11953, 4850, 7379, AGC= 65, IDX= 452,-0.37,-1.314,-1.204,-2.408,-1.419, PHS= 0.193, 0.262,-0.991, RAW= 27.2, 8.8, CAL= 25.7, 13.7, ROT= 124.3, -13.7 2025-01-08T20:38:39.472Z,1736368719.472 [DAT](INFO): DAT read: Bearing 124.3, -13.7 (Local) 2025-01-08T20:38:39.473Z,1736368719.473 [DAT](INFO): Local bearing/azimuth received: Bearing 124.3, -13.7 (Local) 2025-01-08T20:38:39.474Z,1736368719.474 [DAT](INFO): DAT read: Range 10 to 50 : 185.2 m (Round-trip 247.0 ms) speed -0.1 m/s 2025-01-08T20:38:39.475Z,1736368719.475 [DAT](INFO): DAT read: user:1517> 2025-01-08T20:38:39.476Z,1736368719.476 [DAT](INFO): DAT read: Tx time:20:38:38.6452 2025-01-08T20:38:39.476Z,1736368719.476 [DAT](INFO): Ping request sent. 2025-01-08T20:38:39.476Z,1736368719.476 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:39.477Z,1736368719.477 [DAT](INFO): DAT read: TxSync time:20:38:38.6444 2025-01-08T20:38:39.477Z,1736368719.477 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-01-08T20:38:39.478Z,1736368719.478 [DAT](INFO): direction in FSK: [-0.547493,0.802595,0.236838] 2025-01-08T20:38:39.479Z,1736368719.479 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:39.479Z,1736368719.479 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:39.482Z,1736368719.482 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:39.482Z,1736368719.482 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:39.561Z,1736368719.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:38:39.561Z,1736368719.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:39.893Z,1736368719.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:38:39.893Z,1736368719.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:40.332Z,1736368720.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:38:40.332Z,1736368720.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:40.735Z,1736368720.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:38:40.735Z,1736368720.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:41.117Z,1736368721.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:38:41.117Z,1736368721.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:42.480Z,1736368722.480 [DAT](INFO): DAT read: Rx Time:20:38:41.2971 2025-01-08T20:38:42.481Z,1736368722.481 [DAT](INFO): Rx dataTimestamp_ set to:1736368722.480532 2025-01-08T20:38:42.735Z,1736368722.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:38:42.735Z,1736368722.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:42.827Z,1736368722.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.6 s old, using for 20.0 s. 2025-01-08T20:38:42.827Z,1736368722.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:42.985Z,1736368722.985 [DAT](INFO): DAT read: Range 10 to 50 : 185.7 m (Round-trip 247.7 ms) speed 0.2 m/s 2025-01-08T20:38:42.986Z,1736368722.986 [DAT](INFO): DAT read: user:1518> 2025-01-08T20:38:42.986Z,1736368722.986 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-01-08T20:38:43.236Z,1736368723.236 [DAT](INFO): DAT read: Tx time:20:38:42.3953 2025-01-08T20:38:43.237Z,1736368723.237 [DAT](INFO): Ping request sent. 2025-01-08T20:38:43.237Z,1736368723.237 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:43.237Z,1736368723.237 [DAT](INFO): DAT read: TxSync time:20:38:42.3945 2025-01-08T20:38:43.238Z,1736368723.238 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:45.250Z,1736368725.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:45.337Z,1736368725.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:45.700Z,1736368725.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:46.098Z,1736368726.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:46.262Z,1736368726.262 [DAT](INFO): DAT read: Rx Time:20:38:45.0458 2025-01-08T20:38:46.264Z,1736368726.264 [DAT](INFO): Rx dataTimestamp_ set to:1736368726.262894 2025-01-08T20:38:46.529Z,1736368726.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:46.771Z,1736368726.771 [DAT](INFO): DAT read: 20:38:45.0458 LVL= 27568, 32497, 23794, 32755, AGC= 69, IDX= 425,-0.21,-3.059, 1.657,-2.684, 2.623, PHS= 0.690,-0.919, 0.973, RAW= 158.0, -8.5, CAL= 162.8, -15.7, ROT= 347.2, 15.7 2025-01-08T20:38:46.772Z,1736368726.772 [DAT](INFO): got valid direction response: 20:38:45.0458 LVL= 27568, 32497, 23794, 32755, AGC= 69, IDX= 425,-0.21,-3.059, 1.657,-2.684, 2.623, PHS= 0.690,-0.919, 0.973, RAW= 158.0, -8.5, CAL= 162.8, -15.7, ROT= 347.2, 15.7 2025-01-08T20:38:46.773Z,1736368726.773 [DAT](INFO): DAT read: Bearing 347.2, 15.7 (Local) 2025-01-08T20:38:46.774Z,1736368726.774 [DAT](INFO): Local bearing/azimuth received: Bearing 347.2, 15.7 (Local) 2025-01-08T20:38:46.775Z,1736368726.775 [DAT](INFO): DAT read: Range 10 to 50 : 184.8 m (Round-trip 246.4 ms) speed 0.1 m/s 2025-01-08T20:38:46.776Z,1736368726.776 [DAT](INFO): DAT read: user:1519> 2025-01-08T20:38:46.777Z,1736368726.777 [DAT](INFO): DAT read: Tx time:20:38:46.1453 2025-01-08T20:38:46.777Z,1736368726.777 [DAT](INFO): Ping request sent. 2025-01-08T20:38:46.777Z,1736368726.777 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:46.777Z,1736368726.777 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-01-08T20:38:46.778Z,1736368726.778 [DAT](INFO): direction in FSK: [0.938768,-0.213283,-0.270600] 2025-01-08T20:38:46.778Z,1736368726.778 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:46.779Z,1736368726.779 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:46.782Z,1736368726.782 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:46.782Z,1736368726.782 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:46.916Z,1736368726.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:47.017Z,1736368727.017 [DAT](INFO): DAT read: TxSync time:20:38:46.1445 2025-01-08T20:38:47.316Z,1736368727.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:47.717Z,1736368727.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:48.135Z,1736368728.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:48.552Z,1736368728.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:48.944Z,1736368728.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:49.382Z,1736368729.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:49.772Z,1736368729.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:50.044Z,1736368730.044 [DAT](INFO): DAT read: Rx Time:20:38:48.7957 2025-01-08T20:38:50.045Z,1736368730.045 [DAT](INFO): Rx dataTimestamp_ set to:1736368730.044566 2025-01-08T20:38:50.166Z,1736368730.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:50.549Z,1736368730.549 [DAT](INFO): DAT read: Range 10 to 50 : 184.6 m (Round-trip 246.2 ms) speed -0.3 m/s 2025-01-08T20:38:50.550Z,1736368730.550 [DAT](INFO): DAT read: user:1520> 2025-01-08T20:38:50.551Z,1736368730.551 [DAT](INFO): DAT read: Tx time:20:38:49.8953 2025-01-08T20:38:50.551Z,1736368730.551 [DAT](INFO): Ping request sent. 2025-01-08T20:38:50.551Z,1736368730.551 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:50.552Z,1736368730.552 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-01-08T20:38:50.552Z,1736368730.552 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:50.552Z,1736368730.552 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:50.698Z,1736368730.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:50.801Z,1736368730.801 [DAT](INFO): DAT read: TxSync time:20:38:49.8945 2025-01-08T20:38:50.966Z,1736368730.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:51.405Z,1736368731.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:51.789Z,1736368731.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:52.335Z,1736368732.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:52.602Z,1736368732.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.3 s old, using for 20.0 s. 2025-01-08T20:38:52.602Z,1736368732.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:52.973Z,1736368732.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T20:38:52.973Z,1736368732.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:53.383Z,1736368733.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T20:38:53.383Z,1736368733.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:53.776Z,1736368733.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T20:38:53.776Z,1736368733.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:53.824Z,1736368733.824 [DAT](INFO): DAT read: Rx Time:20:38:52.5469 2025-01-08T20:38:53.825Z,1736368733.825 [DAT](INFO): Rx dataTimestamp_ set to:1736368733.824556 2025-01-08T20:38:54.184Z,1736368734.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.8 s old, using for 20.0 s. 2025-01-08T20:38:54.184Z,1736368734.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:54.331Z,1736368734.331 [DAT](INFO): DAT read: Range 10 to 50 : 185.6 m (Round-trip 247.5 ms) speed 0.0 m/s 2025-01-08T20:38:54.332Z,1736368734.332 [DAT](INFO): DAT read: user:1521> 2025-01-08T20:38:54.332Z,1736368734.332 [DAT](INFO): DAT read: Tx time:20:38:53.6453 2025-01-08T20:38:54.333Z,1736368734.333 [DAT](INFO): Ping request sent. 2025-01-08T20:38:54.333Z,1736368734.333 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:54.333Z,1736368734.333 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-01-08T20:38:54.333Z,1736368734.333 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:54.334Z,1736368734.334 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:54.581Z,1736368734.581 [DAT](INFO): DAT read: TxSync time:20:38:53.6445 2025-01-08T20:38:54.618Z,1736368734.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.3 s old, using for 20.0 s. 2025-01-08T20:38:54.618Z,1736368734.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:54.981Z,1736368734.981 [NAL9602](INFO): SBD MO Status=1, MOMSN=46743, MT Status=0, MTMSN=0 2025-01-08T20:38:55.035Z,1736368735.035 [NAL9602](INFO): Sent 168 bytes from file Logs/20250108T193415/Courier0012.lzma 2025-01-08T20:38:55.036Z,1736368735.036 [NAL9602](INFO): Packets left to send: 0 2025-01-08T20:38:55.064Z,1736368735.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.7 s old, using for 20.0 s. 2025-01-08T20:38:55.064Z,1736368735.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:56.673Z,1736368736.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.3 s old, using for 20.0 s. 2025-01-08T20:38:56.673Z,1736368736.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:57.604Z,1736368737.604 [DAT](INFO): DAT read: Rx Time:20:38:56.2968 2025-01-08T20:38:57.605Z,1736368737.605 [DAT](INFO): Rx dataTimestamp_ set to:1736368737.604390 2025-01-08T20:38:58.114Z,1736368738.114 [DAT](INFO): DAT read: 20:38:56.2968 LVL= 2720, 4257, 2866, 2915, AGC= 59, IDX= 433, 0.06,-1.698,-1.967,-0.397,-1.302, PHS=-0.307,-0.617, 0.903, RAW= 198.9, 0.3, CAL= 198.4, -7.0, ROT= 311.6, 7.0 2025-01-08T20:38:58.115Z,1736368738.115 [DAT](INFO): got valid direction response: 20:38:56.2968 LVL= 2720, 4257, 2866, 2915, AGC= 59, IDX= 433, 0.06,-1.698,-1.967,-0.397,-1.302, PHS=-0.307,-0.617, 0.903, RAW= 198.9, 0.3, CAL= 198.4, -7.0, ROT= 311.6, 7.0 2025-01-08T20:38:58.116Z,1736368738.116 [DAT](INFO): DAT read: Bearing 311.6, 7.0 (Local) 2025-01-08T20:38:58.116Z,1736368738.116 [DAT](INFO): Local bearing/azimuth received: Bearing 311.6, 7.0 (Local) 2025-01-08T20:38:58.118Z,1736368738.118 [DAT](INFO): DAT read: Range 10 to 50 : 185.4 m (Round-trip 247.3 ms) speed 0.4 m/s 2025-01-08T20:38:58.119Z,1736368738.119 [DAT](INFO): DAT read: user:1522> 2025-01-08T20:38:58.119Z,1736368738.119 [DAT](INFO): DAT read: Tx time:20:38:57.3954 2025-01-08T20:38:58.120Z,1736368738.120 [DAT](INFO): Ping request sent. 2025-01-08T20:38:58.120Z,1736368738.120 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:38:58.120Z,1736368738.120 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-01-08T20:38:58.121Z,1736368738.121 [DAT](INFO): direction in FSK: [0.658977,-0.742224,-0.121869] 2025-01-08T20:38:58.121Z,1736368738.121 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:58.121Z,1736368738.121 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:58.141Z,1736368738.141 [DAT](INFO): publishing transmit ping time 2025-01-08T20:38:58.141Z,1736368738.141 [DAT](INFO): publishing direction and range info 2025-01-08T20:38:58.360Z,1736368738.360 [DAT](INFO): DAT read: TxSync time:20:38:57.3946 2025-01-08T20:38:58.802Z,1736368738.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:38:58.803Z,1736368738.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:58.893Z,1736368738.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s. 2025-01-08T20:38:58.893Z,1736368738.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:59.288Z,1736368739.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.0 s old, using for 20.0 s. 2025-01-08T20:38:59.288Z,1736368739.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:38:59.698Z,1736368739.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.4 s old, using for 20.0 s. 2025-01-08T20:38:59.698Z,1736368739.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:00.096Z,1736368740.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.8 s old, using for 20.0 s. 2025-01-08T20:39:00.096Z,1736368740.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:00.519Z,1736368740.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.2 s old, using for 20.0 s. 2025-01-08T20:39:00.519Z,1736368740.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:00.903Z,1736368740.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.6 s old, using for 20.0 s. 2025-01-08T20:39:00.903Z,1736368740.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:01.318Z,1736368741.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.0 s old, using for 20.0 s. 2025-01-08T20:39:01.319Z,1736368741.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:01.392Z,1736368741.392 [DAT](INFO): DAT read: Rx Time:20:39:00.0461 2025-01-08T20:39:01.393Z,1736368741.393 [DAT](INFO): Rx dataTimestamp_ set to:1736368741.392505 2025-01-08T20:39:01.768Z,1736368741.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.4 s old, using for 20.0 s. 2025-01-08T20:39:01.768Z,1736368741.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:01.902Z,1736368741.902 [DAT](INFO): DAT read: 20:39:00.0461 LVL= 14320, 17185, 12482, 19939, AGC= 65, IDX= 441,-0.01, 1.579, 0.371, 2.273, 1.129, PHS= 0.538,-0.710, 1.141, RAW= 168.6, -11.8, CAL= 172.4, -17.6, ROT= 337.6, 17.6 2025-01-08T20:39:01.903Z,1736368741.903 [DAT](INFO): got valid direction response: 20:39:00.0461 LVL= 14320, 17185, 12482, 19939, AGC= 65, IDX= 441,-0.01, 1.579, 0.371, 2.273, 1.129, PHS= 0.538,-0.710, 1.141, RAW= 168.6, -11.8, CAL= 172.4, -17.6, ROT= 337.6, 17.6 2025-01-08T20:39:01.904Z,1736368741.904 [DAT](INFO): DAT read: Bearing 337.6, 17.6 (Local) 2025-01-08T20:39:01.905Z,1736368741.905 [DAT](INFO): Local bearing/azimuth received: Bearing 337.6, 17.6 (Local) 2025-01-08T20:39:01.906Z,1736368741.906 [DAT](INFO): DAT read: Range 10 to 50 : 184.9 m (Round-trip 246.6 ms) speed -0.4 m/s 2025-01-08T20:39:01.907Z,1736368741.907 [DAT](INFO): DAT read: user:1523> 2025-01-08T20:39:01.908Z,1736368741.908 [DAT](INFO): DAT read: Tx time:20:39:01.1454 2025-01-08T20:39:01.908Z,1736368741.908 [DAT](INFO): Ping request sent. 2025-01-08T20:39:01.908Z,1736368741.908 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:01.908Z,1736368741.908 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-01-08T20:39:01.909Z,1736368741.909 [DAT](INFO): direction in FSK: [0.881269,-0.363233,-0.302370] 2025-01-08T20:39:01.910Z,1736368741.910 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:01.910Z,1736368741.910 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:01.913Z,1736368741.913 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:01.913Z,1736368741.913 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:02.125Z,1736368742.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s. 2025-01-08T20:39:02.125Z,1736368742.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:02.149Z,1736368742.149 [DAT](INFO): DAT read: TxSync time:20:39:01.1446 2025-01-08T20:39:02.511Z,1736368742.511 [NAL9602](INFO): SBD MO Status=1, MOMSN=46744, MT Status=0, MTMSN=0 2025-01-08T20:39:02.571Z,1736368742.571 [NAL9602](INFO): Sent 39 bytes from file Logs/20250108T193415/Courier0015.lzma 2025-01-08T20:39:02.572Z,1736368742.572 [NAL9602](INFO): Packets left to send: 0 2025-01-08T20:39:02.600Z,1736368742.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:04.088Z,1736368744.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:05.172Z,1736368745.172 [DAT](INFO): DAT read: Rx Time:20:39:03.7969 2025-01-08T20:39:05.173Z,1736368745.173 [DAT](INFO): Rx dataTimestamp_ set to:1736368745.172573 2025-01-08T20:39:05.679Z,1736368745.679 [DAT](INFO): DAT read: Range 10 to 50 : 185.5 m (Round-trip 247.4 ms) speed 0.0 m/s 2025-01-08T20:39:05.680Z,1736368745.680 [DAT](INFO): DAT read: user:1524> 2025-01-08T20:39:05.680Z,1736368745.680 [DAT](INFO): DAT read: Tx time:20:39:04.8954 2025-01-08T20:39:05.681Z,1736368745.681 [DAT](INFO): Ping request sent. 2025-01-08T20:39:05.681Z,1736368745.681 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:05.681Z,1736368745.681 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-01-08T20:39:05.681Z,1736368745.681 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:05.682Z,1736368745.682 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:05.928Z,1736368745.928 [DAT](INFO): DAT read: TxSync time:20:39:04.8946 2025-01-08T20:39:06.217Z,1736368746.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:06.373Z,1736368746.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:06.670Z,1736368746.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:07.072Z,1736368747.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:07.471Z,1736368747.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:07.812Z,1736368747.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:39:07.887Z,1736368747.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:08.338Z,1736368748.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:08.700Z,1736368748.700 [DAT](INFO): DAT read: Rx Time:20:39:07.5473 2025-01-08T20:39:08.701Z,1736368748.701 [DAT](INFO): Rx dataTimestamp_ set to:1736368748.700388 2025-01-08T20:39:08.713Z,1736368748.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:08.816Z,1736368748.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:39:09.088Z,1736368749.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:09.208Z,1736368749.208 [DAT](INFO): DAT read: Range 10 to 50 : 185.7 m (Round-trip 247.7 ms) speed 0.0 m/s 2025-01-08T20:39:09.209Z,1736368749.209 [DAT](INFO): DAT read: user:1525> 2025-01-08T20:39:09.209Z,1736368749.209 [DAT](ERROR): #Rx 119: Read range message, but no direction. 2025-01-08T20:39:09.456Z,1736368749.456 [DAT](INFO): DAT read: Tx time:20:39:08.6455 2025-01-08T20:39:09.457Z,1736368749.457 [DAT](INFO): Ping request sent. 2025-01-08T20:39:09.457Z,1736368749.457 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:09.457Z,1736368749.457 [DAT](INFO): DAT read: TxSync time:20:39:08.6447 2025-01-08T20:39:09.458Z,1736368749.458 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:09.517Z,1736368749.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:09.907Z,1736368749.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:10.354Z,1736368750.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:10.721Z,1736368750.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:11.113Z,1736368751.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:11.512Z,1736368751.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:11.926Z,1736368751.926 [NAL9602](INFO): SBD MO Status=1, MOMSN=46745, MT Status=0, MTMSN=0 2025-01-08T20:39:11.977Z,1736368751.977 [NAL9602](INFO): Sent 39 bytes from file Logs/20250108T193415/Courier0018.lzma 2025-01-08T20:39:11.977Z,1736368751.977 [NAL9602](INFO): Packets left to send: 0 2025-01-08T20:39:11.996Z,1736368751.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:12.480Z,1736368752.480 [DAT](INFO): DAT read: Rx Time:20:39:11.2972 2025-01-08T20:39:12.481Z,1736368752.481 [DAT](INFO): Rx dataTimestamp_ set to:1736368752.480604 2025-01-08T20:39:13.008Z,1736368753.008 [DAT](INFO): DAT read: 20:39:11.2972 LVL= 16528, 20593, 16418, 21843, AGC= 66, IDX= 436,-0.39, 2.042, 0.343, 1.813, 0.998, PHS= 1.131,-0.608, 0.812, RAW= 140.1, -16.4, CAL= 146.0, -24.9, ROT= 4.0, 24.9 2025-01-08T20:39:13.009Z,1736368753.009 [DAT](INFO): got valid direction response: 20:39:11.2972 LVL= 16528, 20593, 16418, 21843, AGC= 66, IDX= 436,-0.39, 2.042, 0.343, 1.813, 0.998, PHS= 1.131,-0.608, 0.812, RAW= 140.1, -16.4, CAL= 146.0, -24.9, ROT= 4.0, 24.9 2025-01-08T20:39:13.010Z,1736368753.010 [DAT](INFO): DAT read: Bearing 4.0, 24.9 (Local) 2025-01-08T20:39:13.010Z,1736368753.010 [DAT](INFO): Local bearing/azimuth received: Bearing 4.0, 24.9 (Local) 2025-01-08T20:39:13.016Z,1736368753.016 [DAT](INFO): DAT read: Range 10 to 50 : 185.7 m (Round-trip 247.6 ms) speed 0.0 m/s 2025-01-08T20:39:13.017Z,1736368753.017 [DAT](INFO): DAT read: user:1526> 2025-01-08T20:39:13.017Z,1736368753.017 [DAT](INFO): DAT read: Tx time:20:39:12.3955 2025-01-08T20:39:13.018Z,1736368753.018 [DAT](INFO): Ping request sent. 2025-01-08T20:39:13.018Z,1736368753.018 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:13.018Z,1736368753.018 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-01-08T20:39:13.019Z,1736368753.019 [DAT](INFO): direction in FSK: [0.904835,0.063272,-0.421036] 2025-01-08T20:39:13.055Z,1736368753.055 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:13.056Z,1736368753.056 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:13.059Z,1736368753.059 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:13.059Z,1736368753.059 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:13.236Z,1736368753.236 [DAT](INFO): DAT read: TxSync time:20:39:12.3947 2025-01-08T20:39:13.734Z,1736368753.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T20:39:13.734Z,1736368753.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:13.829Z,1736368753.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.8 s old, using for 20.0 s. 2025-01-08T20:39:13.829Z,1736368753.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:16.223Z,1736368756.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.2 s old, using for 20.0 s. 2025-01-08T20:39:16.223Z,1736368756.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:16.263Z,1736368756.263 [DAT](INFO): DAT read: Rx Time:20:39:15.0471 2025-01-08T20:39:16.265Z,1736368756.265 [DAT](INFO): Rx dataTimestamp_ set to:1736368756.264042 2025-01-08T20:39:16.430Z,1736368756.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:39:16.430Z,1736368756.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:16.682Z,1736368756.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.7 s old, using for 20.0 s. 2025-01-08T20:39:16.682Z,1736368756.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:16.770Z,1736368756.770 [DAT](INFO): DAT read: 20:39:15.0471 LVL= 13392, 14897, 11250, 12323, AGC= 74, IDX= 438,-0.23, 2.916,-1.744,-2.738,-2.765, PHS=-0.514, 1.067, 0.024, RAW= 310.5, -8.3, CAL= 314.8, -11.4, ROT= 195.2, 11.4 2025-01-08T20:39:16.772Z,1736368756.772 [DAT](INFO): got valid direction response: 20:39:15.0471 LVL= 13392, 14897, 11250, 12323, AGC= 74, IDX= 438,-0.23, 2.916,-1.744,-2.738,-2.765, PHS=-0.514, 1.067, 0.024, RAW= 310.5, -8.3, CAL= 314.8, -11.4, ROT= 195.2, 11.4 2025-01-08T20:39:16.772Z,1736368756.772 [DAT](INFO): DAT read: Bearing 195.2, 11.4 (Local) 2025-01-08T20:39:16.773Z,1736368756.773 [DAT](INFO): Local bearing/azimuth received: Bearing 195.2, 11.4 (Local) 2025-01-08T20:39:16.774Z,1736368756.774 [DAT](INFO): DAT read: Range 10 to 50 : 185.6 m (Round-trip 247.5 ms) speed 0.2 m/s 2025-01-08T20:39:16.775Z,1736368756.775 [DAT](INFO): DAT read: user:1527> 2025-01-08T20:39:16.776Z,1736368756.776 [DAT](INFO): DAT read: Tx time:20:39:16.1455 2025-01-08T20:39:16.776Z,1736368756.776 [DAT](INFO): Ping request sent. 2025-01-08T20:39:16.776Z,1736368756.776 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:16.777Z,1736368756.777 [DAT](INFO): #Rx 121: Read range and direction messages. 2025-01-08T20:39:16.778Z,1736368756.778 [DAT](INFO): direction in FSK: [-0.945978,-0.257017,-0.197657] 2025-01-08T20:39:16.778Z,1736368756.778 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:16.778Z,1736368756.778 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:16.781Z,1736368756.781 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:16.782Z,1736368756.782 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:17.016Z,1736368757.016 [DAT](INFO): DAT read: TxSync time:20:39:16.1447 2025-01-08T20:39:17.081Z,1736368757.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.1 s old, using for 20.0 s. 2025-01-08T20:39:17.081Z,1736368757.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:17.480Z,1736368757.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.5 s old, using for 20.0 s. 2025-01-08T20:39:17.480Z,1736368757.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:17.904Z,1736368757.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.9 s old, using for 20.0 s. 2025-01-08T20:39:17.904Z,1736368757.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:18.371Z,1736368758.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.4 s old, using for 20.0 s. 2025-01-08T20:39:18.371Z,1736368758.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:18.700Z,1736368758.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.7 s old, using for 20.0 s. 2025-01-08T20:39:18.700Z,1736368758.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:19.100Z,1736368759.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.1 s old, using for 20.0 s. 2025-01-08T20:39:19.100Z,1736368759.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:19.510Z,1736368759.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.5 s old, using for 20.0 s. 2025-01-08T20:39:19.511Z,1736368759.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:19.908Z,1736368759.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.9 s old, using for 20.0 s. 2025-01-08T20:39:19.908Z,1736368759.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:20.040Z,1736368760.040 [DAT](INFO): DAT read: Rx Time:20:39:18.7961 2025-01-08T20:39:20.041Z,1736368760.041 [DAT](INFO): Rx dataTimestamp_ set to:1736368760.040407 2025-01-08T20:39:20.363Z,1736368760.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.4 s old, using for 20.0 s. 2025-01-08T20:39:20.363Z,1736368760.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:20.550Z,1736368760.550 [DAT](INFO): DAT read: 20:39:18.7961 LVL= 25840, 32753, 15090, 29683, AGC= 69, IDX= 425,-0.04,-2.515,-2.440,-1.155,-1.955, PHS=-0.472,-0.438, 0.798, RAW= 211.4, 1.8, CAL= 211.7, -4.7, ROT= 298.3, 4.7 2025-01-08T20:39:20.551Z,1736368760.551 [DAT](INFO): got valid direction response: 20:39:18.7961 LVL= 25840, 32753, 15090, 29683, AGC= 69, IDX= 425,-0.04,-2.515,-2.440,-1.155,-1.955, PHS=-0.472,-0.438, 0.798, RAW= 211.4, 1.8, CAL= 211.7, -4.7, ROT= 298.3, 4.7 2025-01-08T20:39:20.552Z,1736368760.552 [DAT](INFO): DAT read: Bearing 298.3, 4.7 (Local) 2025-01-08T20:39:20.552Z,1736368760.552 [DAT](INFO): Local bearing/azimuth received: Bearing 298.3, 4.7 (Local) 2025-01-08T20:39:20.554Z,1736368760.554 [DAT](INFO): DAT read: Range 10 to 50 : 184.8 m (Round-trip 246.5 ms) speed -0.4 m/s 2025-01-08T20:39:20.555Z,1736368760.555 [DAT](INFO): DAT read: user:1528> 2025-01-08T20:39:20.555Z,1736368760.555 [DAT](INFO): DAT read: Tx time:20:39:19.8955 2025-01-08T20:39:20.556Z,1736368760.556 [DAT](INFO): Ping request sent. 2025-01-08T20:39:20.556Z,1736368760.556 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:20.556Z,1736368760.556 [DAT](INFO): #Rx 122: Read range and direction messages. 2025-01-08T20:39:20.557Z,1736368760.557 [DAT](INFO): direction in FSK: [0.472494,-0.877517,-0.081939] 2025-01-08T20:39:20.557Z,1736368760.557 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:20.558Z,1736368760.558 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:20.561Z,1736368760.561 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:20.561Z,1736368760.561 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:20.740Z,1736368760.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.7 s old, using for 20.0 s. 2025-01-08T20:39:20.740Z,1736368760.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:20.796Z,1736368760.796 [DAT](INFO): DAT read: TxSync time:20:39:19.8947 2025-01-08T20:39:21.120Z,1736368761.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.1 s old, using for 20.0 s. 2025-01-08T20:39:21.120Z,1736368761.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:21.520Z,1736368761.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.5 s old, using for 20.0 s. 2025-01-08T20:39:21.520Z,1736368761.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:21.932Z,1736368761.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.9 s old, using for 20.0 s. 2025-01-08T20:39:21.933Z,1736368761.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:22.368Z,1736368762.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.4 s old, using for 20.0 s. 2025-01-08T20:39:22.369Z,1736368762.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:22.736Z,1736368762.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.7 s old, using for 20.0 s. 2025-01-08T20:39:22.736Z,1736368762.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:23.140Z,1736368763.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.1 s old, using for 20.0 s. 2025-01-08T20:39:23.140Z,1736368763.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:23.546Z,1736368763.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.5 s old, using for 20.0 s. 2025-01-08T20:39:23.546Z,1736368763.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:23.824Z,1736368763.824 [DAT](INFO): DAT read: Rx Time:20:39:22.5478 2025-01-08T20:39:23.825Z,1736368763.825 [DAT](INFO): Rx dataTimestamp_ set to:1736368763.824451 2025-01-08T20:39:23.961Z,1736368763.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.0 s old, using for 20.0 s. 2025-01-08T20:39:23.961Z,1736368763.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:24.334Z,1736368764.334 [DAT](INFO): DAT read: Range 10 to 50 : 186.0 m (Round-trip 248.1 ms) speed -0.3 m/s 2025-01-08T20:39:24.334Z,1736368764.334 [DAT](INFO): DAT read: user:1529> 2025-01-08T20:39:24.335Z,1736368764.335 [DAT](INFO): DAT read: Tx time:20:39:23.6456 2025-01-08T20:39:24.335Z,1736368764.335 [DAT](INFO): Ping request sent. 2025-01-08T20:39:24.335Z,1736368764.335 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:24.336Z,1736368764.336 [DAT](ERROR): #Rx 123: Read range message, but no direction. 2025-01-08T20:39:24.336Z,1736368764.336 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:24.337Z,1736368764.337 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:24.527Z,1736368764.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:24.584Z,1736368764.584 [DAT](INFO): DAT read: TxSync time:20:39:23.6448 2025-01-08T20:39:24.801Z,1736368764.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:25.227Z,1736368765.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:25.647Z,1736368765.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:26.021Z,1736368766.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:26.485Z,1736368766.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:39:26.485Z,1736368766.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:26.797Z,1736368766.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:39:26.797Z,1736368766.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:27.184Z,1736368767.184 [NAL9602](INFO): SBD MO Status=2, MOMSN=46746, MT Status=2, MTMSN=0 2025-01-08T20:39:27.184Z,1736368767.184 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-01-08T20:39:27.240Z,1736368767.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:39:27.240Z,1736368767.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:27.580Z,1736368767.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:39:27.580Z,1736368767.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:27.608Z,1736368767.608 [DAT](INFO): DAT read: Rx Time:20:39:26.2982 2025-01-08T20:39:27.609Z,1736368767.609 [DAT](INFO): Rx dataTimestamp_ set to:1736368767.608575 2025-01-08T20:39:27.983Z,1736368767.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:39:27.983Z,1736368767.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:28.113Z,1736368768.113 [DAT](INFO): DAT read: Range 10 to 50 : 186.3 m (Round-trip 248.5 ms) speed 0.0 m/s 2025-01-08T20:39:28.114Z,1736368768.114 [DAT](INFO): DAT read: user:1530> 2025-01-08T20:39:28.115Z,1736368768.115 [DAT](INFO): DAT read: Tx time:20:39:27.3956 2025-01-08T20:39:28.115Z,1736368768.115 [DAT](INFO): Ping request sent. 2025-01-08T20:39:28.115Z,1736368768.115 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:28.116Z,1736368768.116 [DAT](ERROR): #Rx 124: Read range message, but no direction. 2025-01-08T20:39:28.116Z,1736368768.116 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:28.116Z,1736368768.116 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:28.366Z,1736368768.366 [DAT](INFO): DAT read: TxSync time:20:39:27.3948 2025-01-08T20:39:28.438Z,1736368768.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:39:28.438Z,1736368768.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:28.796Z,1736368768.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:39:28.796Z,1736368768.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:29.197Z,1736368769.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:39:29.197Z,1736368769.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:29.606Z,1736368769.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:39:29.606Z,1736368769.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:30.002Z,1736368770.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:39:30.002Z,1736368770.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:30.428Z,1736368770.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:39:30.428Z,1736368770.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:30.822Z,1736368770.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:39:30.822Z,1736368770.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:31.238Z,1736368771.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:39:31.239Z,1736368771.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:31.388Z,1736368771.388 [DAT](INFO): DAT read: Rx Time:20:39:30.0473 2025-01-08T20:39:31.389Z,1736368771.389 [DAT](INFO): Rx dataTimestamp_ set to:1736368771.388546 2025-01-08T20:39:31.655Z,1736368771.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:39:31.655Z,1736368771.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:31.898Z,1736368771.898 [DAT](INFO): DAT read: 20:39:30.0473 LVL= 6560, 12129, 11506, 9075, AGC= 63, IDX= 436,-0.11,-2.895,-2.692,-0.496,-2.187, PHS=-0.620,-0.458, 1.688, RAW= 213.6, -5.5, CAL= 210.9, -12.3, ROT= 299.1, 12.3 2025-01-08T20:39:31.899Z,1736368771.899 [DAT](INFO): got valid direction response: 20:39:30.0473 LVL= 6560, 12129, 11506, 9075, AGC= 63, IDX= 436,-0.11,-2.895,-2.692,-0.496,-2.187, PHS=-0.620,-0.458, 1.688, RAW= 213.6, -5.5, CAL= 210.9, -12.3, ROT= 299.1, 12.3 2025-01-08T20:39:31.900Z,1736368771.900 [DAT](INFO): DAT read: Bearing 299.1, 12.3 (Local) 2025-01-08T20:39:31.901Z,1736368771.901 [DAT](INFO): Local bearing/azimuth received: Bearing 299.1, 12.3 (Local) 2025-01-08T20:39:31.902Z,1736368771.902 [DAT](INFO): DAT read: Range 10 to 50 : 185.7 m (Round-trip 247.6 ms) speed 0.8 m/s 2025-01-08T20:39:31.924Z,1736368771.924 [DAT](INFO): DAT read: user:1531> 2025-01-08T20:39:31.924Z,1736368771.924 [DAT](INFO): DAT read: Tx time:20:39:31.1456 2025-01-08T20:39:31.925Z,1736368771.925 [DAT](INFO): Ping request sent. 2025-01-08T20:39:31.925Z,1736368771.925 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:31.925Z,1736368771.925 [DAT](INFO): #Rx 125: Read range and direction messages. 2025-01-08T20:39:31.926Z,1736368771.926 [DAT](INFO): direction in FSK: [0.475172,-0.853715,-0.213030] 2025-01-08T20:39:31.926Z,1736368771.926 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:31.927Z,1736368771.927 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:31.938Z,1736368771.938 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:31.938Z,1736368771.938 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:32.144Z,1736368772.144 [DAT](INFO): DAT read: TxSync time:20:39:31.1448 2025-01-08T20:39:34.477Z,1736368774.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:39:34.477Z,1736368774.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:34.607Z,1736368774.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.6 s old, using for 20.0 s. 2025-01-08T20:39:34.607Z,1736368774.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:34.989Z,1736368774.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.0 s old, using for 20.0 s. 2025-01-08T20:39:34.989Z,1736368774.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:35.168Z,1736368775.168 [DAT](INFO): DAT read: Rx Time:20:39:33.7960 2025-01-08T20:39:35.169Z,1736368775.169 [DAT](INFO): Rx dataTimestamp_ set to:1736368775.168515 2025-01-08T20:39:35.412Z,1736368775.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.4 s old, using for 20.0 s. 2025-01-08T20:39:35.412Z,1736368775.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:35.678Z,1736368775.678 [DAT](INFO): DAT read: 20:39:33.7960 LVL= 26672, 32097, 15346, 32755, AGC= 66, IDX= 422,-0.32,-3.085, 1.972,-2.797, 2.718, PHS= 0.568,-0.699, 0.766, RAW= 157.1, -9.3, CAL= 162.3, -16.5, ROT= 347.7, 16.5 2025-01-08T20:39:35.679Z,1736368775.679 [DAT](INFO): got valid direction response: 20:39:33.7960 LVL= 26672, 32097, 15346, 32755, AGC= 66, IDX= 422,-0.32,-3.085, 1.972,-2.797, 2.718, PHS= 0.568,-0.699, 0.766, RAW= 157.1, -9.3, CAL= 162.3, -16.5, ROT= 347.7, 16.5 2025-01-08T20:39:35.680Z,1736368775.680 [DAT](INFO): DAT read: Bearing 347.7, 16.5 (Local) 2025-01-08T20:39:35.681Z,1736368775.681 [DAT](INFO): Local bearing/azimuth received: Bearing 347.7, 16.5 (Local) 2025-01-08T20:39:35.682Z,1736368775.682 [DAT](INFO): DAT read: Range 10 to 50 : 184.6 m (Round-trip 246.2 ms) speed -0.4 m/s 2025-01-08T20:39:35.683Z,1736368775.683 [DAT](INFO): DAT read: user:1532> 2025-01-08T20:39:35.684Z,1736368775.684 [DAT](INFO): DAT read: Tx time:20:39:34.8957 2025-01-08T20:39:35.684Z,1736368775.684 [DAT](INFO): Ping request sent. 2025-01-08T20:39:35.684Z,1736368775.684 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:35.684Z,1736368775.684 [DAT](INFO): #Rx 126: Read range and direction messages. 2025-01-08T20:39:35.685Z,1736368775.685 [DAT](INFO): direction in FSK: [0.936811,-0.204258,-0.284015] 2025-01-08T20:39:35.686Z,1736368775.686 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:35.686Z,1736368775.686 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:35.748Z,1736368775.748 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:35.749Z,1736368775.749 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:35.817Z,1736368775.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s. 2025-01-08T20:39:35.817Z,1736368775.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:35.925Z,1736368775.925 [DAT](INFO): DAT read: TxSync time:20:39:34.8949 2025-01-08T20:39:36.192Z,1736368776.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.2 s old, using for 20.0 s. 2025-01-08T20:39:36.192Z,1736368776.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:36.613Z,1736368776.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:36.991Z,1736368776.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:37.399Z,1736368777.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:37.801Z,1736368777.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:38.200Z,1736368778.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:38.624Z,1736368778.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:38.992Z,1736368778.992 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003123 2025-01-08T20:39:39.040Z,1736368779.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:41.213Z,1736368781.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:41.329Z,1736368781.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:41.707Z,1736368781.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:42.112Z,1736368782.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:42.568Z,1736368782.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:42.927Z,1736368782.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:43.319Z,1736368783.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:43.718Z,1736368783.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:44.144Z,1736368784.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:44.595Z,1736368784.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:39:44.595Z,1736368784.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:44.954Z,1736368784.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:39:44.955Z,1736368784.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:45.349Z,1736368785.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:39:45.349Z,1736368785.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:45.771Z,1736368785.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:39:45.772Z,1736368785.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:46.158Z,1736368786.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:39:46.158Z,1736368786.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:46.524Z,1736368786.524 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:39:46.525Z,1736368786.525 [DAT](INFO): response not received 2025-01-08T20:39:46.525Z,1736368786.525 [DAT](INFO): DAT read: user:1533> 2025-01-08T20:39:46.526Z,1736368786.526 [DAT](INFO): DAT read: Tx time:20:39:45.8457 2025-01-08T20:39:46.526Z,1736368786.526 [DAT](INFO): Ping request sent. 2025-01-08T20:39:46.526Z,1736368786.526 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:46.526Z,1736368786.526 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:46.652Z,1736368786.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:39:46.652Z,1736368786.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:46.777Z,1736368786.777 [DAT](INFO): DAT read: TxSync time:20:39:45.8449 2025-01-08T20:39:46.969Z,1736368786.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:39:46.969Z,1736368786.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:47.374Z,1736368787.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:39:47.374Z,1736368787.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:47.774Z,1736368787.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:39:47.775Z,1736368787.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:48.167Z,1736368788.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:39:48.168Z,1736368788.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:48.590Z,1736368788.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:39:48.590Z,1736368788.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:48.869Z,1736368788.869 [DataOverHttps](INFO): Sending 285 bytes from file Logs/20250108T193415/Courier0021.lzma 2025-01-08T20:39:48.975Z,1736368788.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:39:48.975Z,1736368788.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:49.387Z,1736368789.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:39:49.387Z,1736368789.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:49.785Z,1736368789.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:39:49.785Z,1736368789.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:49.800Z,1736368789.800 [DAT](INFO): DAT read: Rx Time:20:39:48.4970 2025-01-08T20:39:49.801Z,1736368789.801 [DAT](INFO): Rx dataTimestamp_ set to:1736368789.800387 2025-01-08T20:39:49.869Z,1736368789.869 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Courier0021.lzma.bak 2025-01-08T20:39:49.869Z,1736368789.869 [DataOverHttps](INFO): SBD MOMSN=23886050 2025-01-08T20:39:50.187Z,1736368790.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:39:50.187Z,1736368790.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:50.312Z,1736368790.312 [DAT](INFO): DAT read: Range 10 to 50 : 185.3 m (Round-trip 247.1 ms) speed -0.3 m/s 2025-01-08T20:39:50.314Z,1736368790.314 [DAT](INFO): DAT read: user:1534> 2025-01-08T20:39:50.321Z,1736368790.321 [DAT](INFO): DAT read: Tx time:20:39:49.5958 2025-01-08T20:39:50.322Z,1736368790.322 [DAT](INFO): Ping request sent. 2025-01-08T20:39:50.322Z,1736368790.322 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:50.325Z,1736368790.325 [DAT](ERROR): #Rx 127: Read range message, but no direction. 2025-01-08T20:39:50.325Z,1736368790.325 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:50.328Z,1736368790.328 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:50.556Z,1736368790.556 [DAT](INFO): DAT read: TxSync time:20:39:49.5950 2025-01-08T20:39:50.621Z,1736368790.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:39:50.621Z,1736368790.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:51.012Z,1736368791.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:39:51.012Z,1736368791.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:51.408Z,1736368791.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:39:51.408Z,1736368791.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:51.824Z,1736368791.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:39:51.824Z,1736368791.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:52.217Z,1736368792.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:39:52.217Z,1736368792.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:52.653Z,1736368792.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:53.024Z,1736368793.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:53.438Z,1736368793.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:53.580Z,1736368793.580 [DAT](INFO): DAT read: Rx Time:20:39:52.2480 2025-01-08T20:39:53.581Z,1736368793.581 [DAT](INFO): Rx dataTimestamp_ set to:1736368793.580598 2025-01-08T20:39:53.829Z,1736368793.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:54.090Z,1736368794.090 [DAT](INFO): DAT read: 20:39:52.2480 LVL= 15776, 19921, 14482, 19795, AGC= 67, IDX= 442,-0.17,-2.254,-2.182,-0.693,-1.821, PHS=-0.345,-0.314, 1.125, RAW= 211.0, -6.5, CAL= 208.2, -13.1, ROT= 301.8, 13.1 2025-01-08T20:39:54.091Z,1736368794.091 [DAT](INFO): got valid direction response: 20:39:52.2480 LVL= 15776, 19921, 14482, 19795, AGC= 67, IDX= 442,-0.17,-2.254,-2.182,-0.693,-1.821, PHS=-0.345,-0.314, 1.125, RAW= 211.0, -6.5, CAL= 208.2, -13.1, ROT= 301.8, 13.1 2025-01-08T20:39:54.092Z,1736368794.092 [DAT](INFO): DAT read: Bearing 301.8, 13.1 (Local) 2025-01-08T20:39:54.092Z,1736368794.092 [DAT](INFO): Local bearing/azimuth received: Bearing 301.8, 13.1 (Local) 2025-01-08T20:39:54.094Z,1736368794.094 [DAT](INFO): DAT read: Range 10 to 50 : 186.0 m (Round-trip 248.1 ms) speed -0.4 m/s 2025-01-08T20:39:54.095Z,1736368794.095 [DAT](INFO): DAT read: user:1535> 2025-01-08T20:39:54.096Z,1736368794.096 [DAT](INFO): DAT read: Tx time:20:39:53.3458 2025-01-08T20:39:54.096Z,1736368794.096 [DAT](INFO): Ping request sent. 2025-01-08T20:39:54.096Z,1736368794.096 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:54.096Z,1736368794.096 [DAT](INFO): #Rx 128: Read range and direction messages. 2025-01-08T20:39:54.097Z,1736368794.097 [DAT](INFO): direction in FSK: [0.513242,-0.827775,-0.226651] 2025-01-08T20:39:54.097Z,1736368794.097 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:54.098Z,1736368794.098 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:54.101Z,1736368794.101 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:54.101Z,1736368794.101 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:54.232Z,1736368794.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:54.336Z,1736368794.336 [DAT](INFO): DAT read: TxSync time:20:39:53.3450 2025-01-08T20:39:54.651Z,1736368794.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:39:54.651Z,1736368794.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:55.036Z,1736368795.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:39:55.036Z,1736368795.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:55.434Z,1736368795.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:39:55.434Z,1736368795.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:55.850Z,1736368795.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:39:55.850Z,1736368795.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:56.263Z,1736368796.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:39:56.268Z,1736368796.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:56.685Z,1736368796.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:39:56.686Z,1736368796.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:57.060Z,1736368797.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:39:57.060Z,1736368797.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:57.360Z,1736368797.360 [DAT](INFO): DAT read: Rx Time:20:39:55.9991 2025-01-08T20:39:57.361Z,1736368797.361 [DAT](INFO): Rx dataTimestamp_ set to:1736368797.360595 2025-01-08T20:39:57.472Z,1736368797.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:39:57.472Z,1736368797.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:57.879Z,1736368797.879 [DAT](INFO): DAT read: 20:39:55.9991 LVL= 12592, 19249, 7778, 13763, AGC= 70, IDX= 452, 0.26, 0.196, 0.337, 1.573, 0.650, PHS=-0.366,-0.266, 0.919, RAW= 214.0, -4.7, CAL= 211.6, -11.5, ROT= 298.4, 11.5 2025-01-08T20:39:57.880Z,1736368797.880 [DAT](INFO): got valid direction response: 20:39:55.9991 LVL= 12592, 19249, 7778, 13763, AGC= 70, IDX= 452, 0.26, 0.196, 0.337, 1.573, 0.650, PHS=-0.366,-0.266, 0.919, RAW= 214.0, -4.7, CAL= 211.6, -11.5, ROT= 298.4, 11.5 2025-01-08T20:39:57.881Z,1736368797.881 [DAT](INFO): DAT read: Bearing 298.4, 11.5 (Local) 2025-01-08T20:39:57.881Z,1736368797.881 [DAT](INFO): Local bearing/azimuth received: Bearing 298.4, 11.5 (Local) 2025-01-08T20:39:57.889Z,1736368797.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:39:57.889Z,1736368797.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:57.891Z,1736368797.891 [DAT](INFO): DAT read: Range 10 to 50 : 186.9 m (Round-trip 249.2 ms) speed 0.3 m/s 2025-01-08T20:39:57.892Z,1736368797.892 [DAT](INFO): DAT read: user:1536> 2025-01-08T20:39:57.895Z,1736368797.895 [DAT](INFO): DAT read: Tx time:20:39:57.0958 2025-01-08T20:39:57.899Z,1736368797.899 [DAT](INFO): Ping request sent. 2025-01-08T20:39:57.900Z,1736368797.900 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:39:57.900Z,1736368797.900 [DAT](INFO): DAT read: TxSync time:20:39:57.0950 2025-01-08T20:39:57.901Z,1736368797.901 [DAT](INFO): #Rx 129: Read range and direction messages. 2025-01-08T20:39:57.902Z,1736368797.902 [DAT](INFO): direction in FSK: [0.466076,-0.861990,-0.199368] 2025-01-08T20:39:57.902Z,1736368797.902 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:57.902Z,1736368797.902 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:57.909Z,1736368797.909 [DAT](INFO): publishing transmit ping time 2025-01-08T20:39:57.910Z,1736368797.910 [DAT](INFO): publishing direction and range info 2025-01-08T20:39:58.330Z,1736368798.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:39:58.330Z,1736368798.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:58.739Z,1736368798.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:39:58.739Z,1736368798.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:59.093Z,1736368799.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:39:59.094Z,1736368799.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:59.484Z,1736368799.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:39:59.484Z,1736368799.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:39:59.890Z,1736368799.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:39:59.890Z,1736368799.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:00.332Z,1736368800.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:40:00.332Z,1736368800.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:00.706Z,1736368800.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:40:00.706Z,1736368800.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:00.890Z,1736368800.890 [DAT](INFO): DAT read: Rx Time:20:39:59.7481 2025-01-08T20:40:00.890Z,1736368800.890 [DAT](INFO): Rx dataTimestamp_ set to:1736368800.889782 2025-01-08T20:40:01.091Z,1736368801.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:40:01.091Z,1736368801.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:01.506Z,1736368801.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:40:01.506Z,1736368801.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:01.652Z,1736368801.652 [DAT](INFO): DAT read: 20:39:59.7481 LVL= 29120, 32753, 21586, 30531, AGC= 70, IDX= 425, 0.32, 2.999, 2.636,-2.186, 3.140, PHS=-0.053,-0.457, 0.954, RAW= 193.9, -7.1, CAL= 193.0, -13.1, ROT= 317.0, 13.1 2025-01-08T20:40:01.653Z,1736368801.653 [DAT](INFO): got valid direction response: 20:39:59.7481 LVL= 29120, 32753, 21586, 30531, AGC= 70, IDX= 425, 0.32, 2.999, 2.636,-2.186, 3.140, PHS=-0.053,-0.457, 0.954, RAW= 193.9, -7.1, CAL= 193.0, -13.1, ROT= 317.0, 13.1 2025-01-08T20:40:01.654Z,1736368801.654 [DAT](INFO): DAT read: Bearing 317.0, 13.1 (Local) 2025-01-08T20:40:01.655Z,1736368801.655 [DAT](INFO): Local bearing/azimuth received: Bearing 317.0, 13.1 (Local) 2025-01-08T20:40:01.665Z,1736368801.665 [DAT](INFO): DAT read: Range 10 to 50 : 186.0 m (Round-trip 248.1 ms) speed -0.5 m/s 2025-01-08T20:40:01.666Z,1736368801.666 [DAT](INFO): DAT read: user:1537> 2025-01-08T20:40:01.667Z,1736368801.667 [DAT](INFO): DAT read: Tx time:20:40:00.8458 2025-01-08T20:40:01.667Z,1736368801.667 [DAT](INFO): Ping request sent. 2025-01-08T20:40:01.667Z,1736368801.667 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:01.668Z,1736368801.668 [DAT](INFO): DAT read: TxSync time:20:40:00.8451 2025-01-08T20:40:01.668Z,1736368801.668 [DAT](INFO): #Rx 130: Read range and direction messages. 2025-01-08T20:40:01.669Z,1736368801.669 [DAT](INFO): direction in FSK: [0.712321,-0.664250,-0.226651] 2025-01-08T20:40:01.669Z,1736368801.669 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:01.670Z,1736368801.670 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:01.690Z,1736368801.690 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:01.690Z,1736368801.690 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:01.908Z,1736368801.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:40:01.908Z,1736368801.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:02.360Z,1736368802.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:40:02.360Z,1736368802.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:02.712Z,1736368802.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:40:02.712Z,1736368802.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:03.122Z,1736368803.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:40:03.122Z,1736368803.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:03.520Z,1736368803.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:40:03.520Z,1736368803.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:03.921Z,1736368803.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:40:03.921Z,1736368803.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:04.502Z,1736368804.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:04.668Z,1736368804.668 [DAT](INFO): DAT read: Rx Time:20:40:03.4987 2025-01-08T20:40:04.669Z,1736368804.669 [DAT](INFO): Rx dataTimestamp_ set to:1736368804.668489 2025-01-08T20:40:04.893Z,1736368804.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:05.173Z,1736368805.173 [DAT](INFO): DAT read: Range 10 to 50 : 186.5 m (Round-trip 248.7 ms) speed 0.1 m/s 2025-01-08T20:40:05.174Z,1736368805.174 [DAT](INFO): DAT read: user:1538> 2025-01-08T20:40:05.174Z,1736368805.174 [DAT](ERROR): #Rx 131: Read range message, but no direction. 2025-01-08T20:40:05.235Z,1736368805.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:05.424Z,1736368805.424 [DAT](INFO): DAT read: Tx time:20:40:04.5958 2025-01-08T20:40:05.425Z,1736368805.425 [DAT](INFO): Ping request sent. 2025-01-08T20:40:05.425Z,1736368805.425 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:05.425Z,1736368805.425 [DAT](INFO): DAT read: TxSync time:20:40:04.5951 2025-01-08T20:40:05.426Z,1736368805.426 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:05.543Z,1736368805.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:05.952Z,1736368805.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:06.415Z,1736368806.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:40:06.415Z,1736368806.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:06.769Z,1736368806.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:40:06.770Z,1736368806.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:07.165Z,1736368807.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:40:07.165Z,1736368807.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:07.569Z,1736368807.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:40:07.569Z,1736368807.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:07.970Z,1736368807.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:40:07.971Z,1736368807.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:08.410Z,1736368808.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:40:08.410Z,1736368808.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:08.448Z,1736368808.448 [DAT](INFO): DAT read: Rx Time:20:40:07.2490 2025-01-08T20:40:08.449Z,1736368808.449 [DAT](INFO): Rx dataTimestamp_ set to:1736368808.448518 2025-01-08T20:40:08.776Z,1736368808.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:40:08.776Z,1736368808.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:08.963Z,1736368808.963 [DAT](INFO): DAT read: 20:40:07.2490 LVL= 25888, 32209, 14034, 29043, AGC= 64, IDX= 450, 0.03,-2.786,-2.842,-1.129,-2.159, PHS=-0.539,-0.637, 1.026, RAW= 207.0, 1.9, CAL= 207.3, -5.1, ROT= 302.7, 5.1 2025-01-08T20:40:08.965Z,1736368808.965 [DAT](INFO): got valid direction response: 20:40:07.2490 LVL= 25888, 32209, 14034, 29043, AGC= 64, IDX= 450, 0.03,-2.786,-2.842,-1.129,-2.159, PHS=-0.539,-0.637, 1.026, RAW= 207.0, 1.9, CAL= 207.3, -5.1, ROT= 302.7, 5.1 2025-01-08T20:40:08.965Z,1736368808.965 [DAT](INFO): DAT read: Bearing 302.7, 5.1 (Local) 2025-01-08T20:40:08.966Z,1736368808.966 [DAT](INFO): Local bearing/azimuth received: Bearing 302.7, 5.1 (Local) 2025-01-08T20:40:08.968Z,1736368808.968 [DAT](INFO): DAT read: Range 10 to 50 : 186.7 m (Round-trip 249.0 ms) speed 0.5 m/s 2025-01-08T20:40:08.968Z,1736368808.968 [DAT](INFO): DAT read: user:1539> 2025-01-08T20:40:08.969Z,1736368808.969 [DAT](INFO): DAT read: Tx time:20:40:08.3458 2025-01-08T20:40:08.969Z,1736368808.969 [DAT](INFO): Ping request sent. 2025-01-08T20:40:08.969Z,1736368808.969 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:08.970Z,1736368808.970 [DAT](INFO): #Rx 132: Read range and direction messages. 2025-01-08T20:40:08.971Z,1736368808.971 [DAT](INFO): direction in FSK: [0.538102,-0.838179,-0.088894] 2025-01-08T20:40:08.971Z,1736368808.971 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:08.975Z,1736368808.975 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:08.978Z,1736368808.978 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:08.979Z,1736368808.979 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:09.204Z,1736368809.204 [DAT](INFO): DAT read: TxSync time:20:40:08.3451 2025-01-08T20:40:09.277Z,1736368809.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T20:40:09.277Z,1736368809.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:09.604Z,1736368809.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:40:09.605Z,1736368809.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:09.989Z,1736368809.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:40:09.989Z,1736368809.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:10.457Z,1736368810.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:10.842Z,1736368810.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:10.869Z,1736368810.869 [DataOverHttps](INFO): Sending 169 bytes from file Logs/20250108T182924/Express0010.lzma 2025-01-08T20:40:11.209Z,1736368811.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:11.588Z,1736368811.588 [NAL9602](INFO): Not Powering down - fast GPS 2025-01-08T20:40:11.605Z,1736368811.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:11.869Z,1736368811.869 [DataOverHttps](INFO): Moved sent file to Logs/20250108T182924/Express0010.lzma.bak 2025-01-08T20:40:11.869Z,1736368811.869 [DataOverHttps](INFO): SBD MOMSN=23886053 2025-01-08T20:40:12.009Z,1736368812.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:12.236Z,1736368812.236 [DAT](INFO): DAT read: Rx Time:20:40:10.9986 2025-01-08T20:40:12.237Z,1736368812.237 [DAT](INFO): Rx dataTimestamp_ set to:1736368812.236648 2025-01-08T20:40:12.442Z,1736368812.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:40:12.442Z,1736368812.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:12.741Z,1736368812.741 [DAT](INFO): DAT read: Range 10 to 50 : 186.4 m (Round-trip 248.6 ms) speed -0.3 m/s 2025-01-08T20:40:12.742Z,1736368812.742 [DAT](INFO): DAT read: user:1540> 2025-01-08T20:40:12.743Z,1736368812.743 [DAT](INFO): DAT read: Tx time:20:40:12.0958 2025-01-08T20:40:12.743Z,1736368812.743 [DAT](INFO): Ping request sent. 2025-01-08T20:40:12.743Z,1736368812.743 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:12.744Z,1736368812.744 [DAT](ERROR): #Rx 133: Read range message, but no direction. 2025-01-08T20:40:12.744Z,1736368812.744 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:12.744Z,1736368812.744 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:12.856Z,1736368812.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:40:12.856Z,1736368812.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:12.996Z,1736368812.996 [DAT](INFO): DAT read: TxSync time:20:40:12.0951 2025-01-08T20:40:13.261Z,1736368813.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:40:13.261Z,1736368813.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:13.657Z,1736368813.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:40:13.657Z,1736368813.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:14.080Z,1736368814.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:40:14.080Z,1736368814.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:14.582Z,1736368814.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:14.872Z,1736368814.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:15.305Z,1736368815.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:15.693Z,1736368815.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:16.020Z,1736368816.020 [DAT](INFO): DAT read: Rx Time:20:40:14.7494 2025-01-08T20:40:16.021Z,1736368816.021 [DAT](INFO): Rx dataTimestamp_ set to:1736368816.020444 2025-01-08T20:40:16.128Z,1736368816.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:16.530Z,1736368816.530 [DAT](INFO): DAT read: 20:40:14.7494 LVL= 7984, 13265, 6562, 9155, AGC= 73, IDX= 438,-0.41,-0.075, 0.225, 1.404, 0.519, PHS=-0.506,-0.246, 0.882, RAW= 220.1, -2.1, CAL= 218.9, -8.3, ROT= 291.1, 8.3 2025-01-08T20:40:16.531Z,1736368816.531 [DAT](INFO): got valid direction response: 20:40:14.7494 LVL= 7984, 13265, 6562, 9155, AGC= 73, IDX= 438,-0.41,-0.075, 0.225, 1.404, 0.519, PHS=-0.506,-0.246, 0.882, RAW= 220.1, -2.1, CAL= 218.9, -8.3, ROT= 291.1, 8.3 2025-01-08T20:40:16.532Z,1736368816.532 [DAT](INFO): DAT read: Bearing 291.1, 8.3 (Local) 2025-01-08T20:40:16.533Z,1736368816.533 [DAT](INFO): Local bearing/azimuth received: Bearing 291.1, 8.3 (Local) 2025-01-08T20:40:16.534Z,1736368816.534 [DAT](INFO): DAT read: Range 10 to 50 : 186.9 m (Round-trip 249.3 ms) speed 0.0 m/s 2025-01-08T20:40:16.535Z,1736368816.535 [DAT](INFO): DAT read: user:1541> 2025-01-08T20:40:16.536Z,1736368816.536 [DAT](INFO): DAT read: Tx time:20:40:15.8459 2025-01-08T20:40:16.536Z,1736368816.536 [DAT](INFO): Ping request sent. 2025-01-08T20:40:16.536Z,1736368816.536 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:16.536Z,1736368816.536 [DAT](INFO): #Rx 134: Read range and direction messages. 2025-01-08T20:40:16.537Z,1736368816.537 [DAT](INFO): direction in FSK: [0.356226,-0.923182,-0.144356] 2025-01-08T20:40:16.537Z,1736368816.537 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:16.538Z,1736368816.538 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:16.549Z,1736368816.549 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:16.549Z,1736368816.549 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:16.655Z,1736368816.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:16.776Z,1736368816.776 [DAT](INFO): DAT read: TxSync time:20:40:15.8452 2025-01-08T20:40:16.940Z,1736368816.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:17.317Z,1736368817.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:17.752Z,1736368817.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:18.156Z,1736368818.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:18.610Z,1736368818.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:40:18.610Z,1736368818.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:18.932Z,1736368818.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:40:18.932Z,1736368818.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:19.336Z,1736368819.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:40:19.336Z,1736368819.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:19.742Z,1736368819.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:40:19.742Z,1736368819.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:19.808Z,1736368819.808 [DAT](INFO): DAT read: Rx Time:20:40:18.4998 2025-01-08T20:40:19.809Z,1736368819.809 [DAT](INFO): Rx dataTimestamp_ set to:1736368819.808444 2025-01-08T20:40:20.141Z,1736368820.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:40:20.141Z,1736368820.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:20.319Z,1736368820.319 [DAT](INFO): DAT read: Range 10 to 50 : 187.2 m (Round-trip 249.7 ms) speed -0.2 m/s 2025-01-08T20:40:20.324Z,1736368820.324 [DAT](INFO): DAT read: user:1542> 2025-01-08T20:40:20.326Z,1736368820.326 [DAT](INFO): DAT read: Tx time:20:40:19.5959 2025-01-08T20:40:20.327Z,1736368820.327 [DAT](INFO): Ping request sent. 2025-01-08T20:40:20.355Z,1736368820.355 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:20.356Z,1736368820.356 [DAT](ERROR): #Rx 135: Read range message, but no direction. 2025-01-08T20:40:20.356Z,1736368820.356 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:20.356Z,1736368820.356 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:20.564Z,1736368820.564 [DAT](INFO): DAT read: TxSync time:20:40:19.5952 2025-01-08T20:40:20.574Z,1736368820.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:40:20.574Z,1736368820.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:20.955Z,1736368820.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:40:20.976Z,1736368820.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:21.377Z,1736368821.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:40:21.377Z,1736368821.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:21.808Z,1736368821.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:40:21.808Z,1736368821.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:22.227Z,1736368822.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:40:22.227Z,1736368822.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:22.670Z,1736368822.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:40:22.670Z,1736368822.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:23.031Z,1736368823.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:40:23.040Z,1736368823.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:23.414Z,1736368823.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:40:23.414Z,1736368823.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:23.604Z,1736368823.604 [DAT](INFO): DAT read: Rx Time:20:40:22.2491 2025-01-08T20:40:23.605Z,1736368823.605 [DAT](INFO): Rx dataTimestamp_ set to:1736368823.604554 2025-01-08T20:40:23.810Z,1736368823.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:40:23.810Z,1736368823.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:24.114Z,1736368824.114 [DAT](INFO): DAT read: 20:40:22.2491 LVL= 30448, 26993, 16210, 28483, AGC= 64, IDX= 418, 0.28, 1.822, 1.515, 3.113, 2.233, PHS=-0.323,-0.671, 0.877, RAW= 197.6, 1.7, CAL= 197.5, -5.9, ROT= 312.5, 5.9 2025-01-08T20:40:24.116Z,1736368824.116 [DAT](INFO): got valid direction response: 20:40:22.2491 LVL= 30448, 26993, 16210, 28483, AGC= 64, IDX= 418, 0.28, 1.822, 1.515, 3.113, 2.233, PHS=-0.323,-0.671, 0.877, RAW= 197.6, 1.7, CAL= 197.5, -5.9, ROT= 312.5, 5.9 2025-01-08T20:40:24.117Z,1736368824.117 [DAT](INFO): DAT read: Bearing 312.5, 5.9 (Local) 2025-01-08T20:40:24.117Z,1736368824.117 [DAT](INFO): Local bearing/azimuth received: Bearing 312.5, 5.9 (Local) 2025-01-08T20:40:24.119Z,1736368824.119 [DAT](INFO): DAT read: Range 10 to 50 : 186.7 m (Round-trip 249.0 ms) speed -0.4 m/s 2025-01-08T20:40:24.120Z,1736368824.120 [DAT](INFO): DAT read: user:1543> 2025-01-08T20:40:24.121Z,1736368824.121 [DAT](INFO): DAT read: Tx time:20:40:23.3459 2025-01-08T20:40:24.121Z,1736368824.121 [DAT](INFO): Ping request sent. 2025-01-08T20:40:24.121Z,1736368824.121 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:24.121Z,1736368824.121 [DAT](INFO): #Rx 136: Read range and direction messages. 2025-01-08T20:40:24.122Z,1736368824.122 [DAT](INFO): direction in FSK: [0.672012,-0.733372,-0.102793] 2025-01-08T20:40:24.122Z,1736368824.122 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:24.123Z,1736368824.123 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:24.126Z,1736368824.126 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:24.126Z,1736368824.126 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:24.224Z,1736368824.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:40:24.224Z,1736368824.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:24.361Z,1736368824.361 [DAT](INFO): DAT read: TxSync time:20:40:23.3452 2025-01-08T20:40:24.676Z,1736368824.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:40:24.676Z,1736368824.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:25.012Z,1736368825.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:40:25.012Z,1736368825.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:25.431Z,1736368825.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:40:25.431Z,1736368825.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:25.817Z,1736368825.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:40:25.817Z,1736368825.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:26.211Z,1736368826.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:40:26.212Z,1736368826.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:26.678Z,1736368826.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:40:26.679Z,1736368826.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:27.018Z,1736368827.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:40:27.019Z,1736368827.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:27.385Z,1736368827.385 [DAT](INFO): DAT read: Rx Time:20:40:26.0000 2025-01-08T20:40:27.385Z,1736368827.385 [DAT](INFO): Rx dataTimestamp_ set to:1736368827.384860 2025-01-08T20:40:27.456Z,1736368827.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:40:27.456Z,1736368827.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:27.831Z,1736368827.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:40:27.832Z,1736368827.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:27.892Z,1736368827.892 [DAT](INFO): DAT read: Range 10 to 50 : 187.3 m (Round-trip 249.8 ms) speed -0.1 m/s 2025-01-08T20:40:27.893Z,1736368827.893 [DAT](INFO): DAT read: user:1544> 2025-01-08T20:40:27.894Z,1736368827.894 [DAT](INFO): DAT read: Tx time:20:40:27.0960 2025-01-08T20:40:27.894Z,1736368827.894 [DAT](INFO): Ping request sent. 2025-01-08T20:40:27.894Z,1736368827.894 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:27.895Z,1736368827.895 [DAT](INFO): DAT read: TxSync time:20:40:27.0953 2025-01-08T20:40:27.896Z,1736368827.896 [DAT](ERROR): #Rx 137: Read range message, but no direction. 2025-01-08T20:40:27.896Z,1736368827.896 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:27.896Z,1736368827.896 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:28.253Z,1736368828.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:40:28.254Z,1736368828.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:28.665Z,1736368828.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:29.043Z,1736368829.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:29.443Z,1736368829.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:29.854Z,1736368829.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:30.305Z,1736368830.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:30.694Z,1736368830.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:40:30.694Z,1736368830.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:30.914Z,1736368830.914 [DAT](INFO): DAT read: Rx Time:20:40:29.7501 2025-01-08T20:40:30.914Z,1736368830.914 [DAT](INFO): Rx dataTimestamp_ set to:1736368830.914076 2025-01-08T20:40:31.064Z,1736368831.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:40:31.064Z,1736368831.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:31.420Z,1736368831.420 [DAT](INFO): DAT read: Range 10 to 50 : 187.5 m (Round-trip 250.0 ms) speed 0.2 m/s 2025-01-08T20:40:31.420Z,1736368831.420 [DAT](INFO): DAT read: user:1545> 2025-01-08T20:40:31.421Z,1736368831.421 [DAT](ERROR): #Rx 138: Read range message, but no direction. 2025-01-08T20:40:31.494Z,1736368831.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:40:31.494Z,1736368831.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:31.668Z,1736368831.668 [DAT](INFO): DAT read: Tx time:20:40:30.8460 2025-01-08T20:40:31.669Z,1736368831.669 [DAT](INFO): Ping request sent. 2025-01-08T20:40:31.669Z,1736368831.669 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:31.669Z,1736368831.669 [DAT](INFO): DAT read: TxSync time:20:40:30.8453 2025-01-08T20:40:31.670Z,1736368831.670 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:31.890Z,1736368831.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:40:31.890Z,1736368831.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:32.331Z,1736368832.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:40:32.331Z,1736368832.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:32.715Z,1736368832.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:33.095Z,1736368833.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:33.504Z,1736368833.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:33.899Z,1736368833.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:34.404Z,1736368834.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:40:34.404Z,1736368834.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:34.692Z,1736368834.692 [DAT](INFO): DAT read: Rx Time:20:40:33.5000 2025-01-08T20:40:34.693Z,1736368834.693 [DAT](INFO): Rx dataTimestamp_ set to:1736368834.692620 2025-01-08T20:40:34.724Z,1736368834.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:40:34.724Z,1736368834.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:35.112Z,1736368835.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:40:35.112Z,1736368835.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:35.197Z,1736368835.197 [DAT](INFO): DAT read: Range 10 to 50 : 187.3 m (Round-trip 249.8 ms) speed -0.2 m/s 2025-01-08T20:40:35.198Z,1736368835.198 [DAT](INFO): DAT read: user:1546> 2025-01-08T20:40:35.199Z,1736368835.199 [DAT](INFO): DAT read: Tx time:20:40:34.5960 2025-01-08T20:40:35.200Z,1736368835.200 [DAT](INFO): Ping request sent. 2025-01-08T20:40:35.200Z,1736368835.200 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:35.200Z,1736368835.200 [DAT](ERROR): #Rx 139: Read range message, but no direction. 2025-01-08T20:40:35.200Z,1736368835.200 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:35.201Z,1736368835.201 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:35.448Z,1736368835.448 [DAT](INFO): DAT read: TxSync time:20:40:34.5953 2025-01-08T20:40:35.517Z,1736368835.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:40:35.517Z,1736368835.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:35.918Z,1736368835.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:40:35.918Z,1736368835.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:36.359Z,1736368836.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:40:36.359Z,1736368836.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:36.545Z,1736368836.545 [DataOverHttps](INFO): Sending 568 bytes from file Logs/20250108T193415/Express0001.lzma 2025-01-08T20:40:36.732Z,1736368836.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:40:36.732Z,1736368836.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:37.120Z,1736368837.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:40:37.120Z,1736368837.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:37.533Z,1736368837.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:40:37.533Z,1736368837.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:37.545Z,1736368837.545 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0001.lzma.bak 2025-01-08T20:40:37.545Z,1736368837.545 [DataOverHttps](INFO): SBD MOMSN=23886056 2025-01-08T20:40:37.933Z,1736368837.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:40:37.933Z,1736368837.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:38.373Z,1736368838.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:40:38.374Z,1736368838.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:38.472Z,1736368838.472 [DAT](INFO): DAT read: Rx Time:20:40:37.2502 2025-01-08T20:40:38.473Z,1736368838.473 [DAT](INFO): Rx dataTimestamp_ set to:1736368838.472503 2025-01-08T20:40:38.752Z,1736368838.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:40:38.752Z,1736368838.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:38.984Z,1736368838.984 [DAT](INFO): DAT read: 20:40:37.2503 LVL= 8176, 12545, 9282, 9267, AGC= 71, IDX= 429,-0.07, 0.311, 0.165, 2.185, 0.891, PHS=-0.492,-0.679, 1.291, RAW= 205.1, -1.3, CAL= 204.2, -8.2, ROT= 305.8, 8.2 2025-01-08T20:40:38.985Z,1736368838.985 [DAT](INFO): got valid direction response: 20:40:37.2503 LVL= 8176, 12545, 9282, 9267, AGC= 71, IDX= 429,-0.07, 0.311, 0.165, 2.185, 0.891, PHS=-0.492,-0.679, 1.291, RAW= 205.1, -1.3, CAL= 204.2, -8.2, ROT= 305.8, 8.2 2025-01-08T20:40:38.986Z,1736368838.986 [DAT](INFO): DAT read: Bearing 305.8, 8.2 (Local) 2025-01-08T20:40:38.986Z,1736368838.986 [DAT](INFO): Local bearing/azimuth received: Bearing 305.8, 8.2 (Local) 2025-01-08T20:40:38.988Z,1736368838.988 [DAT](INFO): DAT read: Range 10 to 50 : 187.5 m (Round-trip 250.0 ms) speed 0.0 m/s 2025-01-08T20:40:38.988Z,1736368838.988 [DAT](INFO): DAT read: user:1547> 2025-01-08T20:40:38.989Z,1736368838.989 [DAT](INFO): DAT read: Tx time:20:40:38.3461 2025-01-08T20:40:38.989Z,1736368838.989 [DAT](INFO): Ping request sent. 2025-01-08T20:40:38.990Z,1736368838.990 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:38.990Z,1736368838.990 [DAT](INFO): #Rx 140: Read range and direction messages. 2025-01-08T20:40:38.991Z,1736368838.991 [DAT](INFO): direction in FSK: [0.578977,-0.802772,-0.142629] 2025-01-08T20:40:38.991Z,1736368838.991 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:38.992Z,1736368838.992 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:38.994Z,1736368838.994 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:38.995Z,1736368838.995 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:39.195Z,1736368839.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:40:39.203Z,1736368839.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:39.228Z,1736368839.228 [DAT](INFO): DAT read: TxSync time:20:40:38.3454 2025-01-08T20:40:39.552Z,1736368839.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:40:39.552Z,1736368839.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:39.957Z,1736368839.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:40:39.957Z,1736368839.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:40.418Z,1736368840.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:40:40.418Z,1736368840.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:40.794Z,1736368840.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:40:40.794Z,1736368840.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:41.185Z,1736368841.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:40:41.185Z,1736368841.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:41.570Z,1736368841.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:40:41.570Z,1736368841.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:41.980Z,1736368841.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:40:41.980Z,1736368841.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:42.252Z,1736368842.252 [DAT](INFO): DAT read: Rx Time:20:40:41.0004 2025-01-08T20:40:42.253Z,1736368842.253 [DAT](INFO): Rx dataTimestamp_ set to:1736368842.252514 2025-01-08T20:40:42.402Z,1736368842.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:42.765Z,1736368842.765 [DAT](INFO): DAT read: Range 10 to 50 : 187.6 m (Round-trip 250.2 ms) speed 0.0 m/s 2025-01-08T20:40:42.766Z,1736368842.766 [DAT](INFO): DAT read: user:1548> 2025-01-08T20:40:42.767Z,1736368842.767 [DAT](INFO): DAT read: Tx time:20:40:42.0960 2025-01-08T20:40:42.767Z,1736368842.767 [DAT](INFO): Ping request sent. 2025-01-08T20:40:42.767Z,1736368842.767 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:42.768Z,1736368842.768 [DAT](ERROR): #Rx 141: Read range message, but no direction. 2025-01-08T20:40:42.768Z,1736368842.768 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:42.768Z,1736368842.768 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:42.781Z,1736368842.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:43.017Z,1736368843.017 [DAT](INFO): DAT read: TxSync time:20:40:42.0953 2025-01-08T20:40:43.188Z,1736368843.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:43.603Z,1736368843.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:44.004Z,1736368844.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:44.446Z,1736368844.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:40:44.447Z,1736368844.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:44.800Z,1736368844.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:40:44.800Z,1736368844.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:45.217Z,1736368845.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:40:45.217Z,1736368845.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:45.616Z,1736368845.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:40:45.616Z,1736368845.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:46.040Z,1736368846.040 [DAT](INFO): DAT read: Rx Time:20:40:44.7505 2025-01-08T20:40:46.041Z,1736368846.041 [DAT](INFO): Rx dataTimestamp_ set to:1736368846.040501 2025-01-08T20:40:46.101Z,1736368846.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:40:46.101Z,1736368846.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:46.551Z,1736368846.551 [DAT](INFO): DAT read: 20:40:44.7505 LVL= 17184, 22385, 12914, 19683, AGC= 68, IDX= 447, 0.26, 2.165, 2.162,-2.628, 2.717, PHS=-0.464,-0.508, 0.936, RAW= 208.5, 0.5, CAL= 208.3, -6.4, ROT= 301.7, 6.4 2025-01-08T20:40:46.552Z,1736368846.552 [DAT](INFO): got valid direction response: 20:40:44.7505 LVL= 17184, 22385, 12914, 19683, AGC= 68, IDX= 447, 0.26, 2.165, 2.162,-2.628, 2.717, PHS=-0.464,-0.508, 0.936, RAW= 208.5, 0.5, CAL= 208.3, -6.4, ROT= 301.7, 6.4 2025-01-08T20:40:46.553Z,1736368846.553 [DAT](INFO): DAT read: Bearing 301.7, 6.4 (Local) 2025-01-08T20:40:46.553Z,1736368846.553 [DAT](INFO): Local bearing/azimuth received: Bearing 301.7, 6.4 (Local) 2025-01-08T20:40:46.555Z,1736368846.555 [DAT](INFO): DAT read: Range 10 to 50 : 187.6 m (Round-trip 250.2 ms) speed 0.1 m/s 2025-01-08T20:40:46.555Z,1736368846.555 [DAT](INFO): DAT read: user:1549> 2025-01-08T20:40:46.556Z,1736368846.556 [DAT](INFO): DAT read: Tx time:20:40:45.8461 2025-01-08T20:40:46.556Z,1736368846.556 [DAT](INFO): Ping request sent. 2025-01-08T20:40:46.556Z,1736368846.556 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:46.557Z,1736368846.557 [DAT](INFO): #Rx 142: Read range and direction messages. 2025-01-08T20:40:46.558Z,1736368846.558 [DAT](INFO): direction in FSK: [0.522197,-0.845509,-0.111469] 2025-01-08T20:40:46.558Z,1736368846.558 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:46.558Z,1736368846.558 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:46.561Z,1736368846.561 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:46.561Z,1736368846.561 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:46.587Z,1736368846.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s. 2025-01-08T20:40:46.587Z,1736368846.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:46.804Z,1736368846.804 [DAT](INFO): DAT read: TxSync time:20:40:45.8454 2025-01-08T20:40:46.858Z,1736368846.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T20:40:46.858Z,1736368846.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:47.252Z,1736368847.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:40:47.252Z,1736368847.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:47.637Z,1736368847.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:40:47.637Z,1736368847.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:48.038Z,1736368848.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:40:48.038Z,1736368848.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:48.482Z,1736368848.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:40:48.482Z,1736368848.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:48.852Z,1736368848.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:40:48.852Z,1736368848.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:49.257Z,1736368849.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:40:49.257Z,1736368849.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:49.664Z,1736368849.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:40:49.664Z,1736368849.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:49.828Z,1736368849.828 [DAT](INFO): DAT read: Rx Time:20:40:48.5003 2025-01-08T20:40:49.829Z,1736368849.829 [DAT](INFO): Rx dataTimestamp_ set to:1736368849.828570 2025-01-08T20:40:50.053Z,1736368850.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:40:50.053Z,1736368850.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:50.338Z,1736368850.338 [DAT](INFO): DAT read: 20:40:48.5003 LVL= 9008, 16465, 7154, 10067, AGC= 70, IDX= 445, 0.21,-2.322,-2.511,-0.809,-2.009, PHS=-0.225,-0.455, 1.197, RAW= 202.6, -6.7, CAL= 200.6, -12.9, ROT= 309.4, 12.9 2025-01-08T20:40:50.340Z,1736368850.340 [DAT](INFO): got valid direction response: 20:40:48.5003 LVL= 9008, 16465, 7154, 10067, AGC= 70, IDX= 445, 0.21,-2.322,-2.511,-0.809,-2.009, PHS=-0.225,-0.455, 1.197, RAW= 202.6, -6.7, CAL= 200.6, -12.9, ROT= 309.4, 12.9 2025-01-08T20:40:50.340Z,1736368850.340 [DAT](INFO): DAT read: Bearing 309.4, 12.9 (Local) 2025-01-08T20:40:50.341Z,1736368850.341 [DAT](INFO): Local bearing/azimuth received: Bearing 309.4, 12.9 (Local) 2025-01-08T20:40:50.342Z,1736368850.342 [DAT](INFO): DAT read: Range 10 to 50 : 187.5 m (Round-trip 250.0 ms) speed 0.0 m/s 2025-01-08T20:40:50.343Z,1736368850.343 [DAT](INFO): DAT read: user:1550> 2025-01-08T20:40:50.344Z,1736368850.344 [DAT](INFO): DAT read: Tx time:20:40:49.5961 2025-01-08T20:40:50.344Z,1736368850.344 [DAT](INFO): Ping request sent. 2025-01-08T20:40:50.344Z,1736368850.344 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:50.345Z,1736368850.345 [DAT](INFO): #Rx 143: Read range and direction messages. 2025-01-08T20:40:50.345Z,1736368850.345 [DAT](INFO): direction in FSK: [0.618711,-0.753231,-0.223250] 2025-01-08T20:40:50.346Z,1736368850.346 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:50.346Z,1736368850.346 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:50.349Z,1736368850.349 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:50.349Z,1736368850.349 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:50.508Z,1736368850.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:40:50.508Z,1736368850.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:50.585Z,1736368850.585 [DAT](INFO): DAT read: TxSync time:20:40:49.5954 2025-01-08T20:40:50.861Z,1736368850.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:40:50.861Z,1736368850.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:51.263Z,1736368851.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:40:51.264Z,1736368851.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:51.668Z,1736368851.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:40:51.669Z,1736368851.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:52.081Z,1736368852.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:40:52.081Z,1736368852.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:52.504Z,1736368852.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:52.876Z,1736368852.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:53.286Z,1736368853.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:53.608Z,1736368853.608 [DAT](INFO): DAT read: Rx Time:20:40:52.2505 2025-01-08T20:40:53.609Z,1736368853.609 [DAT](INFO): Rx dataTimestamp_ set to:1736368853.608469 2025-01-08T20:40:53.694Z,1736368853.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:54.093Z,1736368854.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:54.113Z,1736368854.113 [DAT](INFO): DAT read: Range 10 to 50 : 187.6 m (Round-trip 250.2 ms) speed 0.0 m/s 2025-01-08T20:40:54.114Z,1736368854.114 [DAT](INFO): DAT read: user:1551> 2025-01-08T20:40:54.115Z,1736368854.115 [DAT](INFO): DAT read: Tx time:20:40:53.3461 2025-01-08T20:40:54.115Z,1736368854.115 [DAT](INFO): Ping request sent. 2025-01-08T20:40:54.115Z,1736368854.115 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:54.116Z,1736368854.116 [DAT](ERROR): #Rx 144: Read range message, but no direction. 2025-01-08T20:40:54.116Z,1736368854.116 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:54.116Z,1736368854.116 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:54.365Z,1736368854.365 [DAT](INFO): DAT read: TxSync time:20:40:53.3454 2025-01-08T20:40:54.509Z,1736368854.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:40:54.510Z,1736368854.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:54.904Z,1736368854.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:40:54.904Z,1736368854.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:55.317Z,1736368855.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:40:55.317Z,1736368855.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:55.716Z,1736368855.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:40:55.716Z,1736368855.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:56.130Z,1736368856.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:40:56.130Z,1736368856.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:56.551Z,1736368856.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:40:56.571Z,1736368856.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:56.932Z,1736368856.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:40:56.932Z,1736368856.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:57.341Z,1736368857.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:40:57.341Z,1736368857.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:57.388Z,1736368857.388 [DAT](INFO): DAT read: Rx Time:20:40:56.0003 2025-01-08T20:40:57.389Z,1736368857.389 [DAT](INFO): Rx dataTimestamp_ set to:1736368857.388531 2025-01-08T20:40:57.769Z,1736368857.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:40:57.770Z,1736368857.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:57.900Z,1736368857.900 [DAT](INFO): DAT read: 20:40:56.0003 LVL= 13584, 16737, 7010, 14067, AGC= 61, IDX= 443, 0.18,-0.572,-1.623, 0.028,-0.849, PHS= 0.365,-0.727, 0.874, RAW= 168.1, -7.3, CAL= 171.1, -14.0, ROT= 338.9, 14.0 2025-01-08T20:40:57.901Z,1736368857.901 [DAT](INFO): got valid direction response: 20:40:56.0003 LVL= 13584, 16737, 7010, 14067, AGC= 61, IDX= 443, 0.18,-0.572,-1.623, 0.028,-0.849, PHS= 0.365,-0.727, 0.874, RAW= 168.1, -7.3, CAL= 171.1, -14.0, ROT= 338.9, 14.0 2025-01-08T20:40:57.902Z,1736368857.902 [DAT](INFO): DAT read: Bearing 338.9, 14.0 (Local) 2025-01-08T20:40:57.902Z,1736368857.902 [DAT](INFO): Local bearing/azimuth received: Bearing 338.9, 14.0 (Local) 2025-01-08T20:40:57.904Z,1736368857.904 [DAT](INFO): DAT read: Range 10 to 50 : 187.5 m (Round-trip 250.0 ms) speed -0.1 m/s 2025-01-08T20:40:57.905Z,1736368857.905 [DAT](INFO): DAT read: user:1552> 2025-01-08T20:40:57.905Z,1736368857.905 [DAT](INFO): DAT read: Tx time:20:40:57.0962 2025-01-08T20:40:57.906Z,1736368857.906 [DAT](INFO): Ping request sent. 2025-01-08T20:40:57.906Z,1736368857.906 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:40:57.906Z,1736368857.906 [DAT](INFO): DAT read: TxSync time:20:40:57.0955 2025-01-08T20:40:57.907Z,1736368857.907 [DAT](INFO): #Rx 145: Read range and direction messages. 2025-01-08T20:40:57.940Z,1736368857.940 [DAT](INFO): direction in FSK: [0.905241,-0.349303,-0.241922] 2025-01-08T20:40:57.940Z,1736368857.940 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:57.941Z,1736368857.941 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:57.960Z,1736368857.960 [DAT](INFO): publishing transmit ping time 2025-01-08T20:40:57.960Z,1736368857.960 [DAT](INFO): publishing direction and range info 2025-01-08T20:40:58.164Z,1736368858.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:40:58.164Z,1736368858.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:58.588Z,1736368858.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:58.942Z,1736368858.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:59.345Z,1736368859.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:59.755Z,1736368859.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:40:59.891Z,1736368859.891 [DataOverHttps](INFO): Sending 83 bytes from file Logs/20250108T193415/Express0004.lzma 2025-01-08T20:41:00.147Z,1736368860.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:00.569Z,1736368860.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:41:00.569Z,1736368860.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:00.893Z,1736368860.893 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0004.lzma.bak 2025-01-08T20:41:00.894Z,1736368860.894 [DataOverHttps](INFO): SBD MOMSN=23886059 2025-01-08T20:41:00.924Z,1736368860.924 [DAT](INFO): DAT read: Rx Time:20:40:59.7507 2025-01-08T20:41:00.925Z,1736368860.925 [DAT](INFO): Rx dataTimestamp_ set to:1736368860.924421 2025-01-08T20:41:00.984Z,1736368860.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:41:00.985Z,1736368860.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:01.369Z,1736368861.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:41:01.369Z,1736368861.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:01.686Z,1736368861.686 [DAT](INFO): DAT read: 20:40:59.7507 LVL= 18160, 21137, 13154, 21107, AGC= 69, IDX= 432, 0.30,-1.306,-1.955, 0.022,-1.082, PHS=-0.137,-0.826, 1.101, RAW= 189.3, -1.6, CAL= 189.2, -8.8, ROT= 320.8, 8.8 2025-01-08T20:41:01.688Z,1736368861.688 [DAT](INFO): got valid direction response: 20:40:59.7507 LVL= 18160, 21137, 13154, 21107, AGC= 69, IDX= 432, 0.30,-1.306,-1.955, 0.022,-1.082, PHS=-0.137,-0.826, 1.101, RAW= 189.3, -1.6, CAL= 189.2, -8.8, ROT= 320.8, 8.8 2025-01-08T20:41:01.689Z,1736368861.689 [DAT](INFO): DAT read: Bearing 320.8, 8.8 (Local) 2025-01-08T20:41:01.689Z,1736368861.689 [DAT](INFO): Local bearing/azimuth received: Bearing 320.8, 8.8 (Local) 2025-01-08T20:41:01.694Z,1736368861.694 [DAT](INFO): DAT read: Range 10 to 50 : 187.7 m (Round-trip 250.3 ms) speed 0.0 m/s 2025-01-08T20:41:01.696Z,1736368861.696 [DAT](INFO): DAT read: user:1553> 2025-01-08T20:41:01.697Z,1736368861.697 [DAT](INFO): DAT read: Tx time:20:41:00.8462 2025-01-08T20:41:01.697Z,1736368861.697 [DAT](INFO): Ping request sent. 2025-01-08T20:41:01.697Z,1736368861.697 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:01.698Z,1736368861.698 [DAT](INFO): DAT read: TxSync time:20:41:00.8455 2025-01-08T20:41:01.699Z,1736368861.699 [DAT](INFO): #Rx 146: Read range and direction messages. 2025-01-08T20:41:01.700Z,1736368861.700 [DAT](INFO): direction in FSK: [0.765822,-0.624589,-0.152986] 2025-01-08T20:41:01.700Z,1736368861.700 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:01.700Z,1736368861.700 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:01.703Z,1736368861.703 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:01.704Z,1736368861.704 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:01.796Z,1736368861.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:41:01.796Z,1736368861.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:02.200Z,1736368862.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:41:02.200Z,1736368862.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:02.612Z,1736368862.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:02.993Z,1736368862.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:03.393Z,1736368863.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:03.800Z,1736368863.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:04.211Z,1736368864.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:04.641Z,1736368864.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:41:04.641Z,1736368864.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:04.704Z,1736368864.704 [DAT](INFO): DAT read: Rx Time:20:41:03.5005 2025-01-08T20:41:04.705Z,1736368864.705 [DAT](INFO): Rx dataTimestamp_ set to:1736368864.704595 2025-01-08T20:41:05.001Z,1736368865.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:41:05.001Z,1736368865.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:05.216Z,1736368865.216 [DAT](INFO): DAT read: 20:41:03.5005 LVL= 13888, 14209, 10562, 13523, AGC= 63, IDX= 446, 0.22, 2.401, 2.549,-1.976,-3.106, PHS=-0.688,-0.582, 1.126, RAW= 213.0, 1.7, CAL= 213.4, -4.6, ROT= 296.6, 4.6 2025-01-08T20:41:05.218Z,1736368865.218 [DAT](INFO): got valid direction response: 20:41:03.5005 LVL= 13888, 14209, 10562, 13523, AGC= 63, IDX= 446, 0.22, 2.401, 2.549,-1.976,-3.106, PHS=-0.688,-0.582, 1.126, RAW= 213.0, 1.7, CAL= 213.4, -4.6, ROT= 296.6, 4.6 2025-01-08T20:41:05.218Z,1736368865.218 [DAT](INFO): DAT read: Bearing 296.6, 4.6 (Local) 2025-01-08T20:41:05.219Z,1736368865.219 [DAT](INFO): Local bearing/azimuth received: Bearing 296.6, 4.6 (Local) 2025-01-08T20:41:05.220Z,1736368865.220 [DAT](INFO): DAT read: Range 10 to 50 : 187.5 m (Round-trip 250.1 ms) speed 0.2 m/s 2025-01-08T20:41:05.221Z,1736368865.221 [DAT](INFO): DAT read: user:1554> 2025-01-08T20:41:05.222Z,1736368865.222 [DAT](INFO): DAT read: Tx time:20:41:04.5962 2025-01-08T20:41:05.222Z,1736368865.222 [DAT](INFO): Ping request sent. 2025-01-08T20:41:05.222Z,1736368865.222 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:05.222Z,1736368865.222 [DAT](INFO): #Rx 147: Read range and direction messages. 2025-01-08T20:41:05.224Z,1736368865.224 [DAT](INFO): direction in FSK: [0.446317,-0.891274,-0.080199] 2025-01-08T20:41:05.224Z,1736368865.224 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:05.225Z,1736368865.225 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:05.228Z,1736368865.228 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:05.228Z,1736368865.228 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:05.444Z,1736368865.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:41:05.444Z,1736368865.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:05.460Z,1736368865.460 [DAT](INFO): DAT read: TxSync time:20:41:04.5955 2025-01-08T20:41:05.834Z,1736368865.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:41:05.834Z,1736368865.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:06.219Z,1736368866.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:41:06.219Z,1736368866.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:06.643Z,1736368866.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:41:06.647Z,1736368866.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:07.028Z,1736368867.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:41:07.028Z,1736368867.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:07.437Z,1736368867.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:41:07.437Z,1736368867.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:07.840Z,1736368867.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:41:07.840Z,1736368867.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:08.253Z,1736368868.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:41:08.253Z,1736368868.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:08.484Z,1736368868.484 [DAT](INFO): DAT read: Rx Time:20:41:07.2503 2025-01-08T20:41:08.485Z,1736368868.485 [DAT](INFO): Rx dataTimestamp_ set to:1736368868.484516 2025-01-08T20:41:08.680Z,1736368868.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:41:08.680Z,1736368868.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:08.990Z,1736368868.990 [DAT](INFO): DAT read: Range 10 to 50 : 187.4 m (Round-trip 249.9 ms) speed 0.0 m/s 2025-01-08T20:41:08.990Z,1736368868.990 [DAT](INFO): DAT read: user:1555> 2025-01-08T20:41:08.991Z,1736368868.991 [DAT](INFO): DAT read: Tx time:20:41:08.3463 2025-01-08T20:41:08.992Z,1736368868.992 [DAT](INFO): Ping request sent. 2025-01-08T20:41:08.992Z,1736368868.992 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:08.992Z,1736368868.992 [DAT](ERROR): #Rx 148: Read range message, but no direction. 2025-01-08T20:41:08.992Z,1736368868.992 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:08.993Z,1736368868.993 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:09.093Z,1736368869.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:41:09.093Z,1736368869.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:09.241Z,1736368869.241 [DAT](INFO): DAT read: TxSync time:20:41:08.3456 2025-01-08T20:41:09.460Z,1736368869.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:41:09.460Z,1736368869.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:09.856Z,1736368869.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:41:09.856Z,1736368869.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:10.306Z,1736368870.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:41:10.315Z,1736368870.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:10.676Z,1736368870.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:41:10.676Z,1736368870.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:11.060Z,1736368871.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T20:41:11.060Z,1736368871.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:11.460Z,1736368871.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T20:41:11.460Z,1736368871.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:11.864Z,1736368871.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:41:11.864Z,1736368871.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:12.267Z,1736368872.267 [DAT](INFO): DAT read: Rx Time:20:41:11.0008 2025-01-08T20:41:12.268Z,1736368872.268 [DAT](INFO): Rx dataTimestamp_ set to:1736368872.267447 2025-01-08T20:41:12.333Z,1736368872.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:41:12.333Z,1736368872.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:12.741Z,1736368872.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:41:12.741Z,1736368872.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:12.774Z,1736368872.774 [DAT](INFO): DAT read: 20:41:11.0008 LVL= 20208, 24209, 14610, 23923, AGC= 76, IDX= 433,-0.47,-1.696, 2.610,-2.440,-2.964, PHS= 1.356,-0.663, 0.521, RAW= 125.7, -13.7, CAL= 130.3, -24.3, ROT= 19.7, 24.3 2025-01-08T20:41:12.775Z,1736368872.775 [DAT](INFO): got valid direction response: 20:41:11.0008 LVL= 20208, 24209, 14610, 23923, AGC= 76, IDX= 433,-0.47,-1.696, 2.610,-2.440,-2.964, PHS= 1.356,-0.663, 0.521, RAW= 125.7, -13.7, CAL= 130.3, -24.3, ROT= 19.7, 24.3 2025-01-08T20:41:12.776Z,1736368872.776 [DAT](INFO): DAT read: Bearing 19.7, 24.3 (Local) 2025-01-08T20:41:12.777Z,1736368872.777 [DAT](INFO): Local bearing/azimuth received: Bearing 19.7, 24.3 (Local) 2025-01-08T20:41:12.778Z,1736368872.778 [DAT](INFO): DAT read: Range 10 to 50 : 187.7 m (Round-trip 250.3 ms) speed -0.3 m/s 2025-01-08T20:41:12.779Z,1736368872.779 [DAT](INFO): DAT read: user:1556> 2025-01-08T20:41:12.780Z,1736368872.780 [DAT](INFO): DAT read: Tx time:20:41:12.0963 2025-01-08T20:41:12.780Z,1736368872.780 [DAT](INFO): Ping request sent. 2025-01-08T20:41:12.780Z,1736368872.780 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:12.781Z,1736368872.781 [DAT](INFO): #Rx 149: Read range and direction messages. 2025-01-08T20:41:12.782Z,1736368872.782 [DAT](INFO): direction in FSK: [0.858059,0.307230,-0.411514] 2025-01-08T20:41:12.782Z,1736368872.782 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:12.782Z,1736368872.782 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:12.785Z,1736368872.785 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:12.786Z,1736368872.786 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:13.020Z,1736368873.020 [DAT](INFO): DAT read: TxSync time:20:41:12.0956 2025-01-08T20:41:13.091Z,1736368873.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:41:13.092Z,1736368873.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:13.495Z,1736368873.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:41:13.495Z,1736368873.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:13.883Z,1736368873.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:41:13.884Z,1736368873.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:14.357Z,1736368874.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:14.709Z,1736368874.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:15.099Z,1736368875.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:15.503Z,1736368875.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:15.920Z,1736368875.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:16.044Z,1736368876.044 [DAT](INFO): DAT read: Rx Time:20:41:14.7516 2025-01-08T20:41:16.045Z,1736368876.045 [DAT](INFO): Rx dataTimestamp_ set to:1736368876.044447 2025-01-08T20:41:16.405Z,1736368876.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:16.554Z,1736368876.554 [DAT](INFO): DAT read: 20:41:14.7516 LVL= 32752, 30689, 18578, 32755, AGC= 67, IDX= 439, 0.44,-2.652, 2.482,-1.945,-2.902, PHS= 0.339,-0.852, 0.955, RAW= 169.6, -5.6, CAL= 172.0, -12.6, ROT= 338.0, 12.6 2025-01-08T20:41:16.555Z,1736368876.555 [DAT](INFO): got valid direction response: 20:41:14.7516 LVL= 32752, 30689, 18578, 32755, AGC= 67, IDX= 439, 0.44,-2.652, 2.482,-1.945,-2.902, PHS= 0.339,-0.852, 0.955, RAW= 169.6, -5.6, CAL= 172.0, -12.6, ROT= 338.0, 12.6 2025-01-08T20:41:16.556Z,1736368876.556 [DAT](INFO): DAT read: Bearing 338.0, 12.6 (Local) 2025-01-08T20:41:16.557Z,1736368876.557 [DAT](INFO): Local bearing/azimuth received: Bearing 338.0, 12.6 (Local) 2025-01-08T20:41:16.558Z,1736368876.558 [DAT](INFO): DAT read: Range 10 to 50 : 188.3 m (Round-trip 251.1 ms) speed 0.3 m/s 2025-01-08T20:41:16.559Z,1736368876.559 [DAT](INFO): DAT read: user:1557> 2025-01-08T20:41:16.560Z,1736368876.560 [DAT](INFO): DAT read: Tx time:20:41:15.8463 2025-01-08T20:41:16.560Z,1736368876.560 [DAT](INFO): Ping request sent. 2025-01-08T20:41:16.560Z,1736368876.560 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:16.560Z,1736368876.560 [DAT](INFO): #Rx 150: Read range and direction messages. 2025-01-08T20:41:16.561Z,1736368876.561 [DAT](INFO): direction in FSK: [0.904854,-0.365585,-0.218143] 2025-01-08T20:41:16.562Z,1736368876.562 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:16.562Z,1736368876.562 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:16.565Z,1736368876.565 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:16.566Z,1736368876.566 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:16.732Z,1736368876.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:16.800Z,1736368876.800 [DAT](INFO): DAT read: TxSync time:20:41:15.8456 2025-01-08T20:41:17.124Z,1736368877.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:17.532Z,1736368877.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:17.948Z,1736368877.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:18.401Z,1736368878.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:18.739Z,1736368878.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:19.174Z,1736368879.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:19.552Z,1736368879.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:19.824Z,1736368879.824 [DAT](INFO): DAT read: Rx Time:20:41:18.5005 2025-01-08T20:41:19.825Z,1736368879.825 [DAT](INFO): Rx dataTimestamp_ set to:1736368879.824446 2025-01-08T20:41:19.974Z,1736368879.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:20.336Z,1736368880.336 [DAT](INFO): DAT read: 20:41:18.5005 LVL= 29904, 32017, 13410, 31923, AGC= 65, IDX= 429,-0.48, 1.839, 0.843, 2.403, 1.627, PHS= 0.300,-0.736, 0.774, RAW= 167.8, -5.1, CAL= 170.4, -12.3, ROT= 339.6, 12.3 2025-01-08T20:41:20.337Z,1736368880.337 [DAT](INFO): got valid direction response: 20:41:18.5005 LVL= 29904, 32017, 13410, 31923, AGC= 65, IDX= 429,-0.48, 1.839, 0.843, 2.403, 1.627, PHS= 0.300,-0.736, 0.774, RAW= 167.8, -5.1, CAL= 170.4, -12.3, ROT= 339.6, 12.3 2025-01-08T20:41:20.338Z,1736368880.338 [DAT](INFO): DAT read: Bearing 339.6, 12.3 (Local) 2025-01-08T20:41:20.338Z,1736368880.338 [DAT](INFO): Local bearing/azimuth received: Bearing 339.6, 12.3 (Local) 2025-01-08T20:41:20.340Z,1736368880.340 [DAT](INFO): DAT read: Range 10 to 50 : 187.5 m (Round-trip 250.0 ms) speed 0.2 m/s 2025-01-08T20:41:20.341Z,1736368880.341 [DAT](INFO): DAT read: user:1558> 2025-01-08T20:41:20.342Z,1736368880.342 [DAT](INFO): DAT read: Tx time:20:41:19.5963 2025-01-08T20:41:20.342Z,1736368880.342 [DAT](INFO): Ping request sent. 2025-01-08T20:41:20.342Z,1736368880.342 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:20.342Z,1736368880.342 [DAT](INFO): #Rx 151: Read range and direction messages. 2025-01-08T20:41:20.344Z,1736368880.344 [DAT](INFO): direction in FSK: [0.915767,-0.340571,-0.213030] 2025-01-08T20:41:20.344Z,1736368880.344 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:20.344Z,1736368880.344 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:20.348Z,1736368880.348 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:20.348Z,1736368880.348 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:20.560Z,1736368880.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T20:41:20.560Z,1736368880.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:20.580Z,1736368880.580 [DAT](INFO): DAT read: TxSync time:20:41:19.5956 2025-01-08T20:41:20.753Z,1736368880.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:41:20.753Z,1736368880.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:21.183Z,1736368881.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:41:21.183Z,1736368881.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:21.620Z,1736368881.620 [DataOverHttps](INFO): Sending 484 bytes from file Logs/20250108T193415/Express0007.lzma 2025-01-08T20:41:21.673Z,1736368881.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T20:41:21.674Z,1736368881.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:21.977Z,1736368881.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:41:21.977Z,1736368881.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:22.396Z,1736368882.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:41:22.396Z,1736368882.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:22.622Z,1736368882.622 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0007.lzma.bak 2025-01-08T20:41:22.622Z,1736368882.622 [DataOverHttps](INFO): SBD MOMSN=23886061 2025-01-08T20:41:22.789Z,1736368882.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:41:22.789Z,1736368882.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:23.177Z,1736368883.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:41:23.177Z,1736368883.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:23.583Z,1736368883.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:41:23.583Z,1736368883.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:23.604Z,1736368883.604 [DAT](INFO): DAT read: Rx Time:20:41:22.2501 2025-01-08T20:41:23.605Z,1736368883.605 [DAT](INFO): Rx dataTimestamp_ set to:1736368883.604510 2025-01-08T20:41:23.997Z,1736368883.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:41:23.997Z,1736368883.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:24.114Z,1736368884.114 [DAT](INFO): DAT read: 20:41:22.2501 LVL= 13536, 17329, 9442, 11171, AGC= 65, IDX= 440,-0.33,-1.636,-1.398, 0.098,-0.938, PHS=-0.611,-0.413, 1.032, RAW= 216.3, -0.1, CAL= 216.0, -6.2, ROT= 294.0, 6.2 2025-01-08T20:41:24.115Z,1736368884.115 [DAT](INFO): got valid direction response: 20:41:22.2501 LVL= 13536, 17329, 9442, 11171, AGC= 65, IDX= 440,-0.33,-1.636,-1.398, 0.098,-0.938, PHS=-0.611,-0.413, 1.032, RAW= 216.3, -0.1, CAL= 216.0, -6.2, ROT= 294.0, 6.2 2025-01-08T20:41:24.116Z,1736368884.116 [DAT](INFO): DAT read: Bearing 294.0, 6.2 (Local) 2025-01-08T20:41:24.117Z,1736368884.117 [DAT](INFO): Local bearing/azimuth received: Bearing 294.0, 6.2 (Local) 2025-01-08T20:41:24.118Z,1736368884.118 [DAT](INFO): DAT read: Range 10 to 50 : 187.2 m (Round-trip 249.6 ms) speed -0.1 m/s 2025-01-08T20:41:24.119Z,1736368884.119 [DAT](INFO): DAT read: user:1559> 2025-01-08T20:41:24.120Z,1736368884.120 [DAT](INFO): DAT read: Tx time:20:41:23.3464 2025-01-08T20:41:24.120Z,1736368884.120 [DAT](INFO): Ping request sent. 2025-01-08T20:41:24.120Z,1736368884.120 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:24.120Z,1736368884.120 [DAT](INFO): #Rx 152: Read range and direction messages. 2025-01-08T20:41:24.121Z,1736368884.121 [DAT](INFO): direction in FSK: [0.404358,-0.908202,-0.107999] 2025-01-08T20:41:24.122Z,1736368884.122 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:24.122Z,1736368884.122 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:24.125Z,1736368884.125 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:24.126Z,1736368884.126 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:24.360Z,1736368884.360 [DAT](INFO): DAT read: TxSync time:20:41:23.3457 2025-01-08T20:41:24.415Z,1736368884.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:41:24.423Z,1736368884.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:24.801Z,1736368884.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:41:24.801Z,1736368884.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:25.212Z,1736368885.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:41:25.212Z,1736368885.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:25.609Z,1736368885.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:41:25.609Z,1736368885.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:26.016Z,1736368886.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:41:26.016Z,1736368886.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:26.467Z,1736368886.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:41:26.467Z,1736368886.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:26.826Z,1736368886.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:41:26.826Z,1736368886.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:27.219Z,1736368887.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T20:41:27.219Z,1736368887.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:27.384Z,1736368887.384 [DAT](INFO): DAT read: Rx Time:20:41:26.0019 2025-01-08T20:41:27.385Z,1736368887.385 [DAT](INFO): Rx dataTimestamp_ set to:1736368887.384460 2025-01-08T20:41:27.625Z,1736368887.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:41:27.625Z,1736368887.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:27.898Z,1736368887.898 [DAT](INFO): DAT read: 20:41:26.0019 LVL= 16240, 19921, 20722, 24675, AGC= 75, IDX= 441, 0.06,-2.557,-2.504,-0.806,-1.340, PHS=-1.129,-1.117, 0.531, RAW= 210.4, 20.1, CAL= 212.0, 25.9, ROT= 298.0, -25.9 2025-01-08T20:41:27.899Z,1736368887.899 [DAT](INFO): got valid direction response: 20:41:26.0019 LVL= 16240, 19921, 20722, 24675, AGC= 75, IDX= 441, 0.06,-2.557,-2.504,-0.806,-1.340, PHS=-1.129,-1.117, 0.531, RAW= 210.4, 20.1, CAL= 212.0, 25.9, ROT= 298.0, -25.9 2025-01-08T20:41:27.900Z,1736368887.900 [DAT](INFO): DAT read: Bearing 298.0, -25.9 (Local) 2025-01-08T20:41:27.901Z,1736368887.901 [DAT](INFO): Local bearing/azimuth received: Bearing 298.0, -25.9 (Local) 2025-01-08T20:41:27.902Z,1736368887.902 [DAT](INFO): DAT read: Range 10 to 50 : 188.4 m (Round-trip 251.3 ms) speed -0.3 m/s 2025-01-08T20:41:27.904Z,1736368887.904 [DAT](INFO): DAT read: user:1560> 2025-01-08T20:41:27.905Z,1736368887.905 [DAT](INFO): DAT read: Tx time:20:41:27.0964 2025-01-08T20:41:27.905Z,1736368887.905 [DAT](INFO): Ping request sent. 2025-01-08T20:41:27.905Z,1736368887.905 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:27.906Z,1736368887.906 [DAT](INFO): DAT read: TxSync time:20:41:27.0957 2025-01-08T20:41:27.906Z,1736368887.906 [DAT](INFO): #Rx 153: Read range and direction messages. 2025-01-08T20:41:27.907Z,1736368887.907 [DAT](INFO): direction in FSK: [0.422317,-0.794262,0.436802] 2025-01-08T20:41:27.908Z,1736368887.908 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:27.908Z,1736368887.908 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:27.911Z,1736368887.911 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:27.911Z,1736368887.911 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:28.048Z,1736368888.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:41:28.049Z,1736368888.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:28.466Z,1736368888.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:41:28.466Z,1736368888.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:28.848Z,1736368888.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:41:28.848Z,1736368888.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:29.245Z,1736368889.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:41:29.245Z,1736368889.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:29.656Z,1736368889.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:41:29.656Z,1736368889.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:30.066Z,1736368890.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:41:30.066Z,1736368890.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:30.500Z,1736368890.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:30.860Z,1736368890.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:30.912Z,1736368890.912 [DAT](INFO): DAT read: Rx Time:20:41:29.7518 2025-01-08T20:41:30.913Z,1736368890.913 [DAT](INFO): Rx dataTimestamp_ set to:1736368890.912634 2025-01-08T20:41:31.271Z,1736368891.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:31.675Z,1736368891.675 [DAT](INFO): DAT read: 20:41:29.7518 LVL= 14512, 18465, 15394, 21555, AGC= 62, IDX= 425, 0.02,-2.643,-2.295,-0.945,-1.878, PHS=-0.677,-0.370, 0.930, RAW= 220.4, 1.6, CAL= 221.2, -3.1, ROT= 288.8, 3.1 2025-01-08T20:41:31.690Z,1736368891.690 [DAT](INFO): got valid direction response: 20:41:29.7518 LVL= 14512, 18465, 15394, 21555, AGC= 62, IDX= 425, 0.02,-2.643,-2.295,-0.945,-1.878, PHS=-0.677,-0.370, 0.930, RAW= 220.4, 1.6, CAL= 221.2, -3.1, ROT= 288.8, 3.1 2025-01-08T20:41:31.694Z,1736368891.694 [DAT](INFO): DAT read: Bearing 288.8, 3.1 (Local) 2025-01-08T20:41:31.695Z,1736368891.695 [DAT](INFO): Local bearing/azimuth received: Bearing 288.8, 3.1 (Local) 2025-01-08T20:41:31.707Z,1736368891.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:31.725Z,1736368891.725 [DAT](INFO): DAT read: Range 10 to 50 : 188.4 m (Round-trip 251.2 ms) speed 0.1 m/s 2025-01-08T20:41:31.726Z,1736368891.726 [DAT](INFO): DAT read: user:1561> 2025-01-08T20:41:31.726Z,1736368891.726 [DAT](INFO): DAT read: Tx time:20:41:30.8464 2025-01-08T20:41:31.727Z,1736368891.727 [DAT](INFO): Ping request sent. 2025-01-08T20:41:31.727Z,1736368891.727 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:31.763Z,1736368891.763 [DAT](INFO): DAT read: TxSync time:20:41:30.8457 2025-01-08T20:41:31.764Z,1736368891.764 [DAT](INFO): #Rx 154: Read range and direction messages. 2025-01-08T20:41:31.765Z,1736368891.765 [DAT](INFO): direction in FSK: [0.321794,-0.945264,-0.054079] 2025-01-08T20:41:31.765Z,1736368891.765 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:31.765Z,1736368891.765 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:31.785Z,1736368891.785 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:31.785Z,1736368891.785 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:32.091Z,1736368892.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:32.528Z,1736368892.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:32.883Z,1736368892.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:33.294Z,1736368893.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:33.721Z,1736368893.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:34.086Z,1736368894.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:34.510Z,1736368894.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:41:34.510Z,1736368894.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:34.693Z,1736368894.693 [DAT](INFO): DAT read: Rx Time:20:41:33.5009 2025-01-08T20:41:34.693Z,1736368894.693 [DAT](INFO): Rx dataTimestamp_ set to:1736368894.692917 2025-01-08T20:41:34.896Z,1736368894.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:41:34.896Z,1736368894.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:35.197Z,1736368895.197 [DAT](INFO): DAT read: Range 10 to 50 : 187.6 m (Round-trip 250.2 ms) speed 0.6 m/s 2025-01-08T20:41:35.198Z,1736368895.198 [DAT](INFO): DAT read: user:1562> 2025-01-08T20:41:35.199Z,1736368895.199 [DAT](INFO): DAT read: Tx time:20:41:34.5965 2025-01-08T20:41:35.199Z,1736368895.199 [DAT](INFO): Ping request sent. 2025-01-08T20:41:35.199Z,1736368895.199 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:35.199Z,1736368895.199 [DAT](ERROR): #Rx 155: Read range message, but no direction. 2025-01-08T20:41:35.200Z,1736368895.200 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:35.200Z,1736368895.200 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:35.296Z,1736368895.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:41:35.297Z,1736368895.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:35.448Z,1736368895.448 [DAT](INFO): DAT read: TxSync time:20:41:34.5958 2025-01-08T20:41:35.701Z,1736368895.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:41:35.701Z,1736368895.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:36.114Z,1736368896.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:41:36.114Z,1736368896.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:36.536Z,1736368896.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:41:36.536Z,1736368896.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:36.910Z,1736368896.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:41:36.910Z,1736368896.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:37.315Z,1736368897.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:41:37.316Z,1736368897.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:37.730Z,1736368897.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:41:37.730Z,1736368897.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:38.146Z,1736368898.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:41:38.147Z,1736368898.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:38.472Z,1736368898.472 [DAT](INFO): DAT read: Rx Time:20:41:37.2508 2025-01-08T20:41:38.473Z,1736368898.473 [DAT](INFO): Rx dataTimestamp_ set to:1736368898.472586 2025-01-08T20:41:38.624Z,1736368898.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:41:38.624Z,1736368898.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:38.982Z,1736368898.982 [DAT](INFO): DAT read: 20:41:37.2508 LVL= 32752, 32753, 16274, 32755, AGC= 64, IDX= 446,-0.04, 2.603, 2.472,-2.211, 3.130, PHS=-0.439,-0.611, 0.940, RAW= 204.2, 1.5, CAL= 204.2, -5.7, ROT= 305.8, 5.7 2025-01-08T20:41:38.983Z,1736368898.983 [DAT](INFO): got valid direction response: 20:41:37.2508 LVL= 32752, 32753, 16274, 32755, AGC= 64, IDX= 446,-0.04, 2.603, 2.472,-2.211, 3.130, PHS=-0.439,-0.611, 0.940, RAW= 204.2, 1.5, CAL= 204.2, -5.7, ROT= 305.8, 5.7 2025-01-08T20:41:38.984Z,1736368898.984 [DAT](INFO): DAT read: Bearing 305.8, 5.7 (Local) 2025-01-08T20:41:38.984Z,1736368898.984 [DAT](INFO): Local bearing/azimuth received: Bearing 305.8, 5.7 (Local) 2025-01-08T20:41:38.986Z,1736368898.986 [DAT](INFO): DAT read: Range 10 to 50 : 187.5 m (Round-trip 250.1 ms) speed -0.7 m/s 2025-01-08T20:41:38.987Z,1736368898.987 [DAT](INFO): DAT read: user:1563> 2025-01-08T20:41:38.987Z,1736368898.987 [DAT](INFO): DAT read: Tx time:20:41:38.3465 2025-01-08T20:41:38.988Z,1736368898.988 [DAT](INFO): Ping request sent. 2025-01-08T20:41:38.988Z,1736368898.988 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:38.988Z,1736368898.988 [DAT](INFO): #Rx 156: Read range and direction messages. 2025-01-08T20:41:38.989Z,1736368898.989 [DAT](INFO): direction in FSK: [0.582065,-0.807054,-0.099320] 2025-01-08T20:41:38.989Z,1736368898.989 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:38.989Z,1736368898.989 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:38.993Z,1736368898.993 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:38.993Z,1736368898.993 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:39.013Z,1736368899.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:41:39.013Z,1736368899.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:39.229Z,1736368899.229 [DAT](INFO): DAT read: TxSync time:20:41:38.3458 2025-01-08T20:41:39.348Z,1736368899.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:41:39.348Z,1736368899.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:39.762Z,1736368899.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:41:39.762Z,1736368899.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:40.156Z,1736368900.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:41:40.156Z,1736368900.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:40.614Z,1736368900.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:41:40.614Z,1736368900.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:40.976Z,1736368900.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:41:40.976Z,1736368900.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:41.364Z,1736368901.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:41:41.364Z,1736368901.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:41.773Z,1736368901.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:41:41.773Z,1736368901.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:42.168Z,1736368902.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:41:42.168Z,1736368902.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:42.252Z,1736368902.252 [DAT](INFO): DAT read: Rx Time:20:41:41.0022 2025-01-08T20:41:42.253Z,1736368902.253 [DAT](INFO): Rx dataTimestamp_ set to:1736368902.252550 2025-01-08T20:41:42.592Z,1736368902.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:41:42.592Z,1736368902.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:42.716Z,1736368902.716 [DataOverHttps](INFO): Sending 206 bytes from file Logs/20250108T193415/Express0010.lzma 2025-01-08T20:41:42.762Z,1736368902.762 [DAT](INFO): DAT read: 20:41:41.0022 LVL= 32752, 32753, 31666, 32755, AGC= 72, IDX= 444, 0.27,-2.571,-2.983,-1.459,-2.292, PHS=-0.191,-0.644, 0.830, RAW= 192.6, 0.1, CAL= 192.3, -7.3, ROT= 317.7, 7.3 2025-01-08T20:41:42.763Z,1736368902.763 [DAT](INFO): got valid direction response: 20:41:41.0022 LVL= 32752, 32753, 31666, 32755, AGC= 72, IDX= 444, 0.27,-2.571,-2.983,-1.459,-2.292, PHS=-0.191,-0.644, 0.830, RAW= 192.6, 0.1, CAL= 192.3, -7.3, ROT= 317.7, 7.3 2025-01-08T20:41:42.764Z,1736368902.764 [DAT](INFO): DAT read: Bearing 317.7, 7.3 (Local) 2025-01-08T20:41:42.765Z,1736368902.765 [DAT](INFO): Local bearing/azimuth received: Bearing 317.7, 7.3 (Local) 2025-01-08T20:41:42.766Z,1736368902.766 [DAT](INFO): DAT read: Range 10 to 50 : 188.6 m (Round-trip 251.5 ms) speed 0.3 m/s 2025-01-08T20:41:42.767Z,1736368902.767 [DAT](INFO): DAT read: user:1564> 2025-01-08T20:41:42.768Z,1736368902.768 [DAT](INFO): DAT read: Tx time:20:41:42.0965 2025-01-08T20:41:42.768Z,1736368902.768 [DAT](INFO): Ping request sent. 2025-01-08T20:41:42.768Z,1736368902.768 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:42.768Z,1736368902.768 [DAT](INFO): #Rx 157: Read range and direction messages. 2025-01-08T20:41:42.769Z,1736368902.769 [DAT](INFO): direction in FSK: [0.733636,-0.667557,-0.127065] 2025-01-08T20:41:42.770Z,1736368902.770 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:42.770Z,1736368902.770 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:42.773Z,1736368902.773 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:42.773Z,1736368902.773 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:42.981Z,1736368902.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:41:42.981Z,1736368902.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:43.009Z,1736368903.009 [DAT](INFO): DAT read: TxSync time:20:41:42.0958 2025-01-08T20:41:43.380Z,1736368903.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:41:43.380Z,1736368903.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:43.717Z,1736368903.717 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0010.lzma.bak 2025-01-08T20:41:43.717Z,1736368903.717 [DataOverHttps](INFO): SBD MOMSN=23886067 2025-01-08T20:41:43.796Z,1736368903.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:41:43.796Z,1736368903.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:44.194Z,1736368904.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:41:44.194Z,1736368904.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:44.627Z,1736368904.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s. 2025-01-08T20:41:44.627Z,1736368904.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:44.000Z,1736368905.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s. 2025-01-08T20:41:44.000Z,1736368905.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:45.419Z,1736368905.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s. 2025-01-08T20:41:45.420Z,1736368905.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:45.860Z,1736368905.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.8 s old, using for 20.0 s. 2025-01-08T20:41:45.860Z,1736368905.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:46.036Z,1736368906.036 [DAT](INFO): DAT read: Rx Time:20:41:44.7518 2025-01-08T20:41:46.037Z,1736368906.037 [DAT](INFO): Rx dataTimestamp_ set to:1736368906.036551 2025-01-08T20:41:46.212Z,1736368906.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.1 s old, using for 20.0 s. 2025-01-08T20:41:46.212Z,1736368906.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:46.546Z,1736368906.546 [DAT](INFO): DAT read: 20:41:44.7518 LVL= 12608, 21201, 10162, 15827, AGC= 72, IDX= 440, 0.24,-0.208, 0.048, 1.561, 0.445, PHS=-0.565,-0.350, 1.113, RAW= 216.8, -2.5, CAL= 215.2, -9.2, ROT= 294.8, 9.2 2025-01-08T20:41:46.548Z,1736368906.548 [DAT](INFO): got valid direction response: 20:41:44.7518 LVL= 12608, 21201, 10162, 15827, AGC= 72, IDX= 440, 0.24,-0.208, 0.048, 1.561, 0.445, PHS=-0.565,-0.350, 1.113, RAW= 216.8, -2.5, CAL= 215.2, -9.2, ROT= 294.8, 9.2 2025-01-08T20:41:46.549Z,1736368906.549 [DAT](INFO): DAT read: Bearing 294.8, 9.2 (Local) 2025-01-08T20:41:46.549Z,1736368906.549 [DAT](INFO): Local bearing/azimuth received: Bearing 294.8, 9.2 (Local) 2025-01-08T20:41:46.550Z,1736368906.550 [DAT](INFO): DAT read: Range 10 to 50 : 188.3 m (Round-trip 251.1 ms) speed 0.1 m/s 2025-01-08T20:41:46.551Z,1736368906.551 [DAT](INFO): DAT read: user:1565> 2025-01-08T20:41:46.552Z,1736368906.552 [DAT](INFO): DAT read: Tx time:20:41:45.8465 2025-01-08T20:41:46.552Z,1736368906.552 [DAT](INFO): Ping request sent. 2025-01-08T20:41:46.553Z,1736368906.553 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:46.553Z,1736368906.553 [DAT](INFO): #Rx 158: Read range and direction messages. 2025-01-08T20:41:46.554Z,1736368906.554 [DAT](INFO): direction in FSK: [0.414056,-0.896100,-0.159881] 2025-01-08T20:41:46.554Z,1736368906.554 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:46.554Z,1736368906.554 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:46.557Z,1736368906.557 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:46.558Z,1736368906.558 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:46.783Z,1736368906.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:46.792Z,1736368906.792 [DAT](INFO): DAT read: TxSync time:20:41:45.8458 2025-01-08T20:41:47.045Z,1736368907.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:47.448Z,1736368907.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:47.848Z,1736368907.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:48.249Z,1736368908.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:48.667Z,1736368908.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:41:48.667Z,1736368908.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:49.064Z,1736368909.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:41:49.064Z,1736368909.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:49.462Z,1736368909.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:41:49.462Z,1736368909.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:49.820Z,1736368909.820 [DAT](INFO): DAT read: Rx Time:20:41:48.5012 2025-01-08T20:41:49.821Z,1736368909.821 [DAT](INFO): Rx dataTimestamp_ set to:1736368909.820539 2025-01-08T20:41:49.889Z,1736368909.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:41:49.889Z,1736368909.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:50.329Z,1736368910.329 [DAT](INFO): DAT read: Range 10 to 50 : 187.8 m (Round-trip 250.4 ms) speed -0.5 m/s 2025-01-08T20:41:50.330Z,1736368910.330 [DAT](INFO): DAT read: user:1566> 2025-01-08T20:41:50.331Z,1736368910.331 [DAT](INFO): DAT read: Tx time:20:41:49.5966 2025-01-08T20:41:50.332Z,1736368910.332 [DAT](INFO): Ping request sent. 2025-01-08T20:41:50.332Z,1736368910.332 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:50.332Z,1736368910.332 [DAT](ERROR): #Rx 159: Read range message, but no direction. 2025-01-08T20:41:50.332Z,1736368910.332 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:50.333Z,1736368910.333 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:50.334Z,1736368910.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:41:50.334Z,1736368910.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:50.576Z,1736368910.576 [DAT](INFO): DAT read: TxSync time:20:41:49.5958 2025-01-08T20:41:50.714Z,1736368910.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:51.076Z,1736368911.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:51.492Z,1736368911.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:51.887Z,1736368911.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:52.381Z,1736368912.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:41:52.381Z,1736368912.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:52.696Z,1736368912.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:41:52.696Z,1736368912.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:53.105Z,1736368913.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:41:53.105Z,1736368913.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:53.511Z,1736368913.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:41:53.511Z,1736368913.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:53.600Z,1736368913.600 [DAT](INFO): DAT read: Rx Time:20:41:52.2527 2025-01-08T20:41:53.601Z,1736368913.601 [DAT](INFO): Rx dataTimestamp_ set to:1736368913.600609 2025-01-08T20:41:53.945Z,1736368913.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:41:53.946Z,1736368913.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:54.110Z,1736368914.110 [DAT](INFO): DAT read: 20:41:52.2527 LVL= 19408, 18849, 9282, 17843, AGC= 60, IDX= 449,-0.37,-0.928,-1.476, 0.321,-0.652, PHS=-0.189,-0.777, 0.969, RAW= 190.7, -0.0, CAL= 190.5, -7.5, ROT= 319.5, 7.5 2025-01-08T20:41:54.111Z,1736368914.111 [DAT](INFO): got valid direction response: 20:41:52.2527 LVL= 19408, 18849, 9282, 17843, AGC= 60, IDX= 449,-0.37,-0.928,-1.476, 0.321,-0.652, PHS=-0.189,-0.777, 0.969, RAW= 190.7, -0.0, CAL= 190.5, -7.5, ROT= 319.5, 7.5 2025-01-08T20:41:54.112Z,1736368914.112 [DAT](INFO): DAT read: Bearing 319.5, 7.5 (Local) 2025-01-08T20:41:54.113Z,1736368914.113 [DAT](INFO): Local bearing/azimuth received: Bearing 319.5, 7.5 (Local) 2025-01-08T20:41:54.114Z,1736368914.114 [DAT](INFO): DAT read: Range 10 to 50 : 188.9 m (Round-trip 251.9 ms) speed -0.3 m/s 2025-01-08T20:41:54.115Z,1736368914.115 [DAT](INFO): DAT read: user:1567> 2025-01-08T20:41:54.116Z,1736368914.116 [DAT](INFO): DAT read: Tx time:20:41:53.3466 2025-01-08T20:41:54.116Z,1736368914.116 [DAT](INFO): Ping request sent. 2025-01-08T20:41:54.116Z,1736368914.116 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:54.116Z,1736368914.116 [DAT](INFO): #Rx 160: Read range and direction messages. 2025-01-08T20:41:54.117Z,1736368914.117 [DAT](INFO): direction in FSK: [0.753901,-0.643892,-0.130526] 2025-01-08T20:41:54.117Z,1736368914.117 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:54.118Z,1736368914.118 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:54.121Z,1736368914.121 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:54.121Z,1736368914.121 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:54.357Z,1736368914.357 [DAT](INFO): DAT read: TxSync time:20:41:53.3458 2025-01-08T20:41:54.458Z,1736368914.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s. 2025-01-08T20:41:54.459Z,1736368914.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:54.719Z,1736368914.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:41:54.720Z,1736368914.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:55.148Z,1736368915.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T20:41:55.148Z,1736368915.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:55.552Z,1736368915.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:41:55.552Z,1736368915.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:55.929Z,1736368915.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:41:55.929Z,1736368915.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:56.578Z,1736368916.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.7 s old, using for 20.0 s. 2025-01-08T20:41:56.578Z,1736368916.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:56.778Z,1736368916.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:41:56.778Z,1736368916.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:57.129Z,1736368917.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:41:57.129Z,1736368917.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:57.380Z,1736368917.380 [DAT](INFO): DAT read: Rx Time:20:41:56.0032 2025-01-08T20:41:57.381Z,1736368917.381 [DAT](INFO): Rx dataTimestamp_ set to:1736368917.380544 2025-01-08T20:41:57.541Z,1736368917.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:41:57.541Z,1736368917.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:57.894Z,1736368917.894 [DAT](INFO): DAT read: 20:41:56.0032 LVL= 12832, 17393, 10514, 14515, AGC= 67, IDX= 438,-0.15, 1.115, 1.237, 2.601, 1.613, PHS=-0.410,-0.329, 0.985, RAW= 213.0, -3.7, CAL= 211.0, -10.5, ROT= 299.0, 10.5 2025-01-08T20:41:57.896Z,1736368917.896 [DAT](INFO): got valid direction response: 20:41:56.0032 LVL= 12832, 17393, 10514, 14515, AGC= 67, IDX= 438,-0.15, 1.115, 1.237, 2.601, 1.613, PHS=-0.410,-0.329, 0.985, RAW= 213.0, -3.7, CAL= 211.0, -10.5, ROT= 299.0, 10.5 2025-01-08T20:41:57.897Z,1736368917.897 [DAT](INFO): DAT read: Bearing 299.0, 10.5 (Local) 2025-01-08T20:41:57.897Z,1736368917.897 [DAT](INFO): Local bearing/azimuth received: Bearing 299.0, 10.5 (Local) 2025-01-08T20:41:57.899Z,1736368917.899 [DAT](INFO): DAT read: Range 10 to 50 : 189.3 m (Round-trip 252.4 ms) speed 0.0 m/s 2025-01-08T20:41:57.903Z,1736368917.903 [DAT](INFO): DAT read: user:1568> 2025-01-08T20:41:57.936Z,1736368917.936 [DAT](INFO): DAT read: Tx time:20:41:57.0966 2025-01-08T20:41:57.937Z,1736368917.937 [DAT](INFO): Ping request sent. 2025-01-08T20:41:57.937Z,1736368917.937 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:41:57.937Z,1736368917.937 [DAT](INFO): DAT read: TxSync time:20:41:57.0958 2025-01-08T20:41:57.938Z,1736368917.938 [DAT](INFO): #Rx 161: Read range and direction messages. 2025-01-08T20:41:57.939Z,1736368917.939 [DAT](INFO): direction in FSK: [0.476691,-0.859974,-0.182236] 2025-01-08T20:41:57.948Z,1736368917.948 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:57.948Z,1736368917.948 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:57.951Z,1736368917.951 [DAT](INFO): publishing transmit ping time 2025-01-08T20:41:57.951Z,1736368917.951 [DAT](INFO): publishing direction and range info 2025-01-08T20:41:57.987Z,1736368917.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:41:57.991Z,1736368917.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:58.369Z,1736368918.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:41:58.370Z,1736368918.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:58.755Z,1736368918.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:41:58.755Z,1736368918.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:59.163Z,1736368919.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:41:59.190Z,1736368919.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:59.565Z,1736368919.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:41:59.565Z,1736368919.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:41:59.969Z,1736368919.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:41:59.969Z,1736368919.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:00.401Z,1736368920.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:42:00.401Z,1736368920.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:00.776Z,1736368920.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:42:00.776Z,1736368920.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:00.908Z,1736368920.908 [DAT](INFO): DAT read: Rx Time:20:41:59.7519 2025-01-08T20:42:00.909Z,1736368920.909 [DAT](INFO): Rx dataTimestamp_ set to:1736368920.908586 2025-01-08T20:42:01.180Z,1736368921.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:42:01.180Z,1736368921.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:01.585Z,1736368921.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:42:01.585Z,1736368921.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:01.670Z,1736368921.670 [DAT](INFO): DAT read: 20:41:59.7519 LVL= 18992, 19425, 9794, 21075, AGC= 64, IDX= 424,-0.18,-2.292,-2.808,-0.628,-1.640, PHS=-0.564,-1.121, 1.009, RAW= 195.4, 7.1, CAL= 196.0, -1.5, ROT= 314.0, 1.5 2025-01-08T20:42:01.672Z,1736368921.672 [DAT](INFO): got valid direction response: 20:41:59.7519 LVL= 18992, 19425, 9794, 21075, AGC= 64, IDX= 424,-0.18,-2.292,-2.808,-0.628,-1.640, PHS=-0.564,-1.121, 1.009, RAW= 195.4, 7.1, CAL= 196.0, -1.5, ROT= 314.0, 1.5 2025-01-08T20:42:01.673Z,1736368921.673 [DAT](INFO): DAT read: Bearing 314.0, 1.5 (Local) 2025-01-08T20:42:01.673Z,1736368921.673 [DAT](INFO): Local bearing/azimuth received: Bearing 314.0, 1.5 (Local) 2025-01-08T20:42:01.675Z,1736368921.675 [DAT](INFO): DAT read: Range 10 to 50 : 188.3 m (Round-trip 251.1 ms) speed 0.3 m/s 2025-01-08T20:42:01.676Z,1736368921.676 [DAT](INFO): DAT read: user:1569> 2025-01-08T20:42:01.676Z,1736368921.676 [DAT](INFO): DAT read: Tx time:20:42:00.8466 2025-01-08T20:42:01.677Z,1736368921.677 [DAT](INFO): Ping request sent. 2025-01-08T20:42:01.677Z,1736368921.677 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:01.677Z,1736368921.677 [DAT](INFO): DAT read: TxSync time:20:42:00.8458 2025-01-08T20:42:01.678Z,1736368921.678 [DAT](INFO): #Rx 162: Read range and direction messages. 2025-01-08T20:42:01.679Z,1736368921.679 [DAT](INFO): direction in FSK: [0.694420,-0.719093,-0.026177] 2025-01-08T20:42:01.684Z,1736368921.684 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:01.684Z,1736368921.684 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:01.689Z,1736368921.689 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:01.690Z,1736368921.690 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:01.989Z,1736368921.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:42:01.989Z,1736368921.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:02.444Z,1736368922.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:02.800Z,1736368922.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:03.192Z,1736368923.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:03.590Z,1736368923.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:03.996Z,1736368923.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:04.075Z,1736368924.075 [DataOverHttps](INFO): Sending 108 bytes from file Logs/20250108T193415/Express0013.lzma 2025-01-08T20:42:04.482Z,1736368924.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:42:04.482Z,1736368924.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:04.688Z,1736368924.688 [DAT](INFO): DAT read: Rx Time:20:42:03.5023 2025-01-08T20:42:04.689Z,1736368924.689 [DAT](INFO): Rx dataTimestamp_ set to:1736368924.688413 2025-01-08T20:42:04.807Z,1736368924.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:42:04.807Z,1736368924.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:05.077Z,1736368925.077 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0013.lzma.bak 2025-01-08T20:42:05.077Z,1736368925.077 [DataOverHttps](INFO): SBD MOMSN=23886070 2025-01-08T20:42:05.198Z,1736368925.198 [DAT](INFO): DAT read: Range 10 to 50 : 188.5 m (Round-trip 251.4 ms) speed -0.4 m/s 2025-01-08T20:42:05.198Z,1736368925.198 [DAT](INFO): DAT read: user:1570> 2025-01-08T20:42:05.199Z,1736368925.199 [DAT](INFO): DAT read: Tx time:20:42:04.5967 2025-01-08T20:42:05.199Z,1736368925.199 [DAT](INFO): Ping request sent. 2025-01-08T20:42:05.200Z,1736368925.200 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:05.200Z,1736368925.200 [DAT](ERROR): #Rx 163: Read range message, but no direction. 2025-01-08T20:42:05.200Z,1736368925.200 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:05.201Z,1736368925.201 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:05.224Z,1736368925.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:42:05.224Z,1736368925.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:05.449Z,1736368925.449 [DAT](INFO): DAT read: TxSync time:20:42:04.5959 2025-01-08T20:42:05.622Z,1736368925.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:42:05.622Z,1736368925.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:06.036Z,1736368926.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:42:06.037Z,1736368926.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:06.476Z,1736368926.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:42:06.476Z,1736368926.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:06.845Z,1736368926.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:42:06.845Z,1736368926.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:07.253Z,1736368927.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T20:42:07.253Z,1736368927.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:07.661Z,1736368927.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:42:07.661Z,1736368927.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:08.049Z,1736368928.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:42:08.049Z,1736368928.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:08.472Z,1736368928.472 [DAT](INFO): DAT read: Rx Time:20:42:07.2533 2025-01-08T20:42:08.473Z,1736368928.473 [DAT](INFO): Rx dataTimestamp_ set to:1736368928.472577 2025-01-08T20:42:08.498Z,1736368928.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:42:08.498Z,1736368928.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:08.860Z,1736368928.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:42:08.860Z,1736368928.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:08.982Z,1736368928.982 [DAT](INFO): DAT read: 20:42:07.2533 LVL= 15840, 21489, 11538, 19523, AGC= 66, IDX= 438,-0.49,-2.877,-2.951,-1.071,-2.493, PHS=-0.296,-0.412, 1.419, RAW= 206.8, -8.1, CAL= 204.0, -14.2, ROT= 306.0, 14.2 2025-01-08T20:42:08.983Z,1736368928.983 [DAT](INFO): got valid direction response: 20:42:07.2533 LVL= 15840, 21489, 11538, 19523, AGC= 66, IDX= 438,-0.49,-2.877,-2.951,-1.071,-2.493, PHS=-0.296,-0.412, 1.419, RAW= 206.8, -8.1, CAL= 204.0, -14.2, ROT= 306.0, 14.2 2025-01-08T20:42:08.984Z,1736368928.984 [DAT](INFO): DAT read: Bearing 306.0, 14.2 (Local) 2025-01-08T20:42:08.984Z,1736368928.984 [DAT](INFO): Local bearing/azimuth received: Bearing 306.0, 14.2 (Local) 2025-01-08T20:42:08.986Z,1736368928.986 [DAT](INFO): DAT read: Range 10 to 50 : 189.3 m (Round-trip 252.4 ms) speed 0.0 m/s 2025-01-08T20:42:08.987Z,1736368928.987 [DAT](INFO): DAT read: user:1571> 2025-01-08T20:42:08.987Z,1736368928.987 [DAT](INFO): DAT read: Tx time:20:42:08.3467 2025-01-08T20:42:08.988Z,1736368928.988 [DAT](INFO): Ping request sent. 2025-01-08T20:42:08.988Z,1736368928.988 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:08.988Z,1736368928.988 [DAT](INFO): #Rx 164: Read range and direction messages. 2025-01-08T20:42:08.989Z,1736368928.989 [DAT](INFO): direction in FSK: [0.569826,-0.784298,-0.245307] 2025-01-08T20:42:08.989Z,1736368928.989 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:08.990Z,1736368928.990 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:08.993Z,1736368928.993 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:08.993Z,1736368928.993 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:09.228Z,1736368929.228 [DAT](INFO): DAT read: TxSync time:20:42:08.3459 2025-01-08T20:42:09.271Z,1736368929.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:42:09.271Z,1736368929.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:09.656Z,1736368929.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:42:09.656Z,1736368929.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:10.084Z,1736368930.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:42:10.084Z,1736368930.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:10.503Z,1736368930.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:42:10.503Z,1736368930.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:10.944Z,1736368930.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:42:10.944Z,1736368930.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:11.324Z,1736368931.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:42:11.324Z,1736368931.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:11.713Z,1736368931.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:42:11.713Z,1736368931.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:12.136Z,1736368932.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:42:12.136Z,1736368932.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:12.256Z,1736368932.256 [DAT](INFO): DAT read: Rx Time:20:42:11.0034 2025-01-08T20:42:12.257Z,1736368932.257 [DAT](INFO): Rx dataTimestamp_ set to:1736368932.256455 2025-01-08T20:42:12.581Z,1736368932.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.6 s old, using for 20.0 s. 2025-01-08T20:42:12.582Z,1736368932.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:12.766Z,1736368932.766 [DAT](INFO): DAT read: 20:42:11.0034 LVL= 26192, 24049, 16354, 25155, AGC= 63, IDX= 438, 0.18,-1.779,-2.568,-0.704,-1.786, PHS= 0.095,-0.735, 1.079, RAW= 182.8, -5.6, CAL= 183.5, -12.2, ROT= 326.5, 12.2 2025-01-08T20:42:12.768Z,1736368932.768 [DAT](INFO): got valid direction response: 20:42:11.0034 LVL= 26192, 24049, 16354, 25155, AGC= 63, IDX= 438, 0.18,-1.779,-2.568,-0.704,-1.786, PHS= 0.095,-0.735, 1.079, RAW= 182.8, -5.6, CAL= 183.5, -12.2, ROT= 326.5, 12.2 2025-01-08T20:42:12.769Z,1736368932.769 [DAT](INFO): DAT read: Bearing 326.5, 12.2 (Local) 2025-01-08T20:42:12.769Z,1736368932.769 [DAT](INFO): Local bearing/azimuth received: Bearing 326.5, 12.2 (Local) 2025-01-08T20:42:12.770Z,1736368932.770 [DAT](INFO): DAT read: Range 10 to 50 : 189.3 m (Round-trip 252.5 ms) speed 0.0 m/s 2025-01-08T20:42:12.771Z,1736368932.771 [DAT](INFO): DAT read: user:1572> 2025-01-08T20:42:12.772Z,1736368932.772 [DAT](INFO): DAT read: Tx time:20:42:12.0967 2025-01-08T20:42:12.772Z,1736368932.772 [DAT](INFO): Ping request sent. 2025-01-08T20:42:12.772Z,1736368932.772 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:12.773Z,1736368932.773 [DAT](INFO): #Rx 165: Read range and direction messages. 2025-01-08T20:42:12.774Z,1736368932.774 [DAT](INFO): direction in FSK: [0.815053,-0.539472,-0.211325] 2025-01-08T20:42:12.774Z,1736368932.774 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:12.774Z,1736368932.774 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:12.789Z,1736368932.789 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:12.789Z,1736368932.789 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:13.004Z,1736368933.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.0 s old, using for 20.0 s. 2025-01-08T20:42:13.004Z,1736368933.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:13.012Z,1736368933.012 [DAT](INFO): DAT read: TxSync time:20:42:12.0959 2025-01-08T20:42:13.325Z,1736368933.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:42:13.325Z,1736368933.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:13.772Z,1736368933.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s. 2025-01-08T20:42:13.772Z,1736368933.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:14.186Z,1736368934.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.2 s old, using for 20.0 s. 2025-01-08T20:42:14.186Z,1736368934.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:14.598Z,1736368934.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:14.977Z,1736368934.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:15.403Z,1736368935.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:15.790Z,1736368935.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:16.048Z,1736368936.048 [DAT](INFO): DAT read: Rx Time:20:42:14.7533 2025-01-08T20:42:16.049Z,1736368936.049 [DAT](INFO): Rx dataTimestamp_ set to:1736368936.048467 2025-01-08T20:42:16.200Z,1736368936.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:16.558Z,1736368936.558 [DAT](INFO): DAT read: 20:42:14.7533 LVL= 22096, 25217, 9474, 18227, AGC= 63, IDX= 436,-0.05,-2.479,-2.459,-1.022,-2.072, PHS=-0.319,-0.340, 1.047, RAW= 209.2, -5.7, CAL= 206.8, -12.3, ROT= 303.2, 12.3 2025-01-08T20:42:16.559Z,1736368936.559 [DAT](INFO): got valid direction response: 20:42:14.7533 LVL= 22096, 25217, 9474, 18227, AGC= 63, IDX= 436,-0.05,-2.479,-2.459,-1.022,-2.072, PHS=-0.319,-0.340, 1.047, RAW= 209.2, -5.7, CAL= 206.8, -12.3, ROT= 303.2, 12.3 2025-01-08T20:42:16.560Z,1736368936.560 [DAT](INFO): DAT read: Bearing 303.2, 12.3 (Local) 2025-01-08T20:42:16.560Z,1736368936.560 [DAT](INFO): Local bearing/azimuth received: Bearing 303.2, 12.3 (Local) 2025-01-08T20:42:16.562Z,1736368936.562 [DAT](INFO): DAT read: Range 10 to 50 : 189.2 m (Round-trip 252.3 ms) speed 0.4 m/s 2025-01-08T20:42:16.563Z,1736368936.563 [DAT](INFO): DAT read: user:1573> 2025-01-08T20:42:16.563Z,1736368936.563 [DAT](INFO): DAT read: Tx time:20:42:15.8468 2025-01-08T20:42:16.564Z,1736368936.564 [DAT](INFO): Ping request sent. 2025-01-08T20:42:16.564Z,1736368936.564 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:16.564Z,1736368936.564 [DAT](INFO): #Rx 166: Read range and direction messages. 2025-01-08T20:42:16.565Z,1736368936.565 [DAT](INFO): direction in FSK: [0.534995,-0.817557,-0.213030] 2025-01-08T20:42:16.565Z,1736368936.565 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:16.566Z,1736368936.566 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:16.581Z,1736368936.581 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:16.581Z,1736368936.581 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:16.804Z,1736368936.804 [DAT](INFO): DAT read: TxSync time:20:42:15.8460 2025-01-08T20:42:16.824Z,1736368936.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:17.038Z,1736368937.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:17.448Z,1736368937.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:17.899Z,1736368937.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:18.330Z,1736368938.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:18.700Z,1736368938.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.3 s old, using for 20.0 s. 2025-01-08T20:42:18.700Z,1736368938.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:19.085Z,1736368939.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:42:19.085Z,1736368939.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:19.456Z,1736368939.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.1 s old, using for 20.0 s. 2025-01-08T20:42:19.457Z,1736368939.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:19.836Z,1736368939.836 [DAT](INFO): DAT read: Rx Time:20:42:18.5025 2025-01-08T20:42:19.837Z,1736368939.837 [DAT](INFO): Rx dataTimestamp_ set to:1736368939.836612 2025-01-08T20:42:19.888Z,1736368939.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.5 s old, using for 20.0 s. 2025-01-08T20:42:19.888Z,1736368939.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:20.337Z,1736368940.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:42:20.338Z,1736368940.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:20.341Z,1736368940.341 [DAT](INFO): DAT read: Range 10 to 50 : 188.6 m (Round-trip 251.5 ms) speed 0.0 m/s 2025-01-08T20:42:20.342Z,1736368940.342 [DAT](INFO): DAT read: user:1574> 2025-01-08T20:42:20.343Z,1736368940.343 [DAT](INFO): DAT read: Tx time:20:42:19.5968 2025-01-08T20:42:20.343Z,1736368940.343 [DAT](INFO): Ping request sent. 2025-01-08T20:42:20.343Z,1736368940.343 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:20.344Z,1736368940.344 [DAT](ERROR): #Rx 167: Read range message, but no direction. 2025-01-08T20:42:20.344Z,1736368940.344 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:20.345Z,1736368940.345 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:20.593Z,1736368940.593 [DAT](INFO): DAT read: TxSync time:20:42:19.5960 2025-01-08T20:42:20.703Z,1736368940.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:21.066Z,1736368941.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:21.471Z,1736368941.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:21.908Z,1736368941.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:22.378Z,1736368942.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:22.701Z,1736368942.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:23.101Z,1736368943.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:23.507Z,1736368943.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:23.628Z,1736368943.628 [DAT](INFO): DAT read: Rx Time:20:42:22.2527 2025-01-08T20:42:23.629Z,1736368943.629 [DAT](INFO): Rx dataTimestamp_ set to:1736368943.628578 2025-01-08T20:42:23.986Z,1736368943.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:24.138Z,1736368944.138 [DAT](INFO): DAT read: 20:42:22.2527 LVL= 24496, 26225, 9890, 18867, AGC= 60, IDX= 446, 0.08, 1.808, 1.578,-3.069, 2.236, PHS=-0.340,-0.611, 0.976, RAW= 200.8, -0.3, CAL= 200.2, -7.5, ROT= 309.8, 7.5 2025-01-08T20:42:24.139Z,1736368944.139 [DAT](INFO): got valid direction response: 20:42:22.2527 LVL= 24496, 26225, 9890, 18867, AGC= 60, IDX= 446, 0.08, 1.808, 1.578,-3.069, 2.236, PHS=-0.340,-0.611, 0.976, RAW= 200.8, -0.3, CAL= 200.2, -7.5, ROT= 309.8, 7.5 2025-01-08T20:42:24.141Z,1736368944.141 [DAT](INFO): DAT read: Bearing 309.8, 7.5 (Local) 2025-01-08T20:42:24.142Z,1736368944.142 [DAT](INFO): Local bearing/azimuth received: Bearing 309.8, 7.5 (Local) 2025-01-08T20:42:24.149Z,1736368944.149 [DAT](INFO): DAT read: Range 10 to 50 : 188.7 m (Round-trip 251.7 ms) speed 0.0 m/s 2025-01-08T20:42:24.150Z,1736368944.150 [DAT](INFO): DAT read: user:1575> 2025-01-08T20:42:24.151Z,1736368944.151 [DAT](INFO): DAT read: Tx time:20:42:23.3468 2025-01-08T20:42:24.151Z,1736368944.151 [DAT](INFO): Ping request sent. 2025-01-08T20:42:24.152Z,1736368944.152 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:24.152Z,1736368944.152 [DAT](INFO): DAT read: TxSync time:20:42:23.3460 2025-01-08T20:42:24.153Z,1736368944.153 [DAT](INFO): #Rx 168: Read range and direction messages. 2025-01-08T20:42:24.154Z,1736368944.154 [DAT](INFO): direction in FSK: [0.634633,-0.761711,-0.130526] 2025-01-08T20:42:24.154Z,1736368944.154 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:24.154Z,1736368944.154 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:24.206Z,1736368944.206 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:24.206Z,1736368944.206 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:24.469Z,1736368944.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:24.747Z,1736368944.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:25.127Z,1736368945.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:25.568Z,1736368945.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:25.988Z,1736368945.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:26.444Z,1736368946.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:42:26.445Z,1736368946.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:26.761Z,1736368946.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:42:26.761Z,1736368946.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:27.156Z,1736368947.156 [DAT](INFO): DAT read: Rx Time:20:42:26.0041 2025-01-08T20:42:27.157Z,1736368947.157 [DAT](INFO): Rx dataTimestamp_ set to:1736368947.156622 2025-01-08T20:42:27.182Z,1736368947.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:42:27.182Z,1736368947.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:27.557Z,1736368947.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:42:27.557Z,1736368947.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:27.939Z,1736368947.939 [DAT](INFO): DAT read: 20:42:26.0041 LVL= 32752, 32753, 20594, 32755, AGC= 65, IDX= 459, 0.14,-0.085,-0.194, 1.401, 0.336, PHS=-0.333,-0.483, 1.062, RAW= 204.9, -3.4, CAL= 203.4, -10.1, ROT= 306.6, 10.1 2025-01-08T20:42:27.950Z,1736368947.950 [DAT](INFO): got valid direction response: 20:42:26.0041 LVL= 32752, 32753, 20594, 32755, AGC= 65, IDX= 459, 0.14,-0.085,-0.194, 1.401, 0.336, PHS=-0.333,-0.483, 1.062, RAW= 204.9, -3.4, CAL= 203.4, -10.1, ROT= 306.6, 10.1 2025-01-08T20:42:27.956Z,1736368947.956 [DAT](INFO): DAT read: Bearing 306.6, 10.1 (Local) 2025-01-08T20:42:27.956Z,1736368947.956 [DAT](INFO): Local bearing/azimuth received: Bearing 306.6, 10.1 (Local) 2025-01-08T20:42:27.958Z,1736368947.958 [DAT](INFO): DAT read: Range 10 to 50 : 189.7 m (Round-trip 253.0 ms) speed -0.4 m/s 2025-01-08T20:42:27.958Z,1736368947.958 [DAT](INFO): DAT read: user:1576> 2025-01-08T20:42:27.964Z,1736368947.964 [DAT](INFO): DAT read: Tx time:20:42:27.0969 2025-01-08T20:42:27.964Z,1736368947.964 [DAT](INFO): Ping request sent. 2025-01-08T20:42:27.964Z,1736368947.964 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:27.965Z,1736368947.965 [DAT](INFO): DAT read: TxSync time:20:42:27.0961 2025-01-08T20:42:27.965Z,1736368947.965 [DAT](INFO): #Rx 169: Read range and direction messages. 2025-01-08T20:42:27.966Z,1736368947.966 [DAT](INFO): direction in FSK: [0.586985,-0.790376,-0.175367] 2025-01-08T20:42:27.966Z,1736368947.966 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:27.967Z,1736368947.967 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:27.982Z,1736368947.982 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:27.982Z,1736368947.982 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:27.987Z,1736368947.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:42:27.987Z,1736368947.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:28.459Z,1736368948.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:42:28.459Z,1736368948.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:28.772Z,1736368948.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:42:28.772Z,1736368948.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:29.168Z,1736368949.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:42:29.169Z,1736368949.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:29.599Z,1736368949.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:42:29.600Z,1736368949.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:29.992Z,1736368949.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:42:29.992Z,1736368949.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:30.432Z,1736368950.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:42:30.433Z,1736368950.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:30.814Z,1736368950.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:42:30.814Z,1736368950.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:30.937Z,1736368950.937 [DAT](INFO): DAT read: Rx Time:20:42:29.7548 2025-01-08T20:42:30.937Z,1736368950.937 [DAT](INFO): Rx dataTimestamp_ set to:1736368950.936732 2025-01-08T20:42:31.204Z,1736368951.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:42:31.204Z,1736368951.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:31.443Z,1736368951.443 [DAT](INFO): DAT read: Range 10 to 50 : 190.3 m (Round-trip 253.8 ms) speed 0.0 m/s 2025-01-08T20:42:31.445Z,1736368951.445 [DAT](INFO): DAT read: user:1577> 2025-01-08T20:42:31.446Z,1736368951.446 [DAT](INFO): DAT read: Tx time:20:42:30.8469 2025-01-08T20:42:31.446Z,1736368951.446 [DAT](INFO): Ping request sent. 2025-01-08T20:42:31.447Z,1736368951.447 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:31.447Z,1736368951.447 [DAT](ERROR): #Rx 170: Read range message, but no direction. 2025-01-08T20:42:31.447Z,1736368951.447 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:31.448Z,1736368951.448 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:31.592Z,1736368951.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:42:31.592Z,1736368951.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:31.693Z,1736368951.693 [DAT](INFO): DAT read: TxSync time:20:42:30.8461 2025-01-08T20:42:32.016Z,1736368952.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:42:32.016Z,1736368952.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:32.460Z,1736368952.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.4 s old, using for 20.0 s. 2025-01-08T20:42:32.460Z,1736368952.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:32.818Z,1736368952.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T20:42:32.819Z,1736368952.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:33.205Z,1736368953.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T20:42:33.205Z,1736368953.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:33.617Z,1736368953.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.6 s old, using for 20.0 s. 2025-01-08T20:42:33.617Z,1736368953.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:33.984Z,1736368953.984 [DataOverHttps](INFO): Sending 319 bytes from file Logs/20250108T193415/Express0016.lzma 2025-01-08T20:42:34.025Z,1736368954.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.0 s old, using for 20.0 s. 2025-01-08T20:42:34.025Z,1736368954.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:34.509Z,1736368954.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:42:34.509Z,1736368954.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:34.716Z,1736368954.716 [DAT](INFO): DAT read: Rx Time:20:42:33.5034 2025-01-08T20:42:34.717Z,1736368954.717 [DAT](INFO): Rx dataTimestamp_ set to:1736368954.716559 2025-01-08T20:42:34.816Z,1736368954.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.8 s old, using for 20.0 s. 2025-01-08T20:42:34.817Z,1736368954.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:34.985Z,1736368954.985 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0016.lzma.bak 2025-01-08T20:42:34.985Z,1736368954.985 [DataOverHttps](INFO): SBD MOMSN=23886072 2025-01-08T20:42:35.226Z,1736368955.226 [DAT](INFO): DAT read: 20:42:33.5034 LVL= 15280, 21057, 13698, 28019, AGC= 65, IDX= 420, 0.11, 1.789, 1.473,-2.425, 2.356, PHS=-0.479,-0.836, 1.499, RAW= 201.8, -1.7, CAL= 200.9, -8.6, ROT= 309.1, 8.6 2025-01-08T20:42:35.228Z,1736368955.228 [DAT](INFO): got valid direction response: 20:42:33.5034 LVL= 15280, 21057, 13698, 28019, AGC= 65, IDX= 420, 0.11, 1.789, 1.473,-2.425, 2.356, PHS=-0.479,-0.836, 1.499, RAW= 201.8, -1.7, CAL= 200.9, -8.6, ROT= 309.1, 8.6 2025-01-08T20:42:35.229Z,1736368955.229 [DAT](INFO): DAT read: Bearing 309.1, 8.6 (Local) 2025-01-08T20:42:35.229Z,1736368955.229 [DAT](INFO): Local bearing/azimuth received: Bearing 309.1, 8.6 (Local) 2025-01-08T20:42:35.230Z,1736368955.230 [DAT](INFO): DAT read: Range 10 to 50 : 189.2 m (Round-trip 252.3 ms) speed 0.0 m/s 2025-01-08T20:42:35.231Z,1736368955.231 [DAT](INFO): DAT read: user:1578> 2025-01-08T20:42:35.232Z,1736368955.232 [DAT](INFO): DAT read: Tx time:20:42:34.5969 2025-01-08T20:42:35.232Z,1736368955.232 [DAT](INFO): Ping request sent. 2025-01-08T20:42:35.232Z,1736368955.232 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:35.233Z,1736368955.233 [DAT](INFO): #Rx 171: Read range and direction messages. 2025-01-08T20:42:35.234Z,1736368955.234 [DAT](INFO): direction in FSK: [0.623585,-0.767321,-0.149535] 2025-01-08T20:42:35.234Z,1736368955.234 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:35.234Z,1736368955.234 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:35.238Z,1736368955.238 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:35.240Z,1736368955.240 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:35.409Z,1736368955.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.4 s old, using for 20.0 s. 2025-01-08T20:42:35.409Z,1736368955.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:35.473Z,1736368955.473 [DAT](INFO): DAT read: TxSync time:20:42:34.5961 2025-01-08T20:42:35.685Z,1736368955.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:42:35.685Z,1736368955.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:36.082Z,1736368956.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:42:36.082Z,1736368956.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:36.496Z,1736368956.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:36.857Z,1736368956.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:37.264Z,1736368957.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:37.696Z,1736368957.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:38.072Z,1736368958.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:38.496Z,1736368958.496 [DAT](INFO): DAT read: Rx Time:20:42:37.2532 2025-01-08T20:42:38.497Z,1736368958.497 [DAT](INFO): Rx dataTimestamp_ set to:1736368958.496521 2025-01-08T20:42:38.520Z,1736368958.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:42:38.520Z,1736368958.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:38.868Z,1736368958.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:42:38.868Z,1736368958.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:39.001Z,1736368959.001 [DAT](INFO): DAT read: Range 10 to 50 : 189.0 m (Round-trip 252.1 ms) speed -0.8 m/s 2025-01-08T20:42:39.002Z,1736368959.002 [DAT](INFO): DAT read: user:1579> 2025-01-08T20:42:39.003Z,1736368959.003 [DAT](INFO): DAT read: Tx time:20:42:38.3469 2025-01-08T20:42:39.003Z,1736368959.003 [DAT](INFO): Ping request sent. 2025-01-08T20:42:39.003Z,1736368959.003 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:39.004Z,1736368959.004 [DAT](ERROR): #Rx 172: Read range message, but no direction. 2025-01-08T20:42:39.004Z,1736368959.004 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:39.005Z,1736368959.005 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:39.252Z,1736368959.252 [DAT](INFO): DAT read: TxSync time:20:42:38.3461 2025-01-08T20:42:39.329Z,1736368959.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:42:39.329Z,1736368959.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:39.684Z,1736368959.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:42:39.684Z,1736368959.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:40.080Z,1736368960.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:42:40.080Z,1736368960.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:40.502Z,1736368960.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:42:40.502Z,1736368960.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:40.914Z,1736368960.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:42:40.914Z,1736368960.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:41.289Z,1736368961.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:42:41.289Z,1736368961.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:41.724Z,1736368961.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:42:41.724Z,1736368961.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:42.100Z,1736368962.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:42:42.100Z,1736368962.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:42.280Z,1736368962.280 [DAT](INFO): DAT read: Rx Time:20:42:41.0056 2025-01-08T20:42:42.281Z,1736368962.281 [DAT](INFO): Rx dataTimestamp_ set to:1736368962.280142 2025-01-08T20:42:42.511Z,1736368962.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:42:42.511Z,1736368962.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:42.793Z,1736368962.793 [DAT](INFO): DAT read: Range 10 to 50 : 190.8 m (Round-trip 254.4 ms) speed -0.2 m/s 2025-01-08T20:42:42.794Z,1736368962.794 [DAT](INFO): DAT read: user:1580> 2025-01-08T20:42:42.795Z,1736368962.795 [DAT](INFO): DAT read: Tx time:20:42:42.0970 2025-01-08T20:42:42.796Z,1736368962.796 [DAT](INFO): Ping request sent. 2025-01-08T20:42:42.796Z,1736368962.796 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:42.796Z,1736368962.796 [DAT](ERROR): #Rx 173: Read range message, but no direction. 2025-01-08T20:42:42.796Z,1736368962.796 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:42.797Z,1736368962.797 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:42.901Z,1736368962.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:42:42.901Z,1736368962.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:43.044Z,1736368963.044 [DAT](INFO): DAT read: TxSync time:20:42:42.0962 2025-01-08T20:42:43.309Z,1736368963.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:42:43.309Z,1736368963.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:43.713Z,1736368963.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:42:43.713Z,1736368963.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:44.114Z,1736368964.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:42:44.114Z,1736368964.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:44.546Z,1736368964.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:42:44.546Z,1736368964.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:44.924Z,1736368964.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:42:44.924Z,1736368964.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:45.328Z,1736368965.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:42:45.328Z,1736368965.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:45.736Z,1736368965.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:42:45.736Z,1736368965.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:46.068Z,1736368966.068 [DAT](INFO): DAT read: Rx Time:20:42:44.7554 2025-01-08T20:42:46.069Z,1736368966.069 [DAT](INFO): Rx dataTimestamp_ set to:1736368966.068505 2025-01-08T20:42:46.146Z,1736368966.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:42:46.147Z,1736368966.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:46.578Z,1736368966.578 [DAT](INFO): DAT read: 20:42:44.7554 LVL= 17280, 25633, 10386, 17139, AGC= 66, IDX= 424, 0.13,-0.073,-0.408, 1.318, 0.286, PHS=-0.271,-0.646, 1.029, RAW= 197.7, -1.5, CAL= 197.0, -8.5, ROT= 313.0, 8.5 2025-01-08T20:42:46.580Z,1736368966.580 [DAT](INFO): got valid direction response: 20:42:44.7554 LVL= 17280, 25633, 10386, 17139, AGC= 66, IDX= 424, 0.13,-0.073,-0.408, 1.318, 0.286, PHS=-0.271,-0.646, 1.029, RAW= 197.7, -1.5, CAL= 197.0, -8.5, ROT= 313.0, 8.5 2025-01-08T20:42:46.581Z,1736368966.581 [DAT](INFO): DAT read: Bearing 313.0, 8.5 (Local) 2025-01-08T20:42:46.581Z,1736368966.581 [DAT](INFO): Local bearing/azimuth received: Bearing 313.0, 8.5 (Local) 2025-01-08T20:42:46.582Z,1736368966.582 [DAT](INFO): DAT read: Range 10 to 50 : 190.6 m (Round-trip 254.2 ms) speed 0.0 m/s 2025-01-08T20:42:46.583Z,1736368966.583 [DAT](INFO): DAT read: user:1581> 2025-01-08T20:42:46.584Z,1736368966.584 [DAT](INFO): DAT read: Tx time:20:42:45.8470 2025-01-08T20:42:46.584Z,1736368966.584 [DAT](INFO): Ping request sent. 2025-01-08T20:42:46.584Z,1736368966.584 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:46.585Z,1736368966.585 [DAT](INFO): #Rx 174: Read range and direction messages. 2025-01-08T20:42:46.586Z,1736368966.586 [DAT](INFO): direction in FSK: [0.674507,-0.723320,-0.147809] 2025-01-08T20:42:46.586Z,1736368966.586 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:46.586Z,1736368966.586 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:46.589Z,1736368966.589 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:46.590Z,1736368966.590 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:46.599Z,1736368966.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:42:46.624Z,1736368966.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:46.824Z,1736368966.824 [DAT](INFO): DAT read: TxSync time:20:42:45.8462 2025-01-08T20:42:46.944Z,1736368966.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:42:46.944Z,1736368966.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:47.344Z,1736368967.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:42:47.344Z,1736368967.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:47.750Z,1736368967.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:42:47.750Z,1736368967.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:48.147Z,1736368968.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:42:48.148Z,1736368968.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:48.570Z,1736368968.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:48.952Z,1736368968.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:49.360Z,1736368969.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:49.758Z,1736368969.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:49.849Z,1736368969.849 [DAT](INFO): DAT read: Rx Time:20:42:48.5037 2025-01-08T20:42:49.850Z,1736368969.850 [DAT](INFO): Rx dataTimestamp_ set to:1736368969.849560 2025-01-08T20:42:50.175Z,1736368970.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:50.353Z,1736368970.353 [DAT](INFO): DAT read: Range 10 to 50 : 189.3 m (Round-trip 252.5 ms) speed -0.1 m/s 2025-01-08T20:42:50.354Z,1736368970.354 [DAT](INFO): DAT read: user:1582> 2025-01-08T20:42:50.355Z,1736368970.355 [DAT](INFO): DAT read: Tx time:20:42:49.5970 2025-01-08T20:42:50.356Z,1736368970.356 [DAT](INFO): Ping request sent. 2025-01-08T20:42:50.356Z,1736368970.356 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:50.356Z,1736368970.356 [DAT](ERROR): #Rx 175: Read range message, but no direction. 2025-01-08T20:42:50.356Z,1736368970.356 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:50.357Z,1736368970.357 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:50.591Z,1736368970.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:50.604Z,1736368970.604 [DAT](INFO): DAT read: TxSync time:20:42:49.5962 2025-01-08T20:42:50.975Z,1736368970.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:51.380Z,1736368971.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:51.779Z,1736368971.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:52.182Z,1736368972.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:52.638Z,1736368972.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:42:52.638Z,1736368972.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:53.011Z,1736368973.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:42:53.023Z,1736368973.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:53.456Z,1736368973.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:42:53.456Z,1736368973.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:53.632Z,1736368973.632 [DAT](INFO): DAT read: Rx Time:20:42:52.2541 2025-01-08T20:42:53.633Z,1736368973.633 [DAT](INFO): Rx dataTimestamp_ set to:1736368973.632535 2025-01-08T20:42:53.823Z,1736368973.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:42:53.823Z,1736368973.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:54.137Z,1736368974.137 [DAT](INFO): DAT read: Range 10 to 50 : 189.7 m (Round-trip 253.0 ms) speed -0.3 m/s 2025-01-08T20:42:54.138Z,1736368974.138 [DAT](INFO): DAT read: user:1583> 2025-01-08T20:42:54.139Z,1736368974.139 [DAT](INFO): DAT read: Tx time:20:42:53.3470 2025-01-08T20:42:54.139Z,1736368974.139 [DAT](INFO): Ping request sent. 2025-01-08T20:42:54.139Z,1736368974.139 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:54.140Z,1736368974.140 [DAT](ERROR): #Rx 176: Read range message, but no direction. 2025-01-08T20:42:54.140Z,1736368974.140 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:54.140Z,1736368974.140 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:54.258Z,1736368974.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:42:54.258Z,1736368974.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:54.388Z,1736368974.388 [DAT](INFO): DAT read: TxSync time:20:42:53.3462 2025-01-08T20:42:54.668Z,1736368974.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:42:54.668Z,1736368974.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:55.024Z,1736368975.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:42:55.024Z,1736368975.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:55.433Z,1736368975.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T20:42:55.433Z,1736368975.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:55.834Z,1736368975.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:42:55.834Z,1736368975.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:56.232Z,1736368976.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:42:56.232Z,1736368976.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:56.646Z,1736368976.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:57.044Z,1736368977.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:57.127Z,1736368977.127 [DataOverHttps](INFO): Sending 227 bytes from file Logs/20250108T193415/Express0019.lzma 2025-01-08T20:42:57.160Z,1736368977.160 [DAT](INFO): DAT read: Rx Time:20:42:56.0063 2025-01-08T20:42:57.161Z,1736368977.161 [DAT](INFO): Rx dataTimestamp_ set to:1736368977.160467 2025-01-08T20:42:57.439Z,1736368977.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:57.838Z,1736368977.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:57.922Z,1736368977.922 [DAT](INFO): DAT read: 20:42:56.0063 LVL= 10080, 12849, 6338, 11187, AGC= 72, IDX= 448, 0.15,-3.065, 3.069,-1.824,-2.542, PHS=-0.435,-0.625, 0.714, RAW= 202.5, 5.6, CAL= 203.4, -2.1, ROT= 306.6, 2.1 2025-01-08T20:42:57.924Z,1736368977.924 [DAT](INFO): got valid direction response: 20:42:56.0063 LVL= 10080, 12849, 6338, 11187, AGC= 72, IDX= 448, 0.15,-3.065, 3.069,-1.824,-2.542, PHS=-0.435,-0.625, 0.714, RAW= 202.5, 5.6, CAL= 203.4, -2.1, ROT= 306.6, 2.1 2025-01-08T20:42:57.925Z,1736368977.925 [DAT](INFO): DAT read: Bearing 306.6, 2.1 (Local) 2025-01-08T20:42:57.925Z,1736368977.925 [DAT](INFO): Local bearing/azimuth received: Bearing 306.6, 2.1 (Local) 2025-01-08T20:42:57.927Z,1736368977.927 [DAT](INFO): DAT read: Range 10 to 50 : 191.2 m (Round-trip 255.0 ms) speed -0.1 m/s 2025-01-08T20:42:57.927Z,1736368977.927 [DAT](INFO): DAT read: user:1584> 2025-01-08T20:42:57.928Z,1736368977.928 [DAT](INFO): DAT read: Tx time:20:42:57.0971 2025-01-08T20:42:57.929Z,1736368977.929 [DAT](INFO): Ping request sent. 2025-01-08T20:42:57.929Z,1736368977.929 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:42:57.929Z,1736368977.929 [DAT](INFO): DAT read: TxSync time:20:42:57.0963 2025-01-08T20:42:57.930Z,1736368977.930 [DAT](INFO): #Rx 177: Read range and direction messages. 2025-01-08T20:42:57.931Z,1736368977.931 [DAT](INFO): direction in FSK: [0.595825,-0.802278,-0.036644] 2025-01-08T20:42:57.931Z,1736368977.931 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:57.934Z,1736368977.934 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:57.950Z,1736368977.950 [DAT](INFO): publishing transmit ping time 2025-01-08T20:42:57.950Z,1736368977.950 [DAT](INFO): publishing direction and range info 2025-01-08T20:42:58.129Z,1736368978.129 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0019.lzma.bak 2025-01-08T20:42:58.129Z,1736368978.129 [DataOverHttps](INFO): SBD MOMSN=23886076 2025-01-08T20:42:58.257Z,1736368978.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:58.685Z,1736368978.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:42:58.685Z,1736368978.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:59.053Z,1736368979.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:42:59.054Z,1736368979.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:59.473Z,1736368979.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:42:59.473Z,1736368979.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:42:59.878Z,1736368979.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:42:59.878Z,1736368979.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:00.332Z,1736368980.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:43:00.332Z,1736368980.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:00.736Z,1736368980.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:43:00.736Z,1736368980.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:00.940Z,1736368980.940 [DAT](INFO): DAT read: Rx Time:20:42:59.7555 2025-01-08T20:43:00.941Z,1736368980.941 [DAT](INFO): Rx dataTimestamp_ set to:1736368980.940613 2025-01-08T20:43:01.097Z,1736368981.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:43:01.097Z,1736368981.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:01.483Z,1736368981.483 [DAT](INFO): DAT read: 20:42:59.7555 LVL= 28256, 32081, 13346, 32371, AGC= 60, IDX= 424,-0.30, 2.958, 2.175,-2.356, 3.002, PHS= 0.044,-0.780, 0.922, RAW= 181.0, -2.6, CAL= 181.7, -9.8, ROT= 328.3, 9.8 2025-01-08T20:43:01.485Z,1736368981.485 [DAT](INFO): got valid direction response: 20:42:59.7555 LVL= 28256, 32081, 13346, 32371, AGC= 60, IDX= 424,-0.30, 2.958, 2.175,-2.356, 3.002, PHS= 0.044,-0.780, 0.922, RAW= 181.0, -2.6, CAL= 181.7, -9.8, ROT= 328.3, 9.8 2025-01-08T20:43:01.486Z,1736368981.486 [DAT](INFO): DAT read: Bearing 328.3, 9.8 (Local) 2025-01-08T20:43:01.486Z,1736368981.486 [DAT](INFO): Local bearing/azimuth received: Bearing 328.3, 9.8 (Local) 2025-01-08T20:43:01.524Z,1736368981.524 [DAT](INFO): DAT read: Range 10 to 50 : 190.6 m (Round-trip 254.2 ms) speed 0.0 m/s 2025-01-08T20:43:01.524Z,1736368981.524 [DAT](INFO): DAT read: user:1585> 2025-01-08T20:43:01.525Z,1736368981.525 [DAT](INFO): DAT read: Tx time:20:43:00.8471 2025-01-08T20:43:01.525Z,1736368981.525 [DAT](INFO): Ping request sent. 2025-01-08T20:43:01.525Z,1736368981.525 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:01.526Z,1736368981.526 [DAT](INFO): #Rx 178: Read range and direction messages. 2025-01-08T20:43:01.527Z,1736368981.527 [DAT](INFO): direction in FSK: [0.838396,-0.517804,-0.170209] 2025-01-08T20:43:01.547Z,1736368981.547 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:01.548Z,1736368981.548 [DAT](INFO): publishing direction and range info 2025-01-08T20:43:01.550Z,1736368981.550 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:01.551Z,1736368981.551 [DAT](INFO): publishing direction and range info 2025-01-08T20:43:01.553Z,1736368981.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T20:43:01.553Z,1736368981.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:01.697Z,1736368981.697 [DAT](INFO): DAT read: TxSync time:20:43:00.8463 2025-01-08T20:43:01.897Z,1736368981.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:43:01.897Z,1736368981.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:02.333Z,1736368982.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:43:02.333Z,1736368982.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:02.722Z,1736368982.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:43:02.722Z,1736368982.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:03.100Z,1736368983.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:43:03.100Z,1736368983.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:03.504Z,1736368983.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:43:03.504Z,1736368983.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:03.913Z,1736368983.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:43:03.914Z,1736368983.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:04.420Z,1736368984.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.2 s old, using for 20.0 s. 2025-01-08T20:43:04.420Z,1736368984.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:04.712Z,1736368984.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:43:04.712Z,1736368984.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:04.728Z,1736368984.728 [DAT](INFO): DAT read: Rx Time:20:43:03.5043 2025-01-08T20:43:04.729Z,1736368984.729 [DAT](INFO): Rx dataTimestamp_ set to:1736368984.728608 2025-01-08T20:43:05.127Z,1736368985.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:43:05.127Z,1736368985.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:05.244Z,1736368985.244 [DAT](INFO): DAT read: 20:43:03.5043 LVL= 21808, 32753, 32754, 32755, AGC= 66, IDX= 428,-0.02,-1.007,-1.286, 0.173,-0.465, PHS=-0.454,-0.774, 0.634, RAW= 197.5, 9.3, CAL= 198.3, 1.6, ROT= 311.7, -1.6 2025-01-08T20:43:05.245Z,1736368985.245 [DAT](INFO): got valid direction response: 20:43:03.5043 LVL= 21808, 32753, 32754, 32755, AGC= 66, IDX= 428,-0.02,-1.007,-1.286, 0.173,-0.465, PHS=-0.454,-0.774, 0.634, RAW= 197.5, 9.3, CAL= 198.3, 1.6, ROT= 311.7, -1.6 2025-01-08T20:43:05.246Z,1736368985.246 [DAT](INFO): DAT read: Bearing 311.7, -1.6 (Local) 2025-01-08T20:43:05.246Z,1736368985.246 [DAT](INFO): Local bearing/azimuth received: Bearing 311.7, -1.6 (Local) 2025-01-08T20:43:05.252Z,1736368985.252 [DAT](INFO): DAT read: Range 10 to 50 : 189.8 m (Round-trip 253.1 ms) speed -0.1 m/s 2025-01-08T20:43:05.252Z,1736368985.252 [DAT](INFO): DAT read: user:1586> 2025-01-08T20:43:05.253Z,1736368985.253 [DAT](INFO): DAT read: Tx time:20:43:04.5971 2025-01-08T20:43:05.253Z,1736368985.253 [DAT](INFO): Ping request sent. 2025-01-08T20:43:05.254Z,1736368985.254 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:05.254Z,1736368985.254 [DAT](INFO): #Rx 179: Read range and direction messages. 2025-01-08T20:43:05.255Z,1736368985.255 [DAT](INFO): direction in FSK: [0.664971,-0.746347,0.027922] 2025-01-08T20:43:05.264Z,1736368985.264 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:05.264Z,1736368985.264 [DAT](INFO): publishing direction and range info 2025-01-08T20:43:05.274Z,1736368985.274 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:05.274Z,1736368985.274 [DAT](INFO): publishing direction and range info 2025-01-08T20:43:05.484Z,1736368985.484 [DAT](INFO): DAT read: TxSync time:20:43:04.5963 2025-01-08T20:43:05.546Z,1736368985.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:43:05.546Z,1736368985.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:05.953Z,1736368985.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:43:05.953Z,1736368985.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:06.415Z,1736368986.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:43:06.415Z,1736368986.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:06.754Z,1736368986.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:43:06.754Z,1736368986.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:07.152Z,1736368987.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:43:07.152Z,1736368987.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:07.553Z,1736368987.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:43:07.553Z,1736368987.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:07.952Z,1736368987.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:43:07.952Z,1736368987.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:08.374Z,1736368988.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:43:08.375Z,1736368988.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:08.508Z,1736368988.508 [DAT](INFO): DAT read: Rx Time:20:43:07.2547 2025-01-08T20:43:08.509Z,1736368988.509 [DAT](INFO): Rx dataTimestamp_ set to:1736368988.508515 2025-01-08T20:43:08.762Z,1736368988.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s. 2025-01-08T20:43:08.763Z,1736368988.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:09.018Z,1736368989.018 [DAT](INFO): DAT read: 20:43:07.2547 LVL= 32752, 32753, 24082, 32755, AGC= 68, IDX= 432,-0.36, 1.409, 0.519, 2.000, 1.057, PHS= 0.440,-0.491, 0.941, RAW= 170.1, -14.0, CAL= 174.0, -19.3, ROT= 336.0, 19.3 2025-01-08T20:43:09.020Z,1736368989.020 [DAT](INFO): got valid direction response: 20:43:07.2547 LVL= 32752, 32753, 24082, 32755, AGC= 68, IDX= 432,-0.36, 1.409, 0.519, 2.000, 1.057, PHS= 0.440,-0.491, 0.941, RAW= 170.1, -14.0, CAL= 174.0, -19.3, ROT= 336.0, 19.3 2025-01-08T20:43:09.021Z,1736368989.021 [DAT](INFO): DAT read: Bearing 336.0, 19.3 (Local) 2025-01-08T20:43:09.021Z,1736368989.021 [DAT](INFO): Local bearing/azimuth received: Bearing 336.0, 19.3 (Local) 2025-01-08T20:43:09.022Z,1736368989.022 [DAT](INFO): DAT read: Range 10 to 50 : 190.0 m (Round-trip 253.4 ms) speed -0.3 m/s 2025-01-08T20:43:09.024Z,1736368989.024 [DAT](INFO): DAT read: user:1587> 2025-01-08T20:43:09.025Z,1736368989.025 [DAT](INFO): DAT read: Tx time:20:43:08.3472 2025-01-08T20:43:09.025Z,1736368989.025 [DAT](INFO): Ping request sent. 2025-01-08T20:43:09.025Z,1736368989.025 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:09.026Z,1736368989.026 [DAT](INFO): #Rx 180: Read range and direction messages. 2025-01-08T20:43:09.027Z,1736368989.027 [DAT](INFO): direction in FSK: [0.862205,-0.383878,-0.330514] 2025-01-08T20:43:09.027Z,1736368989.027 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:09.027Z,1736368989.027 [DAT](INFO): publishing direction and range info 2025-01-08T20:43:09.030Z,1736368989.030 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:09.030Z,1736368989.030 [DAT](INFO): publishing direction and range info 2025-01-08T20:43:09.246Z,1736368989.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.0 s old, using for 20.0 s. 2025-01-08T20:43:09.246Z,1736368989.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:09.264Z,1736368989.264 [DAT](INFO): DAT read: TxSync time:20:43:08.3464 2025-01-08T20:43:09.608Z,1736368989.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s. 2025-01-08T20:43:09.608Z,1736368989.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:09.994Z,1736368989.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s. 2025-01-08T20:43:09.994Z,1736368989.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:10.460Z,1736368990.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:10.785Z,1736368990.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:11.222Z,1736368991.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:11.586Z,1736368991.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:11.995Z,1736368991.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:12.291Z,1736368992.291 [DAT](INFO): DAT read: Rx Time:20:43:11.0066 2025-01-08T20:43:12.292Z,1736368992.292 [DAT](INFO): Rx dataTimestamp_ set to:1736368992.291540 2025-01-08T20:43:12.418Z,1736368992.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:43:12.418Z,1736368992.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:12.793Z,1736368992.793 [DAT](INFO): DAT read: Range 10 to 50 : 191.4 m (Round-trip 255.2 ms) speed -0.3 m/s 2025-01-08T20:43:12.794Z,1736368992.794 [DAT](INFO): DAT read: user:1588> 2025-01-08T20:43:12.795Z,1736368992.795 [DAT](INFO): DAT read: Tx time:20:43:12.0972 2025-01-08T20:43:12.795Z,1736368992.795 [DAT](INFO): Ping request sent. 2025-01-08T20:43:12.795Z,1736368992.795 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:12.796Z,1736368992.796 [DAT](ERROR): #Rx 181: Read range message, but no direction. 2025-01-08T20:43:12.796Z,1736368992.796 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:12.796Z,1736368992.796 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:12.832Z,1736368992.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:43:12.832Z,1736368992.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:13.044Z,1736368993.044 [DAT](INFO): DAT read: TxSync time:20:43:12.0964 2025-01-08T20:43:13.196Z,1736368993.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:43:13.196Z,1736368993.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:13.612Z,1736368993.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:43:13.612Z,1736368993.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:14.020Z,1736368994.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:43:14.020Z,1736368994.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:14.448Z,1736368994.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:14.817Z,1736368994.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:15.228Z,1736368995.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:15.630Z,1736368995.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:16.038Z,1736368996.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:16.068Z,1736368996.068 [DAT](INFO): DAT read: Rx Time:.7570 2025-01-08T20:43:16.069Z,1736368996.069 [DAT](INFO): Rx dataTimestamp_ set to:1736368996.068471 2025-01-08T20:43:16.492Z,1736368996.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:43:16.493Z,1736368996.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:16.573Z,1736368996.573 [DAT](INFO): DAT read: Range 10 to 50 : 191.7 m (Round-trip 255.6 ms) speed 0.5 m/s 2025-01-08T20:43:16.574Z,1736368996.574 [DAT](INFO): DAT read: user:1589> 2025-01-08T20:43:16.575Z,1736368996.575 [DAT](INFO): DAT read: Tx time:20:43:15.8472 2025-01-08T20:43:16.575Z,1736368996.575 [DAT](INFO): Ping request sent. 2025-01-08T20:43:16.575Z,1736368996.575 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:16.576Z,1736368996.576 [DAT](ERROR): #Rx 182: Read range message, but no direction. 2025-01-08T20:43:16.576Z,1736368996.576 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:16.576Z,1736368996.576 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:16.824Z,1736368996.824 [DAT](INFO): DAT read: TxSync time:20:43:15.8464 2025-01-08T20:43:16.845Z,1736368996.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:43:16.845Z,1736368996.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:17.250Z,1736368997.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:43:17.250Z,1736368997.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:17.641Z,1736368997.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:43:17.641Z,1736368997.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:18.045Z,1736368998.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:43:18.045Z,1736368998.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:18.360Z,1736368998.360 [DataOverHttps](INFO): Sending 576 bytes from file Logs/20250108T193415/Express0022.lzma 2025-01-08T20:43:18.463Z,1736368998.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:43:18.463Z,1736368998.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:18.859Z,1736368998.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:43:18.859Z,1736368998.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:19.256Z,1736368999.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:43:19.256Z,1736368999.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:19.361Z,1736368999.361 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0022.lzma.bak 2025-01-08T20:43:19.361Z,1736368999.361 [DataOverHttps](INFO): SBD MOMSN=23886080 2025-01-08T20:43:19.658Z,1736368999.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:43:19.658Z,1736368999.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:19.848Z,1736368999.848 [DAT](INFO): DAT read: Rx Time:20:43:18.5051 2025-01-08T20:43:19.849Z,1736368999.849 [DAT](INFO): Rx dataTimestamp_ set to:1736368999.848614 2025-01-08T20:43:20.062Z,1736369000.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:43:20.062Z,1736369000.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:20.387Z,1736369000.387 [DAT](INFO): DAT read: 20:43:18.5052 LVL= 8416, 10913, 7090, 7907, AGC= 71, IDX= 418, 0.46,-1.844,-2.283,-0.400,-1.403, PHS=-0.353,-0.833, 1.000, RAW= 195.4, 2.3, CAL= 195.3, -5.4, ROT= 314.7, 5.4 2025-01-08T20:43:20.388Z,1736369000.388 [DAT](INFO): got valid direction response: 20:43:18.5052 LVL= 8416, 10913, 7090, 7907, AGC= 71, IDX= 418, 0.46,-1.844,-2.283,-0.400,-1.403, PHS=-0.353,-0.833, 1.000, RAW= 195.4, 2.3, CAL= 195.3, -5.4, ROT= 314.7, 5.4 2025-01-08T20:43:20.389Z,1736369000.389 [DAT](INFO): DAT read: Bearing 314.7, 5.4 (Local) 2025-01-08T20:43:20.390Z,1736369000.390 [DAT](INFO): Local bearing/azimuth received: Bearing 314.7, 5.4 (Local) 2025-01-08T20:43:20.391Z,1736369000.391 [DAT](INFO): DAT read: Range 10 to 50 : 190.3 m (Round-trip 253.8 ms) speed 0.2 m/s 2025-01-08T20:43:20.392Z,1736369000.392 [DAT](INFO): DAT read: user:1590> 2025-01-08T20:43:20.394Z,1736369000.394 [DAT](INFO): DAT read: Tx time:20:43:19.5973 2025-01-08T20:43:20.395Z,1736369000.395 [DAT](INFO): Ping request sent. 2025-01-08T20:43:20.414Z,1736369000.414 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:20.414Z,1736369000.414 [DAT](INFO): DAT read: TxSync time:20:43:19.5965 2025-01-08T20:43:20.415Z,1736369000.415 [DAT](INFO): #Rx 183: Read range and direction messages. 2025-01-08T20:43:20.420Z,1736369000.420 [DAT](INFO): direction in FSK: [0.700273,-0.707645,-0.094108] 2025-01-08T20:43:20.420Z,1736369000.420 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:20.421Z,1736369000.421 [DAT](INFO): publishing direction and range info 2025-01-08T20:43:20.432Z,1736369000.432 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:20.432Z,1736369000.432 [DAT](INFO): publishing direction and range info 2025-01-08T20:43:20.549Z,1736369000.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:43:20.550Z,1736369000.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:20.884Z,1736369000.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:43:20.884Z,1736369000.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:21.292Z,1736369001.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:43:21.292Z,1736369001.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:21.697Z,1736369001.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:43:21.697Z,1736369001.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:22.096Z,1736369002.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:43:22.096Z,1736369002.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:22.545Z,1736369002.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:43:22.546Z,1736369002.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:22.905Z,1736369002.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:43:22.905Z,1736369002.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:23.312Z,1736369003.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:43:23.312Z,1736369003.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:23.628Z,1736369003.628 [DAT](INFO): DAT read: Rx Time:20:43:22.2549 2025-01-08T20:43:23.629Z,1736369003.629 [DAT](INFO): Rx dataTimestamp_ set to:1736369003.628668 2025-01-08T20:43:23.737Z,1736369003.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:43:23.737Z,1736369003.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:23.753Z,1736369003.753 [transit:NeedComms:D] Stopped 2025-01-08T20:43:23.753Z,1736369003.753 [transit:NeedComms:E] Running Loop=1 2025-01-08T20:43:24.113Z,1736369004.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:43:24.113Z,1736369004.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:24.129Z,1736369004.129 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-01-08T20:43:24.158Z,1736369004.158 [DAT](INFO): DAT read: 20:43:22.2549 LVL= 8208, 15953, 7154, 8755, AGC= 75, IDX= 433,-0.35, 2.045, 1.911,-3.033, 2.324, PHS=-0.190,-0.366, 0.923, RAW= 202.8, -6.1, CAL= 200.9, -12.4, ROT= 309.1, 12.4 2025-01-08T20:43:24.160Z,1736369004.160 [DAT](INFO): got valid direction response: 20:43:22.2549 LVL= 8208, 15953, 7154, 8755, AGC= 75, IDX= 433,-0.35, 2.045, 1.911,-3.033, 2.324, PHS=-0.190,-0.366, 0.923, RAW= 202.8, -6.1, CAL= 200.9, -12.4, ROT= 309.1, 12.4 2025-01-08T20:43:24.161Z,1736369004.161 [DAT](INFO): DAT read: Bearing 309.1, 12.4 (Local) 2025-01-08T20:43:24.161Z,1736369004.161 [DAT](INFO): Local bearing/azimuth received: Bearing 309.1, 12.4 (Local) 2025-01-08T20:43:24.163Z,1736369004.163 [DAT](INFO): DAT read: Range 10 to 50 : 190.1 m (Round-trip 253.5 ms) speed -0.4 m/s 2025-01-08T20:43:24.163Z,1736369004.163 [DAT](INFO): DAT read: user:1591> 2025-01-08T20:43:24.164Z,1736369004.164 [DAT](INFO): DAT read: Tx time:20:43:23.3473 2025-01-08T20:43:24.164Z,1736369004.164 [DAT](INFO): Ping request sent. 2025-01-08T20:43:24.165Z,1736369004.165 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:24.165Z,1736369004.165 [DAT](INFO): DAT read: TxSync time:20:43:23.3465 2025-01-08T20:43:24.166Z,1736369004.166 [DAT](INFO): #Rx 184: Read range and direction messages. 2025-01-08T20:43:24.167Z,1736369004.167 [DAT](INFO): direction in FSK: [0.615964,-0.757943,-0.214735] 2025-01-08T20:43:24.167Z,1736369004.167 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:24.167Z,1736369004.167 [DAT](INFO): publishing direction and range info 2025-01-08T20:43:24.170Z,1736369004.170 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:24.170Z,1736369004.170 [DAT](INFO): publishing direction and range info 2025-01-08T20:43:24.577Z,1736369004.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:43:24.577Z,1736369004.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:24.936Z,1736369004.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:43:24.936Z,1736369004.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:25.332Z,1736369005.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:43:25.332Z,1736369005.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:25.710Z,1736369005.710 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,204324.00,A,3654.21830,N,12207.01758,W,0.505,344.11,080125,,,A*73 2025-01-08T20:43:25.713Z,1736369005.713 [NAL9602](INFO): GPS fix at 20250108T204324: (36.903638, -122.116960) 2025-01-08T20:43:25.755Z,1736369005.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:43:25.755Z,1736369005.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:25.781Z,1736369005.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07 2025-01-08T20:43:25.798Z,1736369005.798 [transit:NeedComms:E] Stopped 2025-01-08T20:43:25.803Z,1736369005.803 [transit:NeedComms](INFO): Completed transit:NeedComms 2025-01-08T20:43:25.803Z,1736369005.803 [transit:NeedComms] Stopped 2025-01-08T20:43:25.803Z,1736369005.803 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms 2025-01-08T20:43:25.804Z,1736369005.804 [transit:NeedComms:B.GoToSurface] Stopped 2025-01-08T20:43:25.804Z,1736369005.804 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-01-08T20:43:26.152Z,1736369006.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:43:26.152Z,1736369006.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:26.573Z,1736369006.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:26.935Z,1736369006.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:27.177Z,1736369007.177 [DAT](INFO): DAT read: Rx Time:20:43:26.0072 2025-01-08T20:43:27.177Z,1736369007.177 [DAT](INFO): Rx dataTimestamp_ set to:1736369007.176752 2025-01-08T20:43:27.335Z,1736369007.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:27.681Z,1736369007.681 [DAT](INFO): DAT read: Range 10 to 50 : 191.7 m (Round-trip 255.7 ms) speed -0.4 m/s 2025-01-08T20:43:27.682Z,1736369007.682 [DAT](INFO): DAT read: user:1592> 2025-01-08T20:43:27.683Z,1736369007.683 [DAT](ERROR): #Rx 185: Read range message, but no direction. 2025-01-08T20:43:27.774Z,1736369007.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:27.937Z,1736369007.937 [DAT](INFO): DAT read: Tx time:20:43:27.0973 2025-01-08T20:43:27.938Z,1736369007.938 [DAT](INFO): Ping request sent. 2025-01-08T20:43:27.938Z,1736369007.938 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:27.938Z,1736369007.938 [DAT](INFO): DAT read: TxSync time:20:43:27.0965 2025-01-08T20:43:27.939Z,1736369007.939 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:28.191Z,1736369008.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:28.632Z,1736369008.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:28.989Z,1736369008.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:29.390Z,1736369009.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:29.791Z,1736369009.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:30.192Z,1736369010.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:30.634Z,1736369010.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:43:30.634Z,1736369010.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:30.964Z,1736369010.964 [DAT](INFO): DAT read: Rx T3:29.7583 2025-01-08T20:43:30.965Z,1736369010.965 [DAT](INFO): unknown deviceResponse_: Rx T3:29.7583 2025-01-08T20:43:31.084Z,1736369011.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T20:43:31.084Z,1736369011.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:31.477Z,1736369011.477 [DAT](INFO): DAT read: Range 10 to 50 : 192.6 m (Round-trip 256.8 ms) speed 0.3 m/s 2025-01-08T20:43:31.478Z,1736369011.478 [DAT](INFO): DAT read: user:1593> 2025-01-08T20:43:31.479Z,1736369011.479 [DAT](INFO): DAT read: Tx time:20:43:30.8473 2025-01-08T20:43:31.479Z,1736369011.479 [DAT](INFO): Ping request sent. 2025-01-08T20:43:31.479Z,1736369011.479 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:31.480Z,1736369011.480 [DAT](ERROR): #Rx 186: Read range message, but no direction. 2025-01-08T20:43:31.480Z,1736369011.480 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:31.480Z,1736369011.480 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:31.531Z,1736369011.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:43:31.531Z,1736369011.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:31.728Z,1736369011.728 [DAT](INFO): DAT read: TxSync time:20:43:30.8465 2025-01-08T20:43:31.872Z,1736369011.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T20:43:31.872Z,1736369011.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:32.332Z,1736369012.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:43:32.332Z,1736369012.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:32.682Z,1736369012.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:33.070Z,1736369013.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:33.482Z,1736369013.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:33.875Z,1736369013.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:34.363Z,1736369014.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:43:34.364Z,1736369014.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:34.684Z,1736369014.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:43:34.684Z,1736369014.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:34.753Z,1736369014.753 [DAT](INFO): DAT read: Rx Time:20:43:33.5062 2025-01-08T20:43:34.753Z,1736369014.753 [DAT](INFO): Rx dataTimestamp_ set to:1736369014.752818 2025-01-08T20:43:35.086Z,1736369015.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:43:35.087Z,1736369015.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:35.262Z,1736369015.262 [DAT](INFO): DAT read: 20:43:33.5062 LVL= 23408, 22113, 14274, 22579, AGC= 67, IDX= 412,-0.14,-3.094, 2.453,-1.977,-2.840, PHS=-0.166,-0.943, 0.861, RAW= 184.6, 3.2, CAL= 184.6, -5.1, ROT= 325.4, 5.1 2025-01-08T20:43:35.263Z,1736369015.263 [DAT](INFO): got valid direction response: 20:43:33.5062 LVL= 23408, 22113, 14274, 22579, AGC= 67, IDX= 412,-0.14,-3.094, 2.453,-1.977,-2.840, PHS=-0.166,-0.943, 0.861, RAW= 184.6, 3.2, CAL= 184.6, -5.1, ROT= 325.4, 5.1 2025-01-08T20:43:35.264Z,1736369015.264 [DAT](INFO): DAT read: Bearing 325.4, 5.1 (Local) 2025-01-08T20:43:35.265Z,1736369015.265 [DAT](INFO): Local bearing/azimuth received: Bearing 325.4, 5.1 (Local) 2025-01-08T20:43:35.266Z,1736369015.266 [DAT](INFO): DAT read: Range 10 to 50 : 190.9 m (Round-trip 254.6 ms) speed 0.5 m/s 2025-01-08T20:43:35.267Z,1736369015.267 [DAT](INFO): DAT read: user:1594> 2025-01-08T20:43:35.268Z,1736369015.268 [DAT](INFO): DAT read: Tx time:20:43:34.5974 2025-01-08T20:43:35.268Z,1736369015.268 [DAT](INFO): Ping request sent. 2025-01-08T20:43:35.268Z,1736369015.268 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:35.268Z,1736369015.268 [DAT](INFO): #Rx 187: Read range and direction messages. 2025-01-08T20:43:35.269Z,1736369015.269 [DAT](INFO): direction in FSK: [0.819878,-0.565596,-0.088894] 2025-01-08T20:43:35.270Z,1736369015.270 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:35.270Z,1736369015.270 [DAT](INFO): publishing direction and range info 2025-01-08T20:43:35.280Z,1736369015.280 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:35.280Z,1736369015.280 [DAT](INFO): publishing direction and range info 2025-01-08T20:43:35.497Z,1736369015.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:43:35.497Z,1736369015.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:35.508Z,1736369015.508 [DAT](INFO): DAT read: TxSync time:20:43:34.5966 2025-01-08T20:43:35.924Z,1736369015.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:43:35.924Z,1736369015.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:36.375Z,1736369016.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:43:36.375Z,1736369016.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:36.742Z,1736369016.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T20:43:36.742Z,1736369016.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:37.169Z,1736369017.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T20:43:37.169Z,1736369017.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:37.558Z,1736369017.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:43:37.558Z,1736369017.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:37.978Z,1736369017.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:43:37.978Z,1736369017.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:38.457Z,1736369018.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s. 2025-01-08T20:43:38.457Z,1736369018.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:38.533Z,1736369018.533 [DAT](INFO): DAT read: Rx Time:20:43:37.2542 2025-01-08T20:43:38.533Z,1736369018.533 [DAT](INFO): Rx dataTimestamp_ set to:1736369018.532850 2025-01-08T20:43:38.785Z,1736369018.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:43:38.785Z,1736369018.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:39.037Z,1736369019.037 [DAT](INFO): DAT read: Range 10 to 50 : 189.5 m (Round-trip 252.7 ms) speed 0.0 m/s 2025-01-08T20:43:39.038Z,1736369019.038 [DAT](INFO): DAT read: user:1595> 2025-01-08T20:43:39.039Z,1736369019.039 [DAT](INFO): DAT read: Tx time:20:43:38.3474 2025-01-08T20:43:39.039Z,1736369019.039 [DAT](INFO): Ping request sent. 2025-01-08T20:43:39.039Z,1736369019.039 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:39.040Z,1736369019.040 [DAT](ERROR): #Rx 188: Read range message, but no direction. 2025-01-08T20:43:39.040Z,1736369019.040 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:39.040Z,1736369019.040 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:39.182Z,1736369019.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:43:39.182Z,1736369019.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:39.288Z,1736369019.288 [DAT](INFO): DAT read: TxSync time:20:43:38.3466 2025-01-08T20:43:39.596Z,1736369019.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:43:39.596Z,1736369019.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:39.988Z,1736369019.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:43:39.988Z,1736369019.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:40.445Z,1736369020.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s. 2025-01-08T20:43:40.446Z,1736369020.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:40.802Z,1736369020.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:43:40.802Z,1736369020.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:41.200Z,1736369021.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:43:41.200Z,1736369021.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:41.608Z,1736369021.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:43:41.608Z,1736369021.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:42.005Z,1736369022.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:43:42.005Z,1736369022.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:42.423Z,1736369022.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:43:42.424Z,1736369022.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:42.808Z,1736369022.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:43:42.808Z,1736369022.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:43.208Z,1736369023.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:43:43.208Z,1736369023.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:43.617Z,1736369023.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:43:43.617Z,1736369023.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:44.014Z,1736369024.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:43:44.015Z,1736369024.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:44.522Z,1736369024.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:44.838Z,1736369024.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:44.900Z,1736369024.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:43:45.253Z,1736369025.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:45.685Z,1736369025.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:46.117Z,1736369026.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:46.501Z,1736369026.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:46.842Z,1736369026.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:47.259Z,1736369027.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:47.660Z,1736369027.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:48.076Z,1736369028.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:48.454Z,1736369028.454 [NAL9602](INFO): SBD MO Status=2, MOMSN=46746, MT Status=2, MTMSN=0 2025-01-08T20:43:48.454Z,1736369028.454 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-01-08T20:43:48.504Z,1736369028.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:48.883Z,1736369028.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:49.283Z,1736369029.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:49.688Z,1736369029.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:49.872Z,1736369029.872 [DAT](INFO): DAT read: Response Not Received 2025-01-08T20:43:49.873Z,1736369029.873 [DAT](INFO): response not received 2025-01-08T20:43:49.873Z,1736369029.873 [DAT](INFO): DAT read: user:1596> 2025-01-08T20:43:49.873Z,1736369029.873 [DAT](ERROR): No response from remote modem. 2025-01-08T20:43:50.099Z,1736369030.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:50.125Z,1736369030.125 [DAT](INFO): DAT read: Tx time:20:43:49.2975 2025-01-08T20:43:50.125Z,1736369030.125 [DAT](INFO): Ping request sent. 2025-01-08T20:43:50.125Z,1736369030.125 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:50.126Z,1736369030.126 [DAT](INFO): DAT read: TxSync time:20:43:49.2967 2025-01-08T20:43:50.126Z,1736369030.126 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:50.526Z,1736369030.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:43:50.526Z,1736369030.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:50.901Z,1736369030.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:43:50.901Z,1736369030.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:51.299Z,1736369031.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:43:51.299Z,1736369031.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:51.713Z,1736369031.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:43:51.713Z,1736369031.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:52.094Z,1736369032.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:43:52.095Z,1736369032.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:52.518Z,1736369032.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:52.936Z,1736369032.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:53.148Z,1736369033.148 [DAT](INFO): DAT read: Rx Time:20:43:51.9458 2025-01-08T20:43:53.149Z,1736369033.149 [DAT](INFO): Rx dataTimestamp_ set to:1736369033.148520 2025-01-08T20:43:53.335Z,1736369033.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:53.653Z,1736369033.653 [DAT](INFO): DAT read: Range 10 to 50 : 183.1 m (Round-trip 244.2 ms) speed 0.0 m/s 2025-01-08T20:43:53.654Z,1736369033.654 [DAT](INFO): DAT read: user:1597> 2025-01-08T20:43:53.655Z,1736369033.655 [DAT](INFO): DAT read: Tx time:20:43:53.0475 2025-01-08T20:43:53.655Z,1736369033.655 [DAT](INFO): Ping request sent. 2025-01-08T20:43:53.655Z,1736369033.655 [DAT](INFO): transmitted an acoustic signal 2025-01-08T20:43:53.656Z,1736369033.656 [DAT](ERROR): #Rx 189: Read range message, but no direction. 2025-01-08T20:43:53.656Z,1736369033.656 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:53.656Z,1736369033.656 [DAT](INFO): publishing transmit ping time 2025-01-08T20:43:53.760Z,1736369033.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:53.904Z,1736369033.904 [DAT](INFO): DAT read: TxSync time:20:43:53.0467 2025-01-08T20:43:54.150Z,1736369034.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:54.253Z,1736369034.253 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:43:54.557Z,1736369034.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:43:54.557Z,1736369034.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:54.945Z,1736369034.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:43:54.945Z,1736369034.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:55.332Z,1736369035.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:43:55.332Z,1736369035.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:55.731Z,1736369035.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:43:55.731Z,1736369035.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:56.140Z,1736369036.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:43:56.140Z,1736369036.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:56.597Z,1736369036.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:43:56.597Z,1736369036.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:56.932Z,1736369036.932 [DAT](INFO): DAT read: Rx Time:20:43:55.6948 2025-01-08T20:43:56.933Z,1736369036.933 [DAT](INFO): Rx dataTimestamp_ set to:1736369036.932450 2025-01-08T20:43:56.968Z,1736369036.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:43:56.968Z,1736369036.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:57.385Z,1736369037.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:43:57.385Z,1736369037.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:57.437Z,1736369037.437 [DAT](INFO): DAT read: Range 10 to 50 : 182.3 m (Round-trip 243.1 ms) speed -0.3 m/s 2025-01-08T20:43:57.438Z,1736369037.438 [DAT](ERROR): #Rx 190: Read range message, but no direction. 2025-01-08T20:43:57.765Z,1736369037.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:43:57.765Z,1736369037.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:58.165Z,1736369038.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:43:58.165Z,1736369038.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:58.622Z,1736369038.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:43:58.622Z,1736369038.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:58.984Z,1736369038.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:43:58.984Z,1736369038.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:59.392Z,1736369039.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:43:59.392Z,1736369039.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:43:59.784Z,1736369039.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:43:59.784Z,1736369039.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:00.185Z,1736369040.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:44:00.185Z,1736369040.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:00.622Z,1736369040.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:44:00.622Z,1736369040.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:00.988Z,1736369040.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T20:44:00.988Z,1736369040.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:01.388Z,1736369041.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T20:44:01.388Z,1736369041.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:01.793Z,1736369041.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.6 s old, using for 20.0 s. 2025-01-08T20:44:01.793Z,1736369041.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:02.195Z,1736369042.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.0 s old, using for 20.0 s. 2025-01-08T20:44:02.195Z,1736369042.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:02.638Z,1736369042.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:44:02.638Z,1736369042.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:03.004Z,1736369043.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:44:03.004Z,1736369043.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:03.428Z,1736369043.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:44:03.428Z,1736369043.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:03.829Z,1736369043.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:44:03.829Z,1736369043.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:04.215Z,1736369044.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:44:04.215Z,1736369044.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:04.640Z,1736369044.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:04.720Z,1736369044.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:44:05.024Z,1736369045.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:05.438Z,1736369045.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:05.831Z,1736369045.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:06.240Z,1736369046.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:06.670Z,1736369046.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:44:06.670Z,1736369046.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:07.072Z,1736369047.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:44:07.072Z,1736369047.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:07.460Z,1736369047.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:44:07.460Z,1736369047.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:07.865Z,1736369047.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:44:07.865Z,1736369047.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:08.331Z,1736369048.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:44:08.331Z,1736369048.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:08.811Z,1736369048.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s. 2025-01-08T20:44:08.812Z,1736369048.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:09.136Z,1736369049.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T20:44:09.136Z,1736369049.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:09.541Z,1736369049.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T20:44:09.541Z,1736369049.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:09.949Z,1736369049.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:44:09.949Z,1736369049.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:10.410Z,1736369050.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:10.801Z,1736369050.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:11.162Z,1736369051.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:11.563Z,1736369051.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:11.972Z,1736369051.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:12.411Z,1736369052.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:44:12.412Z,1736369052.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:12.779Z,1736369052.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:44:12.779Z,1736369052.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:13.193Z,1736369053.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:44:13.193Z,1736369053.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:13.593Z,1736369053.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:44:13.593Z,1736369053.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:13.979Z,1736369053.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:44:13.987Z,1736369053.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:14.430Z,1736369054.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:44:14.431Z,1736369054.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:14.795Z,1736369054.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:44:14.795Z,1736369054.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:15.275Z,1736369055.275 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:44:15.319Z,1736369055.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T20:44:15.335Z,1736369055.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:15.719Z,1736369055.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:44:15.719Z,1736369055.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:16.126Z,1736369056.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.2 s old, using for 20.0 s. 2025-01-08T20:44:16.127Z,1736369056.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:16.572Z,1736369056.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:16.934Z,1736369056.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:17.343Z,1736369057.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:17.773Z,1736369057.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:18.149Z,1736369058.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:18.603Z,1736369058.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:18.949Z,1736369058.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:19.360Z,1736369059.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:19.762Z,1736369059.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:20.184Z,1736369060.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:20.691Z,1736369060.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:21.043Z,1736369061.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:21.394Z,1736369061.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:21.871Z,1736369061.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:22.240Z,1736369062.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:22.710Z,1736369062.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:44:22.710Z,1736369062.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:23.100Z,1736369063.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T20:44:23.100Z,1736369063.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:23.561Z,1736369063.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:44:23.561Z,1736369063.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:23.909Z,1736369063.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T20:44:23.910Z,1736369063.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:24.413Z,1736369064.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.2 s old, using for 20.0 s. 2025-01-08T20:44:24.413Z,1736369064.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:24.704Z,1736369064.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:44:24.704Z,1736369064.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:25.118Z,1736369065.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T20:44:25.118Z,1736369065.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:25.541Z,1736369065.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T20:44:25.541Z,1736369065.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:25.967Z,1736369065.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:44:25.967Z,1736369065.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:26.440Z,1736369066.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:26.853Z,1736369066.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:27.239Z,1736369067.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:27.668Z,1736369067.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:28.061Z,1736369068.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:28.502Z,1736369068.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:28.852Z,1736369068.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:29.268Z,1736369069.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:29.680Z,1736369069.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:30.068Z,1736369070.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:30.485Z,1736369070.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:30.864Z,1736369070.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:31.268Z,1736369071.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:31.673Z,1736369071.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:32.072Z,1736369072.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:32.512Z,1736369072.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:44:32.513Z,1736369072.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:32.886Z,1736369072.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:44:32.887Z,1736369072.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:33.292Z,1736369073.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:44:33.293Z,1736369073.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:33.712Z,1736369073.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:44:33.712Z,1736369073.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:34.122Z,1736369074.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:44:34.122Z,1736369074.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:34.520Z,1736369074.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:34.905Z,1736369074.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:35.302Z,1736369075.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:35.706Z,1736369075.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:36.120Z,1736369076.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:36.544Z,1736369076.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:36.923Z,1736369076.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:37.328Z,1736369077.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:37.752Z,1736369077.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:38.152Z,1736369078.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:38.574Z,1736369078.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:38.956Z,1736369078.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:39.344Z,1736369079.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:39.764Z,1736369079.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:40.171Z,1736369080.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:40.575Z,1736369080.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:40.983Z,1736369080.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:41.370Z,1736369081.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:41.771Z,1736369081.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:42.170Z,1736369082.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:42.625Z,1736369082.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:43.000Z,1736369083.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:43.404Z,1736369083.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:43.814Z,1736369083.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:44.200Z,1736369084.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:44.628Z,1736369084.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:45.017Z,1736369085.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:45.408Z,1736369085.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:45.812Z,1736369085.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:46.222Z,1736369086.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:46.641Z,1736369086.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:46.844Z,1736369086.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:44:47.024Z,1736369087.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:47.448Z,1736369087.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:47.838Z,1736369087.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:48.265Z,1736369088.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:48.686Z,1736369088.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:49.039Z,1736369089.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:49.453Z,1736369089.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:49.868Z,1736369089.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:50.285Z,1736369090.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:50.677Z,1736369090.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:51.070Z,1736369091.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:51.468Z,1736369091.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:51.867Z,1736369091.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:52.332Z,1736369092.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:52.706Z,1736369092.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:53.112Z,1736369093.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:53.513Z,1736369093.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:53.892Z,1736369093.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:54.362Z,1736369094.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:44:54.362Z,1736369094.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:54.741Z,1736369094.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:44:54.741Z,1736369094.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:55.127Z,1736369095.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:44:55.142Z,1736369095.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:55.541Z,1736369095.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:44:55.542Z,1736369095.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:55.913Z,1736369095.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:44:55.913Z,1736369095.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:56.440Z,1736369096.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:56.750Z,1736369096.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:57.120Z,1736369097.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:57.548Z,1736369097.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:57.938Z,1736369097.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:58.380Z,1736369098.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:58.756Z,1736369098.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:59.141Z,1736369099.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:59.552Z,1736369099.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:44:59.951Z,1736369099.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:00.387Z,1736369100.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:45:00.387Z,1736369100.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:00.756Z,1736369100.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:45:00.757Z,1736369100.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:01.164Z,1736369101.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:45:01.164Z,1736369101.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:01.564Z,1736369101.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:45:01.565Z,1736369101.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:01.967Z,1736369101.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:45:01.967Z,1736369101.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:02.389Z,1736369102.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:02.800Z,1736369102.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:03.200Z,1736369103.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:03.648Z,1736369103.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:04.012Z,1736369104.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:04.410Z,1736369104.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:04.794Z,1736369104.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:05.204Z,1736369105.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:05.602Z,1736369105.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:06.037Z,1736369106.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:06.439Z,1736369106.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:06.833Z,1736369106.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:07.225Z,1736369107.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:07.630Z,1736369107.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:08.061Z,1736369108.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:08.465Z,1736369108.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:08.852Z,1736369108.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:09.260Z,1736369109.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:09.652Z,1736369109.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:10.047Z,1736369110.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:10.469Z,1736369110.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:10.861Z,1736369110.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:11.269Z,1736369111.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:11.662Z,1736369111.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:12.068Z,1736369112.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:12.494Z,1736369112.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:12.886Z,1736369112.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:13.304Z,1736369113.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:13.700Z,1736369113.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:14.130Z,1736369114.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:14.528Z,1736369114.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:14.900Z,1736369114.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:14.961Z,1736369114.961 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.688309 2025-01-08T20:45:15.303Z,1736369115.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:15.707Z,1736369115.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:15.964Z,1736369115.964 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:45:16.118Z,1736369116.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:16.539Z,1736369116.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:16.931Z,1736369116.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:17.320Z,1736369117.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:17.722Z,1736369117.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:18.129Z,1736369118.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:18.575Z,1736369118.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:18.960Z,1736369118.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:19.372Z,1736369119.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:19.767Z,1736369119.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:20.148Z,1736369120.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:20.571Z,1736369120.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:20.970Z,1736369120.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:21.363Z,1736369121.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:21.763Z,1736369121.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:22.180Z,1736369122.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:22.599Z,1736369122.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:22.979Z,1736369122.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:23.379Z,1736369123.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:23.816Z,1736369123.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:24.216Z,1736369124.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:24.636Z,1736369124.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:25.029Z,1736369125.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:25.407Z,1736369125.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:25.812Z,1736369125.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:26.212Z,1736369126.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:26.648Z,1736369126.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:27.017Z,1736369127.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:27.430Z,1736369127.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:27.828Z,1736369127.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:28.228Z,1736369128.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:28.669Z,1736369128.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:29.052Z,1736369129.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:29.468Z,1736369129.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:29.878Z,1736369129.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:29.983Z,1736369129.983 [Radio_Surface](INFO): Powering down 2025-01-08T20:45:30.313Z,1736369130.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:30.675Z,1736369130.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:31.061Z,1736369131.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:31.458Z,1736369131.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:31.868Z,1736369131.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:32.313Z,1736369132.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:32.700Z,1736369132.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:33.084Z,1736369133.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:33.487Z,1736369133.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:33.889Z,1736369133.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:34.370Z,1736369134.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:34.708Z,1736369134.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:35.116Z,1736369135.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:35.524Z,1736369135.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:35.917Z,1736369135.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:36.358Z,1736369136.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:36.720Z,1736369136.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:37.114Z,1736369137.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:37.518Z,1736369137.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:37.922Z,1736369137.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:38.363Z,1736369138.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:38.730Z,1736369138.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:39.140Z,1736369139.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:39.556Z,1736369139.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:39.964Z,1736369139.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:40.409Z,1736369140.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:40.792Z,1736369140.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:41.164Z,1736369141.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:41.568Z,1736369141.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:41.969Z,1736369141.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:42.395Z,1736369142.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:42.794Z,1736369142.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:43.179Z,1736369143.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:43.585Z,1736369143.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:43.994Z,1736369143.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:44.425Z,1736369144.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:44.808Z,1736369144.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:45.220Z,1736369145.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:45.610Z,1736369145.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:46.044Z,1736369146.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:46.092Z,1736369146.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:45:46.425Z,1736369146.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:46.812Z,1736369146.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:47.096Z,1736369147.096 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-01-08T20:45:47.096Z,1736369147.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:45:47.220Z,1736369147.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:47.634Z,1736369147.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:48.023Z,1736369148.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:48.446Z,1736369148.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:48.836Z,1736369148.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:49.234Z,1736369149.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:49.648Z,1736369149.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:50.065Z,1736369150.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:50.574Z,1736369150.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:50.866Z,1736369150.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:51.282Z,1736369151.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:51.660Z,1736369151.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:52.065Z,1736369152.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:52.491Z,1736369152.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:52.872Z,1736369152.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:53.276Z,1736369153.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:53.688Z,1736369153.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:54.103Z,1736369154.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:54.523Z,1736369154.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:54.895Z,1736369154.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:55.324Z,1736369155.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:55.724Z,1736369155.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:56.138Z,1736369156.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:56.544Z,1736369156.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:56.925Z,1736369156.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:57.315Z,1736369157.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:57.724Z,1736369157.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:58.146Z,1736369158.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:58.562Z,1736369158.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:58.936Z,1736369158.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:59.337Z,1736369159.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:45:59.741Z,1736369159.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:00.153Z,1736369160.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:00.583Z,1736369160.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:00.985Z,1736369160.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:01.377Z,1736369161.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:01.792Z,1736369161.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:02.163Z,1736369162.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:02.604Z,1736369162.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:02.975Z,1736369162.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:03.376Z,1736369163.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:03.779Z,1736369163.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:04.330Z,1736369164.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:04.605Z,1736369164.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:04.996Z,1736369164.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:05.404Z,1736369165.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:05.824Z,1736369165.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:06.248Z,1736369166.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:06.656Z,1736369166.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:07.039Z,1736369167.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:07.415Z,1736369167.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:07.823Z,1736369167.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:08.227Z,1736369168.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:08.646Z,1736369168.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:09.041Z,1736369169.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:09.440Z,1736369169.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:09.839Z,1736369169.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:10.255Z,1736369170.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:10.675Z,1736369170.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:11.096Z,1736369171.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:11.472Z,1736369171.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:11.880Z,1736369171.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:12.333Z,1736369172.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:12.695Z,1736369172.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:13.073Z,1736369173.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:13.484Z,1736369173.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:13.890Z,1736369173.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:14.333Z,1736369174.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:14.729Z,1736369174.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:15.105Z,1736369175.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:15.510Z,1736369175.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:15.905Z,1736369175.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:16.393Z,1736369176.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:16.736Z,1736369176.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:17.122Z,1736369177.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:17.216Z,1736369177.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:46:17.541Z,1736369177.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:17.923Z,1736369177.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:18.220Z,1736369178.220 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:46:18.377Z,1736369178.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:18.736Z,1736369178.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:19.136Z,1736369179.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:19.540Z,1736369179.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:19.940Z,1736369179.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:20.369Z,1736369180.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:20.746Z,1736369180.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:21.150Z,1736369181.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:21.576Z,1736369181.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:21.977Z,1736369181.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:22.396Z,1736369182.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:22.795Z,1736369182.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:23.176Z,1736369183.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:23.579Z,1736369183.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:23.990Z,1736369183.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:24.411Z,1736369184.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:24.792Z,1736369184.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:25.192Z,1736369185.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:25.605Z,1736369185.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:26.003Z,1736369186.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:26.422Z,1736369186.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:26.828Z,1736369186.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:27.236Z,1736369187.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:27.637Z,1736369187.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:28.046Z,1736369188.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:28.446Z,1736369188.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:28.827Z,1736369188.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:29.241Z,1736369189.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:29.639Z,1736369189.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:30.043Z,1736369190.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:30.466Z,1736369190.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:30.853Z,1736369190.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:31.252Z,1736369191.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:31.654Z,1736369191.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:32.081Z,1736369192.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:32.500Z,1736369192.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:32.889Z,1736369192.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:33.300Z,1736369193.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:33.680Z,1736369193.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:34.086Z,1736369194.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:34.515Z,1736369194.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:34.896Z,1736369194.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:35.295Z,1736369195.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:35.700Z,1736369195.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:36.123Z,1736369196.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:36.535Z,1736369196.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:36.916Z,1736369196.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:37.340Z,1736369197.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:37.730Z,1736369197.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:38.148Z,1736369198.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:38.569Z,1736369198.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:38.939Z,1736369198.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:39.344Z,1736369199.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:39.744Z,1736369199.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:40.148Z,1736369200.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:40.573Z,1736369200.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:40.957Z,1736369200.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:41.354Z,1736369201.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:41.758Z,1736369201.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:42.163Z,1736369202.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:42.605Z,1736369202.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:42.992Z,1736369202.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:43.403Z,1736369203.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:43.814Z,1736369203.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:44.185Z,1736369204.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:44.622Z,1736369204.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:44.990Z,1736369204.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:45.394Z,1736369205.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:45.803Z,1736369205.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:46.215Z,1736369206.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:46.645Z,1736369206.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:47.011Z,1736369207.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:47.416Z,1736369207.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:47.848Z,1736369207.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:48.250Z,1736369208.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:48.356Z,1736369208.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:46:48.672Z,1736369208.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:49.055Z,1736369209.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:49.360Z,1736369209.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:46:49.440Z,1736369209.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:49.855Z,1736369209.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:50.253Z,1736369210.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:50.672Z,1736369210.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:51.052Z,1736369211.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:51.454Z,1736369211.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:51.863Z,1736369211.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:52.284Z,1736369212.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:52.691Z,1736369212.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:53.092Z,1736369213.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:53.496Z,1736369213.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:53.896Z,1736369213.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:54.361Z,1736369214.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:54.709Z,1736369214.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:55.100Z,1736369215.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:55.504Z,1736369215.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:55.898Z,1736369215.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:56.360Z,1736369216.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:56.709Z,1736369216.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:57.121Z,1736369217.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:57.514Z,1736369217.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:57.923Z,1736369217.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:58.381Z,1736369218.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:58.738Z,1736369218.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:59.159Z,1736369219.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:59.568Z,1736369219.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:46:59.941Z,1736369219.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:00.370Z,1736369220.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:00.749Z,1736369220.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:01.150Z,1736369221.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:01.555Z,1736369221.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:01.970Z,1736369221.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:02.391Z,1736369222.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:02.768Z,1736369222.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:03.176Z,1736369223.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:03.608Z,1736369223.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:04.002Z,1736369224.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:04.423Z,1736369224.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:04.812Z,1736369224.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:05.190Z,1736369225.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:05.594Z,1736369225.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:05.999Z,1736369225.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:06.442Z,1736369226.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:06.808Z,1736369226.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:07.215Z,1736369227.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:07.622Z,1736369227.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:08.022Z,1736369228.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:08.485Z,1736369228.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:08.850Z,1736369228.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:09.248Z,1736369229.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:09.656Z,1736369229.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:10.051Z,1736369230.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:10.472Z,1736369230.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:10.847Z,1736369230.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:11.260Z,1736369231.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:11.654Z,1736369231.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:12.058Z,1736369232.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:12.482Z,1736369232.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:12.875Z,1736369232.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:13.289Z,1736369233.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:13.691Z,1736369233.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:14.101Z,1736369234.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:14.520Z,1736369234.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:14.908Z,1736369234.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:15.318Z,1736369235.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:15.700Z,1736369235.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:16.126Z,1736369236.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:16.526Z,1736369236.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:16.906Z,1736369236.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:17.310Z,1736369237.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:17.720Z,1736369237.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:18.130Z,1736369238.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:18.551Z,1736369238.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:18.931Z,1736369238.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:19.361Z,1736369239.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:19.484Z,1736369239.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:47:19.753Z,1736369239.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:20.168Z,1736369240.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:20.488Z,1736369240.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:47:20.585Z,1736369240.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:20.951Z,1736369240.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:21.366Z,1736369241.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:21.760Z,1736369241.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:22.160Z,1736369242.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:22.584Z,1736369242.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:22.978Z,1736369242.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:23.376Z,1736369243.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:23.776Z,1736369243.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:24.200Z,1736369244.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:24.629Z,1736369244.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:25.020Z,1736369245.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:25.426Z,1736369245.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:25.824Z,1736369245.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:26.220Z,1736369246.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:26.640Z,1736369246.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:27.024Z,1736369247.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:27.422Z,1736369247.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:27.836Z,1736369247.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:28.240Z,1736369248.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:28.659Z,1736369248.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:29.039Z,1736369249.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:29.451Z,1736369249.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:29.876Z,1736369249.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:30.322Z,1736369250.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:30.697Z,1736369250.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:31.085Z,1736369251.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:31.462Z,1736369251.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:31.872Z,1736369251.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:32.332Z,1736369252.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:32.693Z,1736369252.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:33.093Z,1736369253.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:33.482Z,1736369253.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:33.888Z,1736369253.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:34.357Z,1736369254.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:34.706Z,1736369254.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:35.123Z,1736369255.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:35.523Z,1736369255.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:35.929Z,1736369255.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:36.377Z,1736369256.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:36.719Z,1736369256.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:37.119Z,1736369257.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:37.594Z,1736369257.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:37.926Z,1736369257.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:38.368Z,1736369258.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:38.734Z,1736369258.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:39.138Z,1736369259.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:39.542Z,1736369259.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:39.952Z,1736369259.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:40.389Z,1736369260.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:40.778Z,1736369260.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:41.196Z,1736369261.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:41.578Z,1736369261.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:41.967Z,1736369261.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:42.393Z,1736369262.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:42.775Z,1736369262.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:43.185Z,1736369263.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:43.584Z,1736369263.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:43.986Z,1736369263.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:44.411Z,1736369264.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:44.806Z,1736369264.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:45.198Z,1736369265.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:45.625Z,1736369265.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:46.032Z,1736369266.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:46.452Z,1736369266.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:46.838Z,1736369266.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:47.219Z,1736369267.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:47.639Z,1736369267.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:48.038Z,1736369268.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:48.460Z,1736369268.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:48.839Z,1736369268.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:49.255Z,1736369269.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:49.653Z,1736369269.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:50.046Z,1736369270.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:50.469Z,1736369270.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:50.629Z,1736369270.629 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:47:50.880Z,1736369270.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:51.288Z,1736369271.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:51.632Z,1736369271.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:47:51.694Z,1736369271.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:52.099Z,1736369272.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:52.490Z,1736369272.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:52.884Z,1736369272.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:53.297Z,1736369273.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:53.682Z,1736369273.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:54.107Z,1736369274.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:54.514Z,1736369274.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:54.894Z,1736369274.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:55.298Z,1736369275.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:55.708Z,1736369275.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:56.166Z,1736369276.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:56.554Z,1736369276.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:56.932Z,1736369276.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:57.344Z,1736369277.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:57.733Z,1736369277.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:58.148Z,1736369278.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:58.562Z,1736369278.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:58.944Z,1736369278.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:59.355Z,1736369279.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:47:59.754Z,1736369279.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:00.151Z,1736369280.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:00.570Z,1736369280.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:00.963Z,1736369280.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:01.392Z,1736369281.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:01.785Z,1736369281.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:02.184Z,1736369282.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:02.608Z,1736369282.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:02.997Z,1736369282.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:03.384Z,1736369283.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:03.784Z,1736369283.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:04.192Z,1736369284.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:04.617Z,1736369284.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:05.020Z,1736369285.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:05.404Z,1736369285.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:05.804Z,1736369285.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:06.220Z,1736369286.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:06.650Z,1736369286.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:07.036Z,1736369287.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:07.448Z,1736369287.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:07.851Z,1736369287.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:08.226Z,1736369288.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:08.651Z,1736369288.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:09.042Z,1736369289.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:09.443Z,1736369289.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:09.843Z,1736369289.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:10.252Z,1736369290.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:10.675Z,1736369290.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:11.054Z,1736369291.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:11.482Z,1736369291.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:11.880Z,1736369291.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:12.331Z,1736369292.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:12.701Z,1736369292.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:13.104Z,1736369293.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:13.483Z,1736369293.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:13.885Z,1736369293.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:14.358Z,1736369294.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:14.715Z,1736369294.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:15.101Z,1736369295.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:15.510Z,1736369295.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:15.916Z,1736369295.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:16.358Z,1736369296.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:16.712Z,1736369296.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:17.144Z,1736369297.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:17.544Z,1736369297.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:17.955Z,1736369297.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:18.403Z,1736369298.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:18.737Z,1736369298.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:19.139Z,1736369299.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:19.544Z,1736369299.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:19.945Z,1736369299.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:20.371Z,1736369300.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:20.751Z,1736369300.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:21.187Z,1736369301.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:21.558Z,1736369301.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:21.752Z,1736369301.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:48:21.971Z,1736369301.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:22.397Z,1736369302.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:22.755Z,1736369302.755 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:48:22.799Z,1736369302.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:23.192Z,1736369303.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:23.608Z,1736369303.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:23.990Z,1736369303.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:24.412Z,1736369304.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:24.790Z,1736369304.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:25.196Z,1736369305.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:25.604Z,1736369305.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:26.017Z,1736369306.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:26.440Z,1736369306.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:26.816Z,1736369306.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:27.216Z,1736369307.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:27.634Z,1736369307.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:28.056Z,1736369308.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:28.419Z,1736369308.419 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-01-08T20:48:28.444Z,1736369308.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:28.847Z,1736369308.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:29.241Z,1736369309.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:29.656Z,1736369309.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:30.044Z,1736369310.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:30.481Z,1736369310.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:30.861Z,1736369310.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:31.259Z,1736369311.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:31.659Z,1736369311.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:32.084Z,1736369312.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:32.499Z,1736369312.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:32.876Z,1736369312.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:33.279Z,1736369313.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:33.680Z,1736369313.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:34.096Z,1736369314.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:34.511Z,1736369314.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:34.896Z,1736369314.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:35.296Z,1736369315.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:35.708Z,1736369315.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:36.102Z,1736369316.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:36.525Z,1736369316.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:36.911Z,1736369316.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:37.320Z,1736369317.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:37.733Z,1736369317.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:38.128Z,1736369318.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:38.544Z,1736369318.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:38.931Z,1736369318.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:39.334Z,1736369319.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:39.743Z,1736369319.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:40.143Z,1736369320.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:40.570Z,1736369320.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:40.950Z,1736369320.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:41.360Z,1736369321.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:41.758Z,1736369321.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:42.171Z,1736369322.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:42.591Z,1736369322.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:42.975Z,1736369322.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:43.374Z,1736369323.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:43.784Z,1736369323.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:44.191Z,1736369324.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:44.612Z,1736369324.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:44.990Z,1736369324.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:45.404Z,1736369325.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:45.807Z,1736369325.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:46.225Z,1736369326.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:46.644Z,1736369326.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:47.012Z,1736369327.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:47.414Z,1736369327.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:47.818Z,1736369327.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:48.222Z,1736369328.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:48.658Z,1736369328.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:49.037Z,1736369329.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:49.454Z,1736369329.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:49.848Z,1736369329.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:50.254Z,1736369330.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:50.669Z,1736369330.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:51.055Z,1736369331.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:51.454Z,1736369331.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:51.860Z,1736369331.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:52.289Z,1736369332.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:52.690Z,1736369332.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:52.880Z,1736369332.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:48:53.077Z,1736369333.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:53.481Z,1736369333.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:53.883Z,1736369333.883 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:48:53.893Z,1736369333.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:54.333Z,1736369334.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:54.717Z,1736369334.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:55.092Z,1736369335.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:55.496Z,1736369335.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:55.910Z,1736369335.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:56.358Z,1736369336.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:56.712Z,1736369336.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:57.117Z,1736369337.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:57.528Z,1736369337.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:57.922Z,1736369337.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:58.369Z,1736369338.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:58.735Z,1736369338.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:59.137Z,1736369339.137 [NAL9602](INFO): Not Powering down - fast GPS 2025-01-08T20:48:59.146Z,1736369339.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:59.557Z,1736369339.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:48:59.947Z,1736369339.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:00.370Z,1736369340.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:00.758Z,1736369340.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:01.159Z,1736369341.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:01.563Z,1736369341.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:01.967Z,1736369341.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:02.393Z,1736369342.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:02.775Z,1736369342.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:03.174Z,1736369343.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:03.599Z,1736369343.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:03.989Z,1736369343.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:04.410Z,1736369344.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:04.790Z,1736369344.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:05.194Z,1736369345.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:05.608Z,1736369345.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:06.002Z,1736369346.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:06.445Z,1736369346.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:06.819Z,1736369346.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:07.222Z,1736369347.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:07.635Z,1736369347.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:08.022Z,1736369348.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:08.449Z,1736369348.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:08.831Z,1736369348.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:09.245Z,1736369349.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:09.643Z,1736369349.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:10.042Z,1736369350.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:10.465Z,1736369350.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:10.868Z,1736369350.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:11.259Z,1736369351.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:11.660Z,1736369351.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:12.068Z,1736369352.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:12.495Z,1736369352.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:12.870Z,1736369352.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:13.275Z,1736369353.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:13.687Z,1736369353.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:14.092Z,1736369354.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:14.523Z,1736369354.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:14.895Z,1736369354.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:15.296Z,1736369355.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:15.716Z,1736369355.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:16.108Z,1736369356.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:16.525Z,1736369356.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:16.912Z,1736369356.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:17.320Z,1736369357.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:17.732Z,1736369357.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:18.122Z,1736369358.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:18.569Z,1736369358.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:18.931Z,1736369358.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:19.334Z,1736369359.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:19.758Z,1736369359.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:20.147Z,1736369360.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:20.566Z,1736369360.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:20.962Z,1736369360.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:21.360Z,1736369361.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:21.759Z,1736369361.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:22.167Z,1736369362.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:22.591Z,1736369362.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:22.970Z,1736369362.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:23.396Z,1736369363.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:23.788Z,1736369363.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:24.004Z,1736369364.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:49:24.192Z,1736369364.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:24.622Z,1736369364.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:24.996Z,1736369364.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:25.008Z,1736369365.008 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:49:25.395Z,1736369365.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:25.803Z,1736369365.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:26.233Z,1736369366.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:26.648Z,1736369366.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:27.016Z,1736369367.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:27.421Z,1736369367.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:27.823Z,1736369367.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:28.222Z,1736369368.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:28.652Z,1736369368.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:29.031Z,1736369369.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:29.439Z,1736369369.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:29.859Z,1736369369.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:30.253Z,1736369370.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:30.670Z,1736369370.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:31.050Z,1736369371.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:31.460Z,1736369371.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:31.875Z,1736369371.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:32.314Z,1736369372.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:32.696Z,1736369372.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:33.075Z,1736369373.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:33.476Z,1736369373.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:33.900Z,1736369373.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:34.334Z,1736369374.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:34.705Z,1736369374.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:35.103Z,1736369375.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:35.499Z,1736369375.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:35.900Z,1736369375.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:36.366Z,1736369376.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:36.714Z,1736369376.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:37.132Z,1736369377.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:37.531Z,1736369377.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:37.923Z,1736369377.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:38.362Z,1736369378.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:38.731Z,1736369378.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:39.130Z,1736369379.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:39.543Z,1736369379.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:39.945Z,1736369379.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:40.393Z,1736369380.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:40.746Z,1736369380.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:41.157Z,1736369381.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:41.564Z,1736369381.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:41.963Z,1736369381.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:42.380Z,1736369382.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:42.768Z,1736369382.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:43.180Z,1736369383.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:43.579Z,1736369383.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:43.983Z,1736369383.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:44.401Z,1736369384.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:44.803Z,1736369384.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:45.195Z,1736369385.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:45.596Z,1736369385.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:46.003Z,1736369386.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:46.427Z,1736369386.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:46.806Z,1736369386.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:47.210Z,1736369387.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:47.616Z,1736369387.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:48.027Z,1736369388.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:48.447Z,1736369388.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:48.834Z,1736369388.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:49.233Z,1736369389.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:49.635Z,1736369389.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:50.043Z,1736369390.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:50.467Z,1736369390.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:50.851Z,1736369390.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:51.267Z,1736369391.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:51.656Z,1736369391.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:52.067Z,1736369392.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:52.498Z,1736369392.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:52.872Z,1736369392.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:53.272Z,1736369393.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:53.686Z,1736369393.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:54.083Z,1736369394.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:54.501Z,1736369394.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:54.891Z,1736369394.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:55.128Z,1736369395.128 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:49:55.292Z,1736369395.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:55.694Z,1736369395.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:56.101Z,1736369396.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:56.144Z,1736369396.144 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:49:56.513Z,1736369396.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:49:56.514Z,1736369396.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:56.912Z,1736369396.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:49:56.912Z,1736369396.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:57.315Z,1736369397.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:49:57.315Z,1736369397.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:57.716Z,1736369397.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:49:57.716Z,1736369397.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:58.129Z,1736369398.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:49:58.129Z,1736369398.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:58.556Z,1736369398.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:58.932Z,1736369398.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:59.352Z,1736369399.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:49:59.735Z,1736369399.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:00.149Z,1736369400.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:00.572Z,1736369400.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:00.946Z,1736369400.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:01.352Z,1736369401.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:01.754Z,1736369401.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:02.163Z,1736369402.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:02.603Z,1736369402.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:02.972Z,1736369402.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:03.380Z,1736369403.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:03.779Z,1736369403.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:04.179Z,1736369404.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:04.607Z,1736369404.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:04.986Z,1736369404.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:05.396Z,1736369405.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:05.799Z,1736369405.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:06.205Z,1736369406.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:06.648Z,1736369406.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:07.007Z,1736369407.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:07.410Z,1736369407.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:07.814Z,1736369407.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:08.218Z,1736369408.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:08.648Z,1736369408.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:09.041Z,1736369409.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:09.435Z,1736369409.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:09.834Z,1736369409.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:10.248Z,1736369410.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:10.667Z,1736369410.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:11.046Z,1736369411.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:11.455Z,1736369411.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:11.855Z,1736369411.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:12.287Z,1736369412.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:12.693Z,1736369412.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:13.067Z,1736369413.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:13.472Z,1736369413.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:13.892Z,1736369413.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:14.330Z,1736369414.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:14.722Z,1736369414.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:15.102Z,1736369415.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:15.506Z,1736369415.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:15.917Z,1736369415.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:16.360Z,1736369416.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:16.709Z,1736369416.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:17.117Z,1736369417.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:17.510Z,1736369417.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:17.914Z,1736369417.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:18.360Z,1736369418.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:18.740Z,1736369418.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:19.131Z,1736369419.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:19.535Z,1736369419.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:19.944Z,1736369419.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:20.372Z,1736369420.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:20.742Z,1736369420.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:21.148Z,1736369421.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:21.556Z,1736369421.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:21.959Z,1736369421.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:22.392Z,1736369422.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:22.765Z,1736369422.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:23.176Z,1736369423.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:23.576Z,1736369423.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:23.974Z,1736369423.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:24.402Z,1736369424.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:24.783Z,1736369424.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:25.191Z,1736369425.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:25.593Z,1736369425.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:25.000Z,1736369426.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:26.265Z,1736369426.265 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:50:26.425Z,1736369426.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:26.802Z,1736369426.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:27.206Z,1736369427.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:27.268Z,1736369427.268 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:50:27.614Z,1736369427.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:28.014Z,1736369428.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:28.448Z,1736369428.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:28.822Z,1736369428.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:29.228Z,1736369429.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:29.642Z,1736369429.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:30.039Z,1736369430.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:30.476Z,1736369430.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:30.848Z,1736369430.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:31.246Z,1736369431.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:31.650Z,1736369431.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:32.054Z,1736369432.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:32.486Z,1736369432.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:32.874Z,1736369432.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:33.272Z,1736369433.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:33.674Z,1736369433.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:34.079Z,1736369434.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:34.506Z,1736369434.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:34.884Z,1736369434.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:35.304Z,1736369435.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:35.692Z,1736369435.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:36.106Z,1736369436.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:36.498Z,1736369436.498 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010812514148,35.0, +130,1501.:RA, 0.00, 633.21, 578.63, 600.46, 603.19 2025-01-08T20:50:36.506Z,1736369436.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:50:36.506Z,1736369436.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:36.903Z,1736369436.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:50:36.903Z,1736369436.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:37.312Z,1736369437.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:50:37.312Z,1736369437.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:37.722Z,1736369437.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:50:37.722Z,1736369437.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:38.120Z,1736369438.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:50:38.120Z,1736369438.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:38.537Z,1736369438.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:38.944Z,1736369438.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:39.326Z,1736369439.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:39.730Z,1736369439.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:40.140Z,1736369440.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:40.561Z,1736369440.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:40.566Z,1736369440.566 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.903000,-122.112999 2025-01-08T20:50:40.566Z,1736369440.566 [transit:Transit:Wpt1.Waypoint] Stopped 2025-01-08T20:50:40.566Z,1736369440.566 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-01-08T20:50:40.567Z,1736369440.567 [transit:Transit:PhoneHome] Running Loop=1 2025-01-08T20:50:40.567Z,1736369440.567 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome 2025-01-08T20:50:40.951Z,1736369440.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:40.958Z,1736369440.958 [transit:NeedComms] Running Loop=1 2025-01-08T20:50:40.958Z,1736369440.958 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms 2025-01-08T20:50:40.958Z,1736369440.958 [transit:NeedComms:B.GoToSurface] Running Loop=1 2025-01-08T20:50:40.958Z,1736369440.958 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-01-08T20:50:40.959Z,1736369440.959 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-01-08T20:50:40.959Z,1736369440.959 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-01-08T20:50:40.960Z,1736369440.960 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-01-08T20:50:40.960Z,1736369440.960 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds. 2025-01-08T20:50:40.960Z,1736369440.960 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-01-08T20:50:40.961Z,1736369440.961 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-01-08T20:50:40.961Z,1736369440.961 [transit:NeedComms:A] Running Loop=1 2025-01-08T20:50:40.962Z,1736369440.962 [transit:NeedComms:A](INFO): last time_fix was: 1736369004.000000 second since 1970/01/01T00:00:00Z 2025-01-08T20:50:40.963Z,1736369440.963 [transit:NeedComms:A] Stopped 2025-01-08T20:50:41.352Z,1736369441.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:41.750Z,1736369441.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:42.156Z,1736369442.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:42.582Z,1736369442.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:42.963Z,1736369442.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:43.368Z,1736369443.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:43.771Z,1736369443.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:44.175Z,1736369444.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:44.612Z,1736369444.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:44.983Z,1736369444.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:45.404Z,1736369445.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:45.795Z,1736369445.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:46.211Z,1736369446.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:46.616Z,1736369446.616 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010812515148,35.0, +0.0,150 2025-01-08T20:50:46.640Z,1736369446.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:50:46.640Z,1736369446.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:47.007Z,1736369447.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:50:47.008Z,1736369447.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:47.414Z,1736369447.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:50:47.414Z,1736369447.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:47.811Z,1736369447.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:50:47.811Z,1736369447.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:48.218Z,1736369448.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:50:48.218Z,1736369448.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:48.641Z,1736369448.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:49.028Z,1736369449.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:49.426Z,1736369449.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:49.832Z,1736369449.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:50.239Z,1736369450.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:50.664Z,1736369450.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:51.054Z,1736369451.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:51.451Z,1736369451.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:51.850Z,1736369451.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:52.261Z,1736369452.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:52.682Z,1736369452.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:53.063Z,1736369453.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:53.483Z,1736369453.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:53.871Z,1736369453.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:54.317Z,1736369454.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:54.712Z,1736369454.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:50:54.712Z,1736369454.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:55.089Z,1736369455.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:50:55.089Z,1736369455.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:55.486Z,1736369455.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:50:55.487Z,1736369455.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:55.901Z,1736369455.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:50:55.901Z,1736369455.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:56.373Z,1736369456.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:56.698Z,1736369456.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:57.105Z,1736369457.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:57.392Z,1736369457.392 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:50:57.512Z,1736369457.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:57.910Z,1736369457.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:58.362Z,1736369458.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:58.396Z,1736369458.396 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:50:58.724Z,1736369458.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:59.131Z,1736369459.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:59.526Z,1736369459.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:50:59.930Z,1736369459.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:00.377Z,1736369460.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:00.743Z,1736369460.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:01.149Z,1736369461.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:01.564Z,1736369461.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:01.951Z,1736369461.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:02.402Z,1736369462.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:51:02.402Z,1736369462.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:02.764Z,1736369462.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:51:02.764Z,1736369462.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:03.163Z,1736369463.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:51:03.163Z,1736369463.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:03.567Z,1736369463.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:51:03.567Z,1736369463.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:03.972Z,1736369463.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:51:03.972Z,1736369463.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:04.399Z,1736369464.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:04.778Z,1736369464.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:05.182Z,1736369465.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:05.603Z,1736369465.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:05.996Z,1736369465.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:06.426Z,1736369466.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:06.798Z,1736369466.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:07.208Z,1736369467.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:07.616Z,1736369467.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:08.015Z,1736369468.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:08.458Z,1736369468.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:08.820Z,1736369468.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:09.228Z,1736369469.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:09.628Z,1736369469.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:10.030Z,1736369470.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:10.454Z,1736369470.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:10.839Z,1736369470.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:11.242Z,1736369471.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:11.666Z,1736369471.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:12.055Z,1736369472.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:12.489Z,1736369472.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:12.858Z,1736369472.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:13.262Z,1736369473.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:13.666Z,1736369473.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:14.075Z,1736369474.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:14.501Z,1736369474.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:14.883Z,1736369474.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:15.282Z,1736369475.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:15.695Z,1736369475.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:16.100Z,1736369476.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:16.503Z,1736369476.503 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -62.+1074.99, -15.30, 2.00 2025-01-08T20:51:16.527Z,1736369476.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:51:16.527Z,1736369476.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:16.898Z,1736369476.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:51:16.898Z,1736369476.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:17.311Z,1736369477.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:51:17.311Z,1736369477.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:17.713Z,1736369477.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:51:17.713Z,1736369477.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:18.112Z,1736369478.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:51:18.112Z,1736369478.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:18.534Z,1736369478.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:51:18.534Z,1736369478.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:18.928Z,1736369478.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:51:18.928Z,1736369478.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:19.332Z,1736369479.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:51:19.333Z,1736369479.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:19.726Z,1736369479.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:51:19.727Z,1736369479.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:20.147Z,1736369480.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:51:20.148Z,1736369480.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:20.562Z,1736369480.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:51:20.562Z,1736369480.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:20.944Z,1736369480.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:51:20.944Z,1736369480.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:21.359Z,1736369481.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:51:21.360Z,1736369481.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:21.746Z,1736369481.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:51:21.747Z,1736369481.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:21.757Z,1736369481.757 [transit:NeedComms:C] Running Loop=1 2025-01-08T20:51:22.153Z,1736369482.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:51:22.153Z,1736369482.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:22.281Z,1736369482.281 [Radio_Surface](INFO): Powering up 2025-01-08T20:51:22.579Z,1736369482.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:51:22.579Z,1736369482.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:22.971Z,1736369482.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:51:22.971Z,1736369482.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:23.392Z,1736369483.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:51:23.392Z,1736369483.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:23.788Z,1736369483.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:51:23.788Z,1736369483.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:24.193Z,1736369484.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:51:24.193Z,1736369484.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:24.606Z,1736369484.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:51:24.606Z,1736369484.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:24.985Z,1736369484.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:51:24.985Z,1736369484.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:25.385Z,1736369485.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:51:25.385Z,1736369485.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:25.796Z,1736369485.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:51:25.796Z,1736369485.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:26.197Z,1736369486.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:51:26.197Z,1736369486.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:26.611Z,1736369486.611 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -38, -303,A 2025-01-08T20:51:26.618Z,1736369486.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s. 2025-01-08T20:51:26.618Z,1736369486.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:26.998Z,1736369486.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s. 2025-01-08T20:51:26.998Z,1736369486.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:27.410Z,1736369487.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s. 2025-01-08T20:51:27.410Z,1736369487.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:27.536Z,1736369487.536 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10 2025-01-08T20:51:27.536Z,1736369487.536 [Radio_Surface](INFO): Found local IP address 10.89.10.2 for eth0 2025-01-08T20:51:27.818Z,1736369487.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s. 2025-01-08T20:51:27.818Z,1736369487.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:28.211Z,1736369488.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.1 s old, using for 20.0 s. 2025-01-08T20:51:28.211Z,1736369488.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:28.517Z,1736369488.517 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:51:28.636Z,1736369488.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:29.028Z,1736369489.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:29.429Z,1736369489.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:29.520Z,1736369489.520 [DataOverHttps](INFO): Radio surface powered ON. 2025-01-08T20:51:29.520Z,1736369489.520 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:51:29.826Z,1736369489.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:30.230Z,1736369490.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:30.655Z,1736369490.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:51:30.656Z,1736369490.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:31.050Z,1736369491.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:51:31.051Z,1736369491.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:31.444Z,1736369491.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:51:31.444Z,1736369491.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:31.848Z,1736369491.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:51:31.848Z,1736369491.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:32.257Z,1736369492.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:51:32.257Z,1736369492.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:32.684Z,1736369492.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:51:32.684Z,1736369492.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:33.064Z,1736369493.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:51:33.064Z,1736369493.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:33.468Z,1736369493.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:51:33.468Z,1736369493.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:33.876Z,1736369493.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:51:33.876Z,1736369493.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:34.334Z,1736369494.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:51:34.334Z,1736369494.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:34.699Z,1736369494.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:51:34.699Z,1736369494.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:35.084Z,1736369495.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:51:35.084Z,1736369495.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:35.484Z,1736369495.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:51:35.484Z,1736369495.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:35.898Z,1736369495.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:51:35.899Z,1736369495.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:36.376Z,1736369496.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:51:36.376Z,1736369496.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:36.700Z,1736369496.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:51:36.700Z,1736369496.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:37.101Z,1736369497.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:51:37.101Z,1736369497.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:37.514Z,1736369497.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:51:37.514Z,1736369497.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:37.912Z,1736369497.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:51:37.912Z,1736369497.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:38.365Z,1736369498.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:51:38.365Z,1736369498.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:38.724Z,1736369498.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:51:38.724Z,1736369498.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:39.131Z,1736369499.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:51:39.131Z,1736369499.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:39.544Z,1736369499.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:51:39.544Z,1736369499.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:39.933Z,1736369499.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:51:39.933Z,1736369499.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:40.392Z,1736369500.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:40.741Z,1736369500.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:41.138Z,1736369501.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:41.548Z,1736369501.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:41.956Z,1736369501.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:42.380Z,1736369502.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:51:42.380Z,1736369502.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:42.760Z,1736369502.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:51:42.760Z,1736369502.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:43.172Z,1736369503.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:51:43.172Z,1736369503.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:43.564Z,1736369503.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:51:43.564Z,1736369503.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:43.968Z,1736369503.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:51:43.968Z,1736369503.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:44.389Z,1736369504.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:44.784Z,1736369504.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:45.190Z,1736369505.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:45.582Z,1736369505.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:45.987Z,1736369505.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:46.399Z,1736369506.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:46.806Z,1736369506.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:47.203Z,1736369507.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:47.604Z,1736369507.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:48.012Z,1736369508.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:48.453Z,1736369508.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:51:48.453Z,1736369508.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:48.814Z,1736369508.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:51:48.814Z,1736369508.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:49.218Z,1736369509.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:51:49.218Z,1736369509.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:49.626Z,1736369509.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:51:49.626Z,1736369509.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:50.038Z,1736369510.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:51:50.038Z,1736369510.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:50.460Z,1736369510.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:51:50.460Z,1736369510.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:50.835Z,1736369510.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:51:50.835Z,1736369510.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:51.244Z,1736369511.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:51:51.244Z,1736369511.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:51.654Z,1736369511.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:51:51.655Z,1736369511.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:52.067Z,1736369512.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:51:52.067Z,1736369512.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:52.474Z,1736369512.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:52.859Z,1736369512.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:53.268Z,1736369513.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:53.667Z,1736369513.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:54.068Z,1736369514.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:54.470Z,1736369514.470 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check. 2025-01-08T20:51:54.547Z,1736369514.547 [NAL9602](ERROR): received: +CSQ:0 OK746, 2, 0, 0, 0 OK 2025-01-08T20:51:54.590Z,1736369514.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:54.899Z,1736369514.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:55.306Z,1736369515.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:55.700Z,1736369515.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:56.099Z,1736369516.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:56.524Z,1736369516.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:51:56.524Z,1736369516.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:56.530Z,1736369516.530 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-08T20:51:56.900Z,1736369516.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:51:56.900Z,1736369516.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:57.320Z,1736369517.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:51:57.320Z,1736369517.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:57.710Z,1736369517.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:51:57.710Z,1736369517.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:58.132Z,1736369518.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:51:58.132Z,1736369518.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:58.551Z,1736369518.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:51:58.551Z,1736369518.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:58.933Z,1736369518.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:51:58.933Z,1736369518.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:59.346Z,1736369519.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:51:59.346Z,1736369519.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:51:59.644Z,1736369519.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:51:59.750Z,1736369519.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:51:59.750Z,1736369519.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:00.132Z,1736369520.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:52:00.132Z,1736369520.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:00.559Z,1736369520.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:52:00.559Z,1736369520.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:00.648Z,1736369520.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:52:00.950Z,1736369520.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:52:00.950Z,1736369520.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:01.371Z,1736369521.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:52:01.371Z,1736369521.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:01.743Z,1736369521.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:52:01.743Z,1736369521.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:02.149Z,1736369522.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:52:02.149Z,1736369522.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:02.580Z,1736369522.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:52:02.580Z,1736369522.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:02.956Z,1736369522.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:52:02.956Z,1736369522.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:03.364Z,1736369523.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:52:03.364Z,1736369523.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:03.772Z,1736369523.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:52:03.772Z,1736369523.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:04.177Z,1736369524.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:52:04.177Z,1736369524.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:04.601Z,1736369524.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:04.979Z,1736369524.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:05.380Z,1736369525.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:05.792Z,1736369525.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:06.191Z,1736369526.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:06.631Z,1736369526.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:07.020Z,1736369527.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:07.398Z,1736369527.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:07.802Z,1736369527.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:08.223Z,1736369528.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:08.632Z,1736369528.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:09.024Z,1736369529.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:09.418Z,1736369529.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:09.823Z,1736369529.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:10.235Z,1736369530.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:10.664Z,1736369530.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:11.034Z,1736369531.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:11.438Z,1736369531.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:11.847Z,1736369531.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:12.259Z,1736369532.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:12.679Z,1736369532.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:13.059Z,1736369533.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:13.460Z,1736369533.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:13.872Z,1736369533.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:14.321Z,1736369534.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:14.690Z,1736369534.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:52:14.690Z,1736369534.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:15.076Z,1736369535.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:52:15.077Z,1736369535.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:15.495Z,1736369535.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:52:15.495Z,1736369535.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:15.903Z,1736369535.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:52:15.903Z,1736369535.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:16.387Z,1736369536.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:16.697Z,1736369536.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:17.109Z,1736369537.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:17.504Z,1736369537.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:17.908Z,1736369537.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:18.364Z,1736369538.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:18.718Z,1736369538.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:19.134Z,1736369539.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:19.518Z,1736369539.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:19.924Z,1736369539.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:20.365Z,1736369540.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:52:20.365Z,1736369540.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:20.742Z,1736369540.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:52:20.742Z,1736369540.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:21.140Z,1736369541.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:52:21.140Z,1736369541.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:21.544Z,1736369541.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:52:21.544Z,1736369541.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:21.948Z,1736369541.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:52:21.948Z,1736369541.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:22.375Z,1736369542.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:52:22.375Z,1736369542.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:22.756Z,1736369542.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:52:22.756Z,1736369542.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:23.155Z,1736369543.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:52:23.155Z,1736369543.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:23.577Z,1736369543.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:52:23.577Z,1736369543.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:23.969Z,1736369543.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:52:23.969Z,1736369543.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:24.391Z,1736369544.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:52:24.391Z,1736369544.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:24.776Z,1736369544.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:52:24.776Z,1736369544.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:25.176Z,1736369545.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:52:25.176Z,1736369545.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:25.587Z,1736369545.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:52:25.587Z,1736369545.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:25.982Z,1736369545.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:52:25.983Z,1736369545.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:26.581Z,1736369546.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s. 2025-01-08T20:52:26.581Z,1736369546.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:26.794Z,1736369546.794 [NAL9602](INFO): SBD MO Status=2, MOMSN=46746, MT Status=2, MTMSN=0 2025-01-08T20:52:26.794Z,1736369546.794 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-01-08T20:52:26.801Z,1736369546.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:52:26.801Z,1736369546.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:27.221Z,1736369547.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:52:27.221Z,1736369547.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:27.606Z,1736369547.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:52:27.606Z,1736369547.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:28.003Z,1736369548.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:52:28.003Z,1736369548.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:28.430Z,1736369548.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:52:28.430Z,1736369548.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:28.820Z,1736369548.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:52:28.820Z,1736369548.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:29.220Z,1736369549.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:52:29.220Z,1736369549.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:29.622Z,1736369549.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:52:29.622Z,1736369549.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:30.024Z,1736369550.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:52:30.024Z,1736369550.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:30.452Z,1736369550.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:30.768Z,1736369550.768 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:52:30.835Z,1736369550.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:31.252Z,1736369551.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:31.641Z,1736369551.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:31.772Z,1736369551.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:52:32.052Z,1736369552.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:32.480Z,1736369552.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:32.860Z,1736369552.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:33.276Z,1736369553.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:33.668Z,1736369553.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:34.084Z,1736369554.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:34.504Z,1736369554.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:52:34.504Z,1736369554.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:34.876Z,1736369554.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:52:34.876Z,1736369554.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:35.280Z,1736369555.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:52:35.280Z,1736369555.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:35.690Z,1736369555.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:52:35.690Z,1736369555.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:36.088Z,1736369556.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:52:36.088Z,1736369556.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:36.510Z,1736369556.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:52:36.510Z,1736369556.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:36.896Z,1736369556.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:52:36.897Z,1736369556.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:37.302Z,1736369557.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:52:37.302Z,1736369557.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:37.705Z,1736369557.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:52:37.705Z,1736369557.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:38.105Z,1736369558.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:52:38.106Z,1736369558.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:38.506Z,1736369558.506 [NAL9602](INFO): SBD MO Status=1, MOMSN=46746, MT Status=0, MTMSN=0 2025-01-08T20:52:38.506Z,1736369558.506 [NAL9602](INFO): No messages in MT queue 2025-01-08T20:52:38.532Z,1736369558.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:52:38.532Z,1736369558.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:38.920Z,1736369558.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:52:38.920Z,1736369558.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:39.341Z,1736369559.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:52:39.341Z,1736369559.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:39.715Z,1736369559.715 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205239.00,A,3654.21989,N,12206.73587,W,1.011,66.46,080125,,,A*48 2025-01-08T20:52:39.718Z,1736369559.718 [NAL9602](INFO): GPS fix at 20250108T205239: (36.903665, -122.112264) 2025-01-08T20:52:39.725Z,1736369559.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:52:39.725Z,1736369559.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:39.726Z,1736369559.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07 2025-01-08T20:52:39.733Z,1736369559.733 [transit:NeedComms:C] Stopped 2025-01-08T20:52:39.733Z,1736369559.733 [transit:NeedComms:D] Running Loop=1 2025-01-08T20:52:40.148Z,1736369560.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:52:40.148Z,1736369560.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:40.551Z,1736369560.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:52:40.551Z,1736369560.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:40.936Z,1736369560.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:52:40.936Z,1736369560.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:41.334Z,1736369561.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T20:52:41.334Z,1736369561.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:41.756Z,1736369561.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:52:41.756Z,1736369561.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:42.177Z,1736369562.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:52:42.177Z,1736369562.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:42.584Z,1736369562.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:42.972Z,1736369562.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:44.637Z,1736369564.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:44.717Z,1736369564.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:47.153Z,1736369567.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:47.236Z,1736369567.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:47.618Z,1736369567.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:48.007Z,1736369568.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:48.462Z,1736369568.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:48.826Z,1736369568.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:49.256Z,1736369569.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:49.633Z,1736369569.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:50.034Z,1736369570.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:50.505Z,1736369570.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:52:50.505Z,1736369570.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:50.855Z,1736369570.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:52:50.855Z,1736369570.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:51.244Z,1736369571.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:52:51.244Z,1736369571.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:51.649Z,1736369571.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:52:51.649Z,1736369571.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:52.044Z,1736369572.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:52:52.044Z,1736369572.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:52.493Z,1736369572.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:52:52.493Z,1736369572.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:52.852Z,1736369572.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:52:52.853Z,1736369572.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:53.289Z,1736369573.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T20:52:53.289Z,1736369573.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:53.664Z,1736369573.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:52:53.664Z,1736369573.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:54.062Z,1736369574.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:52:54.063Z,1736369574.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:54.586Z,1736369574.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s. 2025-01-08T20:52:54.586Z,1736369574.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:54.933Z,1736369574.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:52:54.933Z,1736369574.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:55.410Z,1736369575.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.4 s old, using for 20.0 s. 2025-01-08T20:52:55.411Z,1736369575.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:55.678Z,1736369575.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:52:55.679Z,1736369575.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:56.084Z,1736369576.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:52:56.084Z,1736369576.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:56.530Z,1736369576.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:56.896Z,1736369576.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:57.294Z,1736369577.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:57.699Z,1736369577.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:58.114Z,1736369578.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:58.542Z,1736369578.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:52:58.542Z,1736369578.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:58.921Z,1736369578.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:52:58.921Z,1736369578.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:52:59.370Z,1736369579.370 [NAL9602](INFO): SBD MO Status=1, MOMSN=46747, MT Status=0, MTMSN=0 2025-01-08T20:52:59.422Z,1736369579.422 [NAL9602](INFO): Sent 74 bytes from file Logs/20250108T193415/Courier0024.lzma 2025-01-08T20:52:59.422Z,1736369579.422 [NAL9602](INFO): Packets left to send: 0 2025-01-08T20:52:59.452Z,1736369579.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:52:59.453Z,1736369579.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:01.892Z,1736369581.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:53:02.162Z,1736369582.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:53:02.163Z,1736369582.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:02.245Z,1736369582.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:53:02.245Z,1736369582.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:02.896Z,1736369582.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:53:04.718Z,1736369584.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s. 2025-01-08T20:53:04.718Z,1736369584.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:04.803Z,1736369584.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.7 s old, using for 20.0 s. 2025-01-08T20:53:04.803Z,1736369584.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:05.231Z,1736369585.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.1 s old, using for 20.0 s. 2025-01-08T20:53:05.231Z,1736369585.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:05.584Z,1736369585.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.5 s old, using for 20.0 s. 2025-01-08T20:53:05.584Z,1736369585.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:05.976Z,1736369585.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.9 s old, using for 20.0 s. 2025-01-08T20:53:05.976Z,1736369585.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:06.416Z,1736369586.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.3 s old, using for 20.0 s. 2025-01-08T20:53:06.416Z,1736369586.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:06.818Z,1736369586.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.7 s old, using for 20.0 s. 2025-01-08T20:53:06.818Z,1736369586.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:07.183Z,1736369587.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.1 s old, using for 20.0 s. 2025-01-08T20:53:07.183Z,1736369587.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:07.595Z,1736369587.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.5 s old, using for 20.0 s. 2025-01-08T20:53:07.596Z,1736369587.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:07.997Z,1736369587.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.9 s old, using for 20.0 s. 2025-01-08T20:53:07.998Z,1736369587.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:08.406Z,1736369588.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.3 s old, using for 20.0 s. 2025-01-08T20:53:08.406Z,1736369588.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:08.828Z,1736369588.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.7 s old, using for 20.0 s. 2025-01-08T20:53:08.828Z,1736369588.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:09.209Z,1736369589.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.1 s old, using for 20.0 s. 2025-01-08T20:53:09.209Z,1736369589.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:09.618Z,1736369589.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.5 s old, using for 20.0 s. 2025-01-08T20:53:09.619Z,1736369589.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:10.021Z,1736369590.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.9 s old, using for 20.0 s. 2025-01-08T20:53:10.021Z,1736369590.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:10.420Z,1736369590.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.3 s old, using for 20.0 s. 2025-01-08T20:53:10.420Z,1736369590.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:10.859Z,1736369590.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:11.228Z,1736369591.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:11.636Z,1736369591.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:12.036Z,1736369592.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:12.434Z,1736369592.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:12.866Z,1736369592.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:53:12.866Z,1736369592.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:13.254Z,1736369593.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:53:13.254Z,1736369593.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:13.648Z,1736369593.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:53:13.648Z,1736369593.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:14.051Z,1736369594.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:53:14.051Z,1736369594.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:14.472Z,1736369594.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:53:14.472Z,1736369594.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:14.886Z,1736369594.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:15.268Z,1736369595.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:15.666Z,1736369595.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:16.079Z,1736369596.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:16.484Z,1736369596.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:16.908Z,1736369596.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:53:16.908Z,1736369596.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:17.289Z,1736369597.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:53:17.289Z,1736369597.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:17.696Z,1736369597.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:53:17.696Z,1736369597.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:18.100Z,1736369598.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:53:18.100Z,1736369598.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:18.501Z,1736369598.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:53:18.501Z,1736369598.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:18.917Z,1736369598.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:53:18.917Z,1736369598.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:19.306Z,1736369599.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:53:19.306Z,1736369599.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:19.716Z,1736369599.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:53:19.717Z,1736369599.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:20.117Z,1736369600.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:53:20.117Z,1736369600.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:20.532Z,1736369600.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:53:20.532Z,1736369600.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:20.914Z,1736369600.914 [NAL9602](INFO): SBD MO Status=2, MOMSN=46748, MT Status=2, MTMSN=0 2025-01-08T20:53:20.914Z,1736369600.914 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-01-08T20:53:20.940Z,1736369600.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:53:20.940Z,1736369600.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:21.332Z,1736369601.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:53:21.332Z,1736369601.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:21.732Z,1736369601.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:53:21.732Z,1736369601.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:22.168Z,1736369602.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:53:22.168Z,1736369602.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:22.536Z,1736369602.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:53:22.536Z,1736369602.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:22.965Z,1736369602.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:53:22.965Z,1736369602.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:23.349Z,1736369603.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:53:23.349Z,1736369603.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:23.752Z,1736369603.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:53:23.752Z,1736369603.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:24.166Z,1736369604.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:53:24.166Z,1736369604.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:24.603Z,1736369604.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:53:24.610Z,1736369604.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:25.002Z,1736369605.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:53:25.002Z,1736369605.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:25.389Z,1736369605.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:53:25.389Z,1736369605.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:28.116Z,1736369608.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:28.212Z,1736369608.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:30.672Z,1736369610.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:30.761Z,1736369610.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:31.124Z,1736369611.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:31.523Z,1736369611.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:31.925Z,1736369611.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:32.333Z,1736369612.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:32.760Z,1736369612.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:53:32.760Z,1736369612.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:33.016Z,1736369613.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:53:33.138Z,1736369613.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:53:33.138Z,1736369613.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:33.544Z,1736369613.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:53:33.544Z,1736369613.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:33.945Z,1736369613.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:53:33.945Z,1736369613.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:34.020Z,1736369614.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:53:34.373Z,1736369614.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:53:34.373Z,1736369614.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:34.815Z,1736369614.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:35.242Z,1736369615.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:35.574Z,1736369615.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:36.029Z,1736369616.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:36.372Z,1736369616.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:36.984Z,1736369616.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T20:53:36.985Z,1736369616.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:37.291Z,1736369617.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T20:53:37.291Z,1736369617.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:37.585Z,1736369617.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:53:37.585Z,1736369617.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:37.987Z,1736369617.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:53:37.988Z,1736369617.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:38.399Z,1736369618.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:53:38.399Z,1736369618.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:38.830Z,1736369618.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:53:38.830Z,1736369618.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:39.210Z,1736369619.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:53:39.210Z,1736369619.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:39.600Z,1736369619.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:53:39.600Z,1736369619.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:40.008Z,1736369620.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:53:40.008Z,1736369620.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:40.422Z,1736369620.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:53:40.422Z,1736369620.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:40.849Z,1736369620.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:53:40.849Z,1736369620.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:41.220Z,1736369621.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:53:41.220Z,1736369621.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:41.615Z,1736369621.615 [NAL9602](INFO): SBD MO Status=1, MOMSN=46748, MT Status=0, MTMSN=0 2025-01-08T20:53:41.668Z,1736369621.668 [NAL9602](INFO): Sent 332 bytes from file Logs/20250108T193415/Express0025.lzma 2025-01-08T20:53:41.668Z,1736369621.668 [NAL9602](INFO): Packets left to send: 1 2025-01-08T20:53:41.695Z,1736369621.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:53:41.696Z,1736369621.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:44.379Z,1736369624.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.0 s old, using for 20.0 s. 2025-01-08T20:53:44.379Z,1736369624.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:46.509Z,1736369626.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:46.679Z,1736369626.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:46.953Z,1736369626.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:47.368Z,1736369627.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:47.764Z,1736369627.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:48.167Z,1736369628.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:48.621Z,1736369628.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:48.996Z,1736369628.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:53:48.996Z,1736369628.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:49.380Z,1736369629.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:53:49.380Z,1736369629.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:49.780Z,1736369629.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:53:49.780Z,1736369629.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:50.189Z,1736369630.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:53:50.189Z,1736369630.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:50.667Z,1736369630.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:53:50.668Z,1736369630.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:50.996Z,1736369630.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:53:50.996Z,1736369630.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:51.397Z,1736369631.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:53:51.397Z,1736369631.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:51.816Z,1736369631.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:53:51.816Z,1736369631.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:52.210Z,1736369632.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:53:52.210Z,1736369632.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:52.669Z,1736369632.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:53:52.669Z,1736369632.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:53.016Z,1736369633.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:53:53.016Z,1736369633.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:53.425Z,1736369633.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:53:53.425Z,1736369633.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:53.824Z,1736369633.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:53:53.824Z,1736369633.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:54.240Z,1736369634.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:53:54.240Z,1736369634.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:54.681Z,1736369634.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:55.040Z,1736369635.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:55.440Z,1736369635.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:55.839Z,1736369635.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:56.250Z,1736369636.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:56.680Z,1736369636.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:53:56.680Z,1736369636.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:57.056Z,1736369637.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:53:57.056Z,1736369637.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:57.456Z,1736369637.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:53:57.456Z,1736369637.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:57.868Z,1736369637.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:53:57.868Z,1736369637.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:58.274Z,1736369638.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:53:58.274Z,1736369638.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:58.702Z,1736369638.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:53:58.702Z,1736369638.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:59.076Z,1736369639.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:53:59.076Z,1736369639.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:59.483Z,1736369639.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:53:59.484Z,1736369639.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:53:59.880Z,1736369639.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:53:59.880Z,1736369639.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:00.288Z,1736369640.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:54:00.288Z,1736369640.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:00.709Z,1736369640.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:54:00.709Z,1736369640.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:01.094Z,1736369641.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:54:01.094Z,1736369641.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:01.507Z,1736369641.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:54:01.507Z,1736369641.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:01.901Z,1736369641.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:54:01.901Z,1736369641.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:02.308Z,1736369642.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:54:02.308Z,1736369642.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:02.728Z,1736369642.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:54:02.729Z,1736369642.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:03.120Z,1736369643.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:54:03.121Z,1736369643.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:03.521Z,1736369643.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:54:03.521Z,1736369643.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:03.919Z,1736369643.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:54:03.919Z,1736369643.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:04.140Z,1736369644.140 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:54:04.325Z,1736369644.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:54:04.325Z,1736369644.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:04.756Z,1736369644.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:05.137Z,1736369645.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:05.152Z,1736369645.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:54:05.539Z,1736369645.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:05.948Z,1736369645.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:06.346Z,1736369646.346 [NAL9602](INFO): SBD MO Status=1, MOMSN=46749, MT Status=0, MTMSN=0 2025-01-08T20:54:06.397Z,1736369646.397 [NAL9602](INFO): Sent 8 bytes from file Logs/20250108T193415/Express0025.lzma 2025-01-08T20:54:06.397Z,1736369646.397 [NAL9602](INFO): Packets left to send: 0 2025-01-08T20:54:06.419Z,1736369646.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:09.054Z,1736369649.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s. 2025-01-08T20:54:09.055Z,1736369649.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:09.155Z,1736369649.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.7 s old, using for 20.0 s. 2025-01-08T20:54:09.155Z,1736369649.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:09.501Z,1736369649.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.1 s old, using for 20.0 s. 2025-01-08T20:54:09.502Z,1736369649.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:09.902Z,1736369649.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.5 s old, using for 20.0 s. 2025-01-08T20:54:09.902Z,1736369649.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:10.312Z,1736369650.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.9 s old, using for 20.0 s. 2025-01-08T20:54:10.312Z,1736369650.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:10.736Z,1736369650.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.3 s old, using for 20.0 s. 2025-01-08T20:54:10.736Z,1736369650.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:11.120Z,1736369651.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.7 s old, using for 20.0 s. 2025-01-08T20:54:11.120Z,1736369651.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:11.521Z,1736369651.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.1 s old, using for 20.0 s. 2025-01-08T20:54:11.521Z,1736369651.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:11.924Z,1736369651.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.5 s old, using for 20.0 s. 2025-01-08T20:54:11.924Z,1736369651.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:12.341Z,1736369652.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.9 s old, using for 20.0 s. 2025-01-08T20:54:12.341Z,1736369652.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:12.761Z,1736369652.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.3 s old, using for 20.0 s. 2025-01-08T20:54:12.761Z,1736369652.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:13.142Z,1736369653.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.7 s old, using for 20.0 s. 2025-01-08T20:54:13.142Z,1736369653.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:13.544Z,1736369653.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.1 s old, using for 20.0 s. 2025-01-08T20:54:13.544Z,1736369653.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:13.950Z,1736369653.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.5 s old, using for 20.0 s. 2025-01-08T20:54:13.950Z,1736369653.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:14.367Z,1736369654.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.9 s old, using for 20.0 s. 2025-01-08T20:54:14.368Z,1736369654.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:14.899Z,1736369654.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:54:14.922Z,1736369654.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:15.242Z,1736369655.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.8 s old, using for 20.0 s. 2025-01-08T20:54:15.242Z,1736369655.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:15.568Z,1736369655.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.1 s old, using for 20.0 s. 2025-01-08T20:54:15.568Z,1736369655.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:16.024Z,1736369656.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.6 s old, using for 20.0 s. 2025-01-08T20:54:16.024Z,1736369656.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:16.408Z,1736369656.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.0 s old, using for 20.0 s. 2025-01-08T20:54:16.408Z,1736369656.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:16.949Z,1736369656.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:17.176Z,1736369657.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:17.581Z,1736369657.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:18.037Z,1736369658.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:18.386Z,1736369658.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:18.809Z,1736369658.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:19.204Z,1736369659.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:19.606Z,1736369659.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:20.007Z,1736369660.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:20.406Z,1736369660.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:20.834Z,1736369660.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:54:20.834Z,1736369660.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:21.225Z,1736369661.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:54:21.225Z,1736369661.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:21.620Z,1736369661.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:54:21.621Z,1736369661.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:22.028Z,1736369662.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:54:22.028Z,1736369662.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:22.432Z,1736369662.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:54:22.432Z,1736369662.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:22.859Z,1736369662.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:54:22.859Z,1736369662.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:23.241Z,1736369663.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:54:23.241Z,1736369663.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:23.642Z,1736369663.642 [NAL9602](INFO): SBD MO Status=2, MOMSN=46750, MT Status=2, MTMSN=0 2025-01-08T20:54:23.642Z,1736369663.642 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-01-08T20:54:23.649Z,1736369663.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:54:23.650Z,1736369663.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:24.054Z,1736369664.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:54:24.054Z,1736369664.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:24.446Z,1736369664.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:54:24.446Z,1736369664.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:24.900Z,1736369664.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:54:24.900Z,1736369664.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:25.264Z,1736369665.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:54:25.264Z,1736369665.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:25.670Z,1736369665.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:54:25.670Z,1736369665.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:26.068Z,1736369666.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:54:26.068Z,1736369666.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:26.486Z,1736369666.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:54:26.486Z,1736369666.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:26.894Z,1736369666.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:27.286Z,1736369667.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:27.683Z,1736369667.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:28.124Z,1736369668.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:30.749Z,1736369670.749 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2025-01-08T20:54:30.798Z,1736369670.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:30.893Z,1736369670.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:31.264Z,1736369671.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:31.698Z,1736369671.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:32.074Z,1736369672.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:32.477Z,1736369672.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:32.914Z,1736369672.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:54:32.914Z,1736369672.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:33.289Z,1736369673.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:54:33.289Z,1736369673.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:33.694Z,1736369673.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:54:33.694Z,1736369673.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:34.093Z,1736369674.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:54:34.093Z,1736369674.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:34.492Z,1736369674.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:54:34.492Z,1736369674.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:34.919Z,1736369674.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:35.280Z,1736369675.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:54:35.304Z,1736369675.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:35.703Z,1736369675.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:36.112Z,1736369676.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:36.284Z,1736369676.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:54:36.524Z,1736369676.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:36.944Z,1736369676.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:37.324Z,1736369677.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:37.727Z,1736369677.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:38.138Z,1736369678.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:38.536Z,1736369678.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:38.979Z,1736369678.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:54:38.979Z,1736369678.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:39.344Z,1736369679.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:54:39.344Z,1736369679.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:39.768Z,1736369679.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:54:39.768Z,1736369679.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:42.365Z,1736369682.365 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2025-01-08T20:54:42.393Z,1736369682.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.9 s old, using for 20.0 s. 2025-01-08T20:54:42.393Z,1736369682.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:42.481Z,1736369682.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.9 s old, using for 20.0 s. 2025-01-08T20:54:42.481Z,1736369682.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:42.892Z,1736369682.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:54:42.892Z,1736369682.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:43.305Z,1736369683.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:54:43.305Z,1736369683.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:43.680Z,1736369683.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.1 s old, using for 20.0 s. 2025-01-08T20:54:43.680Z,1736369683.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:44.113Z,1736369684.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:54:44.113Z,1736369684.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:46.869Z,1736369686.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.3 s old, using for 20.0 s. 2025-01-08T20:54:46.869Z,1736369686.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:46.949Z,1736369686.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.4 s old, using for 20.0 s. 2025-01-08T20:54:46.949Z,1736369686.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:47.338Z,1736369687.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.8 s old, using for 20.0 s. 2025-01-08T20:54:47.339Z,1736369687.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:47.738Z,1736369687.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.2 s old, using for 20.0 s. 2025-01-08T20:54:47.738Z,1736369687.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:48.152Z,1736369688.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.6 s old, using for 20.0 s. 2025-01-08T20:54:48.152Z,1736369688.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:48.555Z,1736369688.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.0 s old, using for 20.0 s. 2025-01-08T20:54:48.555Z,1736369688.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:48.979Z,1736369688.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:49.360Z,1736369689.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:49.763Z,1736369689.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:50.171Z,1736369690.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:50.613Z,1736369690.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:51.004Z,1736369691.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:51.392Z,1736369691.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:51.784Z,1736369691.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:52.204Z,1736369692.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:52.669Z,1736369692.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:53.007Z,1736369693.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:53.403Z,1736369693.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:53.808Z,1736369693.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:54.221Z,1736369694.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:54.662Z,1736369694.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:55.015Z,1736369695.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:55.422Z,1736369695.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:55.823Z,1736369695.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:56.222Z,1736369696.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:56.680Z,1736369696.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:57.040Z,1736369697.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:57.439Z,1736369697.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:57.838Z,1736369697.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:58.247Z,1736369698.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:58.674Z,1736369698.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:59.056Z,1736369699.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:59.456Z,1736369699.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:54:59.860Z,1736369699.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:00.279Z,1736369700.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:00.692Z,1736369700.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:55:00.692Z,1736369700.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:01.076Z,1736369701.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:55:01.076Z,1736369701.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:01.552Z,1736369701.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:55:01.552Z,1736369701.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:01.886Z,1736369701.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:55:01.886Z,1736369701.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:02.288Z,1736369702.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:55:02.288Z,1736369702.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:02.682Z,1736369702.682 [NAL9602](INFO): SBD MO Status=2, MOMSN=46750, MT Status=2, MTMSN=0 2025-01-08T20:55:02.682Z,1736369702.682 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-01-08T20:55:02.728Z,1736369702.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:55:02.728Z,1736369702.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:03.096Z,1736369703.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:55:03.096Z,1736369703.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:03.512Z,1736369703.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:55:03.512Z,1736369703.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:03.933Z,1736369703.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:55:03.933Z,1736369703.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:04.308Z,1736369704.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:55:04.308Z,1736369704.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:04.744Z,1736369704.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:55:04.744Z,1736369704.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:05.122Z,1736369705.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:55:05.122Z,1736369705.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:05.520Z,1736369705.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:55:05.520Z,1736369705.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:05.918Z,1736369705.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:55:05.919Z,1736369705.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:06.328Z,1736369706.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:55:06.328Z,1736369706.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:06.404Z,1736369706.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T20:55:06.762Z,1736369706.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:55:06.762Z,1736369706.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:07.408Z,1736369707.408 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:55:09.342Z,1736369709.342 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2025-01-08T20:55:09.367Z,1736369709.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.1 s old, using for 20.0 s. 2025-01-08T20:55:09.367Z,1736369709.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:09.554Z,1736369709.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:55:09.554Z,1736369709.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:09.909Z,1736369709.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.6 s old, using for 20.0 s. 2025-01-08T20:55:09.909Z,1736369709.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:10.361Z,1736369710.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:55:10.362Z,1736369710.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:10.756Z,1736369710.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:11.119Z,1736369711.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:11.534Z,1736369711.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:11.945Z,1736369711.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:12.349Z,1736369712.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:12.776Z,1736369712.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:13.148Z,1736369713.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:13.544Z,1736369713.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:13.939Z,1736369713.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:14.339Z,1736369714.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:14.766Z,1736369714.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:55:14.767Z,1736369714.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:15.156Z,1736369715.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:55:15.156Z,1736369715.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:15.316Z,1736369715.316 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003185 2025-01-08T20:55:15.556Z,1736369715.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:55:15.556Z,1736369715.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:15.955Z,1736369715.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:55:15.955Z,1736369715.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:16.373Z,1736369716.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:55:16.373Z,1736369716.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:16.773Z,1736369716.773 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for water velocity. Device response is::WS +294, -92,A 2025-01-08T20:55:16.789Z,1736369716.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:55:16.789Z,1736369716.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:17.204Z,1736369717.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T20:55:17.204Z,1736369717.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:17.580Z,1736369717.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:55:17.580Z,1736369717.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:17.993Z,1736369717.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:55:17.993Z,1736369717.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:18.397Z,1736369718.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:55:18.397Z,1736369718.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:18.858Z,1736369718.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:55:18.858Z,1736369718.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:23.810Z,1736369723.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.5 s old, using for 20.0 s. 2025-01-08T20:55:23.811Z,1736369723.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:23.826Z,1736369723.826 [transit:NeedComms:D] Stopped 2025-01-08T20:55:23.826Z,1736369723.826 [transit:NeedComms:E] Running Loop=1 2025-01-08T20:55:23.953Z,1736369723.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.6 s old, using for 20.0 s. 2025-01-08T20:55:23.953Z,1736369723.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:24.305Z,1736369724.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.0 s old, using for 20.0 s. 2025-01-08T20:55:24.305Z,1736369724.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:24.752Z,1736369724.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.4 s old, using for 20.0 s. 2025-01-08T20:55:24.752Z,1736369724.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:25.121Z,1736369725.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.8 s old, using for 20.0 s. 2025-01-08T20:55:25.121Z,1736369725.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:25.524Z,1736369725.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.2 s old, using for 20.0 s. 2025-01-08T20:55:25.524Z,1736369725.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:25.934Z,1736369725.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.6 s old, using for 20.0 s. 2025-01-08T20:55:25.934Z,1736369725.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:26.329Z,1736369726.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.0 s old, using for 20.0 s. 2025-01-08T20:55:26.329Z,1736369726.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:26.755Z,1736369726.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.4 s old, using for 20.0 s. 2025-01-08T20:55:26.755Z,1736369726.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:27.145Z,1736369727.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.8 s old, using for 20.0 s. 2025-01-08T20:55:27.145Z,1736369727.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:27.540Z,1736369727.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.2 s old, using for 20.0 s. 2025-01-08T20:55:27.540Z,1736369727.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:27.945Z,1736369727.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.6 s old, using for 20.0 s. 2025-01-08T20:55:27.945Z,1736369727.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:28.353Z,1736369728.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.0 s old, using for 20.0 s. 2025-01-08T20:55:28.353Z,1736369728.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:28.777Z,1736369728.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.4 s old, using for 20.0 s. 2025-01-08T20:55:28.777Z,1736369728.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:29.157Z,1736369729.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.8 s old, using for 20.0 s. 2025-01-08T20:55:29.157Z,1736369729.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:29.560Z,1736369729.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.2 s old, using for 20.0 s. 2025-01-08T20:55:29.560Z,1736369729.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:29.968Z,1736369729.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.6 s old, using for 20.0 s. 2025-01-08T20:55:29.968Z,1736369729.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:30.378Z,1736369730.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.0 s old, using for 20.0 s. 2025-01-08T20:55:30.378Z,1736369730.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:30.778Z,1736369730.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:31.164Z,1736369731.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:31.580Z,1736369731.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:31.976Z,1736369731.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:32.374Z,1736369732.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:32.798Z,1736369732.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:33.193Z,1736369733.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:33.592Z,1736369733.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:33.993Z,1736369733.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:34.396Z,1736369734.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:34.833Z,1736369734.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:35.208Z,1736369735.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:35.623Z,1736369735.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:36.032Z,1736369736.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:36.424Z,1736369736.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:36.865Z,1736369736.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:37.243Z,1736369737.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:37.648Z,1736369737.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:38.039Z,1736369738.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:38.447Z,1736369738.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:38.899Z,1736369738.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:39.244Z,1736369739.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:39.655Z,1736369739.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:40.052Z,1736369740.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:40.464Z,1736369740.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:40.888Z,1736369740.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:55:40.888Z,1736369740.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:41.268Z,1736369741.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:55:41.268Z,1736369741.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:41.672Z,1736369741.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:55:41.672Z,1736369741.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:42.070Z,1736369742.070 [NAL9602](INFO): SBD MO Status=2, MOMSN=46750, MT Status=2, MTMSN=0 2025-01-08T20:55:42.070Z,1736369742.070 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-01-08T20:55:42.085Z,1736369742.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:55:42.085Z,1736369742.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:42.228Z,1736369742.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:55:42.490Z,1736369742.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:55:42.490Z,1736369742.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:42.920Z,1736369742.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:55:42.920Z,1736369742.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:43.282Z,1736369743.282 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205542.00,A,3654.23341,N,12206.72377,W,0.389,81.30,080125,,,A*4C 2025-01-08T20:55:43.285Z,1736369743.285 [NAL9602](INFO): GPS fix at 20250108T205542: (36.903890, -122.112063) 2025-01-08T20:55:43.292Z,1736369743.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:55:43.292Z,1736369743.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:43.293Z,1736369743.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07 2025-01-08T20:55:43.300Z,1736369743.300 [transit:NeedComms:E] Stopped 2025-01-08T20:55:43.301Z,1736369743.301 [transit:NeedComms](INFO): Completed transit:NeedComms 2025-01-08T20:55:43.301Z,1736369743.301 [transit:NeedComms] Stopped 2025-01-08T20:55:43.301Z,1736369743.301 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms 2025-01-08T20:55:43.301Z,1736369743.301 [transit:NeedComms:B.GoToSurface] Stopped 2025-01-08T20:55:43.302Z,1736369743.302 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-01-08T20:55:43.713Z,1736369743.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:55:43.713Z,1736369743.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:43.718Z,1736369743.718 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome 2025-01-08T20:55:43.718Z,1736369743.718 [transit:Transit:PhoneHome] Stopped 2025-01-08T20:55:43.718Z,1736369743.718 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome 2025-01-08T20:55:43.719Z,1736369743.719 [transit:Transit](INFO): Completed transit:Transit 2025-01-08T20:55:43.719Z,1736369743.719 [transit:Transit] Stopped 2025-01-08T20:55:43.719Z,1736369743.719 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit 2025-01-08T20:55:43.719Z,1736369743.719 [transit:Transit:A.Pitch] Stopped 2025-01-08T20:55:43.719Z,1736369743.719 [transit:Transit:B.SetSpeed] Stopped 2025-01-08T20:55:43.719Z,1736369743.719 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize. 2025-01-08T20:55:43.721Z,1736369743.721 [transit](INFO): Completed transit 2025-01-08T20:55:43.721Z,1736369743.721 [MissionManager](INFO): transit is completed. 2025-01-08T20:55:43.722Z,1736369743.722 [MissionManager](INFO): Uninitializing Mission transit 2025-01-08T20:55:43.722Z,1736369743.722 [transit] Stopped 2025-01-08T20:55:43.722Z,1736369743.722 [transit](DEBUG): Aggregate::uninitialize transit 2025-01-08T20:55:43.722Z,1736369743.722 [transit:StandardEnvelopes] Stopped 2025-01-08T20:55:43.722Z,1736369743.722 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes 2025-01-08T20:55:43.722Z,1736369743.722 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-01-08T20:55:43.722Z,1736369743.722 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-01-08T20:55:43.722Z,1736369743.722 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-01-08T20:55:43.722Z,1736369743.722 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-01-08T20:55:43.722Z,1736369743.722 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-01-08T20:55:43.722Z,1736369743.722 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-01-08T20:55:43.722Z,1736369743.722 [transit:BackseatDriver] Stopped 2025-01-08T20:55:43.723Z,1736369743.723 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver 2025-01-08T20:55:43.723Z,1736369743.723 [transit:BackseatDriver:A.BackseatDriver] Stopped 2025-01-08T20:55:43.723Z,1736369743.723 [transit:PowerOnly] Stopped 2025-01-08T20:55:43.723Z,1736369743.723 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly 2025-01-08T20:55:43.723Z,1736369743.723 [transit:PowerOnly:E.Wait] Stopped 2025-01-08T20:55:43.723Z,1736369743.723 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component. 2025-01-08T20:55:43.724Z,1736369743.724 [transit:BuoyancyHold.Buoyancy] Stopped 2025-01-08T20:55:43.724Z,1736369743.724 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-01-08T20:55:43.724Z,1736369743.724 [transit:MassHold.Pitch] Stopped 2025-01-08T20:55:44.106Z,1736369744.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:55:44.106Z,1736369744.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:44.111Z,1736369744.111 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-01-08T20:55:44.111Z,1736369744.111 [DefaultWithUndock] Running Loop=1 2025-01-08T20:55:44.111Z,1736369744.111 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-01-08T20:55:44.112Z,1736369744.112 [DefaultWithUndock:A.Wait] Running Loop=1 2025-01-08T20:55:44.112Z,1736369744.112 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-01-08T20:55:44.508Z,1736369744.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:55:44.508Z,1736369744.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:44.982Z,1736369744.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:55:44.982Z,1736369744.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:45.336Z,1736369745.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:55:45.336Z,1736369745.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:45.741Z,1736369745.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:55:45.741Z,1736369745.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:46.145Z,1736369746.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:55:46.145Z,1736369746.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:46.594Z,1736369746.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:55:46.594Z,1736369746.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:46.978Z,1736369746.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:47.359Z,1736369747.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:47.760Z,1736369747.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:48.172Z,1736369748.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:48.554Z,1736369748.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:48.979Z,1736369748.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:55:48.979Z,1736369748.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:49.377Z,1736369749.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:55:49.377Z,1736369749.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:49.767Z,1736369749.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:55:49.767Z,1736369749.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:50.188Z,1736369750.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:55:50.188Z,1736369750.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:50.631Z,1736369750.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:55:50.635Z,1736369750.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:51.009Z,1736369751.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:51.259Z,1736369751.259 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:55:51.391Z,1736369751.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:51.788Z,1736369751.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:52.209Z,1736369752.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:52.660Z,1736369752.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:55:52.661Z,1736369752.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:53.012Z,1736369753.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:55:53.012Z,1736369753.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:53.421Z,1736369753.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:55:53.421Z,1736369753.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:53.833Z,1736369753.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:55:53.833Z,1736369753.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:54.242Z,1736369754.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:55:54.242Z,1736369754.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:54.720Z,1736369754.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:55.031Z,1736369755.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:55.451Z,1736369755.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:55.859Z,1736369755.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:56.251Z,1736369756.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:56.717Z,1736369756.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:55:56.717Z,1736369756.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:57.065Z,1736369757.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:55:57.065Z,1736369757.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:57.473Z,1736369757.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:55:57.473Z,1736369757.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:57.867Z,1736369757.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:55:57.868Z,1736369757.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:58.263Z,1736369758.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:55:58.263Z,1736369758.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:58.693Z,1736369758.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:55:58.694Z,1736369758.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:59.085Z,1736369759.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:55:59.085Z,1736369759.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:59.514Z,1736369759.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T20:55:59.514Z,1736369759.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:55:59.860Z,1736369759.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:55:59.922Z,1736369759.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:55:59.922Z,1736369759.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:00.329Z,1736369760.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:56:00.329Z,1736369760.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:00.893Z,1736369760.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s. 2025-01-08T20:56:00.893Z,1736369760.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:01.100Z,1736369761.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:56:01.101Z,1736369761.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:01.596Z,1736369761.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:56:01.596Z,1736369761.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:01.967Z,1736369761.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:56:01.967Z,1736369761.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:02.324Z,1736369762.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:56:02.324Z,1736369762.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:02.752Z,1736369762.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:56:02.752Z,1736369762.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:03.133Z,1736369763.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:56:03.133Z,1736369763.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:03.533Z,1736369763.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:56:03.533Z,1736369763.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:03.941Z,1736369763.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:56:03.941Z,1736369763.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:04.349Z,1736369764.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:56:04.349Z,1736369764.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:04.779Z,1736369764.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:56:04.779Z,1736369764.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:05.158Z,1736369765.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:56:05.158Z,1736369765.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:05.556Z,1736369765.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:56:05.556Z,1736369765.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:05.952Z,1736369765.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:56:05.952Z,1736369765.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:06.346Z,1736369766.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:56:06.347Z,1736369766.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:06.778Z,1736369766.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:07.171Z,1736369767.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:07.563Z,1736369767.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:07.970Z,1736369767.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:08.388Z,1736369768.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:08.716Z,1736369768.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:56:08.800Z,1736369768.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:56:08.800Z,1736369768.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:09.182Z,1736369769.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:56:09.182Z,1736369769.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:09.585Z,1736369769.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:56:09.585Z,1736369769.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:10.004Z,1736369770.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:56:10.004Z,1736369770.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:10.447Z,1736369770.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:56:10.447Z,1736369770.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:10.887Z,1736369770.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:11.228Z,1736369771.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:11.659Z,1736369771.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:12.041Z,1736369772.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:12.466Z,1736369772.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:12.907Z,1736369772.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:13.263Z,1736369773.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:13.697Z,1736369773.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:14.104Z,1736369774.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:14.120Z,1736369774.120 [DefaultWithUndock:A.Wait](INFO): Done Waiting. 2025-01-08T20:56:14.120Z,1736369774.120 [DefaultWithUndock:A.Wait] Stopped 2025-01-08T20:56:14.120Z,1736369774.120 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-01-08T20:56:14.121Z,1736369774.121 [DefaultWithUndock:LeaveDock] Running Loop=1 2025-01-08T20:56:14.121Z,1736369774.121 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock 2025-01-08T20:56:14.121Z,1736369774.121 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2025-01-08T20:56:14.121Z,1736369774.121 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact. 2025-01-08T20:56:14.121Z,1736369774.121 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1 2025-01-08T20:56:14.121Z,1736369774.121 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-01-08T20:56:14.121Z,1736369774.121 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-01-08T20:56:14.492Z,1736369774.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:14.509Z,1736369774.509 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-01-08T20:56:14.509Z,1736369774.509 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-01-08T20:56:14.510Z,1736369774.510 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.057444 m. 2025-01-08T20:56:14.510Z,1736369774.510 [DefaultWithUndock:LeaveDock:A.] Stopped 2025-01-08T20:56:14.510Z,1736369774.510 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact. 2025-01-08T20:56:14.578Z,1736369774.578 [DockingStepper](INFO): Resume 2025-01-08T20:56:14.951Z,1736369774.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:56:14.951Z,1736369774.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:14.972Z,1736369774.972 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer. 2025-01-08T20:56:15.016Z,1736369775.016 [DockingStepper](INFO): Resuming 2025-01-08T20:56:15.305Z,1736369775.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:56:15.305Z,1736369775.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:15.373Z,1736369775.373 [DockingStepper](INFO): Start 2025-01-08T20:56:15.374Z,1736369775.374 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-01-08T20:56:15.492Z,1736369775.492 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-01-08T20:56:15.682Z,1736369775.682 [NAL9602](INFO): Not Powering down - fast GPS 2025-01-08T20:56:15.709Z,1736369775.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:56:15.709Z,1736369775.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:15.908Z,1736369775.908 [DockingStepper](INFO): Starting 2025-01-08T20:56:16.120Z,1736369776.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:56:16.120Z,1736369776.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:16.208Z,1736369776.208 [DockingStepper](INFO): Starting 2025-01-08T20:56:16.649Z,1736369776.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.2 s old, using for 20.0 s. 2025-01-08T20:56:16.649Z,1736369776.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:17.005Z,1736369777.005 [DockingStepper](INFO): Starting 2025-01-08T20:56:17.060Z,1736369777.060 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50 2025-01-08T20:56:17.245Z,1736369777.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:56:17.245Z,1736369777.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:17.456Z,1736369777.456 [DockingStepper](INFO): Starting 2025-01-08T20:56:17.557Z,1736369777.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.1 s old, using for 20.0 s. 2025-01-08T20:56:17.557Z,1736369777.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:17.635Z,1736369777.635 [DockingStepper](INFO): Starting 2025-01-08T20:56:17.954Z,1736369777.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.4 s old, using for 20.0 s. 2025-01-08T20:56:17.954Z,1736369777.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:18.004Z,1736369778.004 [DockingStepper](INFO): Starting 2025-01-08T20:56:18.349Z,1736369778.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.8 s old, using for 20.0 s. 2025-01-08T20:56:18.349Z,1736369778.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:18.396Z,1736369778.396 [DockingStepper](INFO): Starting 2025-01-08T20:56:18.805Z,1736369778.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.3 s old, using for 20.0 s. 2025-01-08T20:56:18.805Z,1736369778.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:18.849Z,1736369778.849 [DockingStepper](INFO): Starting 2025-01-08T20:56:18.888Z,1736369778.888 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2025-01-08T20:56:19.166Z,1736369779.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.7 s old, using for 20.0 s. 2025-01-08T20:56:19.166Z,1736369779.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:19.216Z,1736369779.216 [DockingStepper](INFO): Starting 2025-01-08T20:56:19.560Z,1736369779.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.1 s old, using for 20.0 s. 2025-01-08T20:56:19.560Z,1736369779.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:19.605Z,1736369779.605 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T20:56:19.605Z,1736369779.605 [DockingStepper](INFO): Standby mode. 2025-01-08T20:56:19.964Z,1736369779.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.5 s old, using for 20.0 s. 2025-01-08T20:56:19.964Z,1736369779.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:20.358Z,1736369780.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.9 s old, using for 20.0 s. 2025-01-08T20:56:20.358Z,1736369780.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:20.672Z,1736369780.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:56:20.822Z,1736369780.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.3 s old, using for 20.0 s. 2025-01-08T20:56:20.822Z,1736369780.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:21.181Z,1736369781.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.7 s old, using for 20.0 s. 2025-01-08T20:56:21.181Z,1736369781.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:21.605Z,1736369781.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.1 s old, using for 20.0 s. 2025-01-08T20:56:21.605Z,1736369781.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:21.984Z,1736369781.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.5 s old, using for 20.0 s. 2025-01-08T20:56:21.984Z,1736369781.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:22.397Z,1736369782.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.9 s old, using for 20.0 s. 2025-01-08T20:56:22.397Z,1736369782.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:22.834Z,1736369782.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:23.232Z,1736369783.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:23.636Z,1736369783.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:24.023Z,1736369784.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:24.440Z,1736369784.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:24.867Z,1736369784.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:56:24.875Z,1736369784.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:25.244Z,1736369785.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:56:25.244Z,1736369785.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:25.646Z,1736369785.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:56:25.646Z,1736369785.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:26.062Z,1736369786.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:56:26.062Z,1736369786.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:26.446Z,1736369786.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:56:26.446Z,1736369786.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:26.872Z,1736369786.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:56:26.872Z,1736369786.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:27.241Z,1736369787.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:56:27.241Z,1736369787.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:27.660Z,1736369787.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:56:27.660Z,1736369787.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:28.066Z,1736369788.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:56:28.066Z,1736369788.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:28.474Z,1736369788.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:56:28.474Z,1736369788.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:28.923Z,1736369788.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:56:28.923Z,1736369788.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:29.276Z,1736369789.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:56:29.276Z,1736369789.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:29.678Z,1736369789.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:56:29.678Z,1736369789.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:30.088Z,1736369790.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:56:30.088Z,1736369790.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:30.489Z,1736369790.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:56:30.490Z,1736369790.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:30.908Z,1736369790.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:56:30.908Z,1736369790.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:31.282Z,1736369791.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T20:56:31.283Z,1736369791.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:31.679Z,1736369791.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T20:56:31.679Z,1736369791.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:32.082Z,1736369792.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.6 s old, using for 20.0 s. 2025-01-08T20:56:32.082Z,1736369792.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:32.490Z,1736369792.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:56:32.490Z,1736369792.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:32.912Z,1736369792.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:56:32.912Z,1736369792.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:33.286Z,1736369793.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.8 s old, using for 20.0 s. 2025-01-08T20:56:33.286Z,1736369793.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:33.699Z,1736369793.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:56:33.700Z,1736369793.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:33.816Z,1736369793.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:56:34.102Z,1736369794.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:56:34.102Z,1736369794.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:34.498Z,1736369794.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:56:34.498Z,1736369794.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:34.922Z,1736369794.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:35.312Z,1736369795.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:35.316Z,1736369795.316 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 182.30 m. Transitioning docking module to standby. 2025-01-08T20:56:35.720Z,1736369795.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:35.724Z,1736369795.724 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby. 2025-01-08T20:56:36.135Z,1736369796.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:36.147Z,1736369796.147 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-01-08T20:56:36.148Z,1736369796.148 [DefaultWithUndock:LeaveDock:B.Undock] Stopped 2025-01-08T20:56:36.148Z,1736369796.148 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock 2025-01-08T20:56:36.148Z,1736369796.148 [DefaultWithUndock:LeaveDock] Stopped 2025-01-08T20:56:36.148Z,1736369796.148 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock 2025-01-08T20:56:36.148Z,1736369796.148 [DefaultWithUndock:SurfaceDefault] Running Loop=1 2025-01-08T20:56:36.148Z,1736369796.148 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault 2025-01-08T20:56:36.148Z,1736369796.148 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1 2025-01-08T20:56:36.148Z,1736369796.148 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-01-08T20:56:36.149Z,1736369796.149 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-01-08T20:56:36.149Z,1736369796.149 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-01-08T20:56:36.149Z,1736369796.149 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-01-08T20:56:36.149Z,1736369796.149 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-01-08T20:56:36.150Z,1736369796.150 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-01-08T20:56:36.150Z,1736369796.150 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-01-08T20:56:36.532Z,1736369796.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:36.601Z,1736369796.601 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1 2025-01-08T20:56:36.602Z,1736369796.602 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-01-08T20:56:36.602Z,1736369796.602 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2025-01-08T20:56:36.768Z,1736369796.768 [DockingStepper](INFO): Pause 2025-01-08T20:56:36.976Z,1736369796.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:56:36.976Z,1736369796.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:37.345Z,1736369797.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:56:37.345Z,1736369797.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:37.753Z,1736369797.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:56:37.753Z,1736369797.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:38.164Z,1736369798.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:56:38.164Z,1736369798.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:38.539Z,1736369798.539 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205637.00,A,3654.23807,N,12206.72155,W,0.894,12.10,080125,,,A*49 2025-01-08T20:56:38.541Z,1736369798.541 [NAL9602](INFO): GPS fix at 20250108T205637: (36.903968, -122.112026) 2025-01-08T20:56:38.592Z,1736369798.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:56:38.593Z,1736369798.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:38.604Z,1736369798.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07 2025-01-08T20:56:38.633Z,1736369798.633 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2025-01-08T20:56:38.633Z,1736369798.633 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2025-01-08T20:56:39.025Z,1736369799.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:56:39.025Z,1736369799.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:40.513Z,1736369800.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:56:40.513Z,1736369800.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:40.977Z,1736369800.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:56:40.978Z,1736369800.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:41.273Z,1736369801.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.7 s old, using for 20.0 s. 2025-01-08T20:56:41.273Z,1736369801.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:41.711Z,1736369801.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:56:41.711Z,1736369801.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:42.081Z,1736369802.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.5 s old, using for 20.0 s. 2025-01-08T20:56:42.081Z,1736369802.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:42.490Z,1736369802.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:56:42.490Z,1736369802.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:42.906Z,1736369802.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:42.986Z,1736369802.986 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250108T193415/Courier0027.lzma 2025-01-08T20:56:43.303Z,1736369803.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:43.675Z,1736369803.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:43.997Z,1736369803.997 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Courier0027.lzma.bak 2025-01-08T20:56:43.997Z,1736369803.997 [DataOverHttps](INFO): SBD MOMSN=23886129 2025-01-08T20:56:44.093Z,1736369804.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:44.501Z,1736369804.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:44.885Z,1736369804.885 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010812574978,35.0, +13.7, 0.0,15 2025-01-08T20:56:44.897Z,1736369804.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:56:44.897Z,1736369804.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:45.306Z,1736369805.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:56:45.307Z,1736369805.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:45.724Z,1736369805.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:56:45.724Z,1736369805.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:46.115Z,1736369806.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:56:46.115Z,1736369806.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:46.512Z,1736369806.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:56:46.512Z,1736369806.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:46.967Z,1736369806.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:56:46.967Z,1736369806.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:47.321Z,1736369807.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:56:47.321Z,1736369807.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:47.733Z,1736369807.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:56:47.733Z,1736369807.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:48.136Z,1736369808.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:56:48.136Z,1736369808.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:48.523Z,1736369808.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:56:48.523Z,1736369808.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:48.949Z,1736369808.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:49.360Z,1736369809.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:49.746Z,1736369809.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:50.165Z,1736369810.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:50.556Z,1736369810.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:51.008Z,1736369811.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:56:51.008Z,1736369811.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:51.377Z,1736369811.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:56:51.377Z,1736369811.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:51.768Z,1736369811.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:56:51.768Z,1736369811.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:52.169Z,1736369812.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:56:52.169Z,1736369812.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:52.636Z,1736369812.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:56:52.636Z,1736369812.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:53.017Z,1736369813.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:53.400Z,1736369813.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:53.787Z,1736369813.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:54.199Z,1736369814.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:54.659Z,1736369814.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:56:54.659Z,1736369814.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:54.992Z,1736369814.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:56:54.992Z,1736369814.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:55.392Z,1736369815.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:56:55.393Z,1736369815.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:55.812Z,1736369815.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:56:55.812Z,1736369815.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:56.204Z,1736369816.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:56:56.204Z,1736369816.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:56.658Z,1736369816.658 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010812580178,35.0, +13.7, 0.0,1502.:RA, 0.00, 0.00, 631.40, 0.00, 0.00 2025-01-08T20:56:56.665Z,1736369816.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:56:56.665Z,1736369816.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:57.008Z,1736369817.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:56:57.008Z,1736369817.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:57.422Z,1736369817.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:56:57.422Z,1736369817.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:57.820Z,1736369817.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:56:57.820Z,1736369817.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:58.222Z,1736369818.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:56:58.222Z,1736369818.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:58.701Z,1736369818.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:56:58.701Z,1736369818.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:59.042Z,1736369819.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:56:59.043Z,1736369819.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:59.440Z,1736369819.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:56:59.440Z,1736369819.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:56:59.848Z,1736369819.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:56:59.848Z,1736369819.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:00.260Z,1736369820.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:57:00.260Z,1736369820.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:00.721Z,1736369820.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:01.055Z,1736369821.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:01.460Z,1736369821.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:01.868Z,1736369821.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:02.275Z,1736369822.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:02.692Z,1736369822.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:57:02.692Z,1736369822.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:03.072Z,1736369823.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:57:03.072Z,1736369823.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:03.359Z,1736369823.359 [DataOverHttps](INFO): Sending 189 bytes from file Logs/20250108T193415/Express0028.lzma 2025-01-08T20:57:03.470Z,1736369823.470 [NAL9602](INFO): SBD MO Status=2, MOMSN=46750, MT Status=2, MTMSN=0 2025-01-08T20:57:03.470Z,1736369823.470 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-01-08T20:57:03.485Z,1736369823.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:57:03.485Z,1736369823.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:03.897Z,1736369823.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:57:03.897Z,1736369823.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:04.284Z,1736369824.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:57:04.284Z,1736369824.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:04.361Z,1736369824.361 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0028.lzma.bak 2025-01-08T20:57:04.361Z,1736369824.361 [DataOverHttps](INFO): SBD MOMSN=23886132 2025-01-08T20:57:04.707Z,1736369824.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:57:04.707Z,1736369824.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:05.096Z,1736369825.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:57:05.096Z,1736369825.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:05.508Z,1736369825.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:57:05.508Z,1736369825.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:05.917Z,1736369825.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:57:05.918Z,1736369825.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:06.308Z,1736369826.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:57:06.308Z,1736369826.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:06.722Z,1736369826.722 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for bottom velocity. Device response is::BS -23, +185,A 2025-01-08T20:57:06.738Z,1736369826.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:57:06.738Z,1736369826.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:07.120Z,1736369827.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:57:07.120Z,1736369827.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:07.532Z,1736369827.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:57:07.532Z,1736369827.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:07.946Z,1736369827.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:57:07.946Z,1736369827.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:08.348Z,1736369828.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:57:08.348Z,1736369828.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:08.373Z,1736369828.373 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2025-01-08T20:57:08.373Z,1736369828.373 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2025-01-08T20:57:08.373Z,1736369828.373 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-01-08T20:57:08.808Z,1736369828.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:57:08.808Z,1736369828.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:09.151Z,1736369829.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:57:09.155Z,1736369829.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:09.540Z,1736369829.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:57:09.540Z,1736369829.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:09.949Z,1736369829.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:57:09.949Z,1736369829.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:10.368Z,1736369830.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:57:10.368Z,1736369830.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:10.795Z,1736369830.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:11.182Z,1736369831.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:11.591Z,1736369831.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:11.966Z,1736369831.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:12.381Z,1736369832.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:12.818Z,1736369832.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:57:12.818Z,1736369832.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:13.181Z,1736369833.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:57:13.181Z,1736369833.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:13.586Z,1736369833.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:57:13.587Z,1736369833.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:13.998Z,1736369833.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:57:13.998Z,1736369833.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:14.392Z,1736369834.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:57:14.392Z,1736369834.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:14.843Z,1736369834.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:57:14.851Z,1736369834.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:15.205Z,1736369835.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:57:15.206Z,1736369835.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:15.606Z,1736369835.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:57:15.606Z,1736369835.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:16.009Z,1736369836.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:57:16.009Z,1736369836.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:16.414Z,1736369836.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:57:16.414Z,1736369836.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:16.816Z,1736369836.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:57:16.816Z,1736369836.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:17.217Z,1736369837.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:57:17.217Z,1736369837.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:17.629Z,1736369837.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:57:17.629Z,1736369837.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:18.021Z,1736369838.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:57:18.021Z,1736369838.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:18.418Z,1736369838.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T20:57:18.419Z,1736369838.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:18.842Z,1736369838.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:19.267Z,1736369839.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:19.658Z,1736369839.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:20.054Z,1736369840.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:20.446Z,1736369840.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:20.909Z,1736369840.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:57:20.909Z,1736369840.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:21.284Z,1736369841.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:57:21.284Z,1736369841.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:21.686Z,1736369841.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:57:21.686Z,1736369841.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:22.081Z,1736369842.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:57:22.081Z,1736369842.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:22.473Z,1736369842.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:57:22.473Z,1736369842.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:22.905Z,1736369842.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:57:22.905Z,1736369842.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:23.280Z,1736369843.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:57:23.280Z,1736369843.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:23.680Z,1736369843.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:57:23.680Z,1736369843.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:24.089Z,1736369844.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:57:24.089Z,1736369844.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:24.497Z,1736369844.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:57:24.497Z,1736369844.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:24.938Z,1736369844.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:57:24.938Z,1736369844.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:25.300Z,1736369845.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:57:25.300Z,1736369845.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:25.709Z,1736369845.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:57:25.709Z,1736369845.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:26.100Z,1736369846.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:57:26.100Z,1736369846.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:26.499Z,1736369846.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:57:26.499Z,1736369846.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:26.928Z,1736369846.928 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +19.42, +674.83-5.71, 20.00, 0.00 2025-01-08T20:57:26.939Z,1736369846.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:57:26.940Z,1736369846.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:27.335Z,1736369847.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:57:27.335Z,1736369847.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:27.735Z,1736369847.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:57:27.735Z,1736369847.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:28.126Z,1736369848.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:57:28.126Z,1736369848.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:28.448Z,1736369848.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:57:28.549Z,1736369848.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:57:28.549Z,1736369848.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:28.969Z,1736369848.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:29.330Z,1736369849.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:29.739Z,1736369849.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:30.135Z,1736369850.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:30.549Z,1736369850.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:30.995Z,1736369850.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:57:30.995Z,1736369850.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:31.361Z,1736369851.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:57:31.361Z,1736369851.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:31.769Z,1736369851.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:57:31.769Z,1736369851.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:32.178Z,1736369852.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:57:32.178Z,1736369852.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:32.631Z,1736369852.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:57:32.632Z,1736369852.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:33.023Z,1736369853.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:33.381Z,1736369853.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:33.798Z,1736369853.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:34.176Z,1736369854.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:34.637Z,1736369854.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:35.007Z,1736369855.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:57:35.007Z,1736369855.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:35.413Z,1736369855.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:57:35.413Z,1736369855.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:35.822Z,1736369855.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:57:35.823Z,1736369855.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:36.197Z,1736369856.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:57:36.197Z,1736369856.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:36.679Z,1736369856.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:57:36.679Z,1736369856.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:37.029Z,1736369857.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:57:37.029Z,1736369857.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:37.140Z,1736369857.140 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:57:37.438Z,1736369857.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:57:37.439Z,1736369857.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:37.832Z,1736369857.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:57:37.832Z,1736369857.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:38.222Z,1736369858.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:57:38.222Z,1736369858.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:38.693Z,1736369858.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:57:38.693Z,1736369858.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:39.028Z,1736369859.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:57:39.028Z,1736369859.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:39.441Z,1736369859.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:57:39.441Z,1736369859.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:39.844Z,1736369859.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:57:39.844Z,1736369859.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:40.256Z,1736369860.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:57:40.256Z,1736369860.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:40.726Z,1736369860.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:41.056Z,1736369861.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:41.465Z,1736369861.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:41.868Z,1736369861.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:42.278Z,1736369862.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:42.707Z,1736369862.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:57:42.707Z,1736369862.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:43.073Z,1736369863.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:57:43.073Z,1736369863.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:43.482Z,1736369863.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:57:43.483Z,1736369863.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:43.904Z,1736369863.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:57:43.904Z,1736369863.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:44.315Z,1736369864.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:57:44.315Z,1736369864.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:44.704Z,1736369864.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:57:44.704Z,1736369864.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:45.100Z,1736369865.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:57:45.100Z,1736369865.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:45.491Z,1736369865.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:57:45.492Z,1736369865.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:45.876Z,1736369865.876 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:57:45.899Z,1736369865.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:57:45.899Z,1736369865.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:46.301Z,1736369866.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:57:46.302Z,1736369866.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:46.723Z,1736369866.723 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-01-08T20:57:46.723Z,1736369866.723 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-01-08T20:57:46.723Z,1736369866.723 [RDI_Pathfinder](ERROR): Communications Fault 2025-01-08T20:57:46.737Z,1736369866.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:57:46.737Z,1736369866.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:46.750Z,1736369866.750 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-01-08T20:57:47.102Z,1736369867.102 [RDI_Pathfinder](INFO): Powering down 2025-01-08T20:57:47.109Z,1736369867.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:57:47.109Z,1736369867.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:47.524Z,1736369867.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:57:47.524Z,1736369867.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:47.947Z,1736369867.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:57:47.947Z,1736369867.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:47.000Z,1736369868.000 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-01-08T20:57:47.000Z,1736369868.000 [RDI_Pathfinder] No Fault, FailCount= 1 2025-01-08T20:57:48.313Z,1736369868.313 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-08T20:57:48.341Z,1736369868.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:57:48.341Z,1736369868.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:48.756Z,1736369868.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:57:48.756Z,1736369868.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:49.148Z,1736369869.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:57:49.148Z,1736369869.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:49.545Z,1736369869.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:57:49.545Z,1736369869.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:49.961Z,1736369869.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:57:49.961Z,1736369869.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:50.348Z,1736369870.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:57:50.348Z,1736369870.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:50.745Z,1736369870.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:57:50.745Z,1736369870.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:51.161Z,1736369871.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:57:51.161Z,1736369871.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:51.559Z,1736369871.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:57:51.559Z,1736369871.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:51.956Z,1736369871.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:57:51.956Z,1736369871.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:52.354Z,1736369872.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:57:52.354Z,1736369872.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:52.781Z,1736369872.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s. 2025-01-08T20:57:52.781Z,1736369872.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:53.189Z,1736369873.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s. 2025-01-08T20:57:53.189Z,1736369873.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:53.572Z,1736369873.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s. 2025-01-08T20:57:53.572Z,1736369873.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:53.971Z,1736369873.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s. 2025-01-08T20:57:53.971Z,1736369873.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:54.384Z,1736369874.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.1 s old, using for 20.0 s. 2025-01-08T20:57:54.384Z,1736369874.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:54.484Z,1736369874.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:57:54.790Z,1736369874.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.5 s old, using for 20.0 s. 2025-01-08T20:57:54.790Z,1736369874.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:55.184Z,1736369875.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.9 s old, using for 20.0 s. 2025-01-08T20:57:55.185Z,1736369875.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:55.604Z,1736369875.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.3 s old, using for 20.0 s. 2025-01-08T20:57:55.604Z,1736369875.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:55.996Z,1736369875.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.7 s old, using for 20.0 s. 2025-01-08T20:57:55.996Z,1736369875.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:56.412Z,1736369876.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.1 s old, using for 20.0 s. 2025-01-08T20:57:56.412Z,1736369876.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:56.812Z,1736369876.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.5 s old, using for 20.0 s. 2025-01-08T20:57:56.812Z,1736369876.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:57.217Z,1736369877.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.9 s old, using for 20.0 s. 2025-01-08T20:57:57.217Z,1736369877.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:57.632Z,1736369877.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.4 s old, using for 20.0 s. 2025-01-08T20:57:57.632Z,1736369877.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:58.026Z,1736369878.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.7 s old, using for 20.0 s. 2025-01-08T20:57:58.026Z,1736369878.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:58.425Z,1736369878.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.1 s old, using for 20.0 s. 2025-01-08T20:57:58.425Z,1736369878.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:58.833Z,1736369878.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.6 s old, using for 20.0 s. 2025-01-08T20:57:58.833Z,1736369878.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:59.241Z,1736369879.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.0 s old, using for 20.0 s. 2025-01-08T20:57:59.241Z,1736369879.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:57:59.674Z,1736369879.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.4 s old, using for 20.0 s. 2025-01-08T20:57:59.674Z,1736369879.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:00.040Z,1736369880.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.8 s old, using for 20.0 s. 2025-01-08T20:58:00.040Z,1736369880.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:00.440Z,1736369880.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 18.2 s old, using for 20.0 s. 2025-01-08T20:58:00.441Z,1736369880.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:00.853Z,1736369880.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 18.6 s old, using for 20.0 s. 2025-01-08T20:58:00.853Z,1736369880.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:01.281Z,1736369881.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.0 s old, using for 20.0 s. 2025-01-08T20:58:01.281Z,1736369881.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:01.758Z,1736369881.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.5 s old, using for 20.0 s. 2025-01-08T20:58:01.758Z,1736369881.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:02.073Z,1736369882.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.8 s old, using for 20.0 s. 2025-01-08T20:58:02.073Z,1736369882.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:02.466Z,1736369882.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:02.865Z,1736369882.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:03.116Z,1736369883.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:58:03.270Z,1736369883.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:03.741Z,1736369883.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:04.096Z,1736369884.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:04.492Z,1736369884.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:04.888Z,1736369884.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:05.296Z,1736369885.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:05.792Z,1736369885.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:06.103Z,1736369886.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:06.516Z,1736369886.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:06.912Z,1736369886.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:07.319Z,1736369887.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:07.789Z,1736369887.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:08.132Z,1736369888.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:08.540Z,1736369888.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:08.933Z,1736369888.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:09.329Z,1736369889.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:09.759Z,1736369889.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:10.160Z,1736369890.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:10.572Z,1736369890.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:10.944Z,1736369890.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:11.355Z,1736369891.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:11.753Z,1736369891.753 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010812591686,35.0, +13.7, .6, 0 2025-01-08T20:58:11.786Z,1736369891.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:11.868Z,1736369891.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:58:12.167Z,1736369892.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:12.568Z,1736369892.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:12.983Z,1736369892.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:13.381Z,1736369893.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:13.838Z,1736369893.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:14.210Z,1736369894.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:14.617Z,1736369894.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:15.021Z,1736369895.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:15.425Z,1736369895.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:15.924Z,1736369895.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:58:15.924Z,1736369895.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:16.241Z,1736369896.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:58:16.241Z,1736369896.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:16.694Z,1736369896.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T20:58:16.694Z,1736369896.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:17.083Z,1736369897.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T20:58:17.087Z,1736369897.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:17.488Z,1736369897.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:58:17.488Z,1736369897.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:17.978Z,1736369897.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s. 2025-01-08T20:58:17.978Z,1736369897.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:18.285Z,1736369898.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T20:58:18.285Z,1736369898.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:18.689Z,1736369898.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T20:58:18.689Z,1736369898.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:19.120Z,1736369899.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T20:58:19.120Z,1736369899.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:19.504Z,1736369899.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:58:19.504Z,1736369899.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:19.990Z,1736369899.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s. 2025-01-08T20:58:19.990Z,1736369899.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:20.317Z,1736369900.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:58:20.317Z,1736369900.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:20.709Z,1736369900.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:58:20.709Z,1736369900.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:21.108Z,1736369901.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:58:21.108Z,1736369901.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:21.521Z,1736369901.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:58:21.521Z,1736369901.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:21.949Z,1736369901.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:58:21.949Z,1736369901.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:22.311Z,1736369902.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:58:22.311Z,1736369902.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:22.728Z,1736369902.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:58:22.728Z,1736369902.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:23.132Z,1736369903.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:58:23.133Z,1736369903.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:23.536Z,1736369903.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:58:23.536Z,1736369903.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:23.596Z,1736369903.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:58:23.954Z,1736369903.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:58:23.954Z,1736369903.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:24.333Z,1736369904.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:58:24.333Z,1736369904.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:24.746Z,1736369904.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:58:24.747Z,1736369904.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:25.169Z,1736369905.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:58:25.169Z,1736369905.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:25.561Z,1736369905.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:58:25.561Z,1736369905.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:26.010Z,1736369906.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:26.371Z,1736369906.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:26.785Z,1736369906.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:27.175Z,1736369907.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:27.583Z,1736369907.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:28.034Z,1736369908.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:28.383Z,1736369908.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:28.793Z,1736369908.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:29.234Z,1736369909.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:29.603Z,1736369909.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:30.048Z,1736369910.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:30.438Z,1736369910.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:30.821Z,1736369910.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:31.227Z,1736369911.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:31.635Z,1736369911.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:32.018Z,1736369912.018 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010812593686,35.0, +13.7, 0.0,150 2025-01-08T20:58:32.037Z,1736369912.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:58:32.037Z,1736369912.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:32.421Z,1736369912.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:58:32.421Z,1736369912.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:32.820Z,1736369912.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:58:32.820Z,1736369912.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:33.224Z,1736369913.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:58:33.224Z,1736369913.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:33.633Z,1736369913.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:58:33.633Z,1736369913.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:34.061Z,1736369914.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:58:34.061Z,1736369914.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:34.450Z,1736369914.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:58:34.450Z,1736369914.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:34.840Z,1736369914.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:58:34.840Z,1736369914.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:35.116Z,1736369915.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:58:35.246Z,1736369915.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:58:35.246Z,1736369915.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:35.682Z,1736369915.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:58:35.682Z,1736369915.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:36.078Z,1736369916.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:36.451Z,1736369916.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:36.864Z,1736369916.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:37.283Z,1736369917.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:37.774Z,1736369917.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:58:37.774Z,1736369917.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:38.080Z,1736369918.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:58:38.080Z,1736369918.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:38.481Z,1736369918.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:58:38.481Z,1736369918.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:38.912Z,1736369918.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:58:38.912Z,1736369918.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:39.304Z,1736369919.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:58:39.304Z,1736369919.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:39.782Z,1736369919.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:40.099Z,1736369920.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:40.505Z,1736369920.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:40.910Z,1736369920.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:41.323Z,1736369921.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:41.756Z,1736369921.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:42.116Z,1736369922.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:42.510Z,1736369922.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:42.915Z,1736369922.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:43.328Z,1736369923.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:43.751Z,1736369923.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:58:43.752Z,1736369923.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:43.820Z,1736369923.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:58:44.132Z,1736369924.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:58:44.132Z,1736369924.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:44.531Z,1736369924.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:58:44.531Z,1736369924.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:44.936Z,1736369924.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:58:44.936Z,1736369924.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:45.350Z,1736369925.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:58:45.350Z,1736369925.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:45.777Z,1736369925.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:58:45.777Z,1736369925.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:46.161Z,1736369926.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:58:46.161Z,1736369926.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:46.573Z,1736369926.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:58:46.573Z,1736369926.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:46.980Z,1736369926.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:58:46.980Z,1736369926.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:47.396Z,1736369927.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:58:47.396Z,1736369927.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:47.826Z,1736369927.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:58:47.826Z,1736369927.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:48.185Z,1736369928.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:58:48.185Z,1736369928.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:48.586Z,1736369928.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:58:48.586Z,1736369928.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:48.988Z,1736369928.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:58:48.988Z,1736369928.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:49.392Z,1736369929.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:58:49.392Z,1736369929.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:49.809Z,1736369929.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:50.202Z,1736369930.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:50.590Z,1736369930.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:50.996Z,1736369930.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:51.404Z,1736369931.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:51.828Z,1736369931.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:58:51.828Z,1736369931.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:52.214Z,1736369932.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:58:52.214Z,1736369932.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:52.532Z,1736369932.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:58:52.616Z,1736369932.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:58:52.616Z,1736369932.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:53.024Z,1736369933.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:58:53.025Z,1736369933.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:53.430Z,1736369933.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:58:53.430Z,1736369933.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:53.852Z,1736369933.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:58:53.852Z,1736369933.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:54.244Z,1736369934.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:58:54.244Z,1736369934.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:54.640Z,1736369934.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:58:54.640Z,1736369934.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:55.053Z,1736369935.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:58:55.053Z,1736369935.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:55.468Z,1736369935.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:58:55.468Z,1736369935.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:55.900Z,1736369935.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:58:55.900Z,1736369935.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:56.276Z,1736369936.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:58:56.276Z,1736369936.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:56.693Z,1736369936.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:58:56.693Z,1736369936.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:57.076Z,1736369937.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:58:57.076Z,1736369937.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:57.473Z,1736369937.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:58:57.473Z,1736369937.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:57.919Z,1736369937.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:58:57.919Z,1736369937.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:58.282Z,1736369938.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:58:58.282Z,1736369938.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:58.676Z,1736369938.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:58:58.676Z,1736369938.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:59.075Z,1736369939.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:58:59.075Z,1736369939.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:59.484Z,1736369939.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:58:59.484Z,1736369939.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:58:59.912Z,1736369939.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T20:58:59.913Z,1736369939.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:00.290Z,1736369940.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T20:59:00.290Z,1736369940.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:00.696Z,1736369940.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T20:59:00.696Z,1736369940.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:01.100Z,1736369941.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T20:59:01.100Z,1736369941.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:01.216Z,1736369941.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:59:01.509Z,1736369941.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:59:01.509Z,1736369941.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:01.931Z,1736369941.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s. 2025-01-08T20:59:01.932Z,1736369941.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:02.324Z,1736369942.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s. 2025-01-08T20:59:02.325Z,1736369942.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:02.713Z,1736369942.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s. 2025-01-08T20:59:02.713Z,1736369942.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:03.120Z,1736369943.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s. 2025-01-08T20:59:03.120Z,1736369943.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:03.539Z,1736369943.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.1 s old, using for 20.0 s. 2025-01-08T20:59:03.543Z,1736369943.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:03.981Z,1736369943.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:04.337Z,1736369944.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:04.743Z,1736369944.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:05.162Z,1736369945.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:05.572Z,1736369945.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:06.027Z,1736369946.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:06.416Z,1736369946.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:06.785Z,1736369946.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:07.167Z,1736369947.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:07.573Z,1736369947.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:08.016Z,1736369948.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:08.396Z,1736369948.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:08.785Z,1736369948.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:09.181Z,1736369949.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:09.579Z,1736369949.579 [NAL9602](INFO): SBD MO Status=0, MOMSN=46750, MT Status=0, MTMSN=0 2025-01-08T20:59:09.579Z,1736369949.579 [NAL9602](INFO): No messages in MT queue 2025-01-08T20:59:09.600Z,1736369949.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:10.016Z,1736369950.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:59:10.017Z,1736369950.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:10.393Z,1736369950.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:59:10.393Z,1736369950.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:10.811Z,1736369950.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:59:10.812Z,1736369950.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:11.205Z,1736369951.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:59:11.205Z,1736369951.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:11.598Z,1736369951.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:59:11.598Z,1736369951.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:11.716Z,1736369951.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:59:12.014Z,1736369952.014 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 28, -102,A 2025-01-08T20:59:12.021Z,1736369952.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:59:12.021Z,1736369952.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:12.411Z,1736369952.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:59:12.411Z,1736369952.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:12.820Z,1736369952.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:59:12.821Z,1736369952.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:13.214Z,1736369953.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:59:13.214Z,1736369953.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:13.629Z,1736369953.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:59:13.630Z,1736369953.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:14.082Z,1736369954.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:14.452Z,1736369954.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:14.843Z,1736369954.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:15.247Z,1736369955.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:15.715Z,1736369955.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:16.080Z,1736369956.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:59:16.080Z,1736369956.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:16.470Z,1736369956.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:59:16.470Z,1736369956.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:16.864Z,1736369956.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:59:16.864Z,1736369956.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:17.277Z,1736369957.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:59:17.277Z,1736369957.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:17.706Z,1736369957.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:59:17.707Z,1736369957.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:18.086Z,1736369958.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:59:18.086Z,1736369958.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:18.496Z,1736369958.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:59:18.496Z,1736369958.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:18.880Z,1736369958.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:59:18.880Z,1736369958.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:19.281Z,1736369959.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:59:19.281Z,1736369959.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:19.738Z,1736369959.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:59:19.738Z,1736369959.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:20.088Z,1736369960.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T20:59:20.088Z,1736369960.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:20.232Z,1736369960.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:59:20.496Z,1736369960.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T20:59:20.497Z,1736369960.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:20.892Z,1736369960.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T20:59:20.892Z,1736369960.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:21.296Z,1736369961.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T20:59:21.296Z,1736369961.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:21.759Z,1736369961.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:59:21.759Z,1736369961.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:22.102Z,1736369962.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.4 s old, using for 20.0 s. 2025-01-08T20:59:22.102Z,1736369962.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:22.520Z,1736369962.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T20:59:22.520Z,1736369962.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:22.929Z,1736369962.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T20:59:22.929Z,1736369962.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:23.324Z,1736369963.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.6 s old, using for 20.0 s. 2025-01-08T20:59:23.324Z,1736369963.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:23.792Z,1736369963.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:59:23.792Z,1736369963.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:24.140Z,1736369964.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.4 s old, using for 20.0 s. 2025-01-08T20:59:24.140Z,1736369964.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:24.544Z,1736369964.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.8 s old, using for 20.0 s. 2025-01-08T20:59:24.544Z,1736369964.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:24.954Z,1736369964.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.2 s old, using for 20.0 s. 2025-01-08T20:59:24.954Z,1736369964.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:25.348Z,1736369965.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.6 s old, using for 20.0 s. 2025-01-08T20:59:25.348Z,1736369965.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:25.805Z,1736369965.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T20:59:25.805Z,1736369965.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:26.161Z,1736369966.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.4 s old, using for 20.0 s. 2025-01-08T20:59:26.161Z,1736369966.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:26.553Z,1736369966.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.8 s old, using for 20.0 s. 2025-01-08T20:59:26.553Z,1736369966.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:26.958Z,1736369966.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s. 2025-01-08T20:59:26.958Z,1736369966.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:27.364Z,1736369967.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s. 2025-01-08T20:59:27.364Z,1736369967.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:27.789Z,1736369967.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:28.167Z,1736369968.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:28.571Z,1736369968.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:28.932Z,1736369968.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:59:28.978Z,1736369968.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:29.380Z,1736369969.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:29.815Z,1736369969.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:59:29.816Z,1736369969.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:30.188Z,1736369970.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:59:30.188Z,1736369970.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:30.597Z,1736369970.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:59:30.597Z,1736369970.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:31.016Z,1736369971.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:59:31.016Z,1736369971.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:31.408Z,1736369971.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:59:31.408Z,1736369971.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:31.838Z,1736369971.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:59:31.839Z,1736369971.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:32.216Z,1736369972.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:59:32.216Z,1736369972.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:32.616Z,1736369972.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:59:32.616Z,1736369972.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:33.024Z,1736369973.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:59:33.024Z,1736369973.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:33.433Z,1736369973.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T20:59:33.433Z,1736369973.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:33.891Z,1736369973.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:34.246Z,1736369974.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:34.636Z,1736369974.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:35.039Z,1736369975.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:35.442Z,1736369975.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:35.868Z,1736369975.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:59:35.868Z,1736369975.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:36.249Z,1736369976.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:59:36.249Z,1736369976.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:36.653Z,1736369976.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:59:36.653Z,1736369976.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:37.066Z,1736369977.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:59:37.066Z,1736369977.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:37.454Z,1736369977.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:59:37.454Z,1736369977.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:37.588Z,1736369977.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:59:37.879Z,1736369977.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T20:59:37.879Z,1736369977.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:38.267Z,1736369978.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:59:38.268Z,1736369978.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:38.678Z,1736369978.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:59:38.678Z,1736369978.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:39.075Z,1736369979.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:59:39.076Z,1736369979.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:39.479Z,1736369979.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T20:59:39.480Z,1736369979.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:39.944Z,1736369979.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T20:59:39.945Z,1736369979.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:40.276Z,1736369980.276 [NAL9602](INFO): Not Powering down - fast GPS 2025-01-08T20:59:40.331Z,1736369980.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T20:59:40.331Z,1736369980.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:40.696Z,1736369980.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T20:59:40.696Z,1736369980.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:41.104Z,1736369981.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T20:59:41.104Z,1736369981.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:41.513Z,1736369981.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T20:59:41.513Z,1736369981.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:41.973Z,1736369981.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T20:59:41.973Z,1736369981.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:42.340Z,1736369982.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T20:59:42.340Z,1736369982.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:42.716Z,1736369982.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T20:59:42.716Z,1736369982.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:43.123Z,1736369983.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T20:59:43.123Z,1736369983.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:43.530Z,1736369983.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T20:59:43.530Z,1736369983.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:43.952Z,1736369983.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:44.336Z,1736369984.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:44.728Z,1736369984.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:45.143Z,1736369985.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:45.534Z,1736369985.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:45.961Z,1736369985.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:46.345Z,1736369986.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:46.364Z,1736369986.364 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:59:46.763Z,1736369986.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:47.155Z,1736369987.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:47.555Z,1736369987.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:48.008Z,1736369988.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T20:59:48.009Z,1736369988.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:48.388Z,1736369988.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:59:48.388Z,1736369988.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:48.792Z,1736369988.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:59:48.792Z,1736369988.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:49.185Z,1736369989.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:59:49.185Z,1736369989.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:49.589Z,1736369989.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:59:49.589Z,1736369989.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:50.023Z,1736369990.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:50.402Z,1736369990.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:50.799Z,1736369990.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:51.203Z,1736369991.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:51.608Z,1736369991.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:52.032Z,1736369992.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:59:52.032Z,1736369992.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:52.407Z,1736369992.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:59:52.408Z,1736369992.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:52.809Z,1736369992.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:59:52.810Z,1736369992.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:53.228Z,1736369993.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:59:53.228Z,1736369993.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:53.632Z,1736369993.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T20:59:53.632Z,1736369993.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:54.058Z,1736369994.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:54.427Z,1736369994.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:54.837Z,1736369994.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:54.976Z,1736369994.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T20:59:55.231Z,1736369995.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:55.639Z,1736369995.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:56.062Z,1736369996.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T20:59:56.062Z,1736369996.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:56.452Z,1736369996.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T20:59:56.452Z,1736369996.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:56.851Z,1736369996.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T20:59:56.852Z,1736369996.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:57.269Z,1736369997.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T20:59:57.269Z,1736369997.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:57.728Z,1736369997.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T20:59:57.728Z,1736369997.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:58.127Z,1736369998.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T20:59:58.127Z,1736369998.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:58.482Z,1736369998.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T20:59:58.482Z,1736369998.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:58.876Z,1736369998.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T20:59:58.876Z,1736369998.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:59.286Z,1736369999.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T20:59:59.286Z,1736369999.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T20:59:59.798Z,1736369999.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.2 s old, using for 20.0 s. 2025-01-08T20:59:59.798Z,1736369999.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:00.105Z,1736370000.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:00:00.105Z,1736370000.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:00.497Z,1736370000.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:00:00.498Z,1736370000.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:00.904Z,1736370000.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T21:00:00.904Z,1736370000.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:01.300Z,1736370001.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:00:01.301Z,1736370001.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:01.777Z,1736370001.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:00:01.777Z,1736370001.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:02.122Z,1736370002.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:00:02.122Z,1736370002.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:02.535Z,1736370002.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:00:02.535Z,1736370002.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:02.923Z,1736370002.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:00:02.923Z,1736370002.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:03.326Z,1736370003.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:00:03.326Z,1736370003.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:03.681Z,1736370003.681 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:00:03.756Z,1736370003.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:00:03.756Z,1736370003.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:04.135Z,1736370004.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:00:04.136Z,1736370004.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:04.534Z,1736370004.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:00:04.534Z,1736370004.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:04.947Z,1736370004.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:00:04.948Z,1736370004.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:05.352Z,1736370005.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:00:05.352Z,1736370005.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:05.804Z,1736370005.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:06.169Z,1736370006.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:06.564Z,1736370006.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:06.975Z,1736370006.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:07.386Z,1736370007.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:07.809Z,1736370007.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:08.188Z,1736370008.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:08.604Z,1736370008.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:09.002Z,1736370009.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:09.388Z,1736370009.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:09.807Z,1736370009.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:10.201Z,1736370010.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:10.648Z,1736370010.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:11.012Z,1736370011.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:11.414Z,1736370011.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:11.854Z,1736370011.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:00:11.854Z,1736370011.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:12.210Z,1736370012.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:00:12.210Z,1736370012.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:12.330Z,1736370012.330 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:00:12.624Z,1736370012.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:00:12.624Z,1736370012.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:13.030Z,1736370013.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:00:13.031Z,1736370013.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:13.446Z,1736370013.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:00:13.446Z,1736370013.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:13.886Z,1736370013.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:00:13.886Z,1736370013.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:14.254Z,1736370014.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:00:14.254Z,1736370014.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:14.661Z,1736370014.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:00:14.661Z,1736370014.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:15.094Z,1736370015.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T21:00:15.094Z,1736370015.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:15.506Z,1736370015.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:00:15.506Z,1736370015.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:15.967Z,1736370015.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:16.298Z,1736370016.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:16.724Z,1736370016.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:17.112Z,1736370017.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:17.537Z,1736370017.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:17.998Z,1736370017.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:18.352Z,1736370018.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:18.770Z,1736370018.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:19.171Z,1736370019.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:19.561Z,1736370019.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:20.040Z,1736370020.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:00:20.040Z,1736370020.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:20.373Z,1736370020.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:00:20.373Z,1736370020.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:20.804Z,1736370020.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:00:20.804Z,1736370020.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:21.165Z,1736370021.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:00:21.165Z,1736370021.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:21.571Z,1736370021.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:00:21.571Z,1736370021.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:22.006Z,1736370022.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:00:22.006Z,1736370022.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:22.376Z,1736370022.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:00:22.376Z,1736370022.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:22.776Z,1736370022.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:00:22.776Z,1736370022.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:23.185Z,1736370023.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:00:23.185Z,1736370023.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:23.599Z,1736370023.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:00:23.599Z,1736370023.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:23.916Z,1736370023.916 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:00:24.040Z,1736370024.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:24.397Z,1736370024.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:24.805Z,1736370024.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:25.212Z,1736370025.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:25.636Z,1736370025.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:26.085Z,1736370026.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:00:26.085Z,1736370026.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:26.436Z,1736370026.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:00:26.436Z,1736370026.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:26.852Z,1736370026.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:00:26.852Z,1736370026.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:27.249Z,1736370027.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:00:27.249Z,1736370027.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:27.641Z,1736370027.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:00:27.642Z,1736370027.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:28.069Z,1736370028.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:00:28.069Z,1736370028.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:28.437Z,1736370028.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:00:28.437Z,1736370028.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:28.853Z,1736370028.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:00:28.853Z,1736370028.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:29.256Z,1736370029.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:00:29.256Z,1736370029.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:29.712Z,1736370029.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:00:29.712Z,1736370029.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:30.098Z,1736370030.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:00:30.098Z,1736370030.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:30.464Z,1736370030.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:00:30.464Z,1736370030.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:30.861Z,1736370030.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:00:30.861Z,1736370030.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:31.270Z,1736370031.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:00:31.270Z,1736370031.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:31.713Z,1736370031.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:00:31.713Z,1736370031.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:32.112Z,1736370032.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:00:32.112Z,1736370032.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:32.474Z,1736370032.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T21:00:32.474Z,1736370032.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:32.884Z,1736370032.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T21:00:32.885Z,1736370032.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:33.279Z,1736370033.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.6 s old, using for 20.0 s. 2025-01-08T21:00:33.279Z,1736370033.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:33.740Z,1736370033.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:33.780Z,1736370033.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:00:34.087Z,1736370034.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:34.491Z,1736370034.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:34.890Z,1736370034.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:35.300Z,1736370035.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:35.742Z,1736370035.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:36.124Z,1736370036.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:36.519Z,1736370036.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:36.924Z,1736370036.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:37.328Z,1736370037.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:37.791Z,1736370037.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:38.149Z,1736370038.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:38.539Z,1736370038.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:38.940Z,1736370038.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:39.356Z,1736370039.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:39.771Z,1736370039.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:00:39.771Z,1736370039.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:40.148Z,1736370040.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:00:40.149Z,1736370040.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:40.551Z,1736370040.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:00:40.551Z,1736370040.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:40.968Z,1736370040.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:00:40.968Z,1736370040.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:41.359Z,1736370041.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:00:41.360Z,1736370041.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:41.810Z,1736370041.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:00:41.810Z,1736370041.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:42.165Z,1736370042.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:00:42.165Z,1736370042.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:42.292Z,1736370042.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:00:42.583Z,1736370042.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:00:42.584Z,1736370042.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:42.975Z,1736370042.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:00:42.976Z,1736370042.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:43.380Z,1736370043.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:00:43.380Z,1736370043.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:43.797Z,1736370043.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:44.192Z,1736370044.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:44.610Z,1736370044.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:45.004Z,1736370045.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:45.412Z,1736370045.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:45.849Z,1736370045.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:46.226Z,1736370046.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:46.620Z,1736370046.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:47.020Z,1736370047.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:47.432Z,1736370047.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:47.858Z,1736370047.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:48.226Z,1736370048.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:48.637Z,1736370048.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:49.044Z,1736370049.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:49.438Z,1736370049.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:49.877Z,1736370049.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:50.249Z,1736370050.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:50.656Z,1736370050.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:51.055Z,1736370051.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:51.454Z,1736370051.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:51.882Z,1736370051.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:00:51.882Z,1736370051.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:52.012Z,1736370052.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:00:52.280Z,1736370052.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:00:52.280Z,1736370052.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:52.671Z,1736370052.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:00:52.671Z,1736370052.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:53.075Z,1736370053.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:00:53.076Z,1736370053.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:53.475Z,1736370053.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:00:53.476Z,1736370053.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:53.907Z,1736370053.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:54.332Z,1736370054.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:54.695Z,1736370054.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:55.117Z,1736370055.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:55.517Z,1736370055.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:55.977Z,1736370055.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:56.317Z,1736370056.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:56.723Z,1736370056.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:57.125Z,1736370057.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:57.534Z,1736370057.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:57.962Z,1736370057.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:00:57.962Z,1736370057.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:58.345Z,1736370058.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:00:58.345Z,1736370058.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:58.741Z,1736370058.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:00:58.741Z,1736370058.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:59.148Z,1736370059.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:00:59.148Z,1736370059.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:59.558Z,1736370059.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:00:59.558Z,1736370059.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:00:59.958Z,1736370059.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:00:59.958Z,1736370059.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:00.355Z,1736370060.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:01:00.356Z,1736370060.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:00.758Z,1736370060.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:01:00.758Z,1736370060.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:01.155Z,1736370061.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:01:01.156Z,1736370061.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:01.555Z,1736370061.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:01:01.555Z,1736370061.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:01.983Z,1736370061.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T21:01:01.983Z,1736370061.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:02.372Z,1736370062.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:01:02.372Z,1736370062.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:02.751Z,1736370062.751 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:01:02.767Z,1736370062.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:01:02.768Z,1736370062.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:03.172Z,1736370063.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:01:03.172Z,1736370063.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:03.580Z,1736370063.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T21:01:03.580Z,1736370063.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:04.005Z,1736370064.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:01:04.005Z,1736370064.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:04.388Z,1736370064.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:01:04.388Z,1736370064.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:04.806Z,1736370064.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:01:04.806Z,1736370064.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:05.212Z,1736370065.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:01:05.212Z,1736370065.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:05.612Z,1736370065.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:01:05.612Z,1736370065.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:06.043Z,1736370066.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:01:06.043Z,1736370066.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:06.425Z,1736370066.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:01:06.425Z,1736370066.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:06.842Z,1736370066.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:01:06.842Z,1736370066.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:07.229Z,1736370067.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:01:07.229Z,1736370067.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:07.629Z,1736370067.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T21:01:07.629Z,1736370067.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:08.078Z,1736370068.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:08.440Z,1736370068.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:08.833Z,1736370068.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:09.235Z,1736370069.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:09.658Z,1736370069.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:10.062Z,1736370070.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:10.447Z,1736370070.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:10.867Z,1736370070.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:11.259Z,1736370071.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:11.476Z,1736370071.476 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:01:11.697Z,1736370071.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:12.083Z,1736370072.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:01:12.083Z,1736370072.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:12.468Z,1736370072.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:01:12.468Z,1736370072.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:12.876Z,1736370072.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:01:12.876Z,1736370072.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:13.287Z,1736370073.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:01:13.288Z,1736370073.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:13.802Z,1736370073.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T21:01:13.803Z,1736370073.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:14.092Z,1736370074.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:01:14.092Z,1736370074.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:14.493Z,1736370074.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:01:14.493Z,1736370074.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:14.909Z,1736370074.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:01:14.909Z,1736370074.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:15.310Z,1736370075.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:01:15.311Z,1736370075.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:15.785Z,1736370075.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:16.111Z,1736370076.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:16.516Z,1736370076.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:16.923Z,1736370076.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:17.316Z,1736370077.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:17.759Z,1736370077.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:01:17.759Z,1736370077.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:18.127Z,1736370078.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:01:18.127Z,1736370078.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:18.533Z,1736370078.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:01:18.533Z,1736370078.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:18.932Z,1736370078.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:01:18.932Z,1736370078.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:19.333Z,1736370079.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:01:19.333Z,1736370079.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:19.756Z,1736370079.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:01:19.756Z,1736370079.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:20.148Z,1736370080.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:01:20.148Z,1736370080.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:20.204Z,1736370080.204 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:01:20.547Z,1736370080.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:01:20.547Z,1736370080.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:20.946Z,1736370080.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:01:20.947Z,1736370080.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:21.353Z,1736370081.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:01:21.353Z,1736370081.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:21.787Z,1736370081.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:22.158Z,1736370082.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:22.575Z,1736370082.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:22.980Z,1736370082.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:23.400Z,1736370083.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:23.821Z,1736370083.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:01:23.822Z,1736370083.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:24.207Z,1736370084.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:01:24.207Z,1736370084.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:24.596Z,1736370084.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:01:24.596Z,1736370084.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:25.001Z,1736370085.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:01:25.001Z,1736370085.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:25.405Z,1736370085.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:01:25.405Z,1736370085.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:25.839Z,1736370085.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:26.198Z,1736370086.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:26.619Z,1736370086.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:27.006Z,1736370087.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:27.410Z,1736370087.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:27.836Z,1736370087.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:01:27.837Z,1736370087.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:28.227Z,1736370088.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:01:28.228Z,1736370088.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:28.633Z,1736370088.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:01:28.633Z,1736370088.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:28.744Z,1736370088.744 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:01:29.031Z,1736370089.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:01:29.031Z,1736370089.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:29.435Z,1736370089.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:01:29.436Z,1736370089.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:29.863Z,1736370089.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:30.245Z,1736370090.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:30.643Z,1736370090.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:31.060Z,1736370091.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:31.472Z,1736370091.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:31.897Z,1736370091.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:32.282Z,1736370092.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:32.675Z,1736370092.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:33.076Z,1736370093.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:33.488Z,1736370093.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:33.932Z,1736370093.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:01:33.933Z,1736370093.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:34.292Z,1736370094.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:01:34.292Z,1736370094.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:34.693Z,1736370094.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:01:34.693Z,1736370094.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:35.102Z,1736370095.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:01:35.102Z,1736370095.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:35.490Z,1736370095.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:01:35.490Z,1736370095.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:35.922Z,1736370095.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:36.303Z,1736370096.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:36.714Z,1736370096.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:37.126Z,1736370097.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:37.511Z,1736370097.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:37.512Z,1736370097.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:01:37.966Z,1736370097.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:01:37.966Z,1736370097.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:38.327Z,1736370098.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:01:38.328Z,1736370098.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:38.727Z,1736370098.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:01:38.727Z,1736370098.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:39.126Z,1736370099.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:01:39.126Z,1736370099.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:39.575Z,1736370099.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T21:01:39.575Z,1736370099.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:39.988Z,1736370099.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:40.362Z,1736370100.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:40.771Z,1736370100.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:41.172Z,1736370101.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:41.572Z,1736370101.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:42.018Z,1736370102.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:01:42.019Z,1736370102.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:42.380Z,1736370102.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:01:42.380Z,1736370102.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:42.776Z,1736370102.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:01:42.776Z,1736370102.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:43.180Z,1736370103.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:01:43.180Z,1736370103.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:43.576Z,1736370103.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:01:43.576Z,1736370103.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:44.002Z,1736370104.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:01:44.002Z,1736370104.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:44.383Z,1736370104.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:01:44.384Z,1736370104.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:44.787Z,1736370104.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:01:44.787Z,1736370104.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:45.188Z,1736370105.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:01:45.188Z,1736370105.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:45.605Z,1736370105.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:01:45.605Z,1736370105.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:46.032Z,1736370106.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:01:46.032Z,1736370106.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:46.264Z,1736370106.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:01:46.404Z,1736370106.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:01:46.404Z,1736370106.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:46.854Z,1736370106.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T21:01:46.854Z,1736370106.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:47.206Z,1736370107.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:01:47.206Z,1736370107.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:47.615Z,1736370107.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T21:01:47.616Z,1736370107.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:48.059Z,1736370108.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:01:48.059Z,1736370108.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:48.433Z,1736370108.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:01:48.433Z,1736370108.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:48.841Z,1736370108.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:01:48.841Z,1736370108.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:49.250Z,1736370109.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:01:49.250Z,1736370109.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:49.648Z,1736370109.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:01:49.648Z,1736370109.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:50.099Z,1736370110.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:01:50.099Z,1736370110.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:50.456Z,1736370110.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:01:50.456Z,1736370110.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:50.853Z,1736370110.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:01:50.853Z,1736370110.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:51.260Z,1736370111.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:01:51.260Z,1736370111.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:51.717Z,1736370111.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T21:01:51.717Z,1736370111.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:52.088Z,1736370112.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:52.463Z,1736370112.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:52.868Z,1736370112.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:53.271Z,1736370113.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:53.747Z,1736370113.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:54.075Z,1736370114.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:54.483Z,1736370114.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:54.892Z,1736370114.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:54.900Z,1736370114.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:01:55.291Z,1736370115.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:55.742Z,1736370115.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:01:55.743Z,1736370115.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:56.098Z,1736370116.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:01:56.098Z,1736370116.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:56.508Z,1736370116.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:01:56.508Z,1736370116.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:56.938Z,1736370116.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:01:56.938Z,1736370116.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:57.320Z,1736370117.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:01:57.320Z,1736370117.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:57.815Z,1736370117.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:01:57.815Z,1736370117.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:58.140Z,1736370118.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:01:58.140Z,1736370118.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:58.529Z,1736370118.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:01:58.529Z,1736370118.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:58.945Z,1736370118.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T21:01:58.945Z,1736370118.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:59.353Z,1736370119.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:01:59.353Z,1736370119.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:01:59.783Z,1736370119.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:01:59.783Z,1736370119.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:00.157Z,1736370120.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:02:00.157Z,1736370120.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:00.552Z,1736370120.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T21:02:00.552Z,1736370120.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:00.942Z,1736370120.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:02:00.942Z,1736370120.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:01.355Z,1736370121.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:02:01.356Z,1736370121.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:01.770Z,1736370121.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:02.169Z,1736370122.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:02.563Z,1736370122.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:02.962Z,1736370122.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:03.369Z,1736370123.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:03.632Z,1736370123.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:02:03.796Z,1736370123.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:02:03.796Z,1736370123.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:04.177Z,1736370124.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:02:04.177Z,1736370124.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:04.579Z,1736370124.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:02:04.579Z,1736370124.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:04.991Z,1736370124.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:02:04.992Z,1736370124.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:05.398Z,1736370125.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:02:05.398Z,1736370125.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:05.841Z,1736370125.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:06.204Z,1736370126.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:06.616Z,1736370126.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:07.019Z,1736370127.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:07.420Z,1736370127.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:07.870Z,1736370127.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:02:07.870Z,1736370127.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:08.237Z,1736370128.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:02:08.237Z,1736370128.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:08.636Z,1736370128.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:02:08.636Z,1736370128.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:09.046Z,1736370129.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:02:09.046Z,1736370129.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:09.055Z,1736370129.055 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2025-01-08T21:02:09.055Z,1736370129.055 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2025-01-08T21:02:09.055Z,1736370129.055 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-01-08T21:02:09.059Z,1736370129.059 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2025-01-08T21:02:09.438Z,1736370129.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:02:09.439Z,1736370129.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:09.443Z,1736370129.443 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2025-01-08T21:02:09.443Z,1736370129.443 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2025-01-08T21:02:09.853Z,1736370129.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:02:09.853Z,1736370129.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:09.857Z,1736370129.857 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 6.422202 min 2025-01-08T21:02:09.857Z,1736370129.857 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2025-01-08T21:02:09.857Z,1736370129.857 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2025-01-08T21:02:09.858Z,1736370129.858 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2025-01-08T21:02:09.858Z,1736370129.858 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-01-08T21:02:09.858Z,1736370129.858 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2 2025-01-08T21:02:09.858Z,1736370129.858 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2 2025-01-08T21:02:09.858Z,1736370129.858 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-01-08T21:02:09.858Z,1736370129.858 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2025-01-08T21:02:10.244Z,1736370130.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:02:10.244Z,1736370130.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:10.644Z,1736370130.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:02:10.644Z,1736370130.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:11.076Z,1736370131.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:02:11.076Z,1736370131.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:11.463Z,1736370131.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:02:11.463Z,1736370131.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:11.886Z,1736370131.886 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,210211.00,A,3654.25938,N,12206.70859,W,0.389,333.31,080125,,,D*70 2025-01-08T21:02:11.889Z,1736370131.889 [NAL9602](INFO): GPS fix at 20250108T210211: (36.904323, -122.111810) 2025-01-08T21:02:11.963Z,1736370131.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:02:11.964Z,1736370131.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:11.965Z,1736370131.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07 2025-01-08T21:02:11.986Z,1736370131.986 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2025-01-08T21:02:11.986Z,1736370131.986 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2025-01-08T21:02:12.269Z,1736370132.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:02:12.269Z,1736370132.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:12.926Z,1736370132.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.5 s old, using for 20.0 s. 2025-01-08T21:02:12.926Z,1736370132.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:13.320Z,1736370133.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.9 s old, using for 20.0 s. 2025-01-08T21:02:13.320Z,1736370133.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:13.900Z,1736370133.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:02:13.900Z,1736370133.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:14.146Z,1736370134.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.7 s old, using for 20.0 s. 2025-01-08T21:02:14.146Z,1736370134.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:14.545Z,1736370134.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.1 s old, using for 20.0 s. 2025-01-08T21:02:14.545Z,1736370134.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:14.937Z,1736370134.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.5 s old, using for 20.0 s. 2025-01-08T21:02:14.938Z,1736370134.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:15.317Z,1736370135.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.9 s old, using for 20.0 s. 2025-01-08T21:02:15.317Z,1736370135.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:15.777Z,1736370135.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.4 s old, using for 20.0 s. 2025-01-08T21:02:15.777Z,1736370135.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:16.128Z,1736370136.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.7 s old, using for 20.0 s. 2025-01-08T21:02:16.128Z,1736370136.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:16.536Z,1736370136.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.1 s old, using for 20.0 s. 2025-01-08T21:02:16.536Z,1736370136.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:16.932Z,1736370136.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.5 s old, using for 20.0 s. 2025-01-08T21:02:16.932Z,1736370136.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:17.379Z,1736370137.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.0 s old, using for 20.0 s. 2025-01-08T21:02:17.379Z,1736370137.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:17.849Z,1736370137.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:18.166Z,1736370138.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:18.573Z,1736370138.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:18.999Z,1736370138.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:19.413Z,1736370139.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:19.893Z,1736370139.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:20.243Z,1736370140.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:20.657Z,1736370140.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:21.044Z,1736370141.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:21.445Z,1736370141.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:21.934Z,1736370141.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:22.244Z,1736370142.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:22.653Z,1736370142.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:23.080Z,1736370143.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:23.472Z,1736370143.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:23.944Z,1736370143.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:24.256Z,1736370144.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:24.663Z,1736370144.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:25.031Z,1736370145.031 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250108T193415/Courier0030.lzma 2025-01-08T21:02:25.064Z,1736370145.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:25.468Z,1736370145.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:25.863Z,1736370145.863 [NAL9602](INFO): SBD MO Status=0, MOMSN=46751, MT Status=0, MTMSN=0 2025-01-08T21:02:25.863Z,1736370145.863 [NAL9602](INFO): No messages in MT queue 2025-01-08T21:02:25.932Z,1736370145.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:26.034Z,1736370146.034 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Courier0030.lzma.bak 2025-01-08T21:02:26.034Z,1736370146.034 [DataOverHttps](INFO): SBD MOMSN=23886143 2025-01-08T21:02:26.286Z,1736370146.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:26.697Z,1736370146.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:27.104Z,1736370147.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:27.511Z,1736370147.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:27.980Z,1736370147.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:28.319Z,1736370148.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:28.707Z,1736370148.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:29.146Z,1736370149.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:29.528Z,1736370149.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:29.986Z,1736370149.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:30.320Z,1736370150.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:30.727Z,1736370150.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:31.136Z,1736370151.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:31.537Z,1736370151.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:31.959Z,1736370151.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:02:31.959Z,1736370151.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:32.332Z,1736370152.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:02:32.332Z,1736370152.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:32.738Z,1736370152.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:02:32.739Z,1736370152.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:33.139Z,1736370153.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:02:33.139Z,1736370153.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:33.546Z,1736370153.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:02:33.546Z,1736370153.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:33.978Z,1736370153.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:02:33.979Z,1736370153.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:34.364Z,1736370154.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:02:34.364Z,1736370154.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:34.764Z,1736370154.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:02:34.764Z,1736370154.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:35.165Z,1736370155.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:02:35.165Z,1736370155.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:35.577Z,1736370155.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:02:35.577Z,1736370155.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:36.030Z,1736370156.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:36.398Z,1736370156.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:36.784Z,1736370156.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:37.187Z,1736370157.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:37.595Z,1736370157.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:38.016Z,1736370158.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:02:38.016Z,1736370158.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:38.408Z,1736370158.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:02:38.409Z,1736370158.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:38.798Z,1736370158.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:02:38.798Z,1736370158.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:39.255Z,1736370159.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T21:02:39.255Z,1736370159.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:39.603Z,1736370159.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:02:39.603Z,1736370159.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:40.020Z,1736370160.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:40.409Z,1736370160.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:40.820Z,1736370160.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:41.214Z,1736370161.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:41.633Z,1736370161.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:42.042Z,1736370162.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:02:42.043Z,1736370162.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:42.441Z,1736370162.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:02:42.441Z,1736370162.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:42.849Z,1736370162.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:02:42.850Z,1736370162.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:43.244Z,1736370163.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:02:43.244Z,1736370163.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:43.710Z,1736370163.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T21:02:43.711Z,1736370163.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:44.084Z,1736370164.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:02:44.084Z,1736370164.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:44.497Z,1736370164.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T21:02:44.497Z,1736370164.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:44.861Z,1736370164.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:02:44.862Z,1736370164.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:45.257Z,1736370165.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:02:45.257Z,1736370165.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:45.854Z,1736370165.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.2 s old, using for 20.0 s. 2025-01-08T21:02:45.854Z,1736370165.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:46.073Z,1736370166.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T21:02:46.073Z,1736370166.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:46.491Z,1736370166.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:02:46.492Z,1736370166.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:46.908Z,1736370166.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T21:02:46.908Z,1736370166.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:47.285Z,1736370167.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:02:47.285Z,1736370167.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:47.782Z,1736370167.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:48.122Z,1736370168.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:48.502Z,1736370168.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:48.890Z,1736370168.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:49.300Z,1736370169.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:49.375Z,1736370169.375 [DataOverHttps](INFO): Sending 221 bytes from file Logs/20250108T193415/Express0031.lzma 2025-01-08T21:02:49.742Z,1736370169.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:50.107Z,1736370170.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:50.378Z,1736370170.378 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0031.lzma.bak 2025-01-08T21:02:50.378Z,1736370170.378 [DataOverHttps](INFO): SBD MOMSN=23886146 2025-01-08T21:02:50.511Z,1736370170.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:50.919Z,1736370170.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:51.326Z,1736370171.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:51.782Z,1736370171.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:02:51.783Z,1736370171.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:52.136Z,1736370172.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:02:52.136Z,1736370172.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:52.564Z,1736370172.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:02:52.564Z,1736370172.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:52.951Z,1736370172.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:02:52.955Z,1736370172.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:53.341Z,1736370173.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:02:53.341Z,1736370173.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:53.786Z,1736370173.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:02:53.787Z,1736370173.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:54.154Z,1736370174.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:02:54.154Z,1736370174.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:54.556Z,1736370174.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:02:54.556Z,1736370174.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:54.584Z,1736370174.584 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2025-01-08T21:02:54.585Z,1736370174.585 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2025-01-08T21:02:54.585Z,1736370174.585 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-01-08T21:02:54.966Z,1736370174.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:02:54.966Z,1736370174.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:55.373Z,1736370175.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:02:55.373Z,1736370175.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:55.830Z,1736370175.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:56.172Z,1736370176.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:56.560Z,1736370176.560 [NAL9602](INFO): Not Powering down - fast GPS 2025-01-08T21:02:56.584Z,1736370176.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:56.980Z,1736370176.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:57.394Z,1736370177.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:57.808Z,1736370177.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:02:57.808Z,1736370177.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:58.192Z,1736370178.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:02:58.192Z,1736370178.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:58.605Z,1736370178.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:02:58.605Z,1736370178.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:59.009Z,1736370179.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:02:59.009Z,1736370179.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:59.414Z,1736370179.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:02:59.414Z,1736370179.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:02:59.849Z,1736370179.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:02:59.849Z,1736370179.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:00.217Z,1736370180.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:03:00.217Z,1736370180.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:00.622Z,1736370180.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:03:00.622Z,1736370180.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:01.024Z,1736370181.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:03:01.025Z,1736370181.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:01.441Z,1736370181.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:03:01.441Z,1736370181.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:01.839Z,1736370181.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T21:03:01.839Z,1736370181.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:02.224Z,1736370182.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:03:02.224Z,1736370182.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:02.634Z,1736370182.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:03:02.634Z,1736370182.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:03.032Z,1736370183.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:03:03.032Z,1736370183.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:03.436Z,1736370183.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T21:03:03.436Z,1736370183.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:03.858Z,1736370183.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:04.254Z,1736370184.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:04.651Z,1736370184.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:05.050Z,1736370185.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:05.462Z,1736370185.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:05.888Z,1736370185.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:06.267Z,1736370186.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:06.671Z,1736370186.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:07.084Z,1736370187.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:07.492Z,1736370187.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:07.918Z,1736370187.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:08.323Z,1736370188.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:08.699Z,1736370188.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:09.106Z,1736370189.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:09.518Z,1736370189.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:09.950Z,1736370189.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:03:09.950Z,1736370189.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:10.317Z,1736370190.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:03:10.317Z,1736370190.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:10.725Z,1736370190.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:03:10.725Z,1736370190.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:11.115Z,1736370191.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:03:11.116Z,1736370191.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:11.519Z,1736370191.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:03:11.519Z,1736370191.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:11.947Z,1736370191.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:12.338Z,1736370192.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:12.733Z,1736370192.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:13.136Z,1736370193.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:13.496Z,1736370193.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:03:13.553Z,1736370193.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:13.964Z,1736370193.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:14.360Z,1736370194.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:14.752Z,1736370194.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:15.155Z,1736370195.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:15.567Z,1736370195.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:15.999Z,1736370195.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:03:15.000Z,1736370196.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:16.373Z,1736370196.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:03:16.373Z,1736370196.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:16.789Z,1736370196.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:03:16.789Z,1736370196.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:17.182Z,1736370197.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:03:17.182Z,1736370197.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:17.586Z,1736370197.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:03:17.586Z,1736370197.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:18.036Z,1736370198.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:18.396Z,1736370198.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:18.798Z,1736370198.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:19.231Z,1736370199.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:19.611Z,1736370199.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:20.109Z,1736370200.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:03:20.109Z,1736370200.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:20.448Z,1736370200.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:03:20.448Z,1736370200.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:20.837Z,1736370200.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:03:20.837Z,1736370200.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:21.273Z,1736370201.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T21:03:21.273Z,1736370201.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:21.634Z,1736370201.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:03:21.634Z,1736370201.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:22.058Z,1736370202.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:22.176Z,1736370202.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:03:22.444Z,1736370202.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:22.838Z,1736370202.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:23.242Z,1736370203.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:23.809Z,1736370203.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T21:03:23.809Z,1736370203.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:24.068Z,1736370204.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:03:24.068Z,1736370204.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:24.471Z,1736370204.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:03:24.471Z,1736370204.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:24.869Z,1736370204.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:03:24.869Z,1736370204.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:25.276Z,1736370205.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:03:25.276Z,1736370205.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:25.783Z,1736370205.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:26.087Z,1736370206.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:26.497Z,1736370206.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:26.918Z,1736370206.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:27.289Z,1736370207.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:27.752Z,1736370207.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:28.095Z,1736370208.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:28.499Z,1736370208.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:28.901Z,1736370208.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:29.316Z,1736370209.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:29.752Z,1736370209.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:03:29.752Z,1736370209.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:30.115Z,1736370210.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:03:30.115Z,1736370210.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:30.520Z,1736370210.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:03:30.520Z,1736370210.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:30.720Z,1736370210.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:03:30.928Z,1736370210.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:03:30.928Z,1736370210.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:31.327Z,1736370211.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:03:31.327Z,1736370211.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:31.769Z,1736370211.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:03:31.769Z,1736370211.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:32.131Z,1736370212.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:03:32.132Z,1736370212.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:32.545Z,1736370212.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:03:32.546Z,1736370212.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:32.953Z,1736370212.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:03:32.953Z,1736370212.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:33.353Z,1736370213.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:03:33.353Z,1736370213.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:33.812Z,1736370213.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:03:33.812Z,1736370213.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:34.169Z,1736370214.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:03:34.169Z,1736370214.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:34.565Z,1736370214.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:03:34.565Z,1736370214.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:34.973Z,1736370214.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:03:34.973Z,1736370214.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:35.373Z,1736370215.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:03:35.373Z,1736370215.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:35.803Z,1736370215.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:36.193Z,1736370216.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:36.580Z,1736370216.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:36.989Z,1736370216.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:37.399Z,1736370217.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:37.820Z,1736370217.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:03:37.821Z,1736370217.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:38.192Z,1736370218.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:03:38.192Z,1736370218.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:38.599Z,1736370218.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:03:38.600Z,1736370218.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:39.010Z,1736370219.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:03:39.010Z,1736370219.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:39.380Z,1736370219.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:03:39.413Z,1736370219.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:03:39.413Z,1736370219.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:39.855Z,1736370219.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:03:39.859Z,1736370219.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:40.216Z,1736370220.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:03:40.216Z,1736370220.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:40.622Z,1736370220.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:03:40.623Z,1736370220.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:41.023Z,1736370221.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:03:41.023Z,1736370221.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:41.464Z,1736370221.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:03:41.464Z,1736370221.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:41.886Z,1736370221.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:42.250Z,1736370222.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:42.644Z,1736370222.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:43.048Z,1736370223.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:43.456Z,1736370223.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:43.924Z,1736370223.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:03:43.924Z,1736370223.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:44.265Z,1736370224.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:03:44.265Z,1736370224.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:44.669Z,1736370224.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:03:44.669Z,1736370224.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:45.070Z,1736370225.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:03:45.070Z,1736370225.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:45.469Z,1736370225.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:03:45.469Z,1736370225.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:45.913Z,1736370225.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:46.281Z,1736370226.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:46.685Z,1736370226.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:47.099Z,1736370227.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:47.484Z,1736370227.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:47.912Z,1736370227.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:03:47.912Z,1736370227.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:48.040Z,1736370228.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:03:48.301Z,1736370228.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:03:48.301Z,1736370228.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:48.699Z,1736370228.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:03:48.699Z,1736370228.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:49.104Z,1736370229.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:03:49.104Z,1736370229.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:49.504Z,1736370229.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:03:49.504Z,1736370229.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:49.940Z,1736370229.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:03:49.940Z,1736370229.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:50.320Z,1736370230.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:03:50.320Z,1736370230.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:50.728Z,1736370230.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:03:50.728Z,1736370230.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:51.137Z,1736370231.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T21:03:51.137Z,1736370231.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:51.542Z,1736370231.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:03:51.542Z,1736370231.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:52.032Z,1736370232.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:03:52.032Z,1736370232.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:52.345Z,1736370232.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:03:52.345Z,1736370232.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:52.741Z,1736370232.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T21:03:52.741Z,1736370232.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:53.156Z,1736370233.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:03:53.156Z,1736370233.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:53.566Z,1736370233.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:03:53.566Z,1736370233.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:53.966Z,1736370233.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:03:53.966Z,1736370233.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:54.357Z,1736370234.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:03:54.357Z,1736370234.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:54.754Z,1736370234.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:03:54.754Z,1736370234.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:55.164Z,1736370235.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:03:55.165Z,1736370235.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:55.575Z,1736370235.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:03:55.575Z,1736370235.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:55.991Z,1736370235.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:03:55.991Z,1736370235.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:56.387Z,1736370236.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:03:56.387Z,1736370236.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:56.692Z,1736370236.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:03:56.779Z,1736370236.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:03:56.779Z,1736370236.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:57.180Z,1736370237.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:03:57.181Z,1736370237.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:57.588Z,1736370237.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T21:03:57.588Z,1736370237.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:58.011Z,1736370238.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:58.397Z,1736370238.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:58.808Z,1736370238.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:59.212Z,1736370239.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:03:59.631Z,1736370239.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:00.058Z,1736370240.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:04:00.058Z,1736370240.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:00.432Z,1736370240.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:04:00.432Z,1736370240.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:00.833Z,1736370240.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:04:00.833Z,1736370240.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:01.229Z,1736370241.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:04:01.229Z,1736370241.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:01.637Z,1736370241.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:04:01.637Z,1736370241.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:02.091Z,1736370242.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:04:02.095Z,1736370242.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:02.448Z,1736370242.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:04:02.449Z,1736370242.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:02.840Z,1736370242.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:04:02.840Z,1736370242.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:03.240Z,1736370243.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:04:03.240Z,1736370243.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:03.674Z,1736370243.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:04:03.677Z,1736370243.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:04.076Z,1736370244.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T21:04:04.076Z,1736370244.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:04.455Z,1736370244.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:04:04.455Z,1736370244.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:04.860Z,1736370244.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:04:04.860Z,1736370244.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:05.260Z,1736370245.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:04:05.260Z,1736370245.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:05.340Z,1736370245.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:04:05.722Z,1736370245.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:04:05.722Z,1736370245.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:06.096Z,1736370246.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:04:06.097Z,1736370246.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:06.475Z,1736370246.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T21:04:06.475Z,1736370246.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:06.876Z,1736370246.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T21:04:06.876Z,1736370246.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:07.312Z,1736370247.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:04:07.312Z,1736370247.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:07.795Z,1736370247.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.2 s old, using for 20.0 s. 2025-01-08T21:04:07.795Z,1736370247.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:08.101Z,1736370248.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:04:08.101Z,1736370248.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:08.520Z,1736370248.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:04:08.520Z,1736370248.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:08.905Z,1736370248.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:04:08.906Z,1736370248.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:09.313Z,1736370249.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:04:09.313Z,1736370249.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:09.783Z,1736370249.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:10.123Z,1736370250.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:10.542Z,1736370250.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:10.950Z,1736370250.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:11.388Z,1736370251.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:11.851Z,1736370251.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:04:11.852Z,1736370251.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:12.147Z,1736370252.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:04:12.147Z,1736370252.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:12.530Z,1736370252.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.1 s old, using for 20.0 s. 2025-01-08T21:04:12.530Z,1736370252.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:12.945Z,1736370252.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:04:12.945Z,1736370252.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:13.356Z,1736370253.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:04:13.356Z,1736370253.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:13.785Z,1736370253.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:04:13.785Z,1736370253.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:14.160Z,1736370254.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:04:14.160Z,1736370254.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:14.568Z,1736370254.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:04:14.568Z,1736370254.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:14.836Z,1736370254.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:04:14.954Z,1736370254.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:04:14.954Z,1736370254.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:15.369Z,1736370255.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:04:15.369Z,1736370255.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:15.802Z,1736370255.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:16.166Z,1736370256.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:16.570Z,1736370256.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:17.024Z,1736370257.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:17.440Z,1736370257.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:17.875Z,1736370257.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:04:17.875Z,1736370257.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:18.234Z,1736370258.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:04:18.235Z,1736370258.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:18.670Z,1736370258.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:04:18.670Z,1736370258.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:19.048Z,1736370259.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:04:19.049Z,1736370259.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:19.486Z,1736370259.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:04:19.486Z,1736370259.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:19.941Z,1736370259.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:04:19.941Z,1736370259.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:20.273Z,1736370260.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:04:20.273Z,1736370260.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:20.700Z,1736370260.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T21:04:20.700Z,1736370260.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:21.075Z,1736370261.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:04:21.076Z,1736370261.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:21.479Z,1736370261.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:04:21.479Z,1736370261.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:21.906Z,1736370261.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:04:21.906Z,1736370261.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:22.273Z,1736370262.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:04:22.273Z,1736370262.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:22.685Z,1736370262.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:04:22.685Z,1736370262.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:23.108Z,1736370263.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:04:23.108Z,1736370263.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:23.481Z,1736370263.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T21:04:23.481Z,1736370263.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:23.946Z,1736370263.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:04:23.946Z,1736370263.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:24.301Z,1736370264.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:04:24.301Z,1736370264.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:24.716Z,1736370264.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:04:24.716Z,1736370264.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:25.105Z,1736370265.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:04:25.105Z,1736370265.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:25.513Z,1736370265.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:04:25.513Z,1736370265.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:25.947Z,1736370265.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:04:25.948Z,1736370265.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:26.326Z,1736370266.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:04:26.326Z,1736370266.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:26.336Z,1736370266.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:04:26.716Z,1736370266.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:04:26.716Z,1736370266.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:27.121Z,1736370267.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:04:27.121Z,1736370267.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:27.533Z,1736370267.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T21:04:27.533Z,1736370267.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:27.955Z,1736370267.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:28.327Z,1736370268.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:28.742Z,1736370268.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:29.150Z,1736370269.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:29.557Z,1736370269.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:29.995Z,1736370269.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:30.355Z,1736370270.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:30.764Z,1736370270.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:31.173Z,1736370271.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:31.563Z,1736370271.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:32.011Z,1736370272.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:04:32.011Z,1736370272.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:32.372Z,1736370272.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:04:32.372Z,1736370272.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:32.773Z,1736370272.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:04:32.773Z,1736370272.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:33.170Z,1736370273.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:04:33.170Z,1736370273.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:33.579Z,1736370273.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:04:33.579Z,1736370273.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:34.005Z,1736370274.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:04:34.005Z,1736370274.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:34.419Z,1736370274.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T21:04:34.419Z,1736370274.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:34.871Z,1736370274.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T21:04:34.896Z,1736370274.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:34.920Z,1736370274.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:04:35.207Z,1736370275.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:04:35.207Z,1736370275.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:35.613Z,1736370275.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:04:35.613Z,1736370275.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:36.139Z,1736370276.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s. 2025-01-08T21:04:36.139Z,1736370276.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:36.412Z,1736370276.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:04:36.413Z,1736370276.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:36.837Z,1736370276.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T21:04:36.837Z,1736370276.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:37.239Z,1736370277.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:04:37.239Z,1736370277.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:37.627Z,1736370277.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:04:37.628Z,1736370277.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:38.080Z,1736370278.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:04:38.080Z,1736370278.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:38.444Z,1736370278.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:04:38.444Z,1736370278.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:38.842Z,1736370278.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:04:38.842Z,1736370278.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:39.244Z,1736370279.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:04:39.244Z,1736370279.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:39.701Z,1736370279.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:04:39.702Z,1736370279.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:40.071Z,1736370280.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:04:40.071Z,1736370280.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:40.463Z,1736370280.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:04:40.463Z,1736370280.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:40.860Z,1736370280.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:04:40.860Z,1736370280.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:41.260Z,1736370281.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:04:41.260Z,1736370281.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:41.693Z,1736370281.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T21:04:41.693Z,1736370281.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:42.083Z,1736370282.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:42.468Z,1736370282.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:42.868Z,1736370282.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:43.278Z,1736370283.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:43.741Z,1736370283.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:44.083Z,1736370284.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:44.482Z,1736370284.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:44.892Z,1736370284.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:45.308Z,1736370285.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:45.528Z,1736370285.528 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:04:45.743Z,1736370285.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:04:45.743Z,1736370285.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:46.104Z,1736370286.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:04:46.104Z,1736370286.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:46.507Z,1736370286.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:04:46.507Z,1736370286.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:46.918Z,1736370286.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:04:46.918Z,1736370286.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:47.317Z,1736370287.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:04:47.317Z,1736370287.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:47.785Z,1736370287.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:48.148Z,1736370288.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:48.546Z,1736370288.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:48.945Z,1736370288.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:49.348Z,1736370289.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:49.771Z,1736370289.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:04:49.775Z,1736370289.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:50.162Z,1736370290.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:04:50.162Z,1736370290.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:50.556Z,1736370290.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:04:50.556Z,1736370290.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:50.960Z,1736370290.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:04:50.960Z,1736370290.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:51.362Z,1736370291.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:04:51.362Z,1736370291.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:51.788Z,1736370291.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:04:51.788Z,1736370291.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:52.165Z,1736370292.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:04:52.165Z,1736370292.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:52.567Z,1736370292.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:04:52.567Z,1736370292.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:52.976Z,1736370292.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:04:52.977Z,1736370292.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:53.376Z,1736370293.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:04:53.376Z,1736370293.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:53.816Z,1736370293.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:04:53.816Z,1736370293.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:54.187Z,1736370294.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:04:54.187Z,1736370294.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:54.296Z,1736370294.296 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:04:54.598Z,1736370294.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:04:54.598Z,1736370294.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:55.003Z,1736370295.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:04:55.003Z,1736370295.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:55.393Z,1736370295.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T21:04:55.393Z,1736370295.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:55.820Z,1736370295.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:04:55.820Z,1736370295.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:56.213Z,1736370296.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:04:56.213Z,1736370296.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:56.617Z,1736370296.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:04:56.617Z,1736370296.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:57.026Z,1736370297.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:04:57.026Z,1736370297.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:57.428Z,1736370297.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:04:57.428Z,1736370297.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:57.856Z,1736370297.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:58.228Z,1736370298.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:58.644Z,1736370298.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:59.046Z,1736370299.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:59.439Z,1736370299.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:04:59.865Z,1736370299.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:00.252Z,1736370300.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:00.647Z,1736370300.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:01.054Z,1736370301.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:01.452Z,1736370301.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:01.878Z,1736370301.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:05:01.879Z,1736370301.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:02.275Z,1736370302.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:05:02.275Z,1736370302.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:02.662Z,1736370302.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:05:02.662Z,1736370302.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:03.056Z,1736370303.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:05:03.072Z,1736370303.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:05:03.072Z,1736370303.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:03.479Z,1736370303.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:05:03.479Z,1736370303.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:03.897Z,1736370303.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:04.284Z,1736370304.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:04.682Z,1736370304.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:05.134Z,1736370305.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:05.520Z,1736370305.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:05.979Z,1736370305.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:06.340Z,1736370306.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:06.736Z,1736370306.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:07.139Z,1736370307.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:07.548Z,1736370307.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:08.012Z,1736370308.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:05:08.012Z,1736370308.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:08.384Z,1736370308.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:05:08.384Z,1736370308.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:08.753Z,1736370308.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:05:08.753Z,1736370308.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:09.153Z,1736370309.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:05:09.153Z,1736370309.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:09.561Z,1736370309.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:05:09.561Z,1736370309.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:09.996Z,1736370309.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:05:09.996Z,1736370309.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:10.376Z,1736370310.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:05:10.376Z,1736370310.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:10.780Z,1736370310.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:05:10.780Z,1736370310.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:11.175Z,1736370311.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:05:11.176Z,1736370311.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:11.580Z,1736370311.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:05:11.580Z,1736370311.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:11.709Z,1736370311.709 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:05:12.034Z,1736370312.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:12.392Z,1736370312.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:12.791Z,1736370312.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:13.195Z,1736370313.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:13.596Z,1736370313.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:14.078Z,1736370314.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:14.475Z,1736370314.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:14.870Z,1736370314.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:15.257Z,1736370315.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:15.640Z,1736370315.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:16.056Z,1736370316.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:05:16.056Z,1736370316.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:16.433Z,1736370316.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:05:16.433Z,1736370316.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:16.841Z,1736370316.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:05:16.841Z,1736370316.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:17.240Z,1736370317.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:05:17.240Z,1736370317.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:17.676Z,1736370317.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:05:17.676Z,1736370317.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:18.073Z,1736370318.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:05:18.074Z,1736370318.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:18.448Z,1736370318.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:05:18.448Z,1736370318.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:18.856Z,1736370318.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:05:18.856Z,1736370318.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:19.262Z,1736370319.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:05:19.262Z,1736370319.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:19.714Z,1736370319.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:05:19.714Z,1736370319.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:20.099Z,1736370320.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:20.448Z,1736370320.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:05:20.468Z,1736370320.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:20.877Z,1736370320.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:21.275Z,1736370321.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:21.741Z,1736370321.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:05:21.741Z,1736370321.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:22.080Z,1736370322.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:05:22.081Z,1736370322.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:22.516Z,1736370322.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:05:22.516Z,1736370322.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:22.893Z,1736370322.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:05:22.893Z,1736370322.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:23.309Z,1736370323.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:05:23.309Z,1736370323.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:23.787Z,1736370323.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:05:23.788Z,1736370323.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:24.118Z,1736370324.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:05:24.118Z,1736370324.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:24.532Z,1736370324.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T21:05:24.532Z,1736370324.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:24.916Z,1736370324.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:05:24.916Z,1736370324.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:25.325Z,1736370325.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:05:25.325Z,1736370325.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:25.794Z,1736370325.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:05:25.794Z,1736370325.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:26.147Z,1736370326.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:05:26.151Z,1736370326.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:26.523Z,1736370326.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:05:26.524Z,1736370326.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:26.939Z,1736370326.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:05:26.939Z,1736370326.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:27.406Z,1736370327.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:05:27.406Z,1736370327.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:27.847Z,1736370327.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s. 2025-01-08T21:05:27.847Z,1736370327.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:28.195Z,1736370328.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:05:28.195Z,1736370328.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:28.576Z,1736370328.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:05:28.576Z,1736370328.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:28.968Z,1736370328.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:05:28.968Z,1736370328.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:29.176Z,1736370329.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:05:29.355Z,1736370329.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:05:29.356Z,1736370329.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:29.794Z,1736370329.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:30.160Z,1736370330.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:30.575Z,1736370330.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:30.975Z,1736370330.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:31.380Z,1736370331.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:31.830Z,1736370331.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:32.196Z,1736370332.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:32.602Z,1736370332.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:32.999Z,1736370332.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:33.407Z,1736370333.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:33.854Z,1736370333.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:05:33.854Z,1736370333.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:34.217Z,1736370334.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:05:34.217Z,1736370334.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:34.613Z,1736370334.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:05:34.613Z,1736370334.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:35.013Z,1736370335.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:05:35.013Z,1736370335.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:35.412Z,1736370335.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:05:35.412Z,1736370335.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:35.848Z,1736370335.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:05:35.848Z,1736370335.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:36.223Z,1736370336.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:05:36.223Z,1736370336.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:36.624Z,1736370336.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:05:36.624Z,1736370336.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:37.046Z,1736370337.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:05:37.046Z,1736370337.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:37.438Z,1736370337.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:05:37.438Z,1736370337.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:37.819Z,1736370337.819 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:05:37.870Z,1736370337.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:05:37.870Z,1736370337.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:38.256Z,1736370338.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:05:38.256Z,1736370338.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:38.645Z,1736370338.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:05:38.645Z,1736370338.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:39.057Z,1736370339.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:05:39.057Z,1736370339.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:39.453Z,1736370339.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T21:05:39.453Z,1736370339.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:39.923Z,1736370339.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:05:39.943Z,1736370339.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:40.273Z,1736370340.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:05:40.273Z,1736370340.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:40.794Z,1736370340.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.4 s old, using for 20.0 s. 2025-01-08T21:05:40.794Z,1736370340.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:41.220Z,1736370341.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.8 s old, using for 20.0 s. 2025-01-08T21:05:41.221Z,1736370341.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:41.528Z,1736370341.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:05:41.528Z,1736370341.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:41.954Z,1736370341.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:05:41.954Z,1736370341.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:42.296Z,1736370342.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:05:42.296Z,1736370342.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:42.728Z,1736370342.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:05:42.728Z,1736370342.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:43.096Z,1736370343.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:05:43.096Z,1736370343.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:43.520Z,1736370343.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T21:05:43.520Z,1736370343.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:43.925Z,1736370343.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:44.318Z,1736370344.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:44.708Z,1736370344.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:45.114Z,1736370345.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:45.528Z,1736370345.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:45.944Z,1736370345.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:46.327Z,1736370346.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:46.739Z,1736370346.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:46.768Z,1736370346.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:05:47.132Z,1736370347.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:47.546Z,1736370347.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:47.971Z,1736370347.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:05:47.971Z,1736370347.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:48.343Z,1736370348.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:05:48.343Z,1736370348.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:48.750Z,1736370348.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:05:48.750Z,1736370348.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:49.162Z,1736370349.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:05:49.162Z,1736370349.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:49.574Z,1736370349.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:05:49.574Z,1736370349.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:50.011Z,1736370350.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:05:50.011Z,1736370350.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:50.373Z,1736370350.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:05:50.373Z,1736370350.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:50.781Z,1736370350.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:05:50.781Z,1736370350.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:51.191Z,1736370351.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:05:51.191Z,1736370351.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:51.585Z,1736370351.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:05:51.585Z,1736370351.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:52.053Z,1736370352.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:05:52.053Z,1736370352.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:52.397Z,1736370352.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:05:52.398Z,1736370352.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:52.788Z,1736370352.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:05:52.788Z,1736370352.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:53.189Z,1736370353.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:05:53.189Z,1736370353.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:53.606Z,1736370353.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:05:53.607Z,1736370353.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:54.080Z,1736370354.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:05:54.080Z,1736370354.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:54.492Z,1736370354.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:05:54.492Z,1736370354.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:54.827Z,1736370354.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:05:54.827Z,1736370354.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:55.240Z,1736370355.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:05:55.240Z,1736370355.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:55.444Z,1736370355.444 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:05:55.639Z,1736370355.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:05:55.639Z,1736370355.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:56.039Z,1736370356.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:56.420Z,1736370356.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:56.832Z,1736370356.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:57.227Z,1736370357.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:57.702Z,1736370357.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:58.095Z,1736370358.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:05:58.095Z,1736370358.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:58.457Z,1736370358.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:05:58.457Z,1736370358.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:58.861Z,1736370358.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:05:58.861Z,1736370358.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:59.260Z,1736370359.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:05:59.260Z,1736370359.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:05:59.723Z,1736370359.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:05:59.724Z,1736370359.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:00.118Z,1736370360.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:06:00.118Z,1736370360.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:00.477Z,1736370360.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:06:00.477Z,1736370360.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:00.889Z,1736370360.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:06:00.889Z,1736370360.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:01.269Z,1736370361.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:06:01.269Z,1736370361.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:01.742Z,1736370361.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:06:01.742Z,1736370361.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:02.100Z,1736370362.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T21:06:02.100Z,1736370362.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:02.498Z,1736370362.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:06:02.498Z,1736370362.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:02.899Z,1736370362.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:06:02.899Z,1736370362.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:03.289Z,1736370363.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:06:03.289Z,1736370363.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:03.757Z,1736370363.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:06:03.757Z,1736370363.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:04.096Z,1736370364.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.4 s old, using for 20.0 s. 2025-01-08T21:06:04.096Z,1736370364.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:04.120Z,1736370364.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:06:04.500Z,1736370364.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T21:06:04.500Z,1736370364.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:04.908Z,1736370364.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T21:06:04.908Z,1736370364.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:05.314Z,1736370365.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.6 s old, using for 20.0 s. 2025-01-08T21:06:05.314Z,1736370365.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:05.749Z,1736370365.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.0 s old, using for 20.0 s. 2025-01-08T21:06:05.749Z,1736370365.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:06.120Z,1736370366.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.4 s old, using for 20.0 s. 2025-01-08T21:06:06.120Z,1736370366.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:06.529Z,1736370366.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.8 s old, using for 20.0 s. 2025-01-08T21:06:06.529Z,1736370366.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:06.941Z,1736370366.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.2 s old, using for 20.0 s. 2025-01-08T21:06:06.941Z,1736370366.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:07.568Z,1736370367.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.9 s old, using for 20.0 s. 2025-01-08T21:06:07.568Z,1736370367.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:07.856Z,1736370367.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:08.188Z,1736370368.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:08.580Z,1736370368.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:08.960Z,1736370368.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:09.359Z,1736370369.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:09.808Z,1736370369.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:10.168Z,1736370370.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:10.558Z,1736370370.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:10.976Z,1736370370.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:11.368Z,1736370371.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:11.828Z,1736370371.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:11.977Z,1736370371.977 [DataOverHttps](IMPORTANT): SBD MTMSN=20250108T210611 2025-01-08T21:06:12.216Z,1736370372.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:12.588Z,1736370372.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:12.995Z,1736370372.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:13.408Z,1736370373.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:13.836Z,1736370373.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:14.206Z,1736370374.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:14.617Z,1736370374.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:15.072Z,1736370375.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:15.474Z,1736370375.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:15.927Z,1736370375.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:06:15.927Z,1736370375.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:16.245Z,1736370376.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:06:16.246Z,1736370376.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:16.677Z,1736370376.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:06:16.677Z,1736370376.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:17.105Z,1736370377.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:06:17.105Z,1736370377.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:17.493Z,1736370377.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:06:17.493Z,1736370377.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:18.036Z,1736370378.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s. 2025-01-08T21:06:18.036Z,1736370378.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:18.302Z,1736370378.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:06:18.302Z,1736370378.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:18.712Z,1736370378.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:06:18.712Z,1736370378.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:19.101Z,1736370379.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:06:19.101Z,1736370379.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:19.525Z,1736370379.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:06:19.525Z,1736370379.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:20.004Z,1736370380.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:06:20.004Z,1736370380.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:20.317Z,1736370380.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:06:20.317Z,1736370380.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:20.870Z,1736370380.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.4 s old, using for 20.0 s. 2025-01-08T21:06:20.870Z,1736370380.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:21.358Z,1736370381.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.9 s old, using for 20.0 s. 2025-01-08T21:06:21.358Z,1736370381.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:21.617Z,1736370381.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:06:21.617Z,1736370381.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:22.081Z,1736370382.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s. 2025-01-08T21:06:22.082Z,1736370382.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:22.381Z,1736370382.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:06:22.381Z,1736370382.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:22.745Z,1736370382.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:06:22.745Z,1736370382.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:23.150Z,1736370383.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:06:23.151Z,1736370383.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:23.531Z,1736370383.531 [DataOverHttps](INFO): Received command: configset DAT.convertPhaseDataToDirection 1 bool persist; 2025-01-08T21:06:23.594Z,1736370383.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:06:23.594Z,1736370383.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:24.023Z,1736370384.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:06:24.051Z,1736370384.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:24.388Z,1736370384.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:06:24.388Z,1736370384.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:24.588Z,1736370384.588 [CommandExec](IMPORTANT): got command configSet DAT.convertPhaseDataToDirection 1 bool persist 2025-01-08T21:06:24.766Z,1736370384.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:06:24.766Z,1736370384.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:24.784Z,1736370384.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:25.036Z,1736370385.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:25.182Z,1736370385.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:06:25.182Z,1736370385.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:25.288Z,1736370385.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:25.523Z,1736370385.523 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:06:25.540Z,1736370385.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:25.580Z,1736370385.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T21:06:25.580Z,1736370385.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:25.792Z,1736370385.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:26.027Z,1736370386.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:26.044Z,1736370386.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:26.296Z,1736370386.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:26.382Z,1736370386.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:26.548Z,1736370386.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:26.785Z,1736370386.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:26.800Z,1736370386.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:27.052Z,1736370387.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:27.188Z,1736370387.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:27.304Z,1736370387.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:27.556Z,1736370387.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:27.604Z,1736370387.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:27.808Z,1736370387.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:28.022Z,1736370388.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:28.064Z,1736370388.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:28.316Z,1736370388.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:28.447Z,1736370388.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:28.568Z,1736370388.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:28.820Z,1736370388.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:28.851Z,1736370388.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:29.072Z,1736370389.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:29.227Z,1736370389.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:29.324Z,1736370389.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:29.576Z,1736370389.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:29.664Z,1736370389.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:29.828Z,1736370389.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:30.080Z,1736370390.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:30.081Z,1736370390.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:30.332Z,1736370390.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:30.428Z,1736370390.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:30.584Z,1736370390.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:30.836Z,1736370390.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:30.837Z,1736370390.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:31.088Z,1736370391.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:31.246Z,1736370391.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:31.340Z,1736370391.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:31.592Z,1736370391.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:31.690Z,1736370391.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:31.844Z,1736370391.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:32.096Z,1736370392.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:32.107Z,1736370392.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:06:32.107Z,1736370392.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:32.348Z,1736370392.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:32.466Z,1736370392.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:06:32.466Z,1736370392.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:32.600Z,1736370392.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:32.845Z,1736370392.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:06:32.845Z,1736370392.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:32.854Z,1736370392.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:33.104Z,1736370393.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:33.256Z,1736370393.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:06:33.256Z,1736370393.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:33.356Z,1736370393.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:33.608Z,1736370393.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:33.750Z,1736370393.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:33.860Z,1736370393.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:34.112Z,1736370394.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:34.126Z,1736370394.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:34.364Z,1736370394.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:34.552Z,1736370394.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:34.616Z,1736370394.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:34.868Z,1736370394.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:34.887Z,1736370394.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:35.120Z,1736370395.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:35.287Z,1736370395.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:35.372Z,1736370395.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:35.627Z,1736370395.627 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:35.761Z,1736370395.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:35.796Z,1736370395.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:06:35.876Z,1736370395.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:36.075Z,1736370396.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:36.128Z,1736370396.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:36.380Z,1736370396.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:36.483Z,1736370396.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:36.632Z,1736370396.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:36.884Z,1736370396.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:36.897Z,1736370396.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:37.136Z,1736370397.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:37.287Z,1736370397.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:37.388Z,1736370397.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:37.640Z,1736370397.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:37.743Z,1736370397.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:37.892Z,1736370397.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:38.100Z,1736370398.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:38.144Z,1736370398.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:38.396Z,1736370398.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:38.515Z,1736370398.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:38.648Z,1736370398.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:38.900Z,1736370398.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:38.905Z,1736370398.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:39.152Z,1736370399.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:39.320Z,1736370399.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:39.404Z,1736370399.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:39.657Z,1736370399.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:39.810Z,1736370399.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:06:39.810Z,1736370399.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:39.908Z,1736370399.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:40.140Z,1736370400.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:06:40.140Z,1736370400.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:40.168Z,1736370400.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:40.420Z,1736370400.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:40.543Z,1736370400.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:06:40.544Z,1736370400.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:40.672Z,1736370400.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:40.924Z,1736370400.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:40.937Z,1736370400.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:06:40.937Z,1736370400.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:41.176Z,1736370401.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:41.345Z,1736370401.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:06:41.345Z,1736370401.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:41.428Z,1736370401.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:41.681Z,1736370401.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:41.760Z,1736370401.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:41.934Z,1736370401.934 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:42.135Z,1736370402.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:42.184Z,1736370402.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:42.436Z,1736370402.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:42.539Z,1736370402.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:42.688Z,1736370402.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:42.940Z,1736370402.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:42.948Z,1736370402.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:43.192Z,1736370403.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:43.354Z,1736370403.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:43.444Z,1736370403.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:43.697Z,1736370403.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:43.780Z,1736370403.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:43.948Z,1736370403.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:44.155Z,1736370404.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:44.200Z,1736370404.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:44.452Z,1736370404.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:44.557Z,1736370404.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:44.704Z,1736370404.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:44.956Z,1736370404.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:44.973Z,1736370404.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:45.208Z,1736370405.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:45.367Z,1736370405.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:45.372Z,1736370405.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:06:45.460Z,1736370405.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:45.713Z,1736370405.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:45.787Z,1736370405.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:06:45.787Z,1736370405.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:45.964Z,1736370405.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:46.180Z,1736370406.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:06:46.180Z,1736370406.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:46.216Z,1736370406.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:46.468Z,1736370406.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:46.584Z,1736370406.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:06:46.585Z,1736370406.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:46.720Z,1736370406.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:46.972Z,1736370406.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:46.981Z,1736370406.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:06:46.981Z,1736370406.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:47.224Z,1736370407.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:47.476Z,1736370407.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:47.565Z,1736370407.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.2 s old, using for 20.0 s. 2025-01-08T21:06:47.566Z,1736370407.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:47.728Z,1736370407.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:47.980Z,1736370407.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:48.004Z,1736370408.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s. 2025-01-08T21:06:48.004Z,1736370408.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:48.232Z,1736370408.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:48.261Z,1736370408.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T21:06:48.261Z,1736370408.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:48.484Z,1736370408.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:48.637Z,1736370408.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T21:06:48.637Z,1736370408.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:48.736Z,1736370408.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:48.988Z,1736370408.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:49.044Z,1736370409.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T21:06:49.044Z,1736370409.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:49.240Z,1736370409.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:49.452Z,1736370409.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:06:49.453Z,1736370409.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:49.492Z,1736370409.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:49.744Z,1736370409.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:49.869Z,1736370409.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:49.996Z,1736370409.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:50.233Z,1736370410.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:50.248Z,1736370410.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:50.501Z,1736370410.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:50.642Z,1736370410.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:50.752Z,1736370410.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:51.004Z,1736370411.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:51.032Z,1736370411.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:51.256Z,1736370411.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:51.440Z,1736370411.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:51.508Z,1736370411.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:51.760Z,1736370411.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:51.856Z,1736370411.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:06:51.856Z,1736370411.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:52.012Z,1736370412.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:52.237Z,1736370412.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:06:52.237Z,1736370412.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:52.264Z,1736370412.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:52.516Z,1736370412.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:52.640Z,1736370412.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:06:52.640Z,1736370412.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:52.768Z,1736370412.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:53.024Z,1736370413.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:53.045Z,1736370413.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:06:53.045Z,1736370413.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:53.276Z,1736370413.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:53.454Z,1736370413.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:06:53.454Z,1736370413.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:53.503Z,1736370413.503 [DataOverHttps](IMPORTANT): SBD MTMSN=20250108T210652 2025-01-08T21:06:53.528Z,1736370413.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:53.780Z,1736370413.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:53.876Z,1736370413.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:06:53.876Z,1736370413.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:54.032Z,1736370414.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:54.250Z,1736370414.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:06:54.251Z,1736370414.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:54.284Z,1736370414.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:54.537Z,1736370414.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:54.660Z,1736370414.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:06:54.660Z,1736370414.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:54.788Z,1736370414.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:55.044Z,1736370415.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:55.077Z,1736370415.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:06:55.077Z,1736370415.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:55.296Z,1736370415.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:55.463Z,1736370415.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:06:55.463Z,1736370415.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:55.548Z,1736370415.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:55.800Z,1736370415.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:55.895Z,1736370415.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:06:55.895Z,1736370415.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:56.052Z,1736370416.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:56.279Z,1736370416.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:06:56.279Z,1736370416.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:56.304Z,1736370416.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:56.556Z,1736370416.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:56.690Z,1736370416.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T21:06:56.690Z,1736370416.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:56.808Z,1736370416.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:57.060Z,1736370417.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:57.137Z,1736370417.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:06:57.137Z,1736370417.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:57.312Z,1736370417.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:57.496Z,1736370417.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:06:57.496Z,1736370417.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:57.564Z,1736370417.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:57.816Z,1736370417.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:57.950Z,1736370417.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:58.068Z,1736370418.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:58.307Z,1736370418.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:58.320Z,1736370418.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:58.572Z,1736370418.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:58.717Z,1736370418.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:58.824Z,1736370418.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:59.076Z,1736370419.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:59.108Z,1736370419.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:59.328Z,1736370419.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:59.552Z,1736370419.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:06:59.580Z,1736370419.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:06:59.832Z,1736370419.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:00.084Z,1736370420.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:00.094Z,1736370420.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:07:00.094Z,1736370420.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:00.313Z,1736370420.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:07:00.313Z,1736370420.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:00.336Z,1736370420.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:00.588Z,1736370420.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:00.840Z,1736370420.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:01.073Z,1736370421.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.5 s old, using for 20.0 s. 2025-01-08T21:07:01.073Z,1736370421.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:01.092Z,1736370421.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:01.297Z,1736370421.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T21:07:01.297Z,1736370421.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:01.344Z,1736370421.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:01.596Z,1736370421.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:01.679Z,1736370421.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T21:07:01.688Z,1736370421.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:01.848Z,1736370421.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:02.059Z,1736370422.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:07:02.059Z,1736370422.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:02.100Z,1736370422.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:02.352Z,1736370422.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:02.430Z,1736370422.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T21:07:02.430Z,1736370422.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:02.604Z,1736370422.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:02.779Z,1736370422.779 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 8 min;set lineCaptureHoming.StayOnDock 1 bool" 4zene 1 4 2025-01-08T21:07:02.816Z,1736370422.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T21:07:02.817Z,1736370422.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:02.848Z,1736370422.848 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 8 min;set lineCaptureHoming.StayOnDock 1 bool" 4zene 1 4.000000 2025-01-08T21:07:02.849Z,1736370422.849 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=4zene 2025-01-08T21:07:02.850Z,1736370422.850 [CommandExec](IMPORTANT): Scheduled #21 (#1 of 4 with id='4zene'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 8 min;set lineCaptureHoming.StayOnDock 1 bool", ASAP 2025-01-08T21:07:02.857Z,1736370422.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:03.108Z,1736370423.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:03.225Z,1736370423.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T21:07:03.225Z,1736370423.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:03.360Z,1736370423.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:03.612Z,1736370423.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:03.621Z,1736370423.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:07:03.621Z,1736370423.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:03.782Z,1736370423.782 [DataOverHttps](IMPORTANT): SBD MTMSN=20250108T210702 2025-01-08T21:07:03.864Z,1736370423.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:04.063Z,1736370424.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:04.116Z,1736370424.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:04.368Z,1736370424.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:04.476Z,1736370424.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:04.620Z,1736370424.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:04.872Z,1736370424.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:04.879Z,1736370424.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:05.124Z,1736370425.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:05.247Z,1736370425.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:05.376Z,1736370425.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:05.629Z,1736370425.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:05.702Z,1736370425.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:05.880Z,1736370425.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:06.074Z,1736370426.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:07:06.074Z,1736370426.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:06.132Z,1736370426.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:06.384Z,1736370426.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:06.453Z,1736370426.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.7 s old, using for 20.0 s. 2025-01-08T21:07:06.453Z,1736370426.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:06.636Z,1736370426.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:06.864Z,1736370426.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:07:06.864Z,1736370426.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:06.888Z,1736370426.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:07.140Z,1736370427.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:07.273Z,1736370427.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:07:07.273Z,1736370427.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:07.392Z,1736370427.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:07.645Z,1736370427.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:07.782Z,1736370427.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:07.896Z,1736370427.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:08.075Z,1736370428.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:08.148Z,1736370428.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:08.400Z,1736370428.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:08.477Z,1736370428.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:08.652Z,1736370428.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:08.884Z,1736370428.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:08.904Z,1736370428.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:09.156Z,1736370429.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:09.296Z,1736370429.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:09.408Z,1736370429.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:09.661Z,1736370429.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:09.783Z,1736370429.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:07:09.783Z,1736370429.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:09.912Z,1736370429.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:10.096Z,1736370430.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:07:10.096Z,1736370430.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:10.164Z,1736370430.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:10.416Z,1736370430.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:10.497Z,1736370430.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:07:10.497Z,1736370430.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:10.668Z,1736370430.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:10.908Z,1736370430.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:07:10.909Z,1736370430.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:10.920Z,1736370430.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:11.172Z,1736370431.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:11.300Z,1736370431.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:07:11.300Z,1736370431.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:11.424Z,1736370431.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:11.685Z,1736370431.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:11.714Z,1736370431.714 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.RetryIncompleteDock 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1.5 min;set lineCaptureHoming.SlideCloseDuration 1.5 min" 4zene 2 4 2025-01-08T21:07:11.744Z,1736370431.744 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.RetryIncompleteDock 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1.5 min;set lineCaptureHoming.SlideCloseDuration 1.5 min" 4zene 2 4.000000 2025-01-08T21:07:11.745Z,1736370431.745 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=4zene 2025-01-08T21:07:11.746Z,1736370431.746 [CommandExec](IMPORTANT): Scheduled #22 (#2 of 4 with id='4zene'): "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.RetryIncompleteDock 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1.5 min;set lineCaptureHoming.SlideCloseDuration 1.5 min", ASAP 2025-01-08T21:07:11.773Z,1736370431.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:11.928Z,1736370431.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:12.120Z,1736370432.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:12.180Z,1736370432.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:12.432Z,1736370432.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:12.519Z,1736370432.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:12.684Z,1736370432.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:12.709Z,1736370432.709 [DataOverHttps](IMPORTANT): SBD MTMSN=20250108T210711 2025-01-08T21:07:12.931Z,1736370432.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:12.936Z,1736370432.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:13.188Z,1736370433.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:13.315Z,1736370433.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:13.440Z,1736370433.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:13.693Z,1736370433.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:13.769Z,1736370433.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:07:13.769Z,1736370433.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:13.964Z,1736370433.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:14.216Z,1736370434.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:14.396Z,1736370434.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.1 s old, using for 20.0 s. 2025-01-08T21:07:14.396Z,1736370434.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:14.468Z,1736370434.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:14.558Z,1736370434.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:07:14.558Z,1736370434.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:14.720Z,1736370434.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:14.972Z,1736370434.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:14.973Z,1736370434.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T21:07:14.973Z,1736370434.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:15.224Z,1736370435.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:15.356Z,1736370435.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:07:15.356Z,1736370435.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:15.476Z,1736370435.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:15.728Z,1736370435.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:15.831Z,1736370435.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:07:15.832Z,1736370435.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:15.980Z,1736370435.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:16.166Z,1736370436.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T21:07:16.166Z,1736370436.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:16.232Z,1736370436.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:16.484Z,1736370436.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:16.581Z,1736370436.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T21:07:16.581Z,1736370436.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:16.736Z,1736370436.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:16.961Z,1736370436.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:07:16.961Z,1736370436.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:16.988Z,1736370436.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:17.240Z,1736370437.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:17.369Z,1736370437.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:07:17.369Z,1736370437.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:17.492Z,1736370437.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:17.744Z,1736370437.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:17.812Z,1736370437.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:07:17.812Z,1736370437.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:17.996Z,1736370437.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:18.172Z,1736370438.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:07:18.172Z,1736370438.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:18.251Z,1736370438.251 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:18.501Z,1736370438.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:18.576Z,1736370438.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T21:07:18.576Z,1736370438.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:18.752Z,1736370438.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:18.990Z,1736370438.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:07:18.990Z,1736370438.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:19.004Z,1736370439.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:19.256Z,1736370439.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:19.384Z,1736370439.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:07:19.384Z,1736370439.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:19.508Z,1736370439.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:19.760Z,1736370439.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:19.799Z,1736370439.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:07:19.799Z,1736370439.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:20.012Z,1736370440.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:20.188Z,1736370440.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:07:20.188Z,1736370440.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:20.264Z,1736370440.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:20.516Z,1736370440.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:20.535Z,1736370440.535 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m" 4zene 3 4 2025-01-08T21:07:20.588Z,1736370440.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:07:20.588Z,1736370440.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:20.608Z,1736370440.608 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m" 4zene 3 4.000000 2025-01-08T21:07:20.608Z,1736370440.608 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=4zene 2025-01-08T21:07:20.609Z,1736370440.609 [CommandExec](IMPORTANT): Scheduled #23 (#3 of 4 with id='4zene'): "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m", ASAP 2025-01-08T21:07:20.768Z,1736370440.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:21.009Z,1736370441.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:07:21.009Z,1736370441.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:21.020Z,1736370441.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:21.272Z,1736370441.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:21.400Z,1736370441.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:07:21.400Z,1736370441.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:21.524Z,1736370441.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:21.537Z,1736370441.537 [DataOverHttps](IMPORTANT): SBD MTMSN=20250108T210720 2025-01-08T21:07:21.776Z,1736370441.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:21.844Z,1736370441.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:22.028Z,1736370442.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:22.215Z,1736370442.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:22.280Z,1736370442.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:22.532Z,1736370442.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:22.618Z,1736370442.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:22.784Z,1736370442.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:23.015Z,1736370443.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:23.036Z,1736370443.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:23.288Z,1736370443.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:23.416Z,1736370443.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:23.540Z,1736370443.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:23.792Z,1736370443.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:23.850Z,1736370443.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:24.044Z,1736370444.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:24.231Z,1736370444.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:24.296Z,1736370444.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:24.560Z,1736370444.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:24.648Z,1736370444.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:24.800Z,1736370444.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:25.039Z,1736370445.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:25.060Z,1736370445.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:25.312Z,1736370445.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:25.444Z,1736370445.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:25.564Z,1736370445.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:25.816Z,1736370445.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:25.899Z,1736370445.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:26.068Z,1736370446.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:26.259Z,1736370446.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:26.320Z,1736370446.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:26.572Z,1736370446.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:26.655Z,1736370446.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:26.824Z,1736370446.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:27.060Z,1736370447.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:27.076Z,1736370447.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:27.330Z,1736370447.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:27.579Z,1736370447.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:27.580Z,1736370447.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:27.832Z,1736370447.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:28.052Z,1736370448.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:28.084Z,1736370448.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:28.315Z,1736370448.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:28.336Z,1736370448.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:28.588Z,1736370448.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:28.702Z,1736370448.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:28.840Z,1736370448.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:29.091Z,1736370449.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:29.092Z,1736370449.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:29.344Z,1736370449.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:29.475Z,1736370449.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:29.479Z,1736370449.479 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;run" 4zene 4 4 2025-01-08T21:07:29.560Z,1736370449.560 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;run" 4zene 4 4.000000 2025-01-08T21:07:29.560Z,1736370449.560 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=4zene 2025-01-08T21:07:29.561Z,1736370449.561 [CommandExec](IMPORTANT): Scheduled #24 (#4 of 4 with id='4zene'): "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;run", ASAP 2025-01-08T21:07:29.596Z,1736370449.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:29.741Z,1736370449.741 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl 2025-01-08T21:07:29.742Z,1736370449.742 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl 2025-01-08T21:07:29.742Z,1736370449.742 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl 2025-01-08T21:07:29.745Z,1736370449.745 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl 2025-01-08T21:07:29.848Z,1736370449.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:29.929Z,1736370449.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:30.100Z,1736370450.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:30.295Z,1736370450.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:30.352Z,1736370450.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:30.481Z,1736370450.481 [DataOverHttps](IMPORTANT): SBD MTMSN=20250108T210729 2025-01-08T21:07:30.604Z,1736370450.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:30.699Z,1736370450.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:30.856Z,1736370450.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:31.100Z,1736370451.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:31.108Z,1736370451.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:31.360Z,1736370451.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:31.512Z,1736370451.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:31.612Z,1736370451.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:31.864Z,1736370451.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:31.964Z,1736370451.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:07:31.964Z,1736370451.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:32.116Z,1736370452.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:32.331Z,1736370452.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:07:32.331Z,1736370452.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:32.368Z,1736370452.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:32.620Z,1736370452.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:32.720Z,1736370452.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:07:32.720Z,1736370452.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:32.872Z,1736370452.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:33.124Z,1736370453.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:33.125Z,1736370453.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:07:33.125Z,1736370453.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:33.376Z,1736370453.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:33.578Z,1736370453.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T21:07:33.578Z,1736370453.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:33.629Z,1736370453.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:33.880Z,1736370453.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:34.071Z,1736370454.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s. 2025-01-08T21:07:34.072Z,1736370454.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:34.132Z,1736370454.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:34.384Z,1736370454.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:34.388Z,1736370454.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T21:07:34.389Z,1736370454.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:34.636Z,1736370454.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:34.767Z,1736370454.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:07:34.768Z,1736370454.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:34.888Z,1736370454.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:35.140Z,1736370455.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:35.209Z,1736370455.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T21:07:35.209Z,1736370455.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:35.392Z,1736370455.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:35.588Z,1736370455.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:07:35.588Z,1736370455.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:35.645Z,1736370455.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:35.896Z,1736370455.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:36.016Z,1736370456.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:36.148Z,1736370456.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:36.388Z,1736370456.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:36.400Z,1736370456.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:36.434Z,1736370456.434 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into: 4 240 5 1 5 2 5 5 60 2.5 2 5 1 1 40 5 NaN NaN NaN 5 205 2 20 0.05 NaN NaN NaN 60 -1 1 1 0 0 0 No longer in Terminal. Resuming normal ranging with pings. 5 Entering USBL mode with pings at (mode ). 5 Resuming normal ranging with pings (mode ). 5 Entering Midcourse tracking update period sec at (mode ). 5 0 Entering Terminal tracking update period sec at (mode ). Restarting DHCP... ! /mnt/mmc/LRAUV/Tools/dhcp.sh Restarting logs restart logs Timed out trying to reach the target depth. Stopping mission at current depth of stop 1 -99 Mode 0 Waiting on dock for Retrying incomplete docking attempt 1 Breaking off. Range: . Driving to post-undock waypoint , No post-undock waypoint, drifting for minutes 0 0 0 2025-01-08T21:07:36.484Z,1736370456.484 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h 2025-01-08T21:07:36.486Z,1736370456.486 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 240.000000 min 2025-01-08T21:07:36.492Z,1736370456.492 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 5.000000 min 2025-01-08T21:07:36.494Z,1736370456.494 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count 2025-01-08T21:07:36.517Z,1736370456.517 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min 2025-01-08T21:07:36.519Z,1736370456.519 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool 2025-01-08T21:07:36.533Z,1736370456.533 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool 2025-01-08T21:07:36.535Z,1736370456.535 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool 2025-01-08T21:07:36.553Z,1736370456.553 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 2.000000 count 2025-01-08T21:07:36.563Z,1736370456.563 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 5.000000 min 2025-01-08T21:07:36.566Z,1736370456.566 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 5.000000 min 2025-01-08T21:07:36.592Z,1736370456.592 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count 2025-01-08T21:07:36.594Z,1736370456.594 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s 2025-01-08T21:07:36.636Z,1736370456.636 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.500000 s 2025-01-08T21:07:36.639Z,1736370456.639 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min 2025-01-08T21:07:36.649Z,1736370456.649 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count 2025-01-08T21:07:36.652Z,1736370456.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:36.663Z,1736370456.663 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count 2025-01-08T21:07:36.666Z,1736370456.666 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 1.000000 count 2025-01-08T21:07:36.689Z,1736370456.689 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m 2025-01-08T21:07:36.691Z,1736370456.691 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count 2025-01-08T21:07:36.693Z,1736370456.693 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m 2025-01-08T21:07:36.695Z,1736370456.695 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min 2025-01-08T21:07:36.722Z,1736370456.722 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m 2025-01-08T21:07:36.760Z,1736370456.760 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m 2025-01-08T21:07:36.762Z,1736370456.762 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m 2025-01-08T21:07:36.788Z,1736370456.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:36.827Z,1736370456.827 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km 2025-01-08T21:07:36.829Z,1736370456.829 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min 2025-01-08T21:07:36.843Z,1736370456.843 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s 2025-01-08T21:07:36.861Z,1736370456.861 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg 2025-01-08T21:07:36.875Z,1736370456.875 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg 2025-01-08T21:07:36.885Z,1736370456.885 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m 2025-01-08T21:07:36.886Z,1736370456.886 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool 2025-01-08T21:07:36.889Z,1736370456.889 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m 2025-01-08T21:07:36.900Z,1736370456.900 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s 2025-01-08T21:07:36.904Z,1736370456.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:36.909Z,1736370456.909 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s 2025-01-08T21:07:36.911Z,1736370456.911 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count 2025-01-08T21:07:36.917Z,1736370456.917 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count 2025-01-08T21:07:36.932Z,1736370456.932 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count 2025-01-08T21:07:36.934Z,1736370456.934 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool 2025-01-08T21:07:36.944Z,1736370456.944 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool 2025-01-08T21:07:36.946Z,1736370456.946 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool 2025-01-08T21:07:36.957Z,1736370456.957 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count 2025-01-08T21:07:36.959Z,1736370456.959 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count 2025-01-08T21:07:36.966Z,1736370456.966 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-01-08T21:07:36.967Z,1736370456.967 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-01-08T21:07:36.986Z,1736370456.986 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-01-08T21:07:37.156Z,1736370457.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:37.215Z,1736370457.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:37.408Z,1736370457.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:37.606Z,1736370457.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:37.661Z,1736370457.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:37.912Z,1736370457.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:38.026Z,1736370458.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:38.164Z,1736370458.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:38.409Z,1736370458.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:38.416Z,1736370458.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:38.668Z,1736370458.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:38.822Z,1736370458.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:38.920Z,1736370458.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:39.174Z,1736370459.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:39.268Z,1736370459.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:39.424Z,1736370459.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:39.611Z,1736370459.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:39.677Z,1736370459.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:39.928Z,1736370459.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:40.066Z,1736370460.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:07:40.067Z,1736370460.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:40.180Z,1736370460.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:40.432Z,1736370460.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:40.433Z,1736370460.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:07:40.433Z,1736370460.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:40.684Z,1736370460.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:40.936Z,1736370460.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:40.992Z,1736370460.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T21:07:40.992Z,1736370460.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:41.188Z,1736370461.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:41.432Z,1736370461.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.8 s old, using for 20.0 s. 2025-01-08T21:07:41.432Z,1736370461.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:41.440Z,1736370461.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:41.503Z,1736370461.503 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 5 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN _.planktivore_LM_AvgRois _.planktivore_HM_AvgRois _.planktivore_diatoms _.planktivore_dinoflagellates Triggered. PeakChl values on consecutive yo-yo profiles fall in [ ] (NaN bound is ignored). 2025-01-08T21:07:41.529Z,1736370461.529 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool 2025-01-08T21:07:41.532Z,1736370461.532 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min 2025-01-08T21:07:41.533Z,1736370461.533 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool 2025-01-08T21:07:41.536Z,1736370461.536 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool 2025-01-08T21:07:41.542Z,1736370461.542 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool 2025-01-08T21:07:41.544Z,1736370461.544 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool 2025-01-08T21:07:41.546Z,1736370461.546 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count 2025-01-08T21:07:41.549Z,1736370461.549 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count 2025-01-08T21:07:41.551Z,1736370461.551 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 % 2025-01-08T21:07:41.574Z,1736370461.574 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool 2025-01-08T21:07:41.576Z,1736370461.576 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool 2025-01-08T21:07:41.578Z,1736370461.578 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool 2025-01-08T21:07:41.592Z,1736370461.592 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool 2025-01-08T21:07:41.594Z,1736370461.594 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-01-08T21:07:41.616Z,1736370461.616 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-01-08T21:07:41.618Z,1736370461.618 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-01-08T21:07:41.623Z,1736370461.623 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-01-08T21:07:41.662Z,1736370461.662 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-01-08T21:07:41.693Z,1736370461.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:41.700Z,1736370461.700 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool 2025-01-08T21:07:41.717Z,1736370461.717 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool 2025-01-08T21:07:41.726Z,1736370461.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T21:07:41.726Z,1736370461.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:41.728Z,1736370461.728 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool 2025-01-08T21:07:41.730Z,1736370461.730 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool 2025-01-08T21:07:41.741Z,1736370461.741 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-01-08T21:07:41.751Z,1736370461.751 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 1 bool 2025-01-08T21:07:41.754Z,1736370461.754 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count 2025-01-08T21:07:41.768Z,1736370461.768 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count 2025-01-08T21:07:41.770Z,1736370461.770 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakShallowBound = nan m 2025-01-08T21:07:41.788Z,1736370461.788 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDeepBound = nan m 2025-01-08T21:07:41.790Z,1736370461.790 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-01-08T21:07:41.795Z,1736370461.795 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool 2025-01-08T21:07:41.805Z,1736370461.805 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l 2025-01-08T21:07:41.807Z,1736370461.807 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l 2025-01-08T21:07:41.813Z,1736370461.813 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count 2025-01-08T21:07:41.824Z,1736370461.824 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l 2025-01-08T21:07:41.826Z,1736370461.826 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m 2025-01-08T21:07:41.836Z,1736370461.836 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC 2025-01-08T21:07:41.838Z,1736370461.838 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg 2025-01-08T21:07:41.845Z,1736370461.845 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg 2025-01-08T21:07:41.855Z,1736370461.855 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l 2025-01-08T21:07:41.858Z,1736370461.858 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m 2025-01-08T21:07:41.860Z,1736370461.860 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg 2025-01-08T21:07:41.862Z,1736370461.862 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg 2025-01-08T21:07:41.873Z,1736370461.873 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3 2025-01-08T21:07:41.879Z,1736370461.879 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m 2025-01-08T21:07:41.882Z,1736370461.882 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg 2025-01-08T21:07:41.884Z,1736370461.884 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg 2025-01-08T21:07:41.886Z,1736370461.886 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb 2025-01-08T21:07:41.901Z,1736370461.901 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m 2025-01-08T21:07:41.907Z,1736370461.907 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC 2025-01-08T21:07:41.909Z,1736370461.909 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg 2025-01-08T21:07:41.920Z,1736370461.920 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg 2025-01-08T21:07:41.922Z,1736370461.922 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu 2025-01-08T21:07:41.924Z,1736370461.924 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m 2025-01-08T21:07:41.927Z,1736370461.927 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC 2025-01-08T21:07:41.938Z,1736370461.938 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg 2025-01-08T21:07:41.944Z,1736370461.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:41.954Z,1736370461.954 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg 2025-01-08T21:07:41.956Z,1736370461.956 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-01-08T21:07:41.958Z,1736370461.958 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-01-08T21:07:41.960Z,1736370461.960 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-01-08T21:07:41.962Z,1736370461.962 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-01-08T21:07:41.980Z,1736370461.980 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-01-08T21:07:41.982Z,1736370461.982 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-01-08T21:07:41.985Z,1736370461.985 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-01-08T21:07:41.987Z,1736370461.987 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-01-08T21:07:42.017Z,1736370462.017 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-01-08T21:07:42.019Z,1736370462.019 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-01-08T21:07:42.021Z,1736370462.021 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-01-08T21:07:42.052Z,1736370462.052 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-01-08T21:07:42.054Z,1736370462.054 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-01-08T21:07:42.080Z,1736370462.080 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-01-08T21:07:42.082Z,1736370462.082 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-01-08T21:07:42.122Z,1736370462.122 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-01-08T21:07:42.133Z,1736370462.133 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-01-08T21:07:42.138Z,1736370462.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:42.144Z,1736370462.144 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-01-08T21:07:42.146Z,1736370462.146 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-01-08T21:07:42.153Z,1736370462.153 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-01-08T21:07:42.155Z,1736370462.155 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l 2025-01-08T21:07:42.177Z,1736370462.177 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m 2025-01-08T21:07:42.192Z,1736370462.192 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg 2025-01-08T21:07:42.194Z,1736370462.194 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg 2025-01-08T21:07:42.196Z,1736370462.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:42.209Z,1736370462.209 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m 2025-01-08T21:07:42.211Z,1736370462.211 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu 2025-01-08T21:07:42.217Z,1736370462.217 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m 2025-01-08T21:07:42.224Z,1736370462.224 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg 2025-01-08T21:07:42.226Z,1736370462.226 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg 2025-01-08T21:07:42.233Z,1736370462.233 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m 2025-01-08T21:07:42.235Z,1736370462.235 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu 2025-01-08T21:07:42.241Z,1736370462.241 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m 2025-01-08T21:07:42.248Z,1736370462.248 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg 2025-01-08T21:07:42.250Z,1736370462.250 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg 2025-01-08T21:07:42.257Z,1736370462.257 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m 2025-01-08T21:07:42.259Z,1736370462.259 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool 2025-01-08T21:07:42.273Z,1736370462.273 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l 2025-01-08T21:07:42.321Z,1736370462.321 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-08T21:07:42.362Z,1736370462.362 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-01-08T21:07:42.422Z,1736370462.422 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-08T21:07:42.448Z,1736370462.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:42.475Z,1736370462.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:42.476Z,1736370462.476 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-08T21:07:42.498Z,1736370462.498 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-01-08T21:07:42.519Z,1736370462.519 [DataOverHttps](INFO): Received command: sched "load Engineering/OnDock.tl;set OnDock.DockedTime 1 h;run" 2025-01-08T21:07:42.546Z,1736370462.546 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-08T21:07:42.569Z,1736370462.569 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-08T21:07:42.597Z,1736370462.597 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-01-08T21:07:42.625Z,1736370462.625 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-08T21:07:42.675Z,1736370462.675 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-08T21:07:42.700Z,1736370462.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:42.708Z,1736370462.708 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-08T21:07:42.746Z,1736370462.746 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-08T21:07:42.770Z,1736370462.770 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-01-08T21:07:42.784Z,1736370462.784 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-01-08T21:07:42.784Z,1736370462.784 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-01-08T21:07:42.785Z,1736370462.785 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-01-08T21:07:42.839Z,1736370462.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:42.952Z,1736370462.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:42.953Z,1736370462.953 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2025-01-08T21:07:42.957Z,1736370462.957 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m 2025-01-08T21:07:42.959Z,1736370462.959 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2025-01-08T21:07:42.961Z,1736370462.961 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m 2025-01-08T21:07:42.963Z,1736370462.963 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-01-08T21:07:42.964Z,1736370462.964 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-01-08T21:07:42.970Z,1736370462.970 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-01-08T21:07:42.977Z,1736370462.977 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-01-08T21:07:42.985Z,1736370462.985 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-01-08T21:07:42.985Z,1736370462.985 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-01-08T21:07:42.986Z,1736370462.986 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-01-08T21:07:43.202Z,1736370463.202 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2025-01-08T21:07:43.204Z,1736370463.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:43.244Z,1736370463.244 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h 2025-01-08T21:07:43.246Z,1736370463.246 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min 2025-01-08T21:07:43.248Z,1736370463.248 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-01-08T21:07:43.250Z,1736370463.250 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s 2025-01-08T21:07:43.257Z,1736370463.257 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-01-08T21:07:43.259Z,1736370463.259 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s 2025-01-08T21:07:43.266Z,1736370463.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:43.293Z,1736370463.293 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min 2025-01-08T21:07:43.304Z,1736370463.304 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min 2025-01-08T21:07:43.317Z,1736370463.317 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-01-08T21:07:43.362Z,1736370463.362 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl 2025-01-08T21:07:43.362Z,1736370463.362 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl 2025-01-08T21:07:43.372Z,1736370463.372 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl 2025-01-08T21:07:43.408Z,1736370463.408 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into: 10 5 2025-01-08T21:07:43.412Z,1736370463.412 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min 2025-01-08T21:07:43.414Z,1736370463.414 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min 2025-01-08T21:07:43.432Z,1736370463.432 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval 2025-01-08T21:07:43.435Z,1736370463.435 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl 2025-01-08T21:07:43.435Z,1736370463.435 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl 2025-01-08T21:07:43.438Z,1736370463.438 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl 2025-01-08T21:07:43.456Z,1736370463.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:43.693Z,1736370463.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:43.709Z,1736370463.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:43.960Z,1736370463.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:44.080Z,1736370464.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:07:44.080Z,1736370464.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:44.212Z,1736370464.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:44.457Z,1736370464.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:07:44.457Z,1736370464.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:44.464Z,1736370464.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:44.524Z,1736370464.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:07:44.608Z,1736370464.608 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into: 30 0.0 1 0.01 0.001 2 8 1 NaN NaN NaN 0.0 0 NaN -1 0 1 2 3 1 5 0 0 Timed out while trying to detach from dock at current depth of . Transitioning to midcourse guidance. Navigating to dock waypoint ( , ) Transitioning to terminal guidance at range Terminating homing sequence: timed out while navigating to the dock waypoint. Executing search pattern. Timed out while executing search pattern around dock waypoint. Homing sequence timed out prior to docking. Terminal guidance. Transitioning to midcourse guidance. Received last range of ago. Docked. Homing sequence complete. 3 GuidanceMode 2025-01-08T21:07:44.625Z,1736370464.625 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.903300 arcdeg 2025-01-08T21:07:44.628Z,1736370464.628 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.119000 arcdeg 2025-01-08T21:07:44.630Z,1736370464.630 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min 2025-01-08T21:07:44.633Z,1736370464.633 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m 2025-01-08T21:07:44.635Z,1736370464.635 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s 2025-01-08T21:07:44.638Z,1736370464.638 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h 2025-01-08T21:07:44.640Z,1736370464.640 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m 2025-01-08T21:07:44.643Z,1736370464.643 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min 2025-01-08T21:07:44.645Z,1736370464.645 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a 2025-01-08T21:07:44.648Z,1736370464.648 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min 2025-01-08T21:07:44.650Z,1736370464.650 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m 2025-01-08T21:07:44.652Z,1736370464.652 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m 2025-01-08T21:07:44.654Z,1736370464.654 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool 2025-01-08T21:07:44.656Z,1736370464.656 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m 2025-01-08T21:07:44.658Z,1736370464.658 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg 2025-01-08T21:07:44.661Z,1736370464.661 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m 2025-01-08T21:07:44.663Z,1736370464.663 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m 2025-01-08T21:07:44.665Z,1736370464.665 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m 2025-01-08T21:07:44.708Z,1736370464.708 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m 2025-01-08T21:07:44.711Z,1736370464.711 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min 2025-01-08T21:07:44.716Z,1736370464.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:44.721Z,1736370464.721 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m 2025-01-08T21:07:44.728Z,1736370464.728 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a 2025-01-08T21:07:44.730Z,1736370464.730 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min 2025-01-08T21:07:44.736Z,1736370464.736 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m 2025-01-08T21:07:44.738Z,1736370464.738 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count 2025-01-08T21:07:44.753Z,1736370464.753 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count 2025-01-08T21:07:44.755Z,1736370464.755 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count 2025-01-08T21:07:44.772Z,1736370464.772 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count 2025-01-08T21:07:44.775Z,1736370464.775 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count 2025-01-08T21:07:44.793Z,1736370464.793 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count 2025-01-08T21:07:44.799Z,1736370464.799 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m 2025-01-08T21:07:44.802Z,1736370464.802 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count 2025-01-08T21:07:44.819Z,1736370464.819 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-01-08T21:07:44.819Z,1736370464.819 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-01-08T21:07:44.820Z,1736370464.820 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-01-08T21:07:44.876Z,1736370464.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:07:44.876Z,1736370464.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:44.968Z,1736370464.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:45.005Z,1736370465.005 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2025-01-08T21:07:45.013Z,1736370465.013 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m 2025-01-08T21:07:45.019Z,1736370465.019 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2025-01-08T21:07:45.022Z,1736370465.022 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m 2025-01-08T21:07:45.028Z,1736370465.028 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-01-08T21:07:45.029Z,1736370465.029 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-01-08T21:07:45.035Z,1736370465.035 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-01-08T21:07:45.057Z,1736370465.057 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-01-08T21:07:45.103Z,1736370465.103 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct. 2025-01-08T21:07:45.113Z,1736370465.113 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy. 2025-01-08T21:07:45.119Z,1736370465.119 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct. 2025-01-08T21:07:45.119Z,1736370465.119 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-01-08T21:07:45.137Z,1736370465.137 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct. 2025-01-08T21:07:45.139Z,1736370465.139 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct. 2025-01-08T21:07:45.144Z,1736370465.144 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint. 2025-01-08T21:07:45.169Z,1736370465.169 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct. 2025-01-08T21:07:45.174Z,1736370465.174 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait. 2025-01-08T21:07:45.186Z,1736370465.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct. 2025-01-08T21:07:45.193Z,1736370465.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct. 2025-01-08T21:07:45.199Z,1736370465.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct. 2025-01-08T21:07:45.220Z,1736370465.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:45.224Z,1736370465.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-01-08T21:07:45.224Z,1736370465.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-08T21:07:45.228Z,1736370465.228 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait. 2025-01-08T21:07:45.284Z,1736370465.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:07:45.284Z,1736370465.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:45.396Z,1736370465.396 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute. 2025-01-08T21:07:45.399Z,1736370465.399 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute. 2025-01-08T21:07:45.401Z,1736370465.401 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct. 2025-01-08T21:07:45.404Z,1736370465.404 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct. 2025-01-08T21:07:45.407Z,1736370465.407 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct. 2025-01-08T21:07:45.413Z,1736370465.413 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute. 2025-01-08T21:07:45.436Z,1736370465.436 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl 2025-01-08T21:07:45.436Z,1736370465.436 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl 2025-01-08T21:07:45.437Z,1736370465.437 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl 2025-01-08T21:07:45.479Z,1736370465.479 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:45.547Z,1736370465.547 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into: Reseting nav to dock location at range 2025-01-08T21:07:45.552Z,1736370465.552 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.903300 arcdeg 2025-01-08T21:07:45.554Z,1736370465.554 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.119000 arcdeg 2025-01-08T21:07:45.557Z,1736370465.557 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m 2025-01-08T21:07:45.559Z,1736370465.559 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min 2025-01-08T21:07:45.565Z,1736370465.565 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav. 2025-01-08T21:07:45.570Z,1736370465.570 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct. 2025-01-08T21:07:45.571Z,1736370465.571 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values. 2025-01-08T21:07:45.620Z,1736370465.620 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct. 2025-01-08T21:07:45.620Z,1736370465.620 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values. 2025-01-08T21:07:45.679Z,1736370465.679 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct. 2025-01-08T21:07:45.713Z,1736370465.713 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct. 2025-01-08T21:07:45.720Z,1736370465.720 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint. 2025-01-08T21:07:45.736Z,1736370465.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:45.741Z,1736370465.741 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy. 2025-01-08T21:07:45.748Z,1736370465.748 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct. 2025-01-08T21:07:45.758Z,1736370465.758 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct. 2025-01-08T21:07:45.770Z,1736370465.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:45.767Z,1736370465.767 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct. 2025-01-08T21:07:45.774Z,1736370465.774 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait. 2025-01-08T21:07:45.887Z,1736370465.887 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission lineCaptureHoming { """ Home to transponder while maintaining altitude or depth. Altitude gets priority if non nan. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using USBL tracking data (4) Dock: final approach using fixed heading. """ # Define mission arguments arguments { MissionTimeout = 4 hour """ Maximum length of mission """ NeedCommsTime = 240 minute """ How often to surface for commumications """ MicromodemCommsInterval = 5 minute """ How often to trigger Umodem communications """ Repeat = 1 count """ Number of times the vehicle should try to cycle through the homing sequence. """ WaitOnDockTimeout = 5 minute """ Time duration to wait on the dock after a successful line capture. """ StayOnDock = false """ If true, mission terminates after WaitOnDockTimeout following a successful capture, without executing the undock sequence. """ TrySlide = false """ If true, once docked, try to slide down the docking rod until charging and comms are acheived """ RetryIncompleteDock = false """ If true, restart docking sequence in event of a successful capture but unsuccessful slide """ SlideRetries = 2 count """ If using slide mode, max number of times to try the slide sequence before giving up """ SlideSinkDuration = 5 minute """ Time duration to slide down by sinking during each slide mode iteration """ SlideCloseDuration = 5 minute """ Time duration to close arm to check for power/comms during each slide mode iteration """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ TrackingUpdatePeriodMidcourse = 60 second """ How long to wait between acoustic queries. """ TrackingUpdatePeriodTerminal = 2.5 second """ How long to wait between acoustic queries. """ TrackingUpdatePeriodDocked = 2 minute """ How long to wait between acoustic queries. """ TrackingNumFixesLowPassFilter = 5 count """ Median filter bin size. Filters the contact estimated lat/lon position. Prefer odd number, set to 1 to disable filter. """ NumberOfPings = 1 count """ Number of pings requested each time. """ NumPingsUSBL = 1 count """ Number of pings requested while in USBL mode range. """ RangeUSBL = 40 meter """ USBL mode range. """ TrackingNumFixesLowPassFilterUSBL = 5 count """ Median filter bin size. Filters the contact estimated lat/lon position. Prefer odd number, set to 1 to disable filter. """ DockingAltitude = NaN meter """ Docking altitude. Ignored when NaN and used over depth when a valid altitude is set. """ InvalidAltitudeTimeout = NaN minute """ The mission will use the last good depth command if no valid altitude readings are received within this specified time duration. """ AltitudeDepthLimit = NaN meter """ Vehicle will not be commanded deeper than this regardless of altitude command. """ MinAltitude = 5 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 205 meter """ Maximum depth for the entire mission. """ MinOffshore = 2 kilometer """ Minimum offshore distance for the entire mission. """ ApproachDepthTimeout = 20 minute """ Maximum wait time for the vehicle to reach the target depth on initial dive. """ ApproachDepthRate = 0.05 meter_per_second """ Descent depth rate (positive depth is down). Used only as a smoothing parameter. """ Lat1 = NaN degree """ Latitude of rollout waypoint. If nan, waypoint is skipped. """ Lon1 = NaN degree """ Longitude of rollout waypoint. If nan, waypoint is skipped. """ CaptureRadius = NaN meter """ How close to call the waypiont behavior satisfied. Nan uses default value. """ CorrectForSoundSpeed = false """ Whether or not to apply sound speed correction to acoustic ranges """ # Mission Variables (don't change) MidcourseDepth = Dock:LineCapture.midcourseDepth """ Desired vehicle depth when navigating to dock WP (during midcourse phase). """ MidcourseSpeed = Dock:LineCapture.midcourseSpeed """ Speed during initial dive and waypoint. """ TrackingPeriod = 60 second """ Mission variable (don't change). The mission sets this variable to update the how long to wait between acoustic queries. """ } output { Mode = -1 count """ Mission variable (don't change). The mission sets this variable to reflect the termination status of the LineCapture insert. """ NumPings = 1 count """ Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode. """ LowPassFilterWinSize = 1 count """ Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode. """ LowPassFilterWinOverlap = true """ Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode. """ EndDockingSequence = StayOnDock """ Mission variable (don't change). The mission sets this variable to determine whether or not to restart the docking sequence upon completion of the Docked behavior. """ LastDockSuccessful = false """ Mission variable (don't change). The mission sets this variable based on the last run of the Docked behavior """ DockSuccessfulCount = 0 count """ Mission variable (don't change). The mission sets this variable to track the number of complete docking attempts """ RepeatArg = Repeat """ Mission variable (don't change). Actual number of Lap repetitions """ } # Mission timeout timeout duration=MissionTimeout insert Insert/Science.tl { """ Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface. """ } # Safety nets and surfacing behaviors insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime assign in sequence NeedComms:WaitForPitchUp = 0 minute # Micromodem comms insert id="MicromodemComms" Insert/MicromodemComms.tl { redefineArg CommsInterval = MicromodemCommsInterval } readData { while ( Mode >= 0 count and Sensor:DataOverHttps.connectionStatus == true ) Universal:platform_communications } # Add LineCapture directives. insert Insert/LineCapture.tl assign in sequence LineCapture:MaxDepth = MaxDepth assign in sequence LineCapture:MinOffshore = MinOffshore assign in sequence LineCapture:MinAltitude = MinAltitude assign in sequence LineCapture:DockingAltitude = DockingAltitude assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit # Add track acoustic contact directive. assign in sequence NumPings = NumberOfPings behavior Estimation:TrackAcousticContact id="TrackAC" { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumPings set updatePeriodSetting = TrackingPeriod set numFixesLowPassSetting = LowPassFilterWinSize set lowPassOverlapSetting = LowPassFilterWinOverlap set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed } # Add USBL mode directives. aggregate UpdateNumPings_NotTerminal { run while ( not ( LineCapture:GuidanceMode == LineCapture:Terminal ) and not ( NumPings == NumberOfPings ) ) syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count + "pings." assign in sequence NumPings = NumberOfPings assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } aggregate UpdateNumPings_Terminal { run while ( LineCapture:GuidanceMode == LineCapture:Terminal ) aggregate UpdateNumPingsUSBL { run when ( not ( NumPings == NumPingsUSBL ) and ( ( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout and not ( Dock:LineCapture.guidanceMode == 5 count ) ) ) syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at " + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence NumPings = NumPingsUSBL assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL assign in sequence LowPassFilterWinOverlap = true } aggregate UpdateNumPingsATR { run when ( not ( NumPings == NumberOfPings ) and ( ( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout or Dock:LineCapture.guidanceMode == 5 count ) ) syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings " + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence NumPings = NumberOfPings assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } } aggregate UpdatePingUpdateRate_Midcourse { run when ( not ( TrackingPeriod == TrackingUpdatePeriodMidcourse ) and ( ( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout or Dock:LineCapture.guidanceMode == 5 count ) ) syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } aggregate UpdatePingUpdateRate_Terminal { run when ( not ( TrackingPeriod == TrackingUpdatePeriodTerminal ) and ( ( LineCapture:Range <= LineCapture:TerminalRange ) and not ( Dock:LineCapture.guidanceMode == 5 count ) and not ( LineCapture:GuidanceMode == 0 count ) ) # don't enter fast ping mode during rollout or on dock ) syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } aggregate restartDHCP { run when ( called ) syslog important "Restarting DHCP..." behavior Guidance:Execute { run in sequence set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh" } } # Start mission sequence. call id="StartingMission" refId="NeedComms" syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate InitialDive { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = MidcourseSpeed } behavior Guidance:Mass { run in parallel set position = Control:VerticalControl.massDefault } behavior Guidance:Pitch { run in sequence timeout duration=ApproachDepthTimeout { syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = MidcourseDepth set depthRate = ApproachDepthRate } } # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the # required repetition count (which has just been decremented by the lap attempt). # But that repeat check is evaluated at the beginning of the aggregate, not the end. # In order to be able to retry an incomplete docking attempt on the last lap # we need to make it back up to the top of the Lap aggregate somehow. # Solve this by quietly setting the repeat count to one more than actually desired. # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra # lap, but starting the Lap aggregate will allow us to check the repeat on each run. aggregate RepeatHack { run in sequence break if ( not RetryIncompleteDock ) assign in sequence RepeatArg = Repeat + 1 count } aggregate Lap { run in sequence repeat=RepeatArg break if ( ( StayOnDock and LastDockSuccessful ) or ( RetryIncompleteDock # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count and ( DockSuccessfulCount == Repeat ) ) ) assign in sequence Mode = -99 count # Execute the LineCapture sequence. call refId="LineCapture" assign in sequence Mode = LineCapture:GuidanceMode syslog info "Mode" + Mode~count call refId="restartDHCP" aggregate Docked { run in sequence break if ( Mode < 0 count ) syslog info "Waiting on dock for " + WaitOnDockTimeout~minute # Add SetNav directives. insert Insert/SetNavAcoustic.tl assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked assign in sequence EndDockingSequence = StayOnDock behavior Dock:Docked id="Docked" { run in sequence timeout duration=WaitOnDockTimeout set slideSinkTime = SlideSinkDuration set slideCloseTime = SlideCloseDuration set slideRetries = SlideRetries set slideAllowed = TrySlide outputArg LastDockSuccessful = dockSuccessful } # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock aggregate setCompletion { run in sequence break if ( not RetryIncompleteDock ) assign in sequence EndDockingSequence = ( LastDockSuccessful and StayOnDock ) assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful aggregate setRetry { run in sequence break if ( LastDockSuccessful ) syslog important "Retrying incomplete docking attempt" # This lap failed and doesn't "count", so repeat one additional time assign in sequence RepeatArg = RepeatArg + 1 count } } aggregate Detach { run in sequence break if ( EndDockingSequence ) syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "." behavior Dock:Undock id="Undock" { run in sequence } call refId="restartDHCP" } aggregate Wpt1 { run in sequence break if ( isNaN ( Lat1 ) or isNaN ( Lon1 ) or ( EndDockingSequence ) ) syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree behavior Guidance:Pitch { run in parallel set depth = MidcourseDepth } behavior Guidance:SetSpeed { run in parallel set speed = MidcourseSpeed } behavior Guidance:Waypoint { run in sequence set latitude = Lat1 set longitude = Lon1 set captureRadius = CaptureRadius } } aggregate Drift { """ Drift before next docking attempt """ run in sequence break if ( not isNaN ( Lat1 ) and not isNaN ( Lon1 ) or ( EndDockingSequence ) ) syslog important "No post-undock waypoint, drifting for " + Dock:LineCapture.rolloutTimeout~minute + " minutes" behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch { run in parallel set massPosition = Control:VerticalControl.massDefault set elevatorAngle = 0 degree } behavior Guidance:Point { run in parallel set rudderAngle = 0 degree } behavior Guidance:SetSpeed { run in parallel set speed = 0 meter_per_second } behavior Guidance:Wait { run in sequence set duration = Dock:LineCapture.rolloutTimeout } } } } } 2025-01-08T21:07:45.888Z,1736370465.888 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming 2025-01-08T21:07:45.988Z,1736370465.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:46.072Z,1736370466.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:46.240Z,1736370466.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:46.484Z,1736370466.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:46.492Z,1736370466.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:46.744Z,1736370466.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:46.891Z,1736370466.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:46.996Z,1736370466.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:47.248Z,1736370467.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:47.287Z,1736370467.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:47.504Z,1736370467.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:47.756Z,1736370467.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:47.833Z,1736370467.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:07:47.833Z,1736370467.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:48.008Z,1736370468.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:48.108Z,1736370468.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:07:48.108Z,1736370468.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:48.260Z,1736370468.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:48.512Z,1736370468.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:48.514Z,1736370468.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:07:48.514Z,1736370468.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:48.764Z,1736370468.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:48.928Z,1736370468.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:07:48.928Z,1736370468.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:49.016Z,1736370469.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:49.268Z,1736370469.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:49.312Z,1736370469.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:07:49.312Z,1736370469.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:49.520Z,1736370469.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:49.772Z,1736370469.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:49.835Z,1736370469.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:07:49.836Z,1736370469.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:50.024Z,1736370470.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:50.136Z,1736370470.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:07:50.136Z,1736370470.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:50.276Z,1736370470.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:50.528Z,1736370470.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:50.545Z,1736370470.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T21:07:50.545Z,1736370470.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:50.780Z,1736370470.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:50.929Z,1736370470.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:07:50.929Z,1736370470.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:51.032Z,1736370471.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:51.284Z,1736370471.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:51.344Z,1736370471.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:07:51.344Z,1736370471.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:51.536Z,1736370471.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:51.788Z,1736370471.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:51.821Z,1736370471.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:52.040Z,1736370472.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:52.171Z,1736370472.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:52.292Z,1736370472.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:52.544Z,1736370472.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:52.553Z,1736370472.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:52.796Z,1736370472.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:52.963Z,1736370472.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:53.048Z,1736370473.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:53.300Z,1736370473.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:53.347Z,1736370473.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:53.552Z,1736370473.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:53.797Z,1736370473.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:53.804Z,1736370473.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:54.056Z,1736370474.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:54.308Z,1736370474.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:54.321Z,1736370474.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:54.560Z,1736370474.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:54.585Z,1736370474.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:54.812Z,1736370474.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:55.064Z,1736370475.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:55.098Z,1736370475.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:55.106Z,1736370475.106 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2025-01-08T21:07:55.107Z,1736370475.107 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2025-01-08T21:07:55.107Z,1736370475.107 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-01-08T21:07:55.107Z,1736370475.107 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2025-01-08T21:07:55.316Z,1736370475.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:55.408Z,1736370475.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:55.420Z,1736370475.420 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2025-01-08T21:07:55.420Z,1736370475.420 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2025-01-08T21:07:55.568Z,1736370475.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:55.820Z,1736370475.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:55.829Z,1736370475.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:07:55.829Z,1736370475.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:55.841Z,1736370475.841 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 12.188485 min 2025-01-08T21:07:55.841Z,1736370475.841 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2025-01-08T21:07:55.841Z,1736370475.841 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2025-01-08T21:07:55.842Z,1736370475.842 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2025-01-08T21:07:55.842Z,1736370475.842 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-01-08T21:07:55.842Z,1736370475.842 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3 2025-01-08T21:07:55.842Z,1736370475.842 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3 2025-01-08T21:07:55.842Z,1736370475.842 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-01-08T21:07:55.842Z,1736370475.842 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2025-01-08T21:07:56.072Z,1736370476.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:56.193Z,1736370476.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:07:56.193Z,1736370476.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:56.324Z,1736370476.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:56.576Z,1736370476.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:56.581Z,1736370476.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:07:56.581Z,1736370476.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:56.828Z,1736370476.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:56.989Z,1736370476.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:07:56.989Z,1736370476.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:57.080Z,1736370477.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:57.332Z,1736370477.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:57.400Z,1736370477.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:07:57.400Z,1736370477.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:57.484Z,1736370477.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:07:57.584Z,1736370477.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:57.774Z,1736370477.774 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,210757.00,A,3654.27907,N,12206.69793,W,0.836,334.11,080125,,,A*77 2025-01-08T21:07:57.776Z,1736370477.776 [NAL9602](INFO): GPS fix at 20250108T210757: (36.904651, -122.111632) 2025-01-08T21:07:57.836Z,1736370477.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:57.849Z,1736370477.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:07:57.849Z,1736370477.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:57.850Z,1736370477.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07 2025-01-08T21:07:57.865Z,1736370477.865 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2025-01-08T21:07:57.865Z,1736370477.865 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2025-01-08T21:07:58.088Z,1736370478.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:58.227Z,1736370478.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:07:58.227Z,1736370478.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:58.340Z,1736370478.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:58.592Z,1736370478.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:58.624Z,1736370478.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:07:58.625Z,1736370478.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:58.844Z,1736370478.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:59.009Z,1736370479.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:07:59.009Z,1736370479.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:59.096Z,1736370479.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:59.348Z,1736370479.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:59.423Z,1736370479.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:07:59.424Z,1736370479.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:07:59.600Z,1736370479.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:59.852Z,1736370479.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:07:59.889Z,1736370479.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:00.104Z,1736370480.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:00.243Z,1736370480.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:00.356Z,1736370480.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:00.608Z,1736370480.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:00.637Z,1736370480.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:00.860Z,1736370480.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:01.043Z,1736370481.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:01.112Z,1736370481.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:01.364Z,1736370481.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:01.447Z,1736370481.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:01.616Z,1736370481.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:01.868Z,1736370481.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:01.875Z,1736370481.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:08:01.875Z,1736370481.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:02.120Z,1736370482.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:02.240Z,1736370482.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:08:02.240Z,1736370482.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:02.372Z,1736370482.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:02.624Z,1736370482.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:02.642Z,1736370482.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:08:02.642Z,1736370482.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:02.876Z,1736370482.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:03.063Z,1736370483.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:08:03.064Z,1736370483.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:03.128Z,1736370483.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:03.380Z,1736370483.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:03.458Z,1736370483.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:08:03.458Z,1736370483.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:03.632Z,1736370483.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:03.884Z,1736370483.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:03.899Z,1736370483.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:08:03.907Z,1736370483.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:04.136Z,1736370484.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:04.272Z,1736370484.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:08:04.272Z,1736370484.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:04.388Z,1736370484.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:04.640Z,1736370484.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:04.688Z,1736370484.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:08:04.688Z,1736370484.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:04.892Z,1736370484.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:05.083Z,1736370485.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:08:05.083Z,1736370485.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:05.144Z,1736370485.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:05.396Z,1736370485.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:05.505Z,1736370485.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:08:05.505Z,1736370485.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:05.649Z,1736370485.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:05.900Z,1736370485.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:05.942Z,1736370485.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:08:05.943Z,1736370485.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:06.152Z,1736370486.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:06.284Z,1736370486.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:08:06.284Z,1736370486.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:06.404Z,1736370486.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:06.656Z,1736370486.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:06.670Z,1736370486.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:08:06.670Z,1736370486.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:06.908Z,1736370486.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:07.101Z,1736370487.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:08:07.101Z,1736370487.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:07.160Z,1736370487.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:07.412Z,1736370487.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:07.501Z,1736370487.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:08:07.502Z,1736370487.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:07.665Z,1736370487.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:07.916Z,1736370487.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:08.107Z,1736370488.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:08.168Z,1736370488.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:08.420Z,1736370488.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:08.515Z,1736370488.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:08.672Z,1736370488.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:08.756Z,1736370488.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:08.924Z,1736370488.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:09.154Z,1736370489.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:09.176Z,1736370489.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:09.428Z,1736370489.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:09.540Z,1736370489.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:09.681Z,1736370489.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:09.933Z,1736370489.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:09.977Z,1736370489.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:10.184Z,1736370490.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:10.350Z,1736370490.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:10.436Z,1736370490.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:10.692Z,1736370490.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:10.744Z,1736370490.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:10.940Z,1736370490.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:11.152Z,1736370491.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:11.192Z,1736370491.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:11.444Z,1736370491.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:11.550Z,1736370491.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:11.698Z,1736370491.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:11.864Z,1736370491.864 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250108T193415/Courier0033.lzma 2025-01-08T21:08:11.952Z,1736370491.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:12.055Z,1736370492.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:12.204Z,1736370492.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:12.361Z,1736370492.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:12.456Z,1736370492.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:12.708Z,1736370492.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:12.800Z,1736370492.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:12.865Z,1736370492.865 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Courier0033.lzma.bak 2025-01-08T21:08:12.865Z,1736370492.865 [DataOverHttps](INFO): SBD MOMSN=23886165 2025-01-08T21:08:12.960Z,1736370492.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:13.185Z,1736370493.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:13.212Z,1736370493.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:13.464Z,1736370493.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:13.612Z,1736370493.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:13.716Z,1736370493.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:13.968Z,1736370493.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:14.142Z,1736370494.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:08:14.142Z,1736370494.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:14.220Z,1736370494.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:14.430Z,1736370494.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:08:14.430Z,1736370494.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:14.472Z,1736370494.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:14.724Z,1736370494.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:14.845Z,1736370494.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:08:14.845Z,1736370494.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:14.976Z,1736370494.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:15.228Z,1736370495.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:15.248Z,1736370495.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:08:15.248Z,1736370495.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:15.480Z,1736370495.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:15.720Z,1736370495.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T21:08:15.720Z,1736370495.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:15.732Z,1736370495.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:15.984Z,1736370495.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:16.113Z,1736370496.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:08:16.113Z,1736370496.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:16.236Z,1736370496.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:16.469Z,1736370496.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T21:08:16.469Z,1736370496.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:16.488Z,1736370496.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:16.740Z,1736370496.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:16.902Z,1736370496.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T21:08:16.902Z,1736370496.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:16.992Z,1736370496.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:17.244Z,1736370497.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:17.309Z,1736370497.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T21:08:17.309Z,1736370497.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:17.496Z,1736370497.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:17.748Z,1736370497.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:17.859Z,1736370497.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:17.000Z,1736370498.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:18.131Z,1736370498.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:18.252Z,1736370498.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:18.504Z,1736370498.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:18.511Z,1736370498.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:18.756Z,1736370498.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:18.925Z,1736370498.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:19.008Z,1736370499.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:19.260Z,1736370499.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:19.324Z,1736370499.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:19.373Z,1736370499.373 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 3 hour 2025-01-08T21:08:19.374Z,1736370499.374 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 9 hour 2025-01-08T21:08:19.375Z,1736370499.375 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 8 minute 2025-01-08T21:08:19.392Z,1736370499.392 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool 2025-01-08T21:08:19.446Z,1736370499.446 [CommandExec](IMPORTANT): got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 1 h;run" 2025-01-08T21:08:19.446Z,1736370499.446 [CommandExec](IMPORTANT): Scheduled #25: "load Engineering/OnDock.tl;set OnDock.DockedTime 1 h;run", AFTER MISSION 2025-01-08T21:08:19.512Z,1736370499.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:19.757Z,1736370499.757 [NAL9602](INFO): SBD MO Status=0, MOMSN=46752, MT Status=0, MTMSN=0 2025-01-08T21:08:19.757Z,1736370499.757 [NAL9602](INFO): No messages in MT queue 2025-01-08T21:08:19.764Z,1736370499.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:19.904Z,1736370499.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T21:08:19.904Z,1736370499.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:20.016Z,1736370500.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:20.264Z,1736370500.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:08:20.264Z,1736370500.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:20.268Z,1736370500.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:20.520Z,1736370500.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:20.557Z,1736370500.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:08:20.557Z,1736370500.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:20.772Z,1736370500.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:20.957Z,1736370500.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:08:20.957Z,1736370500.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:21.024Z,1736370501.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:21.276Z,1736370501.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:21.528Z,1736370501.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:21.780Z,1736370501.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:22.032Z,1736370502.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:22.117Z,1736370502.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:08:22.117Z,1736370502.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:22.284Z,1736370502.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:22.536Z,1736370502.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:22.570Z,1736370502.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:08:22.570Z,1736370502.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:22.788Z,1736370502.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:22.952Z,1736370502.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:08:22.952Z,1736370502.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:23.040Z,1736370503.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:23.292Z,1736370503.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:23.306Z,1736370503.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:08:23.307Z,1736370503.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:23.544Z,1736370503.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:23.796Z,1736370503.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:23.926Z,1736370503.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:24.048Z,1736370504.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:24.146Z,1736370504.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:24.308Z,1736370504.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:24.560Z,1736370504.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:24.624Z,1736370504.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:24.812Z,1736370504.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:24.918Z,1736370504.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:25.064Z,1736370505.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:25.316Z,1736370505.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:25.365Z,1736370505.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:25.568Z,1736370505.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:25.820Z,1736370505.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:25.946Z,1736370505.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:26.072Z,1736370506.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:26.205Z,1736370506.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:26.324Z,1736370506.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:26.576Z,1736370506.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:26.685Z,1736370506.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:26.828Z,1736370506.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:26.984Z,1736370506.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:27.080Z,1736370507.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:27.332Z,1736370507.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:27.380Z,1736370507.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:27.584Z,1736370507.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:27.836Z,1736370507.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:27.866Z,1736370507.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:08:27.866Z,1736370507.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:28.088Z,1736370508.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:28.160Z,1736370508.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:08:28.160Z,1736370508.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:28.340Z,1736370508.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:28.568Z,1736370508.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:08:28.568Z,1736370508.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:28.592Z,1736370508.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:28.844Z,1736370508.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:28.956Z,1736370508.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:08:28.956Z,1736370508.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:29.096Z,1736370509.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:29.345Z,1736370509.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:08:29.345Z,1736370509.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:29.348Z,1736370509.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:29.600Z,1736370509.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:29.782Z,1736370509.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:29.852Z,1736370509.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:30.104Z,1736370510.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:30.185Z,1736370510.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:30.356Z,1736370510.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:30.560Z,1736370510.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:30.608Z,1736370510.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:30.860Z,1736370510.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:30.983Z,1736370510.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:31.112Z,1736370511.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:31.364Z,1736370511.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:31.377Z,1736370511.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:31.616Z,1736370511.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:31.827Z,1736370511.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:08:31.827Z,1736370511.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:31.868Z,1736370511.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:32.121Z,1736370512.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:32.224Z,1736370512.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:08:32.224Z,1736370512.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:32.372Z,1736370512.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:32.591Z,1736370512.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:08:32.592Z,1736370512.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:32.624Z,1736370512.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:32.876Z,1736370512.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:33.002Z,1736370513.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:08:33.002Z,1736370513.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:33.128Z,1736370513.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:33.380Z,1736370513.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:33.401Z,1736370513.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:08:33.401Z,1736370513.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:33.632Z,1736370513.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:33.841Z,1736370513.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:33.884Z,1736370513.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:34.136Z,1736370514.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:34.320Z,1736370514.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:34.388Z,1736370514.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:34.608Z,1736370514.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:34.640Z,1736370514.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:34.892Z,1736370514.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:35.144Z,1736370515.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:35.158Z,1736370515.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:35.396Z,1736370515.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:35.436Z,1736370515.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:35.649Z,1736370515.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:35.900Z,1736370515.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:36.052Z,1736370516.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T21:08:36.052Z,1736370516.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:36.152Z,1736370516.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:36.272Z,1736370516.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:08:36.272Z,1736370516.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:36.404Z,1736370516.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:36.635Z,1736370516.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:08:36.635Z,1736370516.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:36.656Z,1736370516.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:36.908Z,1736370516.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:37.041Z,1736370517.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:08:37.041Z,1736370517.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:37.161Z,1736370517.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:37.412Z,1736370517.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:37.418Z,1736370517.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:08:37.418Z,1736370517.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:37.665Z,1736370517.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:37.869Z,1736370517.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:08:37.869Z,1736370517.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:37.916Z,1736370517.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:38.168Z,1736370518.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:38.244Z,1736370518.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:08:38.245Z,1736370518.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:38.420Z,1736370518.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:38.655Z,1736370518.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:08:38.655Z,1736370518.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:38.672Z,1736370518.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:38.924Z,1736370518.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:39.040Z,1736370519.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:08:39.040Z,1736370519.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:39.176Z,1736370519.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:39.428Z,1736370519.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:39.460Z,1736370519.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:08:39.460Z,1736370519.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:39.682Z,1736370519.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:39.905Z,1736370519.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:08:39.905Z,1736370519.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:39.932Z,1736370519.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:40.184Z,1736370520.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:40.260Z,1736370520.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:08:40.260Z,1736370520.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:40.436Z,1736370520.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:40.653Z,1736370520.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:08:40.653Z,1736370520.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:40.688Z,1736370520.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:40.940Z,1736370520.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:41.048Z,1736370521.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:08:41.048Z,1736370521.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:41.192Z,1736370521.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:41.444Z,1736370521.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:41.473Z,1736370521.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T21:08:41.473Z,1736370521.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:41.697Z,1736370521.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:41.896Z,1736370521.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:08:41.896Z,1736370521.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:41.948Z,1736370521.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:42.200Z,1736370522.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:42.273Z,1736370522.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T21:08:42.274Z,1736370522.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:42.452Z,1736370522.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:42.692Z,1736370522.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T21:08:42.692Z,1736370522.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:42.704Z,1736370522.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:42.956Z,1736370522.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:43.095Z,1736370523.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.6 s old, using for 20.0 s. 2025-01-08T21:08:43.095Z,1736370523.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:43.208Z,1736370523.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:43.460Z,1736370523.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:43.488Z,1736370523.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:08:43.488Z,1736370523.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:43.712Z,1736370523.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:43.930Z,1736370523.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:43.964Z,1736370523.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:44.216Z,1736370524.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:44.315Z,1736370524.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:44.468Z,1736370524.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:44.709Z,1736370524.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:44.720Z,1736370524.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:44.972Z,1736370524.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:45.124Z,1736370525.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:45.224Z,1736370525.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:45.476Z,1736370525.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:45.515Z,1736370525.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:45.728Z,1736370525.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:45.980Z,1736370525.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:45.981Z,1736370525.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:08:45.981Z,1736370525.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:46.232Z,1736370526.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:46.324Z,1736370526.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:08:46.324Z,1736370526.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:46.484Z,1736370526.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:46.736Z,1736370526.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:46.743Z,1736370526.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:08:46.743Z,1736370526.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:46.988Z,1736370526.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:47.107Z,1736370527.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:08:47.107Z,1736370527.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:47.240Z,1736370527.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:47.492Z,1736370527.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:47.556Z,1736370527.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:08:47.556Z,1736370527.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:47.744Z,1736370527.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:47.962Z,1736370527.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:47.996Z,1736370527.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:48.253Z,1736370528.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:48.504Z,1736370528.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:48.508Z,1736370528.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:48.756Z,1736370528.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:48.807Z,1736370528.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:49.008Z,1736370529.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:49.260Z,1736370529.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:49.326Z,1736370529.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:49.512Z,1736370529.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:49.621Z,1736370529.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:49.764Z,1736370529.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:50.007Z,1736370530.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:08:50.011Z,1736370530.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:50.016Z,1736370530.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:50.268Z,1736370530.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:50.349Z,1736370530.349 [NAL9602](INFO): Not Powering down - fast GPS 2025-01-08T21:08:50.372Z,1736370530.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:08:50.372Z,1736370530.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:50.520Z,1736370530.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:50.752Z,1736370530.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.1 s old, using for 20.0 s. 2025-01-08T21:08:50.752Z,1736370530.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:50.772Z,1736370530.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:50.908Z,1736370530.908 [DataOverHttps](INFO): Sending 801 bytes from file Logs/20250108T193415/Express0034.lzma 2025-01-08T21:08:51.024Z,1736370531.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:51.165Z,1736370531.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.5 s old, using for 20.0 s. 2025-01-08T21:08:51.165Z,1736370531.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:51.276Z,1736370531.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:51.528Z,1736370531.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:51.576Z,1736370531.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:08:51.576Z,1736370531.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:51.780Z,1736370531.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:51.917Z,1736370531.917 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0034.lzma.bak 2025-01-08T21:08:51.917Z,1736370531.917 [DataOverHttps](INFO): SBD MOMSN=23886169 2025-01-08T21:08:52.005Z,1736370532.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:08:52.005Z,1736370532.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:52.032Z,1736370532.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:52.284Z,1736370532.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:52.378Z,1736370532.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:08:52.378Z,1736370532.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:52.536Z,1736370532.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:52.781Z,1736370532.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:08:52.781Z,1736370532.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:52.788Z,1736370532.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:53.040Z,1736370533.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:53.195Z,1736370533.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:08:53.196Z,1736370533.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:53.292Z,1736370533.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:53.544Z,1736370533.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:53.591Z,1736370533.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:08:53.591Z,1736370533.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:53.796Z,1736370533.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:54.043Z,1736370534.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T21:08:54.048Z,1736370534.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:54.051Z,1736370534.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:54.300Z,1736370534.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:54.404Z,1736370534.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:08:54.404Z,1736370534.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:54.552Z,1736370534.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:54.808Z,1736370534.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:54.819Z,1736370534.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:08:54.820Z,1736370534.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:55.060Z,1736370535.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:55.227Z,1736370535.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:08:55.227Z,1736370535.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:55.312Z,1736370535.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:55.564Z,1736370535.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:55.626Z,1736370535.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T21:08:55.626Z,1736370535.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:55.816Z,1736370535.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:56.040Z,1736370536.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.4 s old, using for 20.0 s. 2025-01-08T21:08:56.040Z,1736370536.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:56.068Z,1736370536.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:56.320Z,1736370536.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:56.433Z,1736370536.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T21:08:56.433Z,1736370536.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:56.572Z,1736370536.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:56.824Z,1736370536.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:56.827Z,1736370536.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T21:08:56.828Z,1736370536.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:57.076Z,1736370537.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:57.232Z,1736370537.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.6 s old, using for 20.0 s. 2025-01-08T21:08:57.232Z,1736370537.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:57.330Z,1736370537.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:57.580Z,1736370537.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:57.634Z,1736370537.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.0 s old, using for 20.0 s. 2025-01-08T21:08:57.634Z,1736370537.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:57.832Z,1736370537.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:58.066Z,1736370538.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.4 s old, using for 20.0 s. 2025-01-08T21:08:58.067Z,1736370538.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:58.088Z,1736370538.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:58.340Z,1736370538.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:58.437Z,1736370538.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.8 s old, using for 20.0 s. 2025-01-08T21:08:58.437Z,1736370538.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:58.592Z,1736370538.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:58.844Z,1736370538.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:58.853Z,1736370538.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.2 s old, using for 20.0 s. 2025-01-08T21:08:58.853Z,1736370538.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:58.865Z,1736370538.865 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2025-01-08T21:08:58.865Z,1736370538.865 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2025-01-08T21:08:58.866Z,1736370538.866 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-01-08T21:08:59.096Z,1736370539.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:59.171Z,1736370539.171 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool 2025-01-08T21:08:59.172Z,1736370539.172 [CommandExec](IMPORTANT): got command set lineCaptureHoming.RetryIncompleteDock 1 bool 2025-01-08T21:08:59.173Z,1736370539.173 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 4 count 2025-01-08T21:08:59.173Z,1736370539.173 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideSinkDuration 1.5 minute 2025-01-08T21:08:59.174Z,1736370539.174 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 1.5 minute 2025-01-08T21:08:59.276Z,1736370539.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:08:59.277Z,1736370539.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:59.348Z,1736370539.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:59.600Z,1736370539.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:08:59.717Z,1736370539.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T21:08:59.717Z,1736370539.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:08:59.852Z,1736370539.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:00.104Z,1736370540.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:00.132Z,1736370540.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s. 2025-01-08T21:09:00.132Z,1736370540.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:00.356Z,1736370540.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:00.472Z,1736370540.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.8 s old, using for 20.0 s. 2025-01-08T21:09:00.472Z,1736370540.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:00.608Z,1736370540.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:00.860Z,1736370540.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:00.896Z,1736370540.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s. 2025-01-08T21:09:00.896Z,1736370540.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:01.112Z,1736370541.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:01.288Z,1736370541.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s. 2025-01-08T21:09:01.288Z,1736370541.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:01.364Z,1736370541.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:01.616Z,1736370541.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:01.800Z,1736370541.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:01.868Z,1736370541.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:02.120Z,1736370542.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:02.286Z,1736370542.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:02.372Z,1736370542.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:02.532Z,1736370542.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:02.624Z,1736370542.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:02.876Z,1736370542.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:03.062Z,1736370543.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:03.129Z,1736370543.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:03.332Z,1736370543.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:03.380Z,1736370543.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:03.632Z,1736370543.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:03.834Z,1736370543.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:09:03.834Z,1736370543.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:03.884Z,1736370543.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:04.113Z,1736370544.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:09:04.113Z,1736370544.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:04.136Z,1736370544.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:04.388Z,1736370544.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:04.511Z,1736370544.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:09:04.512Z,1736370544.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:04.640Z,1736370544.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:04.892Z,1736370544.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:04.922Z,1736370544.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:09:04.922Z,1736370544.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:05.144Z,1736370545.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:05.292Z,1736370545.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:09:05.292Z,1736370545.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:05.396Z,1736370545.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:05.649Z,1736370545.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:05.824Z,1736370545.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:09:05.824Z,1736370545.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:05.900Z,1736370545.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:06.126Z,1736370546.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:09:06.126Z,1736370546.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:06.152Z,1736370546.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:06.404Z,1736370546.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:06.513Z,1736370546.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:09:06.513Z,1736370546.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:06.656Z,1736370546.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:06.908Z,1736370546.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:06.910Z,1736370546.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:09:06.910Z,1736370546.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:07.160Z,1736370547.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:07.388Z,1736370547.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:09:07.388Z,1736370547.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:07.412Z,1736370547.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:07.666Z,1736370547.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:07.856Z,1736370547.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:09:07.856Z,1736370547.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:07.916Z,1736370547.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:08.145Z,1736370548.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:09:08.146Z,1736370548.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:08.168Z,1736370548.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:08.420Z,1736370548.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:08.537Z,1736370548.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:09:08.537Z,1736370548.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:08.672Z,1736370548.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:08.924Z,1736370548.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:08.953Z,1736370548.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:09:08.953Z,1736370548.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:09.176Z,1736370549.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:09.351Z,1736370549.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T21:09:09.351Z,1736370549.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:09.428Z,1736370549.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:09.681Z,1736370549.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:09.770Z,1736370549.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.4 s old, using for 20.0 s. 2025-01-08T21:09:09.770Z,1736370549.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:09.932Z,1736370549.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:10.184Z,1736370550.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:10.196Z,1736370550.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:09:10.196Z,1736370550.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:10.436Z,1736370550.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:10.591Z,1736370550.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:09:10.591Z,1736370550.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:10.688Z,1736370550.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:10.940Z,1736370550.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:10.986Z,1736370550.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:09:10.986Z,1736370550.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:11.192Z,1736370551.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:11.365Z,1736370551.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.0 s old, using for 20.0 s. 2025-01-08T21:09:11.365Z,1736370551.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:11.444Z,1736370551.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:11.699Z,1736370551.699 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:11.816Z,1736370551.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:09:11.817Z,1736370551.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:11.948Z,1736370551.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:12.185Z,1736370552.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.8 s old, using for 20.0 s. 2025-01-08T21:09:12.186Z,1736370552.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:12.200Z,1736370552.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:12.452Z,1736370552.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:12.591Z,1736370552.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.2 s old, using for 20.0 s. 2025-01-08T21:09:12.592Z,1736370552.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:12.704Z,1736370552.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:12.956Z,1736370552.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:12.980Z,1736370552.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.6 s old, using for 20.0 s. 2025-01-08T21:09:12.980Z,1736370552.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:13.208Z,1736370553.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:13.393Z,1736370553.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T21:09:13.393Z,1736370553.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:13.460Z,1736370553.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:13.712Z,1736370553.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:13.811Z,1736370553.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:13.964Z,1736370553.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:14.201Z,1736370554.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:14.216Z,1736370554.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:14.468Z,1736370554.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:14.595Z,1736370554.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:14.720Z,1736370554.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:14.972Z,1736370554.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:15.011Z,1736370555.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:15.224Z,1736370555.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:15.476Z,1736370555.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:15.517Z,1736370555.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:15.728Z,1736370555.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:15.874Z,1736370555.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:09:15.874Z,1736370555.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:15.980Z,1736370555.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:16.232Z,1736370556.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:16.338Z,1736370556.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:09:16.338Z,1736370556.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:16.484Z,1736370556.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:16.630Z,1736370556.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.1 s old, using for 20.0 s. 2025-01-08T21:09:16.630Z,1736370556.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:16.736Z,1736370556.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:16.988Z,1736370556.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:17.040Z,1736370557.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.5 s old, using for 20.0 s. 2025-01-08T21:09:17.040Z,1736370557.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:17.240Z,1736370557.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:17.455Z,1736370557.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.9 s old, using for 20.0 s. 2025-01-08T21:09:17.455Z,1736370557.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:17.492Z,1736370557.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:17.744Z,1736370557.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:17.876Z,1736370557.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:09:17.876Z,1736370557.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:17.996Z,1736370557.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:18.229Z,1736370558.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.7 s old, using for 20.0 s. 2025-01-08T21:09:18.229Z,1736370558.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:18.250Z,1736370558.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:18.500Z,1736370558.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:18.640Z,1736370558.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.1 s old, using for 20.0 s. 2025-01-08T21:09:18.641Z,1736370558.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:18.752Z,1736370558.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:19.004Z,1736370559.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:19.058Z,1736370559.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.5 s old, using for 20.0 s. 2025-01-08T21:09:19.058Z,1736370559.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:19.256Z,1736370559.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:19.451Z,1736370559.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.9 s old, using for 20.0 s. 2025-01-08T21:09:19.452Z,1736370559.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:19.508Z,1736370559.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:19.760Z,1736370559.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:19.889Z,1736370559.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:20.012Z,1736370560.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:20.259Z,1736370560.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:20.264Z,1736370560.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:20.516Z,1736370560.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:20.676Z,1736370560.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:20.768Z,1736370560.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:21.020Z,1736370561.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:21.080Z,1736370561.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:21.272Z,1736370561.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:21.480Z,1736370561.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:21.524Z,1736370561.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:21.776Z,1736370561.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:21.957Z,1736370561.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:09:21.957Z,1736370561.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:22.028Z,1736370562.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:22.280Z,1736370562.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:22.284Z,1736370562.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:09:22.284Z,1736370562.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:22.532Z,1736370562.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:22.683Z,1736370562.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:09:22.684Z,1736370562.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:22.784Z,1736370562.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:23.036Z,1736370563.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:23.109Z,1736370563.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:09:23.109Z,1736370563.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:23.288Z,1736370563.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:23.505Z,1736370563.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:09:23.505Z,1736370563.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:23.540Z,1736370563.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:23.792Z,1736370563.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:23.960Z,1736370563.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:09:23.960Z,1736370563.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:24.044Z,1736370564.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:24.296Z,1736370564.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:24.311Z,1736370564.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:09:24.312Z,1736370564.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:24.548Z,1736370564.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:24.715Z,1736370564.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:09:24.716Z,1736370564.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:24.800Z,1736370564.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:25.052Z,1736370565.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:25.107Z,1736370565.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:09:25.108Z,1736370565.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:25.304Z,1736370565.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:25.509Z,1736370565.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:09:25.509Z,1736370565.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:25.556Z,1736370565.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:25.808Z,1736370565.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:25.985Z,1736370565.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:26.060Z,1736370566.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:26.312Z,1736370566.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:26.325Z,1736370566.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:26.564Z,1736370566.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:26.723Z,1736370566.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:26.816Z,1736370566.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:27.068Z,1736370567.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:27.143Z,1736370567.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:27.320Z,1736370567.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:27.555Z,1736370567.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:27.572Z,1736370567.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:27.824Z,1736370567.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:27.958Z,1736370567.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:09:27.959Z,1736370567.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:28.076Z,1736370568.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:28.338Z,1736370568.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:28.340Z,1736370568.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:09:28.340Z,1736370568.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:28.592Z,1736370568.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:28.735Z,1736370568.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:09:28.735Z,1736370568.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:28.844Z,1736370568.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:28.867Z,1736370568.867 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 second 2025-01-08T21:09:28.868Z,1736370568.868 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NumPingsUSBL 120 count 2025-01-08T21:09:28.869Z,1736370568.869 [CommandExec](IMPORTANT): got command set lineCaptureHoming.RangeUSBL 40 meter 2025-01-08T21:09:28.869Z,1736370568.869 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.05 meter 2025-01-08T21:09:29.096Z,1736370569.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:29.242Z,1736370569.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T21:09:29.243Z,1736370569.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:29.348Z,1736370569.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:29.600Z,1736370569.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:29.781Z,1736370569.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.2 s old, using for 20.0 s. 2025-01-08T21:09:29.781Z,1736370569.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:29.852Z,1736370569.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:29.987Z,1736370569.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:09:29.987Z,1736370569.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:30.104Z,1736370570.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:30.360Z,1736370570.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:30.389Z,1736370570.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:09:30.389Z,1736370570.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:30.612Z,1736370570.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:30.672Z,1736370570.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:09:30.768Z,1736370570.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:09:30.769Z,1736370570.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:30.864Z,1736370570.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:31.116Z,1736370571.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:31.176Z,1736370571.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:09:31.176Z,1736370571.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:31.368Z,1736370571.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:31.573Z,1736370571.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:09:31.574Z,1736370571.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:31.620Z,1736370571.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:31.872Z,1736370571.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:32.003Z,1736370572.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T21:09:32.003Z,1736370572.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:32.124Z,1736370572.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:32.372Z,1736370572.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:09:32.372Z,1736370572.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:32.376Z,1736370572.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:32.629Z,1736370572.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:32.793Z,1736370572.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:09:32.793Z,1736370572.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:32.880Z,1736370572.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:33.132Z,1736370573.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:33.193Z,1736370573.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:09:33.193Z,1736370573.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:33.384Z,1736370573.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:33.595Z,1736370573.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T21:09:33.596Z,1736370573.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:33.636Z,1736370573.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:33.888Z,1736370573.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:34.087Z,1736370574.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:34.140Z,1736370574.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:34.392Z,1736370574.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:34.397Z,1736370574.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:34.644Z,1736370574.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:34.812Z,1736370574.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:34.896Z,1736370574.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:35.148Z,1736370575.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:35.222Z,1736370575.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:35.400Z,1736370575.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:35.603Z,1736370575.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:35.653Z,1736370575.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:35.904Z,1736370575.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:36.054Z,1736370576.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:09:36.055Z,1736370576.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:36.156Z,1736370576.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:36.410Z,1736370576.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:36.435Z,1736370576.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:09:36.435Z,1736370576.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:36.660Z,1736370576.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:36.844Z,1736370576.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:09:36.844Z,1736370576.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:36.914Z,1736370576.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:37.174Z,1736370577.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:37.299Z,1736370577.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T21:09:37.299Z,1736370577.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:37.428Z,1736370577.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:37.681Z,1736370577.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:37.721Z,1736370577.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T21:09:37.721Z,1736370577.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:37.932Z,1736370577.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:38.087Z,1736370578.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:38.184Z,1736370578.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:38.436Z,1736370578.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:38.455Z,1736370578.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:38.688Z,1736370578.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:38.839Z,1736370578.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:38.940Z,1736370578.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:39.192Z,1736370579.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:39.244Z,1736370579.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:39.444Z,1736370579.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:39.697Z,1736370579.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:39.715Z,1736370579.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:39.948Z,1736370579.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:40.162Z,1736370580.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:09:40.162Z,1736370580.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:40.200Z,1736370580.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:40.452Z,1736370580.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:40.487Z,1736370580.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:09:40.487Z,1736370580.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:40.704Z,1736370580.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:40.901Z,1736370580.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:09:40.903Z,1736370580.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:40.956Z,1736370580.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:41.208Z,1736370581.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:41.261Z,1736370581.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.5 s old, using for 20.0 s. 2025-01-08T21:09:41.261Z,1736370581.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:41.460Z,1736370581.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:41.712Z,1736370581.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:41.741Z,1736370581.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:09:41.741Z,1736370581.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:41.964Z,1736370581.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:42.217Z,1736370582.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:42.431Z,1736370582.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.7 s old, using for 20.0 s. 2025-01-08T21:09:42.432Z,1736370582.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:42.468Z,1736370582.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:42.662Z,1736370582.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T21:09:42.662Z,1736370582.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:42.720Z,1736370582.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:42.972Z,1736370582.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:43.057Z,1736370583.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T21:09:43.057Z,1736370583.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:43.224Z,1736370583.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:43.379Z,1736370583.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T21:09:43.380Z,1736370583.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:43.476Z,1736370583.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:43.728Z,1736370583.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:43.825Z,1736370583.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:09:43.825Z,1736370583.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:43.980Z,1736370583.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:44.052Z,1736370584.052 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:09:44.144Z,1736370584.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T21:09:44.144Z,1736370584.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:44.232Z,1736370584.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:44.484Z,1736370584.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:44.565Z,1736370584.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s. 2025-01-08T21:09:44.565Z,1736370584.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:44.736Z,1736370584.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:44.946Z,1736370584.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:09:44.946Z,1736370584.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:44.988Z,1736370584.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:45.240Z,1736370585.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:45.350Z,1736370585.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:09:45.350Z,1736370585.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:45.492Z,1736370585.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:45.744Z,1736370585.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:45.808Z,1736370585.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:09:45.808Z,1736370585.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:45.996Z,1736370585.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:46.175Z,1736370586.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:09:46.175Z,1736370586.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:46.248Z,1736370586.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:46.500Z,1736370586.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:46.576Z,1736370586.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:09:46.576Z,1736370586.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:46.752Z,1736370586.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:46.971Z,1736370586.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T21:09:46.972Z,1736370586.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:47.004Z,1736370587.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:47.256Z,1736370587.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:47.376Z,1736370587.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:09:47.376Z,1736370587.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:47.508Z,1736370587.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:47.760Z,1736370587.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:47.831Z,1736370587.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:09:47.831Z,1736370587.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:48.012Z,1736370588.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:48.196Z,1736370588.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:09:48.196Z,1736370588.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:48.264Z,1736370588.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:48.516Z,1736370588.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:48.611Z,1736370588.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:09:48.612Z,1736370588.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:48.768Z,1736370588.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:48.997Z,1736370588.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:09:48.997Z,1736370588.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:49.020Z,1736370589.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:49.272Z,1736370589.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:49.399Z,1736370589.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:09:49.400Z,1736370589.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:49.524Z,1736370589.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:49.776Z,1736370589.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:49.836Z,1736370589.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:50.028Z,1736370590.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:50.195Z,1736370590.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:50.280Z,1736370590.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:50.532Z,1736370590.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:50.636Z,1736370590.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:50.784Z,1736370590.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:51.036Z,1736370591.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:51.056Z,1736370591.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:51.288Z,1736370591.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:51.429Z,1736370591.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:51.540Z,1736370591.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:51.792Z,1736370591.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:51.856Z,1736370591.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:52.044Z,1736370592.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:52.258Z,1736370592.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:52.300Z,1736370592.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:52.552Z,1736370592.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:52.647Z,1736370592.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:52.804Z,1736370592.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:53.049Z,1736370593.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:53.056Z,1736370593.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:53.308Z,1736370593.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:53.427Z,1736370593.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:53.560Z,1736370593.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:53.812Z,1736370593.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:53.892Z,1736370593.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:09:53.892Z,1736370593.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:54.064Z,1736370594.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:54.237Z,1736370594.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:09:54.237Z,1736370594.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:54.316Z,1736370594.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:54.568Z,1736370594.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:54.645Z,1736370594.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:09:54.646Z,1736370594.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:54.820Z,1736370594.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:55.040Z,1736370595.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:09:55.040Z,1736370595.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:55.072Z,1736370595.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:55.324Z,1736370595.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:55.448Z,1736370595.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:09:55.448Z,1736370595.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:55.573Z,1736370595.573 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute 2025-01-08T21:09:55.573Z,1736370595.573 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 70 meter 2025-01-08T21:09:55.574Z,1736370595.574 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MinAltitude 4 meter 2025-01-08T21:09:55.575Z,1736370595.575 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 72 meter 2025-01-08T21:09:55.576Z,1736370595.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:55.577Z,1736370595.577 [CommandExec](IMPORTANT): got command run 2025-01-08T21:09:55.579Z,1736370595.579 [CommandExec](IMPORTANT): Running 2025-01-08T21:09:55.828Z,1736370595.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:55.924Z,1736370595.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:09:55.925Z,1736370595.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:55.929Z,1736370595.929 [DefaultWithUndock] Stopped 2025-01-08T21:09:55.929Z,1736370595.929 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-01-08T21:09:55.929Z,1736370595.929 [DefaultWithUndock:SurfaceDefault] Stopped 2025-01-08T21:09:55.929Z,1736370595.929 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault 2025-01-08T21:09:55.929Z,1736370595.929 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped 2025-01-08T21:09:55.929Z,1736370595.929 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-01-08T21:09:55.929Z,1736370595.929 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2025-01-08T21:09:55.929Z,1736370595.929 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-01-08T21:09:55.930Z,1736370595.930 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2025-01-08T21:09:55.930Z,1736370595.930 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-01-08T21:09:55.930Z,1736370595.930 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2025-01-08T21:09:55.930Z,1736370595.930 [lineCaptureHoming] Running Loop=1 2025-01-08T21:09:55.930Z,1736370595.930 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming 2025-01-08T21:09:55.930Z,1736370595.930 [lineCaptureHoming:Science] Running Loop=1 2025-01-08T21:09:55.930Z,1736370595.930 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science 2025-01-08T21:09:55.930Z,1736370595.930 [lineCaptureHoming:Science:A] Running Loop=1 2025-01-08T21:09:55.930Z,1736370595.930 [lineCaptureHoming:Science:B] Running Loop=1 2025-01-08T21:09:55.930Z,1736370595.930 [lineCaptureHoming:Science:C] Running Loop=1 2025-01-08T21:09:55.931Z,1736370595.931 [lineCaptureHoming:Science:D] Running Loop=1 2025-01-08T21:09:55.931Z,1736370595.931 [lineCaptureHoming:Science:E] Running Loop=1 2025-01-08T21:09:55.931Z,1736370595.931 [lineCaptureHoming:Science:F] Running Loop=1 2025-01-08T21:09:55.931Z,1736370595.931 [lineCaptureHoming:Science:Read_Oil] Running Loop=1 2025-01-08T21:09:55.931Z,1736370595.931 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1 2025-01-08T21:09:55.931Z,1736370595.931 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl 2025-01-08T21:09:55.931Z,1736370595.931 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1 2025-01-08T21:09:55.931Z,1736370595.931 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-08T21:09:55.932Z,1736370595.932 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1 2025-01-08T21:09:55.933Z,1736370595.933 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport 2025-01-08T21:09:55.933Z,1736370595.933 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-01-08T21:09:55.933Z,1736370595.933 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-01-08T21:09:55.934Z,1736370595.934 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1 2025-01-08T21:09:55.934Z,1736370595.934 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3 2025-01-08T21:09:55.934Z,1736370595.934 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1 2025-01-08T21:09:55.934Z,1736370595.934 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-08T21:09:55.936Z,1736370595.936 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1 2025-01-08T21:09:55.936Z,1736370595.936 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil 2025-01-08T21:09:55.936Z,1736370595.936 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1 2025-01-08T21:09:55.936Z,1736370595.936 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-08T21:09:55.937Z,1736370595.937 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1 2025-01-08T21:09:55.937Z,1736370595.937 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport 2025-01-08T21:09:55.938Z,1736370595.938 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-01-08T21:09:55.938Z,1736370595.938 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-01-08T21:09:55.938Z,1736370595.938 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1 2025-01-08T21:09:55.938Z,1736370595.938 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM 2025-01-08T21:09:55.938Z,1736370595.938 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1 2025-01-08T21:09:55.938Z,1736370595.938 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-08T21:09:55.940Z,1736370595.940 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1 2025-01-08T21:09:55.940Z,1736370595.940 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity 2025-01-08T21:09:55.940Z,1736370595.940 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1 2025-01-08T21:09:55.940Z,1736370595.940 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-08T21:09:55.941Z,1736370595.941 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1 2025-01-08T21:09:55.941Z,1736370595.941 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport 2025-01-08T21:09:55.941Z,1736370595.941 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-01-08T21:09:55.941Z,1736370595.941 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-01-08T21:09:55.942Z,1736370595.942 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1 2025-01-08T21:09:55.942Z,1736370595.942 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI 2025-01-08T21:09:55.942Z,1736370595.942 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1 2025-01-08T21:09:55.942Z,1736370595.942 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-08T21:09:55.942Z,1736370595.942 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence. 2025-01-08T21:09:55.959Z,1736370595.959 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1 2025-01-08T21:09:55.960Z,1736370595.960 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI 2025-01-08T21:09:55.960Z,1736370595.960 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1 2025-01-08T21:09:55.960Z,1736370595.960 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-08T21:09:55.960Z,1736370595.960 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence. 2025-01-08T21:09:55.961Z,1736370595.961 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1 2025-01-08T21:09:55.961Z,1736370595.961 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms 2025-01-08T21:09:55.961Z,1736370595.961 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1 2025-01-08T21:09:55.961Z,1736370595.961 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-08T21:09:55.962Z,1736370595.962 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence. 2025-01-08T21:09:55.962Z,1736370595.962 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1 2025-01-08T21:09:55.962Z,1736370595.962 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates 2025-01-08T21:09:55.963Z,1736370595.963 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1 2025-01-08T21:09:55.963Z,1736370595.963 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-08T21:09:55.966Z,1736370595.966 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence. 2025-01-08T21:09:55.966Z,1736370595.966 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1 2025-01-08T21:09:55.967Z,1736370595.967 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger 2025-01-08T21:09:55.967Z,1736370595.967 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2025-01-08T21:09:55.967Z,1736370595.967 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2025-01-08T21:09:55.975Z,1736370595.975 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1 2025-01-08T21:09:55.976Z,1736370595.976 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent 2025-01-08T21:09:55.976Z,1736370595.976 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1 2025-01-08T21:09:55.976Z,1736370595.976 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2025-01-08T21:09:55.976Z,1736370595.976 [lineCaptureHoming:StandardEnvelopes] Running Loop=1 2025-01-08T21:09:55.976Z,1736370595.976 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes 2025-01-08T21:09:55.976Z,1736370595.976 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-01-08T21:09:55.976Z,1736370595.976 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-01-08T21:09:55.976Z,1736370595.976 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-01-08T21:09:55.976Z,1736370595.976 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-01-08T21:09:55.976Z,1736370595.976 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-01-08T21:09:55.977Z,1736370595.977 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-01-08T21:09:55.977Z,1736370595.977 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T21:09:55.977Z,1736370595.977 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T21:09:55.977Z,1736370595.977 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T21:09:55.977Z,1736370595.977 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:09:55.977Z,1736370595.977 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T21:09:55.977Z,1736370595.977 [lineCaptureHoming:J] Running Loop=1 2025-01-08T21:09:55.977Z,1736370595.977 [lineCaptureHoming:TrackAC.] Running Loop=1 2025-01-08T21:09:55.977Z,1736370595.977 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact. 2025-01-08T21:09:55.977Z,1736370595.977 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-01-08T21:09:55.978Z,1736370595.978 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-01-08T21:09:55.978Z,1736370595.978 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1 2025-01-08T21:09:55.978Z,1736370595.978 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-01-08T21:09:55.978Z,1736370595.978 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T21:09:55.978Z,1736370595.978 [lineCaptureHoming:C] Running Loop=1 2025-01-08T21:09:55.984Z,1736370595.984 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-01-08T21:09:55.984Z,1736370595.984 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T21:09:55.984Z,1736370595.984 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped 2025-01-08T21:09:55.984Z,1736370595.984 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-01-08T21:09:55.984Z,1736370595.984 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped 2025-01-08T21:09:55.984Z,1736370595.984 [lineCaptureHoming:TrackAC.] Running Loop=1 2025-01-08T21:09:55.985Z,1736370595.985 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed 2025-01-08T21:09:55.985Z,1736370595.985 [lineCaptureHoming:J] Stopped 2025-01-08T21:09:55.985Z,1736370595.985 [lineCaptureHoming:MicromodemComms] Stopped 2025-01-08T21:09:55.985Z,1736370595.985 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-01-08T21:09:55.985Z,1736370595.985 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T21:09:55.986Z,1736370595.986 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:09:55.986Z,1736370595.986 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T21:09:55.986Z,1736370595.986 [lineCaptureHoming:C] Stopped 2025-01-08T21:09:55.986Z,1736370595.986 [lineCaptureHoming:D] Running Loop=1 2025-01-08T21:09:55.986Z,1736370595.986 [lineCaptureHoming:StandardEnvelopes] Running Loop=1 2025-01-08T21:09:55.986Z,1736370595.986 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-01-08T21:09:55.986Z,1736370595.986 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-01-08T21:09:55.987Z,1736370595.987 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-01-08T21:09:55.991Z,1736370595.991 [lineCaptureHoming:Science] Running Loop=1 2025-01-08T21:09:55.993Z,1736370595.993 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped 2025-01-08T21:09:55.993Z,1736370595.993 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger 2025-01-08T21:09:55.993Z,1736370595.993 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2025-01-08T21:09:55.993Z,1736370595.993 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2025-01-08T21:09:55.993Z,1736370595.993 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped 2025-01-08T21:09:55.993Z,1736370595.993 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates 2025-01-08T21:09:55.993Z,1736370595.993 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped 2025-01-08T21:09:55.993Z,1736370595.993 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-08T21:09:55.993Z,1736370595.993 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped 2025-01-08T21:09:55.993Z,1736370595.993 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms 2025-01-08T21:09:55.993Z,1736370595.993 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped 2025-01-08T21:09:55.993Z,1736370595.993 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-01-08T21:09:55.994Z,1736370595.994 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped 2025-01-08T21:09:55.995Z,1736370595.995 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity 2025-01-08T21:09:55.995Z,1736370595.995 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped 2025-01-08T21:09:55.995Z,1736370595.995 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-08T21:09:55.995Z,1736370595.995 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped 2025-01-08T21:09:55.995Z,1736370595.995 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM 2025-01-08T21:09:55.000Z,1736370596.000 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped 2025-01-08T21:09:55.000Z,1736370596.000 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-08T21:09:55.000Z,1736370596.000 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped 2025-01-08T21:09:56.000Z,1736370596.000 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport 2025-01-08T21:09:56.000Z,1736370596.000 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2025-01-08T21:09:56.000Z,1736370596.000 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-01-08T21:09:56.000Z,1736370596.000 [lineCaptureHoming:Science:PeakDetectOil] Stopped 2025-01-08T21:09:56.000Z,1736370596.000 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil 2025-01-08T21:09:56.000Z,1736370596.000 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped 2025-01-08T21:09:56.000Z,1736370596.000 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:PeakDetectNO3] Stopped 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:PeakDetectChl] Stopped 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-08T21:09:56.001Z,1736370596.001 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1 2025-01-08T21:09:56.002Z,1736370596.002 [lineCaptureHoming:Science:Read_Oil] Stopped 2025-01-08T21:09:56.002Z,1736370596.002 [lineCaptureHoming:Science:F] Running Loop=1 2025-01-08T21:09:56.002Z,1736370596.002 [lineCaptureHoming:Science:F](DEBUG): Initialize ReadDataComponent to sense WetLabsUBAT.average_bioluminescence 2025-01-08T21:09:56.002Z,1736370596.002 [lineCaptureHoming:Science:E] Running Loop=1 2025-01-08T21:09:56.003Z,1736370596.003 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water 2025-01-08T21:09:56.003Z,1736370596.003 [lineCaptureHoming:Science:D] Stopped 2025-01-08T21:09:56.003Z,1736370596.003 [lineCaptureHoming:Science:C] Running Loop=1 2025-01-08T21:09:56.008Z,1736370596.008 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature 2025-01-08T21:09:56.008Z,1736370596.008 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity 2025-01-08T21:09:56.008Z,1736370596.008 [lineCaptureHoming:Science:B] Running Loop=1 2025-01-08T21:09:56.009Z,1736370596.009 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature 2025-01-08T21:09:56.009Z,1736370596.009 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity 2025-01-08T21:09:56.009Z,1736370596.009 [lineCaptureHoming:Science:A] Stopped 2025-01-08T21:09:56.080Z,1736370596.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:56.188Z,1736370596.188 [WetLabsBB2FL](INFO): Powering up 2025-01-08T21:09:56.256Z,1736370596.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:09:56.256Z,1736370596.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:56.277Z,1736370596.277 [lineCaptureHoming:D] Stopped 2025-01-08T21:09:56.277Z,1736370596.277 [lineCaptureHoming:E] Running Loop=1 2025-01-08T21:09:56.332Z,1736370596.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:56.433Z,1736370596.433 [WetLabsUBAT](INFO): Powering up 2025-01-08T21:09:56.584Z,1736370596.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:56.718Z,1736370596.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T21:09:56.718Z,1736370596.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:56.739Z,1736370596.739 [lineCaptureHoming:E] Stopped 2025-01-08T21:09:56.739Z,1736370596.739 [lineCaptureHoming:G] Running Loop=1 2025-01-08T21:09:56.836Z,1736370596.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:57.079Z,1736370597.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T21:09:57.079Z,1736370597.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:57.088Z,1736370597.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:57.105Z,1736370597.105 [lineCaptureHoming:G] Stopped 2025-01-08T21:09:57.105Z,1736370597.105 [lineCaptureHoming:H] Running Loop=1 2025-01-08T21:09:57.340Z,1736370597.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:57.465Z,1736370597.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:09:57.465Z,1736370597.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:57.472Z,1736370597.472 [lineCaptureHoming:H] Stopped 2025-01-08T21:09:57.472Z,1736370597.472 [lineCaptureHoming:L] Running Loop=1 2025-01-08T21:09:57.592Z,1736370597.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:57.732Z,1736370597.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:09:57.844Z,1736370597.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:57.942Z,1736370597.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:57.957Z,1736370597.957 [lineCaptureHoming:L] Stopped 2025-01-08T21:09:57.957Z,1736370597.957 [lineCaptureHoming:M] Running Loop=1 2025-01-08T21:09:58.096Z,1736370598.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:58.259Z,1736370598.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:58.266Z,1736370598.266 [lineCaptureHoming:M] Stopped 2025-01-08T21:09:58.266Z,1736370598.266 [lineCaptureHoming:N] Running Loop=1 2025-01-08T21:09:58.348Z,1736370598.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:58.600Z,1736370598.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:58.669Z,1736370598.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:58.675Z,1736370598.675 [lineCaptureHoming:N] Stopped 2025-01-08T21:09:58.675Z,1736370598.675 [lineCaptureHoming:O] Running Loop=1 2025-01-08T21:09:58.852Z,1736370598.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:59.074Z,1736370599.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:59.081Z,1736370599.081 [lineCaptureHoming:O] Stopped 2025-01-08T21:09:59.081Z,1736370599.081 [lineCaptureHoming:P] Running Loop=1 2025-01-08T21:09:59.104Z,1736370599.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:59.356Z,1736370599.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:59.476Z,1736370599.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:59.499Z,1736370599.499 [lineCaptureHoming:P] Stopped 2025-01-08T21:09:59.500Z,1736370599.500 [lineCaptureHoming:Q] Running Loop=1 2025-01-08T21:09:59.608Z,1736370599.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:59.713Z,1736370599.713 [CTD_Seabird](ERROR): Failed to parse device response: 2025-01-08T21:09:59.860Z,1736370599.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:09:59.936Z,1736370599.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:09:59.946Z,1736370599.946 [lineCaptureHoming:Q] Stopped 2025-01-08T21:09:59.946Z,1736370599.946 [lineCaptureHoming:U] Running Loop=1 2025-01-08T21:10:00.112Z,1736370600.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:00.292Z,1736370600.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:00.302Z,1736370600.302 [lineCaptureHoming:U] Stopped 2025-01-08T21:10:00.303Z,1736370600.303 [lineCaptureHoming:StartingMission] Running Loop=1 2025-01-08T21:10:00.303Z,1736370600.303 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission 2025-01-08T21:10:00.365Z,1736370600.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:00.616Z,1736370600.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:00.728Z,1736370600.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:00.758Z,1736370600.758 [lineCaptureHoming:NeedComms] Running Loop=1 2025-01-08T21:10:00.758Z,1736370600.758 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms 2025-01-08T21:10:00.758Z,1736370600.758 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1 2025-01-08T21:10:00.758Z,1736370600.758 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-01-08T21:10:00.759Z,1736370600.759 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-01-08T21:10:00.759Z,1736370600.759 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-01-08T21:10:00.768Z,1736370600.768 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-01-08T21:10:00.768Z,1736370600.768 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds. 2025-01-08T21:10:00.768Z,1736370600.768 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-01-08T21:10:00.769Z,1736370600.769 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-01-08T21:10:00.769Z,1736370600.769 [lineCaptureHoming:NeedComms:A] Running Loop=1 2025-01-08T21:10:00.770Z,1736370600.770 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1736370477.000000 second since 1970/01/01T00:00:00Z 2025-01-08T21:10:00.770Z,1736370600.770 [lineCaptureHoming:NeedComms:A] Stopped 2025-01-08T21:10:00.868Z,1736370600.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:01.100Z,1736370601.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:01.120Z,1736370601.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:01.140Z,1736370601.140 [lineCaptureHoming:NeedComms:C] Running Loop=1 2025-01-08T21:10:01.372Z,1736370601.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:01.504Z,1736370601.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:01.514Z,1736370601.514 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-01-08T21:10:01.625Z,1736370601.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:01.876Z,1736370601.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:01.956Z,1736370601.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:02.129Z,1736370602.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:02.318Z,1736370602.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:02.380Z,1736370602.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:02.632Z,1736370602.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:02.752Z,1736370602.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:02.884Z,1736370602.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:03.102Z,1736370603.102 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211002.00,A,3654.28640,N,12206.68976,W,1.400,302.72,080125,,,D*7B 2025-01-08T21:10:03.112Z,1736370603.112 [NAL9602](INFO): GPS fix at 20250108T211002: (36.904773, -122.111496) 2025-01-08T21:10:03.136Z,1736370603.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:03.140Z,1736370603.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:03.141Z,1736370603.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07 2025-01-08T21:10:03.150Z,1736370603.150 [lineCaptureHoming:NeedComms:C] Stopped 2025-01-08T21:10:03.151Z,1736370603.151 [lineCaptureHoming:NeedComms:D] Running Loop=1 2025-01-08T21:10:03.388Z,1736370603.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:03.547Z,1736370603.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:03.558Z,1736370603.558 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-01-08T21:10:03.640Z,1736370603.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:03.892Z,1736370603.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:04.146Z,1736370604.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:04.222Z,1736370604.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:04.400Z,1736370604.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:04.570Z,1736370604.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:04.652Z,1736370604.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:04.904Z,1736370604.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:04.989Z,1736370604.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:05.162Z,1736370605.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:05.385Z,1736370605.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:05.416Z,1736370605.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:05.670Z,1736370605.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:05.832Z,1736370605.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:10:05.832Z,1736370605.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:05.920Z,1736370605.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:06.081Z,1736370606.081 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250108T193415/Courier0036.lzma 2025-01-08T21:10:06.172Z,1736370606.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:06.206Z,1736370606.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:10:06.206Z,1736370606.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:06.424Z,1736370606.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:06.573Z,1736370606.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:10:06.573Z,1736370606.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:06.613Z,1736370606.613 [WetLabsUBAT](FAULT): UBAT flow rate is below the specified threshold of 0.05 l/s. 2025-01-08T21:10:06.676Z,1736370606.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:06.928Z,1736370606.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:06.989Z,1736370606.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:10:06.989Z,1736370606.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:07.085Z,1736370607.085 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Courier0036.lzma.bak 2025-01-08T21:10:07.085Z,1736370607.085 [DataOverHttps](INFO): SBD MOMSN=23886193 2025-01-08T21:10:07.180Z,1736370607.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:07.397Z,1736370607.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:10:07.397Z,1736370607.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:07.432Z,1736370607.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:07.685Z,1736370607.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:07.840Z,1736370607.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:10:07.840Z,1736370607.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:07.936Z,1736370607.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:08.188Z,1736370608.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:08.205Z,1736370608.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:10:08.205Z,1736370608.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:08.440Z,1736370608.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:08.609Z,1736370608.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:10:08.609Z,1736370608.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:08.692Z,1736370608.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:08.944Z,1736370608.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:09.136Z,1736370609.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.8 s old, using for 20.0 s. 2025-01-08T21:10:09.136Z,1736370609.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:09.196Z,1736370609.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:09.446Z,1736370609.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:10:09.446Z,1736370609.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:09.448Z,1736370609.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:09.701Z,1736370609.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:09.952Z,1736370609.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:10.036Z,1736370610.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.7 s old, using for 20.0 s. 2025-01-08T21:10:10.036Z,1736370610.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:10.204Z,1736370610.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:10.252Z,1736370610.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:10:10.252Z,1736370610.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:10.456Z,1736370610.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:10.647Z,1736370610.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T21:10:10.651Z,1736370610.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:10.708Z,1736370610.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:10.960Z,1736370610.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:11.080Z,1736370611.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:10:11.080Z,1736370611.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:11.212Z,1736370611.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:11.464Z,1736370611.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:11.465Z,1736370611.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:10:11.466Z,1736370611.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:11.716Z,1736370611.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:11.968Z,1736370611.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:11.988Z,1736370611.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s. 2025-01-08T21:10:11.988Z,1736370611.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:12.220Z,1736370612.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:12.348Z,1736370612.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:10:12.348Z,1736370612.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:12.481Z,1736370612.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:12.702Z,1736370612.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:10:12.703Z,1736370612.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:12.732Z,1736370612.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:12.984Z,1736370612.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:13.057Z,1736370613.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:10:13.057Z,1736370613.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:13.236Z,1736370613.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:13.453Z,1736370613.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:10:13.453Z,1736370613.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:13.488Z,1736370613.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:13.740Z,1736370613.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:13.890Z,1736370613.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:13.996Z,1736370613.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:14.248Z,1736370614.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:14.404Z,1736370614.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:14.500Z,1736370614.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:14.756Z,1736370614.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:14.853Z,1736370614.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:15.008Z,1736370615.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:15.200Z,1736370615.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:15.260Z,1736370615.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:15.512Z,1736370615.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:15.514Z,1736370615.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:15.764Z,1736370615.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:16.016Z,1736370616.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:16.065Z,1736370616.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:16.268Z,1736370616.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:16.420Z,1736370616.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:16.520Z,1736370616.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:16.756Z,1736370616.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:16.772Z,1736370616.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:17.024Z,1736370617.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:17.121Z,1736370617.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:17.276Z,1736370617.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:17.528Z,1736370617.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:17.530Z,1736370617.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:17.780Z,1736370617.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:18.008Z,1736370618.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:18.032Z,1736370618.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:18.284Z,1736370618.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:18.366Z,1736370618.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:18.536Z,1736370618.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:18.726Z,1736370618.726 [NAL9602](INFO): SBD MO Status=0, MOMSN=46753, MT Status=0, MTMSN=0 2025-01-08T21:10:18.726Z,1736370618.726 [NAL9602](INFO): No messages in MT queue 2025-01-08T21:10:18.754Z,1736370618.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:18.788Z,1736370618.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:18.872Z,1736370618.872 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:10:19.042Z,1736370619.042 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:19.153Z,1736370619.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:19.292Z,1736370619.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:19.544Z,1736370619.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:19.584Z,1736370619.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:19.796Z,1736370619.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:20.061Z,1736370620.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:20.070Z,1736370620.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:10:20.070Z,1736370620.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:20.312Z,1736370620.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:20.408Z,1736370620.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:10:20.408Z,1736370620.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:20.564Z,1736370620.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:20.789Z,1736370620.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:10:20.789Z,1736370620.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:20.816Z,1736370620.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:21.068Z,1736370621.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:21.221Z,1736370621.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:10:21.221Z,1736370621.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:21.320Z,1736370621.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:21.572Z,1736370621.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:21.632Z,1736370621.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:10:21.632Z,1736370621.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:21.824Z,1736370621.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:22.076Z,1736370622.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:22.328Z,1736370622.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:22.396Z,1736370622.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:22.580Z,1736370622.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:22.686Z,1736370622.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:22.832Z,1736370622.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:22.993Z,1736370622.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:23.084Z,1736370623.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:23.344Z,1736370623.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:23.596Z,1736370623.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:23.714Z,1736370623.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:23.848Z,1736370623.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:23.955Z,1736370623.955 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:10:24.099Z,1736370624.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:10:24.099Z,1736370624.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:24.112Z,1736370624.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:24.361Z,1736370624.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T21:10:24.361Z,1736370624.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:24.364Z,1736370624.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:24.616Z,1736370624.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:24.703Z,1736370624.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T21:10:24.703Z,1736370624.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:24.884Z,1736370624.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:25.076Z,1736370625.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T21:10:25.076Z,1736370625.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:25.145Z,1736370625.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:25.396Z,1736370625.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:25.484Z,1736370625.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.8 s old, using for 20.0 s. 2025-01-08T21:10:25.485Z,1736370625.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:25.650Z,1736370625.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:25.900Z,1736370625.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:25.938Z,1736370625.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:26.152Z,1736370626.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:26.268Z,1736370626.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:26.404Z,1736370626.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:26.659Z,1736370626.659 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:26.684Z,1736370626.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:26.912Z,1736370626.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:27.090Z,1736370627.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:27.164Z,1736370627.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:27.416Z,1736370627.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:27.484Z,1736370627.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:27.671Z,1736370627.671 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:27.912Z,1736370627.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:10:27.912Z,1736370627.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:27.920Z,1736370627.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:28.172Z,1736370628.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:28.290Z,1736370628.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:10:28.290Z,1736370628.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:28.426Z,1736370628.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:28.681Z,1736370628.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:28.693Z,1736370628.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:10:28.693Z,1736370628.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:28.932Z,1736370628.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:29.103Z,1736370629.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:10:29.103Z,1736370629.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:29.185Z,1736370629.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:29.436Z,1736370629.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:29.506Z,1736370629.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:10:29.507Z,1736370629.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:29.689Z,1736370629.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:29.940Z,1736370629.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:29.942Z,1736370629.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:10:29.942Z,1736370629.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:30.192Z,1736370630.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:30.303Z,1736370630.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:10:30.303Z,1736370630.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:30.444Z,1736370630.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:30.696Z,1736370630.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:30.714Z,1736370630.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:10:30.714Z,1736370630.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:30.948Z,1736370630.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:31.120Z,1736370631.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:10:31.120Z,1736370631.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:31.200Z,1736370631.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:31.452Z,1736370631.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:31.528Z,1736370631.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:10:31.529Z,1736370631.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:31.705Z,1736370631.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:31.956Z,1736370631.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:31.994Z,1736370631.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:10:31.995Z,1736370631.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:32.208Z,1736370632.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:32.340Z,1736370632.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:10:32.341Z,1736370632.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:32.462Z,1736370632.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:32.713Z,1736370632.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:32.737Z,1736370632.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T21:10:32.737Z,1736370632.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:32.964Z,1736370632.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:33.144Z,1736370633.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:10:33.144Z,1736370633.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:33.217Z,1736370633.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:33.468Z,1736370633.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:33.557Z,1736370633.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:10:33.557Z,1736370633.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:33.720Z,1736370633.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:33.972Z,1736370633.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:33.998Z,1736370633.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:10:33.998Z,1736370633.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:34.224Z,1736370634.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:34.359Z,1736370634.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:10:34.364Z,1736370634.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:34.476Z,1736370634.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:34.728Z,1736370634.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:34.768Z,1736370634.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:10:34.769Z,1736370634.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:34.980Z,1736370634.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:35.168Z,1736370635.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:10:35.169Z,1736370635.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:35.232Z,1736370635.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:35.485Z,1736370635.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:35.669Z,1736370635.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.2 s old, using for 20.0 s. 2025-01-08T21:10:35.670Z,1736370635.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:35.698Z,1736370635.698 [DataOverHttps](INFO): Sending 576 bytes from file Logs/20250108T193415/Express0038.lzma 2025-01-08T21:10:35.736Z,1736370635.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:35.988Z,1736370635.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:36.026Z,1736370636.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:10:36.026Z,1736370636.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:36.240Z,1736370636.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:36.384Z,1736370636.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:10:36.384Z,1736370636.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:36.492Z,1736370636.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:36.689Z,1736370636.689 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0038.lzma.bak 2025-01-08T21:10:36.690Z,1736370636.690 [DataOverHttps](INFO): SBD MOMSN=23886197 2025-01-08T21:10:36.744Z,1736370636.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:36.867Z,1736370636.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.4 s old, using for 20.0 s. 2025-01-08T21:10:36.867Z,1736370636.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:36.996Z,1736370636.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:37.182Z,1736370637.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:10:37.182Z,1736370637.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:37.250Z,1736370637.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:37.500Z,1736370637.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:37.600Z,1736370637.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T21:10:37.600Z,1736370637.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:37.753Z,1736370637.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:38.004Z,1736370638.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:38.063Z,1736370638.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.6 s old, using for 20.0 s. 2025-01-08T21:10:38.063Z,1736370638.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:38.256Z,1736370638.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:38.413Z,1736370638.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s. 2025-01-08T21:10:38.413Z,1736370638.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:38.508Z,1736370638.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:38.762Z,1736370638.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:38.796Z,1736370638.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s. 2025-01-08T21:10:38.797Z,1736370638.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:39.016Z,1736370639.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:39.209Z,1736370639.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s. 2025-01-08T21:10:39.209Z,1736370639.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:39.268Z,1736370639.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:39.520Z,1736370639.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:39.622Z,1736370639.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.1 s old, using for 20.0 s. 2025-01-08T21:10:39.622Z,1736370639.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:39.772Z,1736370639.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:40.024Z,1736370640.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:40.113Z,1736370640.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:40.276Z,1736370640.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:40.456Z,1736370640.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:40.528Z,1736370640.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:40.780Z,1736370640.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:40.839Z,1736370640.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:41.032Z,1736370641.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:41.222Z,1736370641.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:41.248Z,1736370641.248 [lineCaptureHoming:NeedComms:D] Stopped 2025-01-08T21:10:41.249Z,1736370641.249 [lineCaptureHoming:NeedComms:E] Running Loop=1 2025-01-08T21:10:41.284Z,1736370641.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:41.536Z,1736370641.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:41.690Z,1736370641.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:41.737Z,1736370641.737 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-01-08T21:10:41.788Z,1736370641.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:42.040Z,1736370642.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:42.081Z,1736370642.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:10:42.081Z,1736370642.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:42.292Z,1736370642.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:42.453Z,1736370642.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:10:42.453Z,1736370642.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:42.544Z,1736370642.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:42.796Z,1736370642.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:42.864Z,1736370642.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:10:42.864Z,1736370642.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:43.048Z,1736370643.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:43.231Z,1736370643.231 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211042.00,A,3654.28868,N,12206.68594,W,0.991,47.23,080125,,,D*49 2025-01-08T21:10:43.237Z,1736370643.237 [NAL9602](INFO): GPS fix at 20250108T211042: (36.904811, -122.111432) 2025-01-08T21:10:43.270Z,1736370643.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:10:43.270Z,1736370643.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:43.276Z,1736370643.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07 2025-01-08T21:10:43.286Z,1736370643.286 [lineCaptureHoming:NeedComms:E] Stopped 2025-01-08T21:10:43.293Z,1736370643.293 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms 2025-01-08T21:10:43.293Z,1736370643.293 [lineCaptureHoming:NeedComms] Stopped 2025-01-08T21:10:43.293Z,1736370643.293 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms 2025-01-08T21:10:43.293Z,1736370643.293 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped 2025-01-08T21:10:43.293Z,1736370643.293 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-01-08T21:10:43.300Z,1736370643.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:43.552Z,1736370643.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:43.720Z,1736370643.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:10:43.720Z,1736370643.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:43.731Z,1736370643.731 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission 2025-01-08T21:10:43.750Z,1736370643.750 [lineCaptureHoming:StartingMission] Stopped 2025-01-08T21:10:43.750Z,1736370643.750 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission 2025-01-08T21:10:43.751Z,1736370643.751 [lineCaptureHoming:Z] Running Loop=1 2025-01-08T21:10:43.804Z,1736370643.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:44.056Z,1736370644.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:44.091Z,1736370644.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:10:44.091Z,1736370644.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:44.133Z,1736370644.133 [lineCaptureHoming:Z](IMPORTANT): Restarting logs 2025-01-08T21:10:44.134Z,1736370644.134 [lineCaptureHoming:Z] Stopped 2025-01-08T21:10:44.134Z,1736370644.134 [lineCaptureHoming:BA.Execute] Running Loop=1 2025-01-08T21:10:44.308Z,1736370644.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:44.460Z,1736370644.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:10:44.460Z,1736370644.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:44.491Z,1736370644.491 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs 2025-01-08T21:10:44.491Z,1736370644.491 [lineCaptureHoming:BA.Execute] Stopped 2025-01-08T21:10:44.491Z,1736370644.491 [lineCaptureHoming:InitialDive] Running Loop=1